A sensor assembly for a four-way shuttle vehicle and a four-way shuttle vehicle

Abstract

The utility model discloses a four -way shuttle car sensor assembly and four -way shuttle car relate to four -way shuttle car field, wherein four -way shuttle car sensor assembly includes setting a plurality of obstacle avoidance radars on the different side of car body frame, setting a plurality of goods detection radars on the two sides of car body frame advancing direction, setting the tray radar of the detection direction towards tray placement direction in car body frame, and simultaneously still relate to the four -way shuttle car containing this sensor assembly, and the application reaches the effect of making four -way shuttle car effectively avoid the obstacle when operating, accurate detection goods and tray placement condition, and the safety and work efficiency of four -way shuttle car in the logistics warehousing operation are greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of four-way shuttle vehicles, and in particular to a sensor assembly for a four-way shuttle vehicle and a four-way shuttle vehicle. Background Technology

[0002] In the field of logistics and warehousing automation, the demand for goods storage and handling has exploded in recent years due to the rapid development of the global economy and the booming e-commerce industry. This trend has brought unprecedented development opportunities to automated warehousing equipment, with various advanced technologies being continuously integrated, propelling the industry to a higher level. As a key component of automated warehousing equipment, the four-way pallet truck, with its unique design and superior performance, can move flexibly and freely in four directions—forward, backward, left, and right—on racking tracks.

[0003] Previously, to ensure the normal operation of pallet trucks and the accuracy of cargo handling, conventional methods were often used to detect obstacles, cargo, and pallet status. For obstacle detection, a limited number of detection devices were typically installed in certain locations on the truck body, such as a small number of sensors at the front and rear ends. This installation method significantly limited the detection range, the distribution of installation locations was not reasonable, and it was difficult to fully cover the area around the truck body. Obstacles on the sides and corners of the truck body were often not detected in time. For cargo and pallet status detection, there was a lack of targeted and rationally distributed detection equipment. Generally, a general-purpose detection device was simply set up at a fixed location on the truck body, which could not accurately and comprehensively obtain relevant information about the cargo and pallets, such as the exact location and posture of the cargo, or whether the pallet was in a normal condition.

[0004] In existing technologies, the installation method of the detection device has defects. The unreasonable distribution of obstacle avoidance detection devices makes it impossible to comprehensively and timely detect obstacles in all directions around the vehicle, easily leading to collisions between four-way vehicles and goods or other four-way vehicles. This not only damages goods and equipment but also disrupts the normal operation of the entire warehousing process, increasing maintenance costs and downtime. Furthermore, the layout of the detection equipment for goods and pallets lacks rationality, failing to accurately and comprehensively obtain relevant information about goods and pallets. This can lead to operational errors by four-way vehicles when handling goods, affecting their operational efficiency and accuracy.

[0005] In conclusion, optimizing the installation method of the detection device to improve the operational safety and accuracy of the four-way pallet truck is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] In view of this, the purpose of this utility model is to provide a sensor assembly for a four-way shuttle and a four-way shuttle, which can effectively realize comprehensive judgment between vehicle-to-vehicle, vehicle-to-cargo, and vehicle-to-pallet, so that the host computer can verify the accuracy of the task status through its status review and ensure the smooth execution of the task.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A sensor assembly for a four-way shuttle vehicle includes: The vehicle has several obstacle avoidance radars, which are respectively installed on different sides of the vehicle frame, with at least one obstacle avoidance radar located on the same side. Cargo detection radars are provided in several units, and the cargo detection radars are respectively located on both sides of the vehicle frame in the forward direction, with at least one cargo detection radar located on the same side. A tray radar is installed within the vehicle frame, and the detection direction of the tray radar is toward the placement direction of the tray in the vehicle frame.

[0008] Preferably, there are four obstacle avoidance radars, which are respectively located at the four corners of the vehicle frame.

[0009] Preferably, the vehicle frame is fixedly provided with a first mounting plate at each of the four corners, the obstacle avoidance radar is fixedly provided on the first mounting plate, and the vehicle frame is provided with a first through hole at the location of the obstacle avoidance radar to facilitate the obstacle avoidance radar to detect the outside of the vehicle frame.

[0010] Preferably, the first mounting plate has two parallel mounting portions and a connecting portion connecting the two mounting portions. The connecting portion is arranged perpendicular to the two mounting portions. One mounting portion is fixedly connected to the inner wall of the vehicle frame, and the other mounting portion is fixedly connected to the obstacle avoidance radar.

[0011] Preferably, there are two cargo detection radars, which are respectively located on both sides of the vehicle frame in the forward direction.

[0012] Preferably, the vehicle frame is provided with second mounting plates on both sides in the forward direction, the cargo detection radar is fixedly mounted on the second mounting plates, and the vehicle frame is provided with a second through hole at the location of the cargo detection radar to facilitate the cargo detection radar to detect in the forward direction.

[0013] Preferably, the second mounting plate is bent, with one bent end of the second mounting plate fixedly connected to the vehicle frame and the other bent end of the second mounting plate fixedly connected to the cargo detection radar, so that the cargo detection radar is tilted upward, and the second through hole is an oblong hole.

[0014] Preferably, a crossbeam is provided in the middle of the vehicle frame, the crossbeam is provided with a third mounting plate, the tray radar is fixedly mounted on the third mounting plate, and a third through hole is provided on the crossbeam for the tray radar to detect the direction in which the tray is placed.

[0015] Preferably, the crossbeam has a hollow structure, and the tray radar is fixedly installed in the hollow cavity of the crossbeam, with a plurality of tray radars arranged along the length of the crossbeam.

[0016] A four-way shuttle vehicle includes the aforementioned sensor assembly for a four-way shuttle vehicle.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows: In the above technical solution, multiple obstacle avoidance radars are distributed on different sides of the vehicle frame, which expands the obstacle detection range and avoids collisions between four-way vehicles and other four-way vehicles due to blind spots, thus ensuring the normal operation of warehousing.

[0018] In the above technical solution, the cargo detection radar is installed on both sides of the vehicle frame in the direction of travel. It can accurately obtain information such as the location of the cargo, whether there is cargo, and the cargo posture, so as to avoid collisions with cargo during the operation of the four-way vehicle.

[0019] In the above technical solution, the pallet radar is installed inside the vehicle frame and faces the pallet placement direction. It can accurately determine the pallet status and is used to detect the cargo loading status on the four-way vehicle. It can be used to determine the storage status of the vehicle or the cargo location, thereby improving the accuracy and efficiency of the four-way vehicle operation. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the sensor assembly installed inside the four-way shuttle in this embodiment.

[0022] Figure 2 for Figure 1 Cross-sectional view at point AA.

[0023] Figure 3 for Figure 1 A magnified schematic diagram of part A in the middle.

[0024] Figure 4 for Figure 1 A magnified view of part B in the middle.

[0025] Figure 5 This is a schematic diagram of the installation of the cargo detection radar in this embodiment.

[0026] Figure 6 for Figure 2 A magnified schematic diagram of point C in the middle section.

[0027] Figure 7 This is a schematic diagram of the installation of the tray radar in this embodiment.

[0028] Explanation of reference numerals in the attached figures: 1. Vehicle frame; 2. Obstacle avoidance radar; 3. Cargo detection radar; 4. Pallet radar; 5. Crossbeam; 21. First mounting plate; 31. Second mounting plate; 51. Third mounting plate. Detailed Implementation

[0029] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0030] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] The core of this utility model is to provide a sensor assembly for a four-way shuttle vehicle.

[0033] Another core aspect of this invention is to provide a four-way shuttle vehicle, including the aforementioned sensor assembly for a four-way shuttle vehicle.

[0034] like Figure 1 One specific embodiment of the sensor assembly for the four-way shuttle vehicle shown includes an obstacle avoidance radar 2, a cargo detection radar 3, and a pallet radar 4. Several obstacle avoidance radars 2 are provided, and the obstacle avoidance radars 2 are respectively arranged on different sides of the vehicle frame 1, with at least one obstacle avoidance radar 2 located on the same side. Several cargo detection radars 3 are provided, and the cargo detection radars 3 are respectively arranged on both sides of the vehicle frame 1 in the forward direction, with at least one cargo detection radar 3 located on the same side. The pallet radar 4 is located inside the vehicle frame 1, and the detection direction of the pallet radar 4 is towards the placement direction of the pallet on the vehicle frame 1.

[0035] Specifically, refer to Figure 1 The four-way shuttle is typically square in shape, with four sides, each equipped with an obstacle avoidance radar 2. At least one obstacle avoidance radar 2 is present on each side. This radar 2 detects obstacles around the vehicle's perimeter. By receiving feedback from these radars, and with the help of a host computer receiving the signals, the vehicle adjusts its path accordingly to avoid collisions with cargo or other four-way shuttles during operation. Simultaneously, at least one cargo detection radar 3 is located on both sides in the vehicle's forward direction (the front and rear sides shown in the diagram). The cargo detection radar 3 detects obstacles on the tracks, and its feedback principle is the same as that of the obstacle avoidance radar 2, which will not be elaborated further here. The vehicle determines the distance to obstacles based on the signal feedback from the obstacle avoidance sensors (including obstacle avoidance radar 2 and cargo detection radar 3) and takes corresponding avoidance actions to ensure safe operation of the mission.

[0036] A pallet radar 4 is also installed in the middle of the vehicle body. It is installed inside the vehicle body and faces the upper surface of the vehicle body. The pallet radar 4 is a virtual and real cargo sensor. It is used to detect palletized cargo and detect the situation on the four-way vehicle. It can be used to judge the storage status of the vehicle or the cargo space. The host computer connected to it (the feedback mechanism between the host computer and the pallet radar 4 is the same as that of the obstacle avoidance radar 2 and cargo detection radar 3 mentioned above, and will not be described again here) can verify the accuracy of the task issuance status through the status of the pallet radar 4 to ensure that the task can be executed smoothly.

[0037] The aforementioned sensor assembly for the four-way shuttle, through the rational arrangement of obstacle avoidance radar 2, cargo detection radar 3, and pallet radar 4, enables the four-way shuttle to comprehensively detect surrounding obstacles, cargo on both sides of the direction of travel, and the status of pallets or cargo positions within the vehicle frame. Different types of radars are installed in appropriate locations and using corresponding installation methods to ensure radar stability and detection effectiveness. This optimized sensor layout improves the operational safety and accuracy of the four-way shuttle, reduces the occurrence of collisions, and increases cargo handling efficiency, representing a significant improvement over existing technologies.

[0038] Based on any of the above embodiments, a total of four obstacle avoidance radars 2 are provided, and the four obstacle avoidance radars 2 are respectively arranged at the four corners of the vehicle frame 1. A first mounting plate 21 is fixedly provided at each of the four corners of the vehicle frame 1, and the obstacle avoidance radar 2 is fixedly mounted on the first mounting plate 21. A first through hole is opened at the obstacle avoidance radar 2 to facilitate the obstacle avoidance radar 2 to detect the outside of the vehicle frame 1.

[0039] Specifically, several obstacle avoidance radars 2 are provided, with at least one obstacle avoidance radar 2 located on the same side. In this embodiment, there are four obstacle avoidance radars 2, which are respectively set at the four corners of the vehicle frame 1, enabling all-around obstacle detection around the vehicle body and preventing the four-way shuttle from colliding with other objects during operation. A first mounting plate 21 is fixedly installed at each of the four corners of the vehicle frame 1, and the obstacle avoidance radar 2 is fixedly mounted on the first mounting plate 21. A first through hole is provided at the location of the obstacle avoidance radar 2 to facilitate detection of obstacles around the vehicle frame 1. The obstacle avoidance radar 2 can be a millimeter-wave radar, which has advantages such as high detection accuracy and strong anti-interference capability, or it can be a lidar, which can quickly and accurately acquire three-dimensional information of the surrounding environment. The first mounting plate 21 can be made of metal, such as stainless steel, which has good strength and corrosion resistance, or it can be made of aluminum alloy, which is lightweight and has sufficient strength.

[0040] Optionally, the obstacle avoidance radar 2 has two installation methods, as follows: Figure 3 and Figure 4 As shown, Figure 3 As shown, the first mounting plate 21 has two parallel mounting portions and a connecting portion between the two mounting portions. The connecting portion is perpendicular to the two mounting portions. One mounting portion is fixedly connected to the inner wall of the vehicle frame 1, and the other mounting portion is fixedly connected to the obstacle avoidance radar 2. The first mounting plate 21 is fixedly connected to the inner wall of the vehicle frame 1 by bolts, and the obstacle avoidance radar 2 is fixed to the other mounting portion of the first mounting plate 21 by screws. This mounting method allows the obstacle avoidance radar 2 to be stably mounted on the vehicle frame 1.

[0041] like Figure 4 As shown, this is the second installation method of the obstacle avoidance radar 2. The first mounting plate 21 includes two vertically arranged fixing parts and an installation part located between the two fixing parts, and has an N-shaped structure. The two fixing parts are fixedly connected to the vehicle frame 1 by bolts, and the obstacle avoidance radar 2 is fixed to the installation part of the first mounting plate 21 by screws.

[0042] Based on any of the above embodiments, refer to Figure 5 and Figure 6There are two cargo detection radars 3, which are respectively located on both sides of the vehicle frame 1 in the forward direction. The vehicle frame 1 is provided with a second mounting plate 31 on both sides in the forward direction, and the cargo detection radar 3 is fixedly mounted on the second mounting plate 31. The vehicle frame 1 has a second through hole at the location of the cargo detection radar 3 to facilitate the cargo detection radar 3 to detect in the forward direction.

[0043] Specifically, in this embodiment, two cargo detection radars 3 are provided, each located on one side of the vehicle frame 1 in the forward direction. A second mounting plate 31 is provided on each side of the vehicle frame 1 in the forward direction, and the cargo detection radar 3 is fixedly mounted on the second mounting plate 31. A second through hole is provided on the vehicle frame 1 at the location of the cargo detection radar 3 to facilitate detection in the forward direction. The cargo detection radar 3 can be an ultrasonic radar, which can detect the location of cargo by emitting ultrasonic waves and receiving reflected waves, or it can be an infrared radar, which has better adaptability to light.

[0044] Optionally, the second mounting plate 31 is bent, with one bent end fixedly connected to the vehicle frame 1 and the other bent end fixedly connected to the cargo detection radar 3, so that the cargo detection radar 3 is tilted upwards. The second through hole is an oblong hole. The second mounting plate can be made of plastic, which has a certain degree of flexibility and insulation, or it can be made of carbon fiber, which is high in strength and lightweight. The second mounting plate 31 is fixedly connected to the vehicle frame 1 by welding, and the cargo detection radar 3 is fixed to the other bent end of the second mounting plate 31 by screws. The cargo detection radar 3 is tilted upwards, and the second through hole with an oblong shape can expand the detection range, better detect the cargo on both sides of the forward direction, and improve the cargo identification and handling efficiency of the four-way shuttle.

[0045] Based on any of the above embodiments, refer to Figure 2 and Figure 7 The vehicle frame 1 has a crossbeam 5 in the middle, and the crossbeam 5 has a third mounting plate 51. The tray radar 4 is fixed on the third mounting plate 51. The crossbeam 5 has a third through hole for the tray radar 4 to detect the direction of the tray placement.

[0046] Specifically, the tray radar 4 can be a capacitive radar, which is well adaptable to the material and shape of the tray, or it can be an inductive radar, which has high sensitivity when detecting metal trays. The tray radar 4 is fixed to the third mounting plate 51 by bolts, and the third mounting plate 51 is fixed to the crossbeam 5 by bolts.

[0047] Furthermore, the crossbeam 5 has a hollow structure, and the pallet radar 4 is fixedly installed inside the hollow cavity of the crossbeam 5. Several pallet radars 4 are arranged along the length of the crossbeam 5. The hollow structure of the crossbeam 5 provides protection and installation space for the pallet radars 4. The multiple pallet radars 4 arranged along the length of the crossbeam 5 can more comprehensively detect the status of the pallets and ensure that the four-way shuttle accurately transports the pallets.

[0048] The implementation principle of this embodiment is as follows: By rationally arranging the obstacle avoidance radar 2, cargo detection radar 3, and pallet radar 4, the four-way shuttle can comprehensively detect surrounding obstacles, cargo on both sides of the direction of travel, and the status of pallets within the vehicle frame 1. Different types of radars are installed in appropriate positions and using corresponding installation methods to ensure radar stability and detection effectiveness. This optimized sensor layout improves the operational safety and accuracy of the four-way shuttle, reduces the occurrence of collisions, and increases the efficiency of cargo handling, representing a significant improvement compared to existing technologies.

[0049] This application further discloses a four-way shuttle vehicle, including the aforementioned sensor assembly for a four-way shuttle vehicle. The four-way shuttle vehicle also includes an electrical system and a dispatching system. The electrical system consists of a power supply module, a motion control module, a wireless communication module, a sensor module, a remote control module, and a voice module.

[0050] The power module is powered by a DC 48V 50AH lithium iron phosphate battery. The four-way vehicle system coordinates charging operations through real-time power detection and upper-level computer-based charging scheduling. The charger is installed inside the charging compartment, allowing the vehicle to temporarily replenish power via the emergency charging port when it encounters a power shortage at a non-charging location. The entire vehicle is powered by a brush plate / brush block system at the bottom of the vehicle. The brush plate moves with the vehicle, while the brush blocks are fixed to the rack. The power supply circuit is: brush plate → DC contactor → battery → driver → servo motor, driving the wheel movement. Modules such as the remote control / PLC / speaker / voice controller are powered by the battery through a regulated power supply (DC 48V to 24V). Other types of batteries, such as lead-acid batteries, can also be used in the power module, but lithium iron phosphate batteries offer advantages such as high energy density and long lifespan. The brush plate and brush blocks can be made of copper, which has good conductivity.

[0051] The motion control module uses servo motors to drive mechanical mechanisms to complete actions such as walking, reversing, and lifting. The PLC, as the control core of the four-way pallet cart system, exchanges data in real time with the motion controller via the CanOpen bus to control the stable operation of the servo drive. Vehicle positioning is divided into QR code positioning and RFID positioning. QR code positioning uses unique QR code tags with location information at each shelf location and reversing position, with a reader installed at the corresponding position on the bottom of the vehicle. The reader and QR code recognition enable positioning. RFID positioning uses sensors with unique location information at each shelf location and reversing position, with an RFID reader installed at the corresponding position on the bottom of the vehicle. Location information is read through electromagnetic induction, and a dual photoelectric mechanism is configured to achieve precise vehicle positioning. The motion control module can also use stepper motors, but servo motors offer higher precision and response speed. Commonly available models of QR code readers and RFID readers can be used, offering stable performance.

[0052] The wireless communication module has a built-in Wi-Fi client that pairs with the wireless access point (AP) on the shelf to connect to the device network, ensuring stable data exchange between the four-way vehicles. The wireless AP's fast roaming function allows the four-way vehicles to connect to the network from any location. While the wireless communication module can also use Bluetooth, Wi-Fi communication offers advantages such as faster transmission speeds and wider coverage.

[0053] The sensor module includes the aforementioned obstacle avoidance radar 2, cargo detection radar 3, and pallet radar 4. The four obstacle avoidance radars 2 are used for vehicle body obstacle detection, and the two cargo detection radars 3 are used for track cargo obstacle detection to prevent the four-way vehicle from colliding with cargo or other four-way vehicles during operation. The pallet radar 4 is also installed to detect the cargo loading status on the four-way vehicle.

[0054] The remote control module includes a remote control receiver mounted on the four-way vehicle to receive signals from the remote control handle. The remote control receiver can be an infrared receiver or a radio frequency receiver.

[0055] The voice module provides a voice broadcast function, which is used to send four-way vehicle information to users in the form of voice. The in-vehicle PLC sends the string to be broadcast to the voice broadcast module via the ModbusTcp protocol. After receiving it, the voice broadcast module converts it into an analog signal and sends it to the speaker to emit the corresponding voice.

[0056] The scheduling system includes modules such as a task center, equipment center, configuration functions, communication management, scheduling center, and path execution. Key technologies include single-vehicle task execution and multi-vehicle cluster scheduling. Single-vehicle task execution supports batch outbound tasks, task priority, and task queueing, preventing errors when storing goods in the same aisle. Multi-vehicle cluster scheduling includes pathfinding algorithms, path locking strategies, deadlock avoidance, capacity allocation, task dependency handling, and multi-vehicle charging management. The pathfinding algorithm automatically calculates the optimal path to complete inbound and outbound tasks, enabling simultaneous operation of multiple vehicles in the same layer and area, and automatic layer switching, calculating paths in real time. The path locking strategy segments and pre-locks paths to ensure that long path locking does not affect robot movement efficiency. Deadlock avoidance includes loop resolution and single-path strategies; capacity allocation includes allocating idle capacity to the nearest available location and pre-allocating non-idle capacity; and task dependency handling includes source dependency, same-entry-target dependency, one-in-one-out dependency, and target dependency.

[0057] The implementation principle of this embodiment is as follows: The four-way shuttle integrates optimized sensor components, an electrical system, and a scheduling system. These systems cooperate to complete the cargo handling task. The sensor components provide comprehensive environmental and cargo status information, the electrical system provides power and control for vehicle operation and the work of each module, and the scheduling system efficiently manages the vehicle's task execution and multi-vehicle collaboration. This integrated design improves the overall performance and operational efficiency of the four-way shuttle, significantly enhancing operational safety, operational accuracy, and management efficiency compared to existing technologies.

[0058] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A sensor assembly for a four-way shuttle vehicle, characterized in that, include: The obstacle avoidance radar (2) is provided in several ways. The obstacle avoidance radar (2) is respectively provided on different sides of the vehicle frame (1). At least one obstacle avoidance radar (2) is located on the same side. Cargo detection radar (3) is provided in several units. The cargo detection radar (3) is respectively provided on both sides of the vehicle frame (1) in the forward direction. At least one cargo detection radar (3) is provided on the same side. A tray radar (4) is installed inside the vehicle frame (1), and the detection direction of the tray radar (4) is toward the placement direction of the tray in the vehicle frame (1).

2. The sensor assembly for a four-way shuttle vehicle according to claim 1, characterized in that, There are four obstacle avoidance radars (2), which are respectively located at the four corners of the vehicle frame (1).

3. The sensor assembly for a four-way shuttle vehicle according to claim 2, characterized in that, The vehicle frame (1) is fixedly provided with a first mounting plate (21) at each of the four corners. The obstacle avoidance radar (2) is fixedly provided on the first mounting plate (21). The vehicle frame (1) is provided with a first through hole at the location of the obstacle avoidance radar (2) to facilitate the obstacle avoidance radar (2) to detect the outside of the vehicle frame (1).

4. The sensor assembly for a four-way shuttle vehicle according to claim 3, characterized in that, The first mounting plate (21) has two parallel mounting parts and a connecting part between the two mounting parts. The connecting part is arranged perpendicular to the two mounting parts. One mounting part is fixedly connected to the inner wall of the vehicle frame (1), and the other mounting part is fixedly connected to the obstacle avoidance radar (2).

5. The sensor assembly for a four-way shuttle vehicle according to claim 1, characterized in that, There are two cargo detection radars (3), which are respectively located on both sides of the vehicle frame (1) in the forward direction.

6. The sensor assembly for a four-way shuttle vehicle according to claim 5, characterized in that, The vehicle frame (1) is provided with a second mounting plate (31) on both sides in the forward direction. The cargo detection radar (3) is fixed on the second mounting plate (31). The vehicle frame (1) is provided with a second through hole at the location of the cargo detection radar (3) to facilitate the cargo detection radar (3) to detect in the forward direction.

7. The sensor assembly for a four-way shuttle vehicle according to claim 6, characterized in that, The second mounting plate (31) is bent, and one end of the bent part of the second mounting plate (31) is fixedly connected to the vehicle frame (1), and the other end of the bent part of the second mounting plate (31) is fixedly connected to the cargo detection radar (3) so that the cargo detection radar (3) is tilted upward. The second through hole is a waist-shaped hole.

8. The sensor assembly for a four-way shuttle vehicle according to claim 1, characterized in that, The vehicle frame (1) has a crossbeam (5) in the middle, and the crossbeam (5) has a third mounting plate (51). The tray radar (4) is fixed on the third mounting plate (51). The crossbeam (5) has a third through hole for the tray radar (4) to detect the direction of the tray placement.

9. The sensor assembly for a four-way shuttle vehicle according to claim 8, characterized in that, The crossbeam (5) is a hollow structure, and the tray radar (4) is fixedly installed in the hollow cavity of the crossbeam (5). Several tray radars (4) are provided along the length of the crossbeam (5).

10. A four-way shuttle vehicle, characterized in that, Includes the four-way shuttle sensor assembly as described in any one of claims 1-9.

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