Shuttle vehicle and warehouse logistics system

Abstract

The application relates to a shuttle vehicle and a warehouse logistics system. The shuttle vehicle comprises a vehicle body, a first moving assembly and at least two obstacle avoidance modules. The first moving assembly is arranged on the vehicle body and is configured to drive the vehicle body to move in a first direction. All the obstacle avoidance modules are arranged on the vehicle body and comprise a first obstacle avoidance module and a second obstacle avoidance module. The first obstacle avoidance module and the second obstacle avoidance module are arranged on opposite sides of the vehicle body in the first direction and the projections of the two modules in the first direction do not overlap. The shuttle vehicle has the obstacle avoidance modules arranged on the vehicle body, can sense obstacles in the direction of travel, and can reduce the probability of collision. Meanwhile, the first obstacle avoidance module and the second obstacle avoidance module on the two sides of the vehicle body are arranged in a staggered manner, that is, the first obstacle avoidance module on the shuttle vehicle and the second obstacle avoidance module on the adjacent shuttle vehicle are staggered, so as to prevent the two obstacle avoidance detection signals from interfering with each other, improve the accuracy of obstacle avoidance detection, and reduce the probability of collision of the shuttle vehicle.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics equipment technology, and in particular to a shuttle vehicle and warehousing and logistics system. Background Technology

[0002] A shuttle is an intelligent material handling device specifically used in high-density automated storage and retrieval of goods. It enables automated storage and retrieval of goods, offering high efficiency, flexibility, and space-saving features, and its application is continuously expanding. Specifically, the shuttle travels on rack tracks to handle the inbound and outbound operations of boxes or cartons. It uses telescopic forks combined with a hook-and-grip device to remove boxes and transport them to designated exit locations. Simultaneously, it can store boxes from the entrance location into designated storage positions.

[0003] However, when shuttles are running in the warehouse, there is a risk of collision due to the complex storage environment (such as temporarily placed bins, protruding shelves, interference from other shuttles, etc.). This could lead to damage to goods, shuttle malfunctions, and even, in severe cases, danger to maintenance personnel. Utility Model Content

[0004] Therefore, it is necessary to provide a shuttle and warehousing logistics system that can reduce the probability of collisions, in order to address the above-mentioned problems.

[0005] A shuttle vehicle, the shuttle vehicle comprising:

[0006] Vehicle body;

[0007] A first moving component is disposed on the vehicle body and configured to drive the vehicle body to move along a first direction;

[0008] At least two obstacle avoidance modules are provided on the vehicle body, including a first obstacle avoidance module and a second obstacle avoidance module; the first obstacle avoidance module and the second obstacle avoidance module are respectively provided on opposite sides of the vehicle body in the first direction, and their projections along the first direction do not overlap.

[0009] In one embodiment, the obstacle avoidance module is a laser ranging module.

[0010] In one embodiment, the shuttle further includes a second moving component disposed on the vehicle body;

[0011] The second moving component is configured to drive the vehicle body to move along a second direction, which intersects with the first direction.

[0012] In one embodiment, all of the obstacle avoidance modules further include a third obstacle avoidance module and a fourth obstacle avoidance module;

[0013] The third obstacle avoidance module and the fourth obstacle avoidance module are respectively located on opposite sides of the vehicle body in the second direction, and their projections along the second direction do not overlap.

[0014] In one embodiment, the first moving component includes a first traveling wheel disposed on the vehicle body;

[0015] The second moving component includes a lifting mechanism, a wheel support, and a second wheel; the lifting mechanism is located on the vehicle body, the wheel support is located on the lifting mechanism, and the second wheel is located on the wheel support.

[0016] The traveling wheel bracket is configured to switch between a retracted position and a working position under the drive of the lifting mechanism; when the traveling wheel bracket is in the retracted position, the second traveling wheel is at a first height; when the traveling wheel bracket is in the working position, the second traveling wheel is at a second height; in the height direction of the vehicle body, the first height is higher than the second height.

[0017] In one embodiment, the lifting mechanism includes a lifting rail and a lifting drive assembly, wherein the lifting rail extends longitudinally along the height direction of the vehicle body;

[0018] The walking wheel bracket is mounted on the lifting rail, is connected to the lifting drive assembly, and is configured to move along the lifting rail under the drive of the lifting drive assembly.

[0019] In one embodiment, the second moving component includes two wheel brackets and two sets of second wheels. The two wheel brackets are spaced apart on the vehicle body in the first direction, and the two sets of second wheels are respectively disposed on the two wheel brackets. Each set of second wheels includes at least two second wheels.

[0020] The lifting drive assembly includes a lifting driver, a transmission rod, and two eccentric wheels; the transmission rod extends longitudinally along the first direction and is connected to the lifting driver; the two eccentric wheels are located on the transmission rod and are configured to rotate eccentrically with the transmission rod, and the two eccentric wheels are respectively connected to the two walking wheel brackets.

[0021] In one embodiment, the shuttle further includes two forks spaced apart from each other on the vehicle body, and the distance between the forks is configured to be adjustable.

[0022] A warehousing and logistics system includes shelves and a shuttle as described above, the shuttle being mounted on the shelves.

[0023] In one embodiment, the shelf is a double-deep shelf.

[0024] The aforementioned shuttle and warehousing logistics system is equipped with an obstacle avoidance module on its body, capable of sensing obstacles in the direction of travel to reduce the probability of collisions. Furthermore, the first and second obstacle avoidance modules on both sides of the vehicle body are staggered, meaning the first obstacle avoidance module on one shuttle is offset from the second obstacle avoidance module on the adjacent shuttle. This prevents interference between their obstacle avoidance detection signals, thereby improving the accuracy of obstacle avoidance detection and reducing the probability of shuttle collisions. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the shuttle vehicle in one embodiment of this application.

[0027] Figure 2 for Figure 1 The diagram shows a partial structural schematic of the shuttle.

[0028] Explanation of reference numerals in the attached drawings: 100, shuttle; 10, vehicle body; 20, first moving component; 21, first traveling wheel; 30, obstacle avoidance module; 40, fork; 50, toggle hook; 60, second moving component; 61, lifting mechanism; 611, lifting rail; 613, lifting drive component; 6131, transmission rod; 6133, eccentric wheel; 6135, transmission block; 62, traveling wheel bracket; 63, second traveling wheel; 71, first guide wheel; 72, second guide wheel. Detailed Implementation

[0029] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0030] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 application.

[0031] Furthermore, where the term "and / or" appears, it merely describes the relationship between related objects and indicates that three relationships can exist. For example, A and / or B can represent the relationship between A and B: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this document generally indicates an "or" relationship between the related objects before and after it. Where the terms "first" and "second" appear, these terms are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified with "first" or "second" may explicitly or implicitly include at least one of those features. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, four, five, etc., unless otherwise explicitly specified.

[0032] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0034] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0035] Please see Figure 1 An embodiment of this application provides a shuttle vehicle 100, including a vehicle body 10, a first moving component 20, and at least two obstacle avoidance modules 30. The first moving component 20 is disposed on the vehicle body 10 and configured to drive the vehicle body 10 along a first direction (e.g., Figure 1 The obstacle avoidance module 30 is located on the vehicle body 10 and includes a first obstacle avoidance module and a second obstacle avoidance module. The first obstacle avoidance module and the second obstacle avoidance module are respectively located on opposite sides of the vehicle body 10 in the first direction, and their projections along the first direction do not overlap.

[0036] Understandably, to achieve its normal function, the vehicle body 10 has a carrying position for carrying goods. The shuttle: 100 may also include conventional telescopic forks, lever hooks 50, and a main controller for controlling the operation of the shuttle: 100. The first moving component 20 is used to drive the vehicle body 10 along the rack tracks to transport goods (e.g., bins or cartons). In one embodiment, the shuttle: 100 can be used in a double-deep rack.

[0037] The obstacle avoidance module 30 can be, but is not limited to, a laser obstacle avoidance module 30, an infrared obstacle avoidance module 30, an ultrasonic obstacle avoidance module 30, etc. The obstacle avoidance module 30 is configured to emit an obstacle avoidance detection signal and detect the reflected signal generated after the obstacle avoidance detection signal touches an obstacle, so as to determine whether there is an obstacle or the distance of the obstacle within the detection range based on the presence, intensity, and reception time of the reflected signal.

[0038] Specifically, the first direction can be the front-rear or left-right direction of the vehicle body 10. The first obstacle avoidance module and the second obstacle avoidance module are used to detect obstacles on both sides of the vehicle body 10 facing upwards in the first direction. Taking the front-rear direction as an example, the first obstacle avoidance module and the second obstacle avoidance module are located on the front and rear sides of the vehicle body 10, respectively, and are used to detect obstacles on both sides of the vehicle body 10 facing upwards. The projections of the two modules along the first direction onto a plane perpendicular to the first direction do not overlap. In other words, the first obstacle avoidance module and the second obstacle avoidance module are staggered.

[0039] The aforementioned shuttle vehicle 100 has an obstacle avoidance module 30 installed on its body 10. This module can detect obstacles in the direction of travel, thereby reducing the probability of a collision. Simultaneously, the first and second obstacle avoidance modules on both sides of the body 10 are staggered, meaning the first obstacle avoidance module on the shuttle vehicle 100 is offset from the second obstacle avoidance module of the adjacent shuttle vehicle 100. This prevents interference between their obstacle avoidance detection signals, thereby improving the accuracy of obstacle avoidance detection and reducing the probability of a collision.

[0040] Shuttle Car: The 100 is suitable for scenarios with high operational safety requirements, such as e-commerce smart warehousing, pharmaceutical warehouses, and intelligent manufacturing automated warehouses. It is especially suitable for automated systems with multi-vehicle collaboration and high-density bin storage. After being equipped with the obstacle avoidance module 30, the warehouse accident rate can be significantly reduced (collision accident reduction rate can reach more than 90%), while improving equipment operating efficiency.

[0041] In some embodiments, the shuttle vehicle 100 further includes a second moving component 60 disposed on the vehicle body 10. The second moving component 60 is configured to drive the vehicle body 10 along a second direction (e.g., Figure 1 The second direction moves in the Y direction (as shown), and the second direction intersects with the first direction.

[0042] Specifically, the first direction and the second direction can be perpendicular to each other. One of the first direction and the second direction can be the front-to-back direction of the vehicle body 10, and the other can be the left-to-right direction of the vehicle body 10.

[0043] Thus, the shuttle vehicle 100 can move in four directions (front, back, left, and right) through the first moving component 20 and the second moving component 60, and has omnidirectional mobility and adaptability to complex scenarios.

[0044] Furthermore, the entire obstacle avoidance module 30 also includes a third obstacle avoidance module and a fourth obstacle avoidance module. The third obstacle avoidance module and the fourth obstacle avoidance module are respectively located on opposite sides of the vehicle body 10 in the second direction, and their projections along the second direction do not overlap.

[0045] Specifically, the third and fourth obstacle avoidance modules are used to detect obstacles facing upwards on both sides of the vehicle body 10 in the second direction. Taking the second direction as the left-right direction as an example, the third and fourth obstacle avoidance modules are located on the left and right sides of the vehicle body 10, respectively, and are used to detect obstacles facing upwards on the left and right sides of the vehicle body 10. Furthermore, their projections along the second direction on a plane perpendicular to the second direction do not overlap. In other words, the third and fourth obstacle avoidance modules are offset from each other.

[0046] Thus, the shuttle car 100 has obstacle avoidance modules 30 in all four directions: front, back, left, and right. The shuttle car 100 can effectively avoid obstacles when moving in any direction, reducing the operational risk of the shuttle car 100.

[0047] Please refer to the following: Figure 2 In some embodiments, the first moving component 20 includes a first traveling wheel 21, which is disposed on the vehicle body 10. The second moving component 60 includes a lifting mechanism 61, a traveling wheel bracket 62, and a second traveling wheel 63. The lifting mechanism 61 is disposed on the vehicle body 10, the traveling wheel bracket 62 is disposed on the lifting mechanism 61, and the second traveling wheel 63 is disposed on the traveling wheel bracket 62.

[0048] The wheel bracket 62 is configured to switch between a retracted position and a working position under the drive of the lifting mechanism 61. When the wheel bracket 62 is in the retracted position, the second wheel 63 is at a first height. When the wheel bracket 62 is in the working position, the second wheel 63 is at a second height. In the height direction of the vehicle body 10, the first height is higher than the second height.

[0049] Understandably, the shelving unit has a first track extending longitudinally in a first direction and a second track extending longitudinally in a second direction. When the wheel support 62 is in the retracted position, the second wheel 63 is in a high position and not in contact with the second track, and the shuttle 100 moves along the first track driven by the first wheel 21. When the wheel support 62 is in the working position, the second wheel 63 is in a low position and in contact with the second track, and the shuttle 100 moves along the second track driven by the second wheel 63.

[0050] Thus, the shuttle 100 can switch between moving in the first direction and moving in the second direction, moving under the drive of the first traveling wheel 21 and the second traveling wheel 63 respectively.

[0051] In some embodiments, the lifting mechanism 61 includes a lifting rail 611 and a lifting drive assembly 613. The lifting rail 611 extends longitudinally along the height direction of the vehicle body 10. The wheel bracket 62 is disposed on the lifting rail 611, is connected to the lifting drive assembly 613, and is configured to move along the lifting rail 611 under the drive of the lifting drive assembly 613.

[0052] In this way, the walking wheel bracket 62 can move stably up and down under the guidance of the lifting rail 611, realizing position switching.

[0053] Furthermore, the second moving component 60 includes two wheel brackets 62 and two sets of second wheels 63. The two wheel brackets 62 are spaced apart on the vehicle body 10 in a first direction, and the two sets of second wheels 63 are respectively disposed on the two wheel brackets 62, and each set of second wheels 63 includes at least two second wheels 63.

[0054] The lifting drive assembly 613 includes a lifting driver, a transmission rod 6131, and two eccentric wheels 6133. The transmission rod 6131 extends longitudinally along a first direction and is driveably connected to the lifting driver. The two eccentric wheels 6133 are located on the transmission rod 6131 and are configured to rotate eccentrically with the transmission rod 6131. ​​The two eccentric wheels 6133 are driveably connected to two traveling wheel brackets 62, respectively.

[0055] Specifically, the lifting drive assembly 613 may further include transmission blocks 6135. Each traveling wheel bracket 62 is provided with two transmission blocks 6135, and the two transmission blocks 6135 are spaced apart in the height direction of the vehicle body 10. An eccentric wheel 6133 is located between the two transmission blocks 6135 and rotates eccentrically between them to drive the traveling wheel bracket 62 to lift.

[0056] Thus, under the action of the lifting drive, the transmission rod 6131 drives the two eccentric wheels 6133 to rotate, thereby synchronously driving the walking wheel brackets 62 on both sides to lift.

[0057] Specifically, the first moving component 20 may include four first traveling wheels 21, at least one of which is a drive wheel. The first moving component 20 also includes a first driver, and all the drive wheels of the first moving component 20 are tractably connected to the first driver. The second moving component 60 may include two lifting mechanisms 61 and four second traveling wheels 63. Each lifting mechanism 61 corresponds to a traveling wheel bracket 62. The lifting mechanism 61 may include two lifting rails 611, which are spaced apart in a second direction. Each traveling wheel bracket 62 is mounted on the two lifting rails 611 and is movable along them. Two second traveling wheels 63 are mounted on each traveling wheel bracket 62, and the two traveling wheel brackets 62 are respectively located on both sides of the vehicle body 10 in the first direction. At least one of the four second traveling wheels 63 is a drive wheel. The second moving component 60 also includes a second driver, and all the drive wheels of the second moving component 60 are tractably connected to the second driver.

[0058] In some embodiments, the shuttle vehicle 100 further includes at least two first guide wheels 71, all of which are located on opposite sides of the vehicle body 10 in a second direction and are axially parallel to the height direction of the vehicle body 10. The shuttle vehicle 100 also includes at least two second guide wheels 72, all of which are located on opposite sides of the vehicle body 10 in a first direction and are axially parallel to the height direction of the vehicle body 10.

[0059] In this way, the guide wheels can play a guiding role during the movement of the shuttle: 100, which helps to improve the stability and smoothness of the shuttle: 100's movement.

[0060] In some other embodiments, the shuttle 100 can also move by means of guide rails and sliders, etc., which are not specifically limited here.

[0061] In some embodiments, the obstacle avoidance module 30 is a laser ranging module.

[0062] Specifically, the laser ranging module's ranging range can be set to 0.1 meters to 12 meters and it communicates with the main controller. The laser ranging module detects obstacles within a 0.1-12 meter range in front of the shuttle 100. If an obstacle is detected, it immediately sends feedback to the shuttle 100's main controller, causing the controller to brake the shuttle 100 to prevent a collision with the obstacle, thus protecting the safety of goods and people, as well as the shuttle 100 itself.

[0063] Thus, the shuttle vehicle 100 can use a laser ranging module to detect obstacles ahead. This module has advantages such as high accuracy, small size, light weight, and fast response speed. In addition, the distance detected by the laser ranging module can provide feedback on the specific location of the obstacle, helping staff to accurately troubleshoot problems.

[0064] In addition, if an obstacle is detected ahead and cannot be dealt with in a short time, the Warehouse Control System (WCS) of the warehouse logistics system can recalculate and dispatch shuttles through the system path algorithm: 100 automatically executes detour tasks to avoid obstacles, realizes dynamic path adjustment, and improves the overall warehouse operation efficiency.

[0065] Specifically, the laser ranging module transmits the obstacle distance signal in real time to the main controller via CAN bus communication (transmission rate 1Mbps). When the obstacle distance is ≤ a safety threshold (the safety threshold can be dynamically adjusted, ranging from 0.1 meters to 12 meters, and is positively correlated with the shuttle's speed of 100), a three-level response mechanism is triggered. The three-level response mechanism can be specifically as follows:

[0066] Level 1 warning (obstacle distance > 5m): Control the drive wheels to reduce speed to 50% of rated speed, and send a warning signal to the equipment control system at the same time;

[0067] Secondary deceleration (2m≤distance≤5m): Reduce the speed of the drive wheels to 20% of the rated speed and prepare to stop;

[0068] Level 3 braking (distance ≤ 1m): Immediate braking to bring the shuttle 100 to a complete stop within 0.5m.

[0069] In some embodiments, the shuttle 100 further includes two forks 40 spaced apart from the body 10, and the distance between them is configured to be adjustable.

[0070] In this way, the distance between the two forks 40 can be adjusted according to the size of the goods to be transported, thereby enabling the shuttle 100 to adapt to different types of goods and improve its adaptability and versatility.

[0071] The aforementioned shuttle 100 can move in four directions (forward, backward, left, and right) via the first moving component 20 and the second moving component 60. It detects obstacles within a range of 0.1m-12m in each of the four directions using first, second, third, and fourth obstacle avoidance modules, ensuring effective obstacle avoidance in any direction and protecting the safety of goods and maintenance personnel within the automated warehouse. Furthermore, the obstacle avoidance modules 30 on the shuttle 100 are staggered to reduce mutual interference between adjacent modules, improving the accuracy of the detection structure. Simultaneously, the adjustable spacing between the two forks 40 of the shuttle 100 enhances its adaptability to different goods and increases its versatility.

[0072] In addition, the shuttle car 100 has the feature of more flexible scheduling. If an obstacle is detected ahead and cannot be dealt with in a short time, the equipment control system will recalculate through the system path algorithm and schedule the shuttle car 100 to automatically perform detour tasks to avoid the obstacle and realize dynamic path adjustment, which can improve the overall warehouse operation efficiency.

[0073] This application also provides a warehousing and logistics system including shelves and the aforementioned shuttle car: 100, wherein the shuttle car: 100 is mounted on the shelves.

[0074] Furthermore, the shelving is a double-deep shelving unit.

[0075] Each rack aisle has two rows of storage positions, which can hold two rows of goods consecutively. Both rows of goods on the rack can be transferred to the vehicle body 10 by the forks 40 and hooks 50 of the shuttle car: 100, and the goods on the vehicle body 10 can also be transferred to either row of storage positions on the rack by the forks 40 and hooks 50 of the shuttle car: 100.

[0076] In this way, the storage capacity of the shelves is increased, the space utilization rate is higher, and it can be better suited for large-volume storage scenarios.

[0077] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A shuttle vehicle, characterized in that, The shuttle includes: Vehicle body (10); A first moving component (20) is disposed on the vehicle body (10) and configured to drive the vehicle body (10) to move in a first direction; At least two obstacle avoidance modules (30) are provided on the vehicle body (10), including a first obstacle avoidance module and a second obstacle avoidance module; the first obstacle avoidance module and the second obstacle avoidance module are respectively provided on opposite sides of the vehicle body (10) in the first direction, and their projections along the first direction do not overlap.

2. The shuttle vehicle according to claim 1, characterized in that, The obstacle avoidance module (30) is a laser ranging module.

3. The shuttle vehicle according to claim 1 or 2, characterized in that, The shuttle also includes a second moving component (60), which is disposed on the vehicle body (10). The second moving component (60) is configured to drive the vehicle body (10) to move along a second direction, which intersects with the first direction.

4. The shuttle vehicle according to claim 3, characterized in that, All of the obstacle avoidance modules (30) also include a third obstacle avoidance module and a fourth obstacle avoidance module; The third obstacle avoidance module and the fourth obstacle avoidance module are respectively located on opposite sides of the vehicle body (10) in the second direction, and their projections along the second direction do not overlap.

5. The shuttle vehicle according to claim 3, characterized in that, The first moving component (20) includes a first traveling wheel (21), which is disposed on the vehicle body (10). The second moving component (60) includes a lifting mechanism (61), a wheel support (62), and a second wheel (63); the lifting mechanism (61) is located on the vehicle body (10), the wheel support (62) is located on the lifting mechanism (61), and the second wheel (63) is located on the wheel support (62). The walking wheel bracket (62) is configured to switch between a retracted position and a working position under the drive of the lifting mechanism (61); when the walking wheel bracket (62) is in the retracted position, the second walking wheel (63) is at a first height; when the walking wheel bracket (62) is in the working position, the second walking wheel (63) is at a second height; in the height direction of the vehicle body (10), the first height is higher than the second height.

6. The shuttle vehicle according to claim 5, characterized in that, The lifting mechanism (61) includes a lifting rail (611) and a lifting drive assembly (613), wherein the lifting rail (611) extends longitudinally along the height direction of the vehicle body (10); The walking wheel bracket (62) is located on the lifting rail (611), is connected to the lifting drive assembly (613) for transmission, and is configured to move along the lifting rail (611) under the drive of the lifting drive assembly (613).

7. The shuttle vehicle according to claim 6, characterized in that, The second moving component (60) includes two wheel brackets (62) and two sets of second wheels (63). The two wheel brackets (62) are spaced apart on the vehicle body (10) in the first direction. The two sets of second wheels (63) are respectively disposed on the two wheel brackets (62), and each set of second wheels (63) includes at least two second wheels (63). The lifting drive assembly (613) includes a lifting driver, a transmission rod (6131), and two eccentric wheels (6133); the transmission rod (6131) extends longitudinally along the first direction and is connected to the lifting driver. The two eccentric wheels (6133) are located on the transmission rod (6131) and are configured to rotate eccentrically with the transmission rod (6131), and the two eccentric wheels (6133) are respectively connected to the two walking wheel brackets (62).

8. The shuttle vehicle according to claim 1, characterized in that, The shuttle also includes two forks (40) spaced apart from each other on the vehicle body (10), and the distance between them is adjustable.

9. A warehousing and logistics system, characterized in that, Includes a shelf and a shuttle as described in any one of claims 1-8, wherein the shuttle is disposed on the shelf.

10. The warehousing and logistics system according to claim 9, characterized in that, The shelving unit is a double-deep shelving unit.

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