Body and pallet obstacle avoidance detection device of four-way shuttle and operating method therefor

Abstract

Disclosed in the present invention are a body and pallet obstacle avoidance detection device of a four-way shuttle and an operating method therefor. The device comprises a four-way shuttle, pallets with goods, and orthogonally arranged Y-direction and X-direction tracks, wherein the four-way shuttle can run along the track directions of the Y-direction and X-direction tracks; shelf supports are provided on two sides of each Y-direction track, and the pallets are supported on the shelf supports; an X+ direction distance sensor and an X- direction distance sensor are respectively provided on the front and rear sides of the body of the four-way shuttle in the X direction; a Y+ direction distance sensor and a Y- direction distance sensor are respectively provided on the front and rear sides of the body of the four-way shuttle in the Y direction; a pallet Y+ distance measurement sensor and a pallet Y- distance measurement sensor are respectively provided on the front and rear sides of a jacking structure of the four-way shuttle in the Y direction; and the distance between the four-way shuttle and an obstacle is measured, in order to prevent the four-way shuttle from colliding with the obstacle or the pallets on the shelf supports.

Description

Four-way shuttle vehicle body and tray obstacle avoidance detection device and working method thereof TECHNICAL FIELD

[0001] The present application relates to the field of warehouse vehicles, in particular to a four-way shuttle vehicle body and tray obstacle avoidance detection device. BACKGROUND

[0002] The four-way shuttle vehicle belongs to a new type of product in the current tray-based warehouse logistics. Since the running environment of the four-way vehicle is extremely complex, the collision between the vehicle bodies cannot be avoided by the pure software scheduling system, especially during the running process at the cross intersection. At the same time, when the inventory management system is in chaos, the correctness of each storage location tray cannot be guaranteed, which may cause the collision between the four-way shuttle vehicle carrying the tray and the goods when the four-way shuttle vehicle reaches the storage location, thereby not only causing damage to the vehicle body, but also sending the vehicle body and the goods from the shelf. TECHNICAL PROBLEM

[0003] In order to overcome the deficiencies in the prior art, the present application provides a four-way shuttle vehicle body and tray obstacle avoidance detection device and working method thereof, which can detect the distance between other obstacles in the running direction of the four-way shuttle vehicle and the four-way shuttle vehicle, and detect the tray on the shelf support of the Y-direction track; avoid collision between the four-way shuttle vehicle and other four-way shuttle vehicles, and avoid collision between the four-way shuttle vehicle and the tray on the shelf support. TECHNICAL SOLUTION

[0004] To achieve the above purpose, the four-way shuttle vehicle body and tray obstacle avoidance detection device of the present application comprises a four-way shuttle vehicle, a tray with goods, a Y-direction track and an X-direction track arranged in a horizontal and vertical staggered manner; the four-way shuttle vehicle can run along the track direction of the Y-direction track and the X-direction track; the two sides of each Y-direction track are provided with shelf supports, and the shelf supports support trays; the vehicle body of the four-way shuttle vehicle is provided with an X+ direction distance sensor and an X- direction distance sensor on the front and rear sides in the X direction respectively; the vehicle body of the four-way shuttle vehicle is provided with a Y+ direction distance sensor and a Y- direction distance sensor on the front and rear sides in the Y direction respectively.

[0005] The X+ direction distance sensor, the X- direction distance sensor, the Y+ direction distance sensor and the Y- direction distance sensor respectively detect the distance between the four-way shuttle vehicle and the obstacles in the running direction of the four-way shuttle vehicle, when the distance reaches a first set value, the four-way shuttle vehicle slows down; when the distance reaches a second set value, the four-way shuttle vehicle stops.

[0006] Further, the four-way shuttle vehicle detects the distance between the four-way shuttle vehicle and the obstacle in the positive and negative directions of the X-direction rail through the X+ direction distance sensor and the X- direction distance sensor when the four-way shuttle vehicle runs on the X-direction rail.

[0007] Further, the four-way shuttle vehicle is provided with a liftable jacking structure; the jacking structure is provided with a tray Y+ distance detection sensor and a Y- distance detection sensor on the front and back sides in the Y direction; when the jacking structure is not lifted, the four-way shuttle vehicle can freely shuttle under the tray when running along the Y rail and the X rail; when the jacking structure is lifted, the Y+ distance detection sensor and the Y- distance detection sensor are flush with the height of the tray supported on the shelf support.

[0008] Further, the jacking structure detects the distance between the tray supported on the shelf in each Y-direction rail direction and the four-way shuttle vehicle through the Y+ distance detection sensor and the Y- distance detection sensor when the jacking structure is lifted.

[0009] Further, the four-way shuttle vehicle is provided with an obstacle avoidance detection circuit, which includes a battery module, a PLC control module and an obstacle avoidance sensor module; the battery module is electrically connected to the PLC control module, and the PLC control module is electrically connected to the obstacle avoidance sensor module; the data detected by the obstacle avoidance sensor module is transmitted to the PLC control module through the communication module of the PLC control module.

[0010] Further, the obstacle avoidance sensor module is composed of a Y+ distance detection sensor, a Y- distance detection sensor, a Y+ direction distance sensor, a Y- direction distance sensor, an X+ direction distance sensor and an X- direction distance sensor.

[0011] Further, the positive and negative poles of the discharge port of the battery in the battery module are electrically connected to the positive and negative poles of the DC IN end of the PLC-AP power supply switch module in the PLC control module; the positive and negative poles of the DC OUT end of the PLC-AP power supply switch module are electrically connected to the power supply positive and negative poles of the Y+ distance detection sensor, the Y- distance detection sensor, the Y+ direction distance sensor, the Y- direction distance sensor, the X+ direction distance sensor and the X- direction distance sensor.

[0012] Further, the working method of the vehicle body and the pallet obstacle avoidance detection device of the four-way shuttle vehicle includes that when the jacking structure of the four-way shuttle vehicle is not lifted, the X+ direction distance sensor and the X- direction distance sensor detect the distance between the four-way shuttle vehicle and the obstacle on the X direction track in real time, or the Y+ direction distance sensor and the Y- direction distance sensor detect the distance between the four-way shuttle vehicle and the obstacle on the X direction track in real time; when it is detected that the distance between the four-way shuttle vehicle and the obstacle reaches a first set value, the four-way shuttle vehicle starts to slow down, and when it is detected that the distance between the four-way shuttle vehicle and the obstacle reaches a second set value, the speed of the four-way shuttle vehicle is reduced to 0.

[0013] When the jacking structure of the four-way shuttle vehicle lifts the pallet, the Y+ distance detection sensor and the Y- distance detection sensor on the jacking structure detect the distance between the pallet on each Y direction track and the four-way shuttle vehicle in real time when the four-way shuttle vehicle runs on the X direction track, the number of pallets on the shelf support is obtained according to the detected distance, and whether the pallet with goods placed on the shelf support is abnormal is judged; when the four-way shuttle vehicle runs on the Y direction track, whether the pallet placed on the shelf support is abnormal can also be detected; the Y+ distance detection sensor and the Y- distance detection sensor detect the distance between the pallet on each Y direction track and the four-way shuttle vehicle in real time, and when the detected distance reaches a first set value, the four-way shuttle vehicle starts to slow down, and when the detected distance reaches a second set value, the four-way shuttle vehicle stops.

[0014] Further, when the jacking structure of the four-way shuttle vehicle lifts the pallet, the Y+ direction distance sensor, the Y- direction distance sensor, the X+ direction distance sensor and the X- direction distance sensor still detect the distance between the four-way shuttle vehicle and the obstacle in real time, and judge whether the distance reaches a first set value or a second set value, so that the four-way shuttle vehicle slows down or stops. Advantageous effects

[0015] The four-way shuttle vehicle body and tray obstacle avoidance detection device and working prevention thereof of the present application are provided with two distance detection sensors in the Y direction of the jacking structure of the four-way shuttle vehicle, and the two distance detection sensors detect the distance between the tray on the Y direction track and the four-way shuttle vehicle in the jacked state to determine the number of trays, so as to determine whether the goods on the Y direction track are stacked incorrectly; meanwhile, the two distance sensors can detect the distance between the tray and the four-way shuttle vehicle to determine whether to slow down or stop, so as to avoid the goods on the tray from colliding with the goods supported on the goods shelf when the four-way shuttle vehicle jacks up the tray. Distance sensors are arranged in the four directions of the vehicle body of the four-way shuttle vehicle, and when the four-way shuttle vehicle runs on the X direction track or the Y direction track, the distance between the four-way shuttle vehicle and other four-way shuttle vehicles or obstacles is detected to determine whether to control the four-way shuttle vehicle to slow down and brake; collision between the four-way shuttle vehicles and other obstacles is avoided, and the collision damage of the four-way shuttle vehicles is avoided. Collision between the vehicle bodies and collision between the goods on the trays can be prevented, and the position point of the abnormal goods inventory can also be identified, and the information is reported to the inventory management system, so as to feedback the inventory error in real time and realize accurate management of the inventory. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 is a schematic view of a four-way shuttle vehicle;

[0017] Fig. 2 is a schematic view of a transverse and longitudinal staggered Y direction track and X direction track;

[0018] Fig. 3 is a comparative schematic view of a four-way shuttle vehicle without jacking up a tray on a Y direction track and jacking up a tray;

[0019] Fig. 4 is a schematic view of a battery module in a circuit;

[0020] Fig. 5 is a schematic view of a PLC-AP power supply switch module of a PLC control module in a circuit;

[0021] Fig. 6 is a circuit connection diagram of four laser ranging sensors on the vehicle body of the four-way shuttle vehicle;

[0022] Fig. 7 is a circuit connection diagram of two distance detection sensors on the jacking structure of the four-way shuttle vehicle;

[0023] Fig. 8 is a schematic view of a first communication module circuit connection;

[0024] Fig. 9 is a schematic view of a second communication module circuit connection;

[0025] Fig. 10 is a schematic view of a third communication module circuit connection. Embodiments of the present application

[0026] The present application will be further described below with reference to the drawings.

[0027] As shown in FIG. 1-3, the body of the four-way shuttle vehicle and the pallet obstacle avoidance detection device, characterized in that: including four-way shuttle vehicle 1, and pallet 3 with goods, Y direction track 22 and X direction track 21 staggered horizontally and vertically; the four-way shuttle vehicle 1 can run along the track direction of Y direction track 22 and X direction track 21; each Y direction track 22 is provided with goods shelf support 23 on both sides, and the goods shelf support 23 supports the pallet 3; the body 11 of the four-way shuttle vehicle 1 is provided with X+ direction distance sensor 17 and X- direction distance sensor 18 on the front and back sides of the X direction respectively; the body 11 of the four-way shuttle vehicle 1 is provided with Y+ direction distance sensor 16 and Y- direction distance sensor 15 on the front and back sides of the Y direction respectively;

[0028] The X+ direction distance sensor 17, X- direction distance sensor 18, Y+ direction distance sensor 16 and Y- direction distance sensor 15 respectively detect the distance between the four-way shuttle vehicle 1 and the obstacle in the running direction of the four-way shuttle vehicle 1, when the distance reaches the first set value, the four-way shuttle vehicle 1 slows down; when the distance reaches the second set value, the four-way shuttle vehicle 1 stops; the obstacle can be other four-way shuttle vehicles, pallets, goods and other obstacles that hinder the four-way shuttle vehicle 1 to walk; the goods may be due to the failure of the operation to produce goods accumulation on the X direction track 21 and Y direction track 22.

[0029] As shown in FIG. 1-3, the pallets on the goods shelf support 23 are all supporting goods, when the jacking structure 12 of the four-way shuttle vehicle 1 is not lifted, there is a certain gap between the jacking structure 12 of the four-way shuttle vehicle 1 and the pallet 3 placed on the goods shelf support 23, so that the four-way shuttle vehicle 1 can pass freely below the pallet placed on the goods shelf support 23; in the lifted state of the four-way shuttle vehicle 1, the jacking structure 12 of the four-way shuttle vehicle 1 lifts the pallet 3 with goods, and cannot pass freely below the pallet on the goods shelf support 23. The jacking structure 12 of the four-way shuttle vehicle 1 is arranged at the uppermost of the four-way shuttle vehicle 1, and the body 11 of the four-way shuttle vehicle 1 is below the jacking structure 12, and the body 11 is provided with wheels cooperating with the X direction track 21 and Y direction track 22, so that the four-way shuttle vehicle 1 runs on the X direction track 21 and Y direction track 22; the body 11 will not rise with the jacking structure 12.

[0030] As shown in FIG. 1-3, the four-way shuttle vehicle 1 is provided with a lifting jacking structure 12; the jacking structure 12 is provided with pallet Y+ distance detection sensor 14 and Y- distance detection sensor 13 on the front and back sides of the Y direction respectively; when the jacking structure 12 is not lifted, the four-way shuttle vehicle can shuttle freely below the pallet 3 when running along the Y direction track 22 and X direction track 21; in the lifted state of the jacking structure 12, the Y+ distance detection sensor 14 and Y- distance detection sensor 13 are flush with the height of the pallet 3 supported on the goods shelf support 23.

[0031] As shown in FIG. 2-3, the Y+ distance detection sensor 14, the Y- distance detection sensor 13, the Y+ direction distance sensor 16, the Y- direction distance sensor 4215, the X+ direction distance sensor 17 and the X- direction distance sensor 18 all use laser ranging sensors; the laser ranging sensors can only detect other four-way shuttles or other obstacles at the same height as the laser ranging sensors; that is, when the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 follow the lifting structure 12 to rise to the same height as the pallet 3 placed on the shelf support 23, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 can detect whether there is a pallet 3 on the shelf support 23 of the Y-direction track 22.

[0032] As shown in FIG. 2-3, when the four-way shuttle 1 runs on the X-direction track 21, the X+ direction distance sensor 17 and the X- direction distance sensor 18 respectively detect the distance between the four-way shuttle 1 and obstacles in the positive and negative directions of the X-direction track; when the four-way shuttle 1 runs on the Y-direction track 22, the Y+ direction distance sensor 16 and the Y- direction distance sensor 15 respectively detect the distance between the four-way shuttle 1 and obstacles in the positive and negative directions of the Y-direction track.

[0033] As shown in FIG. 2-3, when the four-way shuttle 1 lifts the pallet 3 with goods, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 are flush with the height of the pallet 3 supported on the shelf support 23, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 detect whether there is another pallet on the shelf support 23 of the Y-direction track 22 at the same height, when the distance between the four-way shuttle 1 and the other pallet is reduced to a first set value, the four-way shuttle 1 starts to decelerate; when the distance between the four-way shuttle 1 and the other pallet is reduced to a second set value, the four-way shuttle 1 starts to brake and the speed is reduced to 0, that is, the four-way shuttle 1 stops or the four-way shuttle 1 reaches the position where the pallet is placed. At the same time, when the four-way shuttle 1 lifts the pallet with goods, the X+ direction distance sensor 17, the X- direction distance sensor 18, the Y+ direction distance sensor 16 and the Y- direction distance sensor 15 can also detect other four-way shuttles on the X-direction track and the Y-direction track which are not in the lifting state in real time.

[0034] As shown in FIG. 2-3, when the lifting structure 12 is in the lifting state, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 respectively detect the distance between the pallet 3 on the shelf support 23 and the four-way shuttle 1 in each Y-direction track 22.

[0035] As shown in FIGS. 4-10, the vehicle and pallet obstacle avoidance detection device of the four-way shuttle vehicle includes a four-way shuttle vehicle obstacle avoidance detection circuit, which includes a battery module 4, a PLC control module, and an obstacle avoidance sensor module; the battery module 4 is electrically connected to the PLC control module, the PLC control module is electrically connected to the obstacle avoidance sensor module; the data detected by the obstacle avoidance sensor module is transmitted to the PLC control module through the communication module of the PLC control module.

[0036] As shown in FIG. 4, the battery module 4 includes a charging brush plate 42 and an emergency charging port 43; the positive and negative poles of the charging brush plate 42 and the emergency charging port 43 are electrically connected to the positive and negative poles of the battery 41 charging port end; the battery 41 in the four-way shuttle vehicle 1 is charged through the charging brush plate 42; the battery 41 includes a power-on switch, which controls the discharging or stopping of the discharge port end of the battery 41.

[0037] As shown in FIGS. 6-7, the obstacle avoidance sensor module is composed of a Y+ distance detection sensor 14, a Y- distance detection sensor 13, a Y+ direction distance sensor 16, a Y- direction distance sensor 15, an X+ direction distance sensor 17, and an X- direction distance sensor 18; the Y+ distance detection sensor 14, the Y- distance detection sensor 13, the Y+ direction distance sensor 16, the Y- direction distance sensor 4215, the X+ direction distance sensor 17, and the X- direction distance sensor 18 all contain positive and negative poles, 458A ports, and 458B ports.

[0038] As shown in FIGS. 4-10, the positive and negative poles of the discharge port end of the battery 41 in the battery module 4 are respectively electrically connected to the positive and negative poles of the DC IN end of the PLC-AP power supply switch module 51 in the PLC control module; the positive and negative poles of the DC OUT end of the PLC-AP power supply switch module 51 are electrically connected to the positive and negative poles of the Y+ distance detection sensor 14, the Y- distance detection sensor 13, the Y+ direction distance sensor 16, the Y- direction distance sensor 15, the X+ direction distance sensor 17, and the X- direction distance sensor 18.

[0039] As shown in FIGS. 8-10, the PLC control module includes a first communication module 53 and a second communication module 54; the 458A+ port of the first communication module 53 is electrically connected with the 458A port of the Y+ direction distance sensor 16, the Y- direction distance sensor 15, the X+ direction distance sensor 17 and the X- direction distance sensor 18; the 458B- port of the first communication module 53 is electrically connected with the 458B port of the Y+ direction distance sensor 16, the Y- direction distance sensor 15, the X+ direction distance sensor 17 and the X- direction distance sensor 18; the 458A+ port of the second communication module 54 is electrically connected with the 458A port of the Y+ distance detection sensor 14 and the Y- distance detection sensor 13; the 458B- port of the second communication module 54 is electrically connected with the 458B port of the Y+ distance detection sensor 14 and the Y- distance detection sensor 13. The 458A+ port of the second communication module 54 is electrically connected with the 458A port of the battery 41, and the 458B- port of the second communication module 54 is electrically connected with the 458B port of the battery 41, so that the PLC control module can detect the state of the battery.

[0040] As shown in FIGS. 8-10, the CAN+ end and the CAN- of the first communication module 53 are electrically connected with the CANH end and the CANL end of the driver, respectively; the PLC control module further includes a third communication module 52; the 458A+ port and the 458B- port of the third communication module 52 are electrically connected with the 458A+ port and the 458- port of the remote control box, respectively; the Ethernet port of the third communication module 52 is bidirectionally electrically connected with the network, and the data detected by all the distance detection sensors is sent to the network after simple processing, for example, the number of the uploaded trays on a certain Y direction track is uploaded to the network, and the information is reported to the inventory management system; the uploaded data is compared with the original recorded data on the network, and when an error is found in the comparison, it can be determined that the goods are placed incorrectly, so as to feedback the inventory error in real time; adjustments and corrections can be made in time.

[0041] When the four-way shuttle vehicle runs on the X direction track 21 and the Y direction track, once an obstacle appears in the running direction, the four-way shuttle vehicle 1 can automatically slow down and stop smoothly to avoid collision between the vehicle bodies, and can also identify the abnormal goods on the Y direction track 21. When the four-way shuttle vehicle 1 runs on the Y direction track 22, the four-way shuttle vehicle 1 can not only identify the obstacle in the running direction, but also identify the position of the abnormal goods when the goods inventory is abnormal, and the vehicle body automatically slows down and stops to avoid collision between the goods trays and between the four-way shuttle vehicles 1.

[0042] The working method of the vehicle body of the four-way shuttle vehicle and the tray obstacle avoidance detection device comprises the following steps: when the jacking structure 12 of the four-way shuttle vehicle 1 is not lifted, the four-way shuttle vehicle 1 travels in a certain direction, and the laser ranging sensor in the current direction feeds back the position of the obstacle in the running direction of the four-way shuttle vehicle 1 in real time; when the four-way shuttle vehicle 1 runs on the X-direction track 21 or the Y-direction track 22, the X+ direction distance sensor 17 and the X- direction distance sensor 18 detect the distance between the four-way shuttle vehicle 1 and the obstacle on the X-direction track 21 in real time, or the Y+ direction distance sensor 16 and the Y- direction distance sensor 15 detect the distance between the four-way shuttle vehicle 1 and the obstacle on the X-direction track 21 in real time; when it is detected that the distance between the four-way shuttle vehicle 1 and the obstacle reaches a first set value, the four-way shuttle vehicle 1 starts to slow down, and when it is detected that the distance between the four-way shuttle vehicle 1 and the obstacle reaches a second set value, the speed of the four-way shuttle vehicle 1 is reduced to 0 and stopped, that is, the running is stopped and an alarm is given.

[0043] When the jacking structure 12 of the four-way shuttle vehicle 1 lifts the tray 3, when the four-way shuttle vehicle 1 runs on the X-direction track 21, when the four-way shuttle vehicle 1 passes each Y-direction track 22, when the four-way shuttle vehicle 1 is at the intersection of each Y-direction track 22 and the X-direction track 21, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 on the jacking structure 12 detect the distance between the tray 3 on the shelf support 23 of each Y-direction track 22 and the four-way shuttle vehicle 1 in real time, calculate the number of trays 3 on the shelf support 23 according to the detected distance, and determine whether the tray 3 with goods placed on the shelf support 23 is abnormal; when the four-way shuttle vehicle 1 runs on the Y-direction track 22, the four-way shuttle vehicle 1 can also detect whether the tray 3 placed on the shelf support 23 is abnormal, at this time the four-way shuttle vehicle 1 needs to determine the specific position of the four-way shuttle vehicle 1 on the Y-direction track 22, calculate the distance between the four-way shuttle vehicle 1 and the tray 3, and then calculate the number of trays on the Y-direction track 22, and then compare the detected number with the originally recorded number to determine whether the goods stacking is abnormal.

[0044] The Y+ distance detection sensor 14 and the Y- distance detection sensor 13 detect the distance between the tray 3 on the shelf support 23 of each Y-direction track 22 and the four-way shuttle vehicle 1 in real time, when the detected distance reaches a first set value, the four-way shuttle vehicle 1 starts to slow down, and when the detected distance reaches a second set value, the four-way shuttle vehicle 1 stops; and an alarm is given to avoid collision between trays and loss caused by goods falling from the shelf. When the four-way shuttle vehicle 1 stops on the Y-direction track 22, the four-way shuttle vehicle 1 can reach the position where the tray should be placed; the first set value is greater than the second set value, and the first set value and the second set value can be set according to the requirements of the running of the four-way shuttle vehicle 1.

[0045] When the four-way shuttle vehicle 1 runs on the Y-direction track 22, if the tray is not placed accurately in the storage location, i.e., in the Y-direction track 22, the four-way shuttle vehicle 1 can detect whether there is a tray in the storage location through the Y+ distance detection sensor 14 and the Y- distance detection sensor 13. Once it is detected that there is a tray in front, the four-way shuttle vehicle 1 will automatically slow down and stop, and an alarm will be sent to avoid the collision between the trays and the loss caused by the falling of goods from the shelves.

[0046] When the jacking structure 12 of the four-way shuttle vehicle 1 lifts the tray 3, the Y+ direction distance sensor 16, the Y- direction distance sensor 15, the X+ direction distance sensor 17 and the X- direction distance sensor 18 still detect the distance between the four-way shuttle vehicle 1 and the obstacle in real time to determine whether the distance reaches the first set value or the second set value, so that the four-way shuttle vehicle 1 slows down or stops. At this time, the Y+ direction distance sensor 16, the Y- direction distance sensor 15, the X+ direction distance sensor 17 and the X- direction distance sensor 18 detect the distance between the other four-way shuttle vehicle which is not lifted and the four-way shuttle vehicle 1, or the distance between the obstacle which is not high in height and the four-way shuttle vehicle 1, so as to avoid the danger of collision. Embodiment

[0047] Four direction distance sensors are arranged in the four running directions of the four-way shuttle vehicle 1, and two distance detection sensors are arranged in the Y-direction track of the jacking structure 12. The six sensors are connected to the PLC controller through 485 communication. When the software scheduling system of the four-way shuttle vehicle 1 has a vehicle body path conflict or needs to avoid at a crossroads, the four-way shuttle vehicle 1 senses the front vehicle body through the bottom sensor itself, so as to perform the deceleration and stopping action to avoid the collision between the vehicle body and other vehicle bodies.

[0048] When the four-way shuttle vehicle 1 moves on the X-direction track 21 or the Y-direction track 22, the distance sensor detects the moving direction of the four-way shuttle vehicle 1. When it is detected that there is an obstacle, and the distance between the obstacle and the four-way shuttle vehicle 1 reaches or is less than the first set value, the four-way shuttle vehicle 1 starts to gradually decelerate. If the obstacle is another four-way shuttle vehicle 1, the other four-way shuttle vehicle 1 passes by, and the four-way shuttle vehicle 1 does not detect that the distance between the obstacle and the four-way shuttle vehicle 1 is greater than the first set value, then the four-way shuttle vehicle 1 can accelerate to the original running speed. When it is detected that the distance between the obstacle and the four-way shuttle vehicle 1 reaches or is less than the second set value, the four-way shuttle vehicle 1 gradually decelerates to stop, and an alarm is sent for the front obstacle to prevent the collision between the vehicle bodies.

[0049] The four-way shuttle vehicle 1 detects the distance of other four-way shuttle vehicles in the moving direction of the four-way shuttle vehicle 1 to avoid collision in the non-lifting state. The four laser ranging sensors on the vehicle body 11 of the four-way shuttle vehicle 1 are at the same height as the pallets 3 of the shelf supports 23 in the lifting state. When the four-way shuttle vehicle 1 lifts the pallet with goods, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 of the four-way shuttle vehicle 1 detect the pallets 3 of the shelf supports 23 on both sides of the Y-direction track when the four-way shuttle vehicle 1 runs on the X-direction track and upload to the inventory management system, which can detect the goods placement error of the shelf in real time. When the four-way shuttle vehicle 1 runs on the Y-direction track, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 of the four-way shuttle vehicle 1 detect whether there is a pallet 3 in the moving direction of the four-way shuttle vehicle 1 and detect the distance, so that the four-way shuttle vehicle 1 slows down and stops by braking to avoid collision between the four-way shuttle vehicle 1 and the pallet on the shelf support 23.

[0050] When the lifting structure 12 of the four-way shuttle vehicle 1 lifts the pallet 3, the Y+ distance detection sensor 14 and the Y- distance detection sensor 13 of the four-way shuttle vehicle 1 detect the distance between the pallet 3 on the shelf support 23 on the Y-direction track 22 and the four-way shuttle vehicle 1, and determine the number of goods placed on the Y-direction track 22, i.e. the number of pallets, by the length of the distance. If a number of pallets are detected, but the network records a different number, when a and b are not equal, it can be determined that the goods and the pallet with goods are placed incorrectly, which can be adjusted in time. The X+ direction distance sensor 17, the X- direction distance sensor 18, the Y+ direction distance sensor 16 and the Y- direction distance sensor 15 of the four-way shuttle vehicle 1 detect the distance data of other obstacles in the running direction of the four-way shuttle vehicle 1 and transmit the data to the PLC control module. When the first set value is reached, the four-way shuttle vehicle 1 slows down, and when the second set value is reached, the four-way shuttle vehicle 1 stops by braking.

[0051] The above is only a description of the preferred embodiments of the present application, and those skilled in the art can make some modifications and optimizations based on the above disclosure without departing from the above basic principles. These improvements and optimizations should be considered as the scope of protection of the present application.

Claims

1. A vehicle body and pallet obstacle detection device for a four-way shuttle vehicle, characterized in that: The four-way shuttle vehicle (1) can run along the track direction of the Y-direction track (22) and the X-direction track (21); both sides of each Y-direction track (22) are provided with a shelf support (23), and the shelf support (23) supports a tray (3); the vehicle body (11) of the four-way shuttle vehicle (1) is provided with an X+ direction distance sensor (17) and an X- direction distance sensor (18) on the front and back sides in the X direction respectively; the vehicle body (11) of the four-way shuttle vehicle (1) is provided with a Y+ direction distance sensor (16) and a Y- direction distance sensor (15) on the front and back sides in the Y direction respectively; The X+ direction distance sensor (17), the X- direction distance sensor (18), the Y+ direction distance sensor (16) and the Y- direction distance sensor (15) respectively detect the distance between the four-way shuttle vehicle (1) and the obstacle in the running direction of the four-way shuttle vehicle (1), and when the distance reaches a first set value, the four-way shuttle vehicle (1) slows down; when the distance reaches a second set value, the four-way shuttle vehicle (1) stops.

2. The body of the four-way shuttle vehicle and the pallet obstacle detection device according to claim 1, characterized in that: When the four-way shuttle vehicle (1) runs on the X-direction track (21), the X+ direction distance sensor (17) and the X- direction distance sensor (18) respectively detect the distance between the four-way shuttle vehicle (1) and the obstacle in the positive and negative directions of the X-direction track; when the four-way shuttle vehicle (1) runs on the Y-direction track (22), the Y+ direction distance sensor (16) and the Y- direction distance sensor (15) respectively detect the distance between the four-way shuttle vehicle (1) and the obstacle in the positive and negative directions of the Y-direction track.

3. The body of the four-way shuttle vehicle and pallet obstacle detection device according to claim 1, characterized in that: The four-way shuttle vehicle (1) is provided with a liftable jacking structure (12); the jacking structure (12) is provided with a tray Y+ distance detection sensor (14) and a Y- distance detection sensor (13) on the front and back sides in the Y direction respectively; when the jacking structure (12) is not lifted, the four-way shuttle vehicle can freely shuttle under the tray (3) when running along the Y track (22) and the X track (21); when the jacking structure (12) is in the lifted state, the Y+ distance detection sensor (14) and the Y- distance detection sensor (13) are flush with the height of the tray (3) supported on the shelf support (23).

4. The body of the four-way shuttle vehicle and pallet obstacle detection device according to claim 1, characterized in that: When the jacking structure (12) is in the lifted state, the Y+ distance detection sensor (14) and the Y- distance detection sensor (13) respectively detect the distance between the tray (3) on the shelf support (23) and the four-way shuttle vehicle (1) in each Y-direction track (22) direction.

5. The body of the four-way shuttle vehicle and pallet obstacle detection device according to claim 1, characterized in that: The four-way shuttle vehicle obstacle avoidance detection circuit comprises a battery module (4), a PLC control module and an obstacle avoidance sensor module; the battery module (4) is electrically connected with the PLC control module, and the PLC control module is electrically connected with the obstacle avoidance sensor module; the data detected by the obstacle avoidance sensor module is transmitted to the PLC control module through the communication module of the PLC control module. 6.The body and pallet obstacle detection device of the four-way shuttle vehicle according to claim 5, characterized in that: The obstacle avoidance sensor module is composed of a Y+ distance detection sensor (14), a Y- distance detection sensor (13), a Y+ direction distance sensor (16), a Y- direction distance sensor (15), an X+ direction distance sensor (17) and an X- direction distance sensor (18). 7.The body and pallet obstacle detection device of the four-way shuttle vehicle according to claim 6, characterized in that: The positive and negative poles of the discharge port end of the battery (41) in the battery module (4) are electrically connected to the positive and negative poles of the DC IN end of a PLC-AP power supply switch module (51) in the PLC control module; the positive and negative poles of the DC OUT end of the PLC-AP power supply switch module (51) are electrically connected to the power supply positive and negative poles of the Y+ distance detection sensor (14), the Y- distance detection sensor (13), the Y+ direction distance sensor (16), the Y- direction distance sensor (15), the X+ direction distance sensor (17) and the X- direction distance sensor (18). 8.The working method of the body of the four-way shuttle vehicle and the pallet obstacle avoidance detection device according to claims 1-7, characterized in that: When the jacking structure (12) of the four-way shuttle vehicle (1) is not lifted, when the four-way shuttle vehicle (1) runs on the X-direction track (21) or the Y-direction track (22), the X+ direction distance sensor (17) and the X- direction distance sensor (18) detect the distance between the four-way shuttle vehicle (1) and the obstacle on the X-direction track (21) in real time, or the Y+ direction distance sensor (16) and the Y- direction distance sensor (15) detect the distance between the four-way shuttle vehicle (1) and the obstacle on the X-direction track (21) in real time; when the distance between the four-way shuttle vehicle (1) and the obstacle is detected to reach a first set value, the four-way shuttle vehicle (1) starts to decelerate, and when the distance between the four-way shuttle vehicle (1) and the obstacle is detected to reach a second set value, the speed of the four-way shuttle vehicle (1) is reduced to 0; When the jacking structure (12) of the four-way shuttle vehicle (1) lifts the tray (3), when the four-way shuttle vehicle (1) runs on the X-direction track (21), the Y+ distance detection sensor (14) and the Y- distance detection sensor (13) on the jacking structure (12) detect the distance between the tray (3) on each Y-direction track (22) and the four-way shuttle vehicle (1) in real time, obtain the number of trays (3) on the shelf support (23) according to the detected distance, and judge whether the tray (3) with goods placed on the shelf support (23) is abnormal; when the four-way shuttle vehicle (1) runs on the Y-direction track (22), it can also detect whether the tray (3) placed on the shelf support (23) is abnormal; the Y+ distance detection sensor (14) and the Y- distance detection sensor (13) detect the distance between the tray (3) on each Y-direction track (22) and the four-way shuttle vehicle (1) in real time, and when the detection distance reaches a first set value, the four-way shuttle vehicle (1) starts to decelerate, and when the detection distance reaches a second set value, the four-way shuttle vehicle (1) stops. 9.The working method of the body of the four-way shuttle vehicle and the pallet obstacle avoidance detection device according to claim 8, characterized in that: When the jacking structure (12) of the four-way shuttle vehicle (1) lifts the pallet (3), the Y+ direction distance sensor (16), the Y- direction distance sensor (15), the X+ direction distance sensor (17) and the X- direction distance sensor (18) still detect the distance between the four-way shuttle vehicle (1) and the obstacle in real time, and determine whether the distance reaches the first set value or the second set value, so that the four-way shuttle vehicle (1) slows down or stops.

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