High-level order picking vehicle with dual drive wheels

Abstract

A high-level order picking vehicle with dual drive wheels, aimed at solving the problem of poor movement flexibility of conventional high-level order picking vehicles, which are unable to meet the need for convenient movement between multiple scenarios in a warehouse. The high-level order picking vehicle comprises a vehicle body (100), a first drive wheel (200), and a second drive wheel (300). The first drive wheel (200) and the second drive wheel (300) are capable of being independently driven, thereby generating a normal mode, a multi-directional movement mode, and a small turning radius mode, so as to achieve conventional movement, diagonal and horizontal parallel movement, and small-radius turning, thereby covering the vast majority of scenarios involving movement in narrow aisles, enabling more flexible movement and reducing the burden on the operator.

Description

Dual-drive high-level picking cart Technical Field

[0001] This application relates to the field of motion control for low-speed storage and transportation vehicles, and more specifically, it relates to a high-level picking vehicle with dual drive wheels. Background Technology

[0002] A high-bay order picker is a low-speed storage and transportation vehicle used in industrial applications. It is a type of machinery used in warehouses and logistics centers, primarily for picking, handling, and stacking goods on high racks. Operators drive the high-bay order picker between racks, raising the platform that carries them to lift them up, thus enabling them to retrieve or place goods on higher shelves.

[0003] Operators have needs when retrieving or placing goods between shelves: they want high-bay order pickers to have movement modes beyond those of conventional vehicles, thus enabling convenient movement between shelves. For example, there are scenarios where operators need to retrieve or place goods between two parallel shelves, but the aisles between the shelves are often wider than the vehicle body, requiring the operator to adjust the vehicle's position laterally; or, in a dead-end situation, the operator wants the high-bay order picker to turn around, but the aisle width is insufficient to complete the turn in a few operations.

[0004] In the above scenarios, operators often need to perform a lot of operations to move the high-position picking cart into place, which increases the operator's burden, reduces efficiency, and increases the user's cost.

[0005] The aforementioned scenarios occur frequently and repeatedly in the actual application of high-level picking vehicles, so there is an urgent need to provide more operating modes for high-level picking vehicles to solve the inconvenience caused by these scenarios.

[0006] Application content

[0007] This application overcomes the shortcomings of conventional high-level picking carts, which have poor mobility and cannot meet the needs of convenient movement between various scenarios in the warehouse. It provides a high-level picking cart with dual drive wheels, which can realize multiple operating modes, covering most scenarios of movement in narrow aisles, enabling more flexible movement and reducing the burden on operators.

[0008] To solve the above-mentioned technical problems, this application adopts the following technical solution:

[0009] A dual-drive wheel high-level picking vehicle includes a vehicle body, a first drive wheel, a second drive wheel, several omnidirectional wheels, and a motion control module. The omnidirectional wheels are located near the outer edge of the vehicle body. The first drive wheel and the second drive wheel are located along the length of the vehicle body. A first drive structure is provided at one end of the vehicle body, and a second drive structure is provided at the other end of the vehicle body. The first drive structure drives the first drive wheel to move, and the second drive structure drives the second drive wheel to move. The movement includes rotation and steering. The high-level picking vehicle has several movement modes. The motion control module controls at least one of the first drive wheel and the second drive wheel to rotate and controls at least one of the first drive wheel and the second drive wheel to steer according to the movement modes.

[0010] Preferably, the motion modes include a normal mode, a multi-directional movement mode, and a small turning radius mode. In the normal mode, the motion control module controls one of the first and second drive wheels to steer, or controls one or both of the first and second drive wheels to rotate. In the multi-directional movement mode, the motion control module controls the first and second drive wheels to steer synchronously in the same direction and at the same angle, and controls one or both of the first and second drive wheels to rotate. In the small turning radius mode, the motion control module controls the first and second drive wheels to steer synchronously in opposite directions and at the same angle, and controls one or both of the first and second drive wheels to rotate.

[0011] Preferably, both the first drive structure and the second drive structure include a power seat, a power motor, a steering seat, and a steering motor. The power motor is mounted on the power seat, and the steering motor is mounted on the steering seat. The power seat and the steering seat are rotatably connected. The steering motor is driven by the power seat to drive the power seat to rotate. The steering seat is elastically connected to the vehicle body through a suspension. The power motor of the first drive structure drives the first drive wheel to rotate, and the drive motor of the second drive structure drives the second drive wheel to rotate.

[0012] Preferably, the suspension includes a slide rail, a guide rod, and a suspension spring. The guide rod is mounted on the vehicle body and extends along the height direction. The steering seat has a guide hole, in which the guide rod is inserted. The suspension spring is inserted on the guide rod, with its two ends abutting against the vehicle body and the steering seat, respectively. The slide rail is mounted on the vehicle body and extends along the height direction. The steering seat has a groove, and the groove and the slide rail are slidably connected.

[0013] Preferably, the top of the power seat is circular and the outer edge is provided with a gear ring. The steering motor is driven by a drive gear, which meshes with the gear ring. A driven gear is also rotatably connected to the steering seat. The driven gear and the drive gear are arranged on both sides of the gear ring, and the centers of the driven gear and the drive gear are located on a straight line passing through the center of the gear ring.

[0014] Preferably, the first drive wheel is located on one side of the vehicle body's central axis, and the second drive wheel is located on the other side of the vehicle body's central axis; alternatively, the first drive wheel and the second drive wheel are positioned on the vehicle body's central axis.

[0015] Preferably, in normal mode, the motion control module controls the first drive wheel to turn, and the second drive wheel turns synchronously with the first drive wheel, with the steering angle of the second drive wheel being less than the steering angle of the first drive wheel; or, in normal mode, the motion control module controls the second drive wheel to turn, and the first drive wheel turns synchronously with the second drive wheel, with the steering angle of the first drive wheel being less than the steering angle of the second drive wheel.

[0016] Preferably, the small turning radius mode includes a zero-position turning mode. In the zero-position turning mode, when the turning angles of the first drive wheel and the second drive wheel are both detected to have reached the turning threshold, the rotation speed of the first drive wheel and the second drive wheel is limited to below a preset value.

[0017] Preferably, the normal mode includes a first mode and a second mode. In the first mode, the motion control module controls the first drive wheel to steer and controls the second drive wheel to maintain the current steering position. In the second mode, the motion control module controls the second drive wheel to steer and controls the first drive wheel to maintain the current steering position.

[0018] Preferably, the high-level picking vehicle also includes a controller for human-machine interaction. The controller includes a mode switching controller and a motion control module. The mode switching controller is used to input the switching state, and the motion control module switches the motion mode according to the switching state input by the mode switching controller.

[0019] Preferably, the motion control module includes two handles, each handle receiving a plurality of linear signal inputs to control the movement of the first drive wheel and the second drive wheel. One handle controls the rotational speed of the first drive wheel and / or the second drive wheel through signal inputs, and the other handle controls the steering angle of the first drive wheel and / or the second drive wheel through signal inputs. The signal inputs include one or more of the pushing and pulling force on each handle and the opening degree of each handle's rotation about its axis.

[0020] Preferably, each handle is equipped with a sensor to detect whether the operator is holding the handle. The sensor is connected to the motion control module. When the sensor confirms that the operator is holding the handle, the motion control module controls the high-level picking cart to move.

[0021] Preferably, the normal mode includes a first mode and a second mode. In the first mode, the motion control module controls the first drive wheel to turn, and the second drive wheel turns synchronously with the first drive wheel, with the steering angle of the second drive wheel being smaller than that of the first drive wheel. In the second mode, the motion control module controls the second drive wheel to turn, and the first drive wheel turns synchronously with the second drive wheel, with the steering angle of the first drive wheel being smaller than that of the second drive wheel.

[0022] Preferably, the high-level picking vehicle also includes a vehicle body gantry and a platform connected to the gantry for carrying users; a first drive structure is provided near the front end of the vehicle body, and a second drive structure is provided near the rear end of the vehicle body; a first plate and a second plate are vertically arranged on the vehicle body, which divide the vehicle body into a front, middle and rear section along the length direction; wherein, the front section is used to position the first drive structure and the first drive wheel, the middle section is used to position the gantry, and the rear section is used to position the second drive structure and the second drive wheel; a motion control module is set on the platform.

[0023] Preferably, the casters are located at the corners of the vehicle body; or, the front end of the vehicle body is recessed to form a lamp mounting base, in which a driving warning light is installed; or, the casters are located at the corners of the vehicle body, the front end of the vehicle body is recessed to form a lamp mounting base, in which a driving warning light is installed.

[0024] Preferably, guard arms are provided on both sides of the platform. The guard arms include an upper guard arm and a lower guard arm, which are connected by a linkage to rotate synchronously. A positioning seat is provided on the platform, and a detection circuit connected to the motion control module is provided on the positioning seat. When the guard arm is in a horizontal position, the lower guard arm is in contact with the positioning seat, and the detection circuit transmits a signal to the motion control module.

[0025] Preferably, a power supply battery is installed on the vehicle body, and the upper part of the second plate provides an installation space for installing the power supply battery.

[0026] Preferably, the front of the platform is equipped with a shelf that can be raised and lowered relative to the platform. The shelf includes a fixed plate and a movable plate. The movable plate can extend or retract relative to the fixed plate to adjust the length of the shelf. The movable plate can be retracted to the rear of the front of the vehicle. A hydraulic cylinder is provided on the platform, and the extension and retraction end of the hydraulic cylinder is fixedly connected to the shelf.

[0027] Preferably, the gantry includes a gantry body and a lifting plate that can be raised and lowered relative to the gantry body. The gantry body is mounted on a second plate, and the platform is mounted on the lifting plate. The gantry body is equipped with a drive cylinder, which drives a winch to rotate. A traction chain is wound around the winch, and the traction chain is connected to the lifting plate.

[0028] Preferably, the vehicle body has multiple wheel mounting positions located at various corners of a rectangle, the center of gravity of the vehicle body is located inside the rectangle, the first drive wheel and the second drive wheel are mounted at two wheel mounting positions on the length of the rectangle, and two omnidirectional wheels are mounted at wheel mounting positions corresponding to the other two corners of the rectangle.

[0029] Preferably, the rectangle coincides with the shape of the vehicle body's projection on the horizontal plane.

[0030] Preferably, the first drive wheel and the second drive wheel are located on the same side of the rectangle in the width direction; or, the first drive wheel and the second drive wheel are located on opposite sides of the rectangle in the width direction.

[0031] Preferably, both the first drive structure and the second drive structure include a power seat, a power motor, a steering seat, and a steering motor. The power motor is mounted on the power seat, and the steering motor is mounted on the steering seat. The power seat and the steering seat are rotatably connected. The steering motor is driven by the power seat to drive the power seat to rotate. The steering seat is fixedly connected to the vehicle body. The power motor of the first drive structure drives the first drive wheel to rotate, and the drive motor of the second drive structure drives the second drive wheel to rotate.

[0032] Compared with the prior art, the beneficial effects of this application are:

[0033] The high-level picking vehicle achieves three operating modes through the independent rotation and steering of dual drive wheels, supporting normal walking, multi-directional walking, and small-radius turning. It covers most scenarios of moving in narrow aisles, enabling more flexible movement and reducing the operator's burden. Attached Figure Description

[0034] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0035] Figure 1 is a three-dimensional structural diagram of the high-position picking vehicle of this application from a first angle;

[0036] Figure 2 is a schematic diagram of the chassis layout of the high-position picking vehicle of this application;

[0037] Figure 3 is a schematic diagram of another chassis layout of this application;

[0038] Figure 4 is a schematic diagram of the first driving structure of this application;

[0039] Figure 5 is a schematic diagram of the three-dimensional structure of the high-position picking vehicle of this application from a second angle;

[0040] Figure 6 is a schematic diagram of the steering of the first and second drive wheels in the normal mode of this application;

[0041] Figure 7 is a schematic diagram of the steering of the first and second drive wheels in the multi-directional movement mode of this application;

[0042] Figure 8 is a schematic diagram of the steering of the first and second drive wheels in the small turning radius mode of this application;

[0043] Figure 9 is a flowchart of the control logic of this application;

[0044] Figure 10 is a schematic diagram of the handle of this application;

[0045] Figure 11 is a three-dimensional structural diagram of the storage plate of the high-level picking cart of this application;

[0046] Figure 12 is a schematic diagram of the platform of the high-level picking vehicle of this application;

[0047] Figure 13 is a schematic diagram of the mast of the high-level picking cart of this application;

[0048] Figure 14 is a structural schematic diagram of the high-position picking vehicle of this application from the third angle;

[0049] Figure 15 is a bottom view of one embodiment of the high-level picking vehicle of this application;

[0050] Figure 16 is a bottom view of Embodiment 2 of the high-level picking vehicle of this application;

[0051] Figure 17 is a schematic diagram of the vehicle body of the high-level picking vehicle of this application;

[0052] Figure 18 is a structural schematic diagram of the high-position picking vehicle of this application from the fourth angle.

[0053] The above figures include the following reference numerals:

[0054] 5. Wheel mounting position; 6. First drive structure; 7. Second drive structure; 100. Vehicle body; 101. Casters; 102. Light mounting bracket; 103. Driving warning light; 104. First plate; 105. Second plate; 106. Power supply battery; 200. First drive wheel; 300. Second drive wheel; 410. Power seat; 420. Power motor; 430. Steering motor; 431. Reducer; 440. Steering seat; 451. Slide rail; 452. Guide rod; 4 53. Suspension spring; 432. Gear ring; 433. Drive gear; 434. Driven gear; 500. Handle; 501. Sensing device; 601. Mode switch N; 602. Mode switch C; 603. Mode switch Z; 700. Gantry; 710. Gantry body; 720. Lifting plate; 730. Traction chain; 800. Platform; 810. Hydraulic cylinder; 811. Fixed plate; 812. Movable plate; 820. Upper guard arm; 821. Lower guard arm; 822. Position seat. Detailed Implementation

[0055] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0056] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0057] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0058] In this disclosure, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely relational terms determined for the convenience of describing the structural relationship of the various components or elements in this disclosure, and do not specifically refer to any component or element in this disclosure, nor should they be construed as limiting this disclosure.

[0059] In this disclosure, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a connection that can be fixed, integral, or detachable; a connection that can be direct or indirect through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this disclosure based on the specific circumstances, and they should not be construed as limitations on this disclosure.

[0060] Example 1

[0061] As shown in Figures 1 to 3, the high-level picking vehicle includes a vehicle body 100, a first drive wheel 200, a second drive wheel 300, and several casters 101. The first drive wheel 200, the second drive wheel 300, and the casters 101 are located at the bottom of the vehicle body 100. The first drive wheel 200, the second drive wheel 300, and the casters 101 are all wheels. The first drive wheel 200 and / or the second drive wheel 300 rotate under torque, and the wheel surfaces of the first drive wheel 200 and / or the second drive wheel 300 generate power on the vehicle body 100 through friction, propelling the vehicle body 100 to move. The casters 101 support the vehicle body 100. The casters 101 are rotatably connected to a universal joint, which is rotatably connected to the vehicle body 100. When the vehicle body 100 moves, according to the law of least potential energy, the casters 101 turn to the position of least resistance. The omnidirectional wheels 101 can provide support for the vehicle body 100 and maintain its stability in various motion modes and postures.

[0062] Among them, the omnidirectional wheel 101, the first drive wheel 200 and the second drive wheel 300 are all tangent to the same plane, which is the ground.

[0063] In this embodiment, the first drive wheel 200 and the second drive wheel 300 have the same wheel diameter.

[0064] Referring to Figures 2 and 3, the projection of the vehicle body 100 on the horizontal plane is rectangular, and each caster wheel 101 is located at the corner of the bottom of the vehicle body 100. In some embodiments, the vehicle body 100 is relatively long, and caster wheels 101 are provided at several positions in the length direction and at both ends in the width direction of the vehicle body 100 to reduce the bending moment experienced by the vehicle body 100.

[0065] In some embodiments, the first drive wheel 200 is located at one corner of the vehicle body 100, and the second drive wheel 300 is located diagonally opposite the first drive wheel 200. The swivel wheels 101 of this type of vehicle body 100 are located at the other two corners. Alternatively, the first drive wheel 200 is located at one end of the long side of the vehicle body 100, and the second drive wheel 300 is located at the other end of the long side of the vehicle body 100.

[0066] The first drive wheel 200 and the second drive wheel 300 can move independently, and the movement includes rotation and steering. Specifically, both the first drive wheel 200 and the second drive wheel 300 can rotate and steer. Rotation refers to the circumferential rotation of either the first drive wheel 200 or the second drive wheel 300 along its axial direction; steering refers to the deflection of either the first drive wheel 200 or the second drive wheel 300 along its axial direction. A first drive structure is provided at one end of the vehicle body, and a second drive structure is provided at the other end of the vehicle body. The first drive structure drives the first drive wheel 200 to move, and the second drive structure drives the second drive wheel 300 to move.

[0067] The first drive wheel 200 and the second drive wheel 300 are located along the length of the vehicle body 100. One end of the vehicle body 100 is defined as the front, and the other end away from the front is defined as the rear. The first drive wheel 200 is located at the front, and the second drive wheel 300 is located at the rear.

[0068] In some embodiments, the first drive wheel 200 and the second drive wheel 300 are disposed on the central axis of the vehicle body 100.

[0069] In other embodiments, the first drive wheel 200 is located on one side of the central axis of the vehicle body 100, and the second drive wheel 300 is located on the other side of the central axis of the vehicle body 100. Specifically, the first drive wheel 200 is located on the right side of the central axis of the vehicle body 100, and the second drive wheel 300 is located on the left side of the central axis of the vehicle body 100. In some possible solutions, the first drive wheel 200 is located on the left side of the central axis of the vehicle body 100, and the second drive wheel 300 is located on the right side of the central axis of the vehicle body 100, but this is not a limitation.

[0070] As shown in Figures 4 and 5, the first drive structure includes a power seat 410, a power motor 420 mounted on the power seat 410, a steering seat 440, and a steering motor 430 mounted on the steering seat 440. The power seat 410 and the steering seat 440 are rotatably connected. The steering motor 430 is connected to the power seat 410 and drives the power seat 410 to rotate. The steering seat 440 is elastically connected to the vehicle body 100 through a suspension. The power motor 420 drives the first drive wheel 200 to rotate.

[0071] In this embodiment, the structure of the second drive structure is the same as that of the first drive structure. The second drive structure includes a power seat 410, a power motor 420 mounted on the power seat 410, a steering seat 440, and a steering motor 430 mounted on the steering seat 440. The power seat 410 and the steering seat 440 are rotatably connected. The steering motor 430 is connected to the power seat 410 and drives the power seat 410 to rotate. The steering seat 440 is elastically connected to the vehicle body 100 through a suspension part. The power motor 420 drives the second drive wheel 300 to rotate.

[0072] As shown in Figures 4 and 5, a first drive structure and a second drive structure are respectively provided at the front and rear ends of the vehicle body 100. The specific components of the first drive structure and the second drive structure are the same and their weights are similar, which can improve the weight distribution of the vehicle body 100 and improve the maneuverability of the vehicle body 100.

[0073] In this embodiment, the suspension unit elastically mounts the first drive structure and the second drive structure onto the vehicle body 100, using their elasticity to filter vibrations and improve the riding experience.

[0074] Specifically, the suspension includes a slide rail 451, a guide rod 452, and a suspension spring 453. The guide rod 452 is mounted on the vehicle body 100 and is arranged along the height direction. The steering seat 440 is provided with a guide hole, in which the guide rod 452 is inserted. The suspension spring 453 is inserted on the guide rod 452 and its two ends abut against the vehicle body 100 and the steering seat 440, respectively. The slide rail 451 is mounted on the vehicle body 100 and is arranged along the height direction. The steering seat 440 is provided with a sliding groove, and the sliding groove and the slide rail 451 are slidably connected.

[0075] Referring to Figures 2 and 3, the steering motor 430 drives the power seat 410 to rotate as follows: the top of the power seat 410 is circular and the outer edge is provided with a gear ring 432. The steering motor 430 is connected to a drive gear 433, which meshes with the gear ring 432. The steering motor 430 is also connected to a reducer 431, which has a self-locking function. The self-locking function can be achieved through a worm gear structure, but is not limited thereto. Those skilled in the art can choose other suitable implementation methods based on the teachings of this application and the actual application requirements.

[0076] Specifically, the teeth constituting the gear ring 432 are arranged outwards, making the gear ring 432 an external gear ring 432. The drive gear 433 meshes with the gear ring 432, and the drive gear 433 drives the gear ring 432 to rotate by rotating. The gear ring 432 drives the power seat 410 and the first drive wheel 200 to rotate, thereby achieving the steering function.

[0077] A driven gear 434 is also rotatably connected to the steering seat 440. The driven gear 434 and the drive gear 433 are arranged on both sides of the gear ring 432, and the centers of the driven gear 434 and the drive gear 433 are arranged on a straight line passing through the center of the gear ring 432.

[0078] Similarly, it is also feasible to have an internal gear ring 432, with the teeth of the gear ring 432 facing inwards. The drive gear 433 and the driven gear 434 are located inside the internal gear ring 432 and mesh with it. Since the gear ring 432 is located on the steering seat 440, the top of the steering seat 440 has an upwardly oriented protruding ring, and the gear ring 432 is located inside the protruding ring. However, the specific drive structure is not limited to this.

[0079] Optionally, a high-level picking vehicle is a type of low-speed storage and transportation vehicle. Those skilled in the art can set the type of low-speed storage and transportation vehicle according to actual positioning needs, such as a forklift.

[0080] In this embodiment, the high-level picking vehicle also includes a controller for human-machine interaction. The controller includes a mode switching controller and a motion control module. The mode switching controller has three switching states, and the motion control module switches the motion mode according to the switching state input by the mode switching controller.

[0081] In this embodiment, the motion control module is installed in the high-level picking vehicle. Based on the posture and motion state of the vehicle body 100 obtained by the motion sensors installed on the vehicle body 100, the module corrects the rotation speed and steering angle of the first and second transmission wheels to ensure the stability of the vehicle body 100's movement.

[0082] The high-level picking cart has three movement modes: normal mode, multi-directional movement mode, and small turning radius mode.

[0083] The three switching states of the mode switching controller correspond to the three motion modes mentioned above, and the mode switching controller has identification information corresponding to the three motion modes mentioned above.

[0084] Optionally, the mode switching controller includes three independent buttons corresponding to the three motion modes described above. In other embodiments, the mode switching controller includes a knob with three positions: a sensor mode switch N601 indicating normal mode, a mode switch C602 indicating multi-directional movement mode, and a mode switch Z603 indicating small turning radius mode. Other forms are also possible, and this application is not limited thereto. To make it easier for the operator to identify the current mode, some embodiments include indicator lights at the corresponding mode switches.

[0085] In this embodiment, the motion mode includes a normal mode, which is similar to the driving mode of a conventional bus:

[0086] In normal mode, the motion control module controls one of the first drive wheel 200 and the second drive wheel 300 to steer, and the motion control module controls one or both of the first drive wheel 200 and the second drive wheel 300 to rotate.

[0087] In some embodiments, the motion control module controls the steering of the first drive wheel 200 located at the front and the rotation of the second drive wheel 300 located at the rear. The motion pattern is similar to that of a rear-wheel drive vehicle, but it is not limited to this. It can also adopt a control method similar to that of a front-wheel drive vehicle, where the motion control module controls the steering of the first drive wheel 200 located at the front and the rotation of the first drive wheel 200 located at the front, or a control method similar to that of a four-wheel drive vehicle, where the motion control module controls the steering of the first drive wheel 200 located at the front and the rotation of the first drive wheel 200 located at the front and the second drive wheel 300 located at the rear.

[0088] In some possible embodiments, the motion control module controls the second drive wheel 300 located at the rear to steer, and the motion control module controls the first drive wheel 200 and / or the second drive wheel 300 to move. This application does not limit this. Referring to Figure 6, in normal mode, the motion control module controls the first drive wheel 200 to steer. During the steering of the high-level picking cart, the motion control module controls the second drive wheel 300 to adaptively steer according to the steering angle of the first drive wheel 200, where the steering angle of the second drive wheel 300 is smaller than that of the first drive wheel 200. In embodiments where the motion control module controls the second drive wheel 300 to steer, the motion control module controls the first drive wheel 200 to adaptively steer according to the steering angle of the second drive wheel 300. Specifically, the steering angle of the first drive wheel 200 is smaller than that of the second drive wheel 300. To accommodate the above two situations, the mode switching controller has buttons or positions representing a first normal mode (for the former situation) and a second normal mode (for the latter situation), resulting in a total of four buttons or positions.

[0089] As shown in Figure 7, in the multi-directional movement mode, the motion control module controls the first drive wheel 200 and the second drive wheel 300 to turn synchronously. The motion control module detects and adjusts the first drive wheel 200 and the second drive wheel 300 to have the same turning direction and the same angle. The motion control module controls one or both of the first drive wheel 200 and the second drive wheel 300 to rotate.

[0090] In this embodiment, the multi-directional movement mode, also known as the crab mode, is used to control the vehicle body 100 to move parallel in any direction. The multi-directional steering includes angles from 30 degrees to 90 degrees. Since the aforementioned steering can be performed in both left and right directions, the steering range of the first drive wheel 200 and the second drive wheel 300 reaches 180 degrees, supporting horizontal movement of the vehicle body 100. Because the steering angle of the first drive wheel 200 and the second drive wheel 300 can be linearly adjusted between -90 degrees and 90 degrees, the vehicle body 100 also supports vertical movement at a 0-degree angle.

[0091] In some embodiments, the motion control module controls the first drive wheel 200 to drive the vehicle body 100, and the second drive wheel 300 is driven by it; in other embodiments, the motion control module controls the second drive wheel 300 to drive the vehicle body 100, and the first drive wheel 200 is driven by it; in still other embodiments, the motion control module controls the first drive wheel 200 and the second drive wheel 300 to drive synchronously, and the linear velocities of the first drive wheel 200 and the second drive wheel 300 relative to the ground are the same.

[0092] As shown in Figure 8, in the small turning radius mode, the motion control module controls the first drive wheel 200 and the second drive wheel 300 to turn synchronously, with opposite but equal turning angles. The motion control module controls one or both of the first drive wheel 200 and the second drive wheel 300 to rotate. Compared to the normal mode, the small turning radius mode can reduce the turning radius of the vehicle body 100, especially when making a U-turn.

[0093] The small turning radius mode also includes a zero-steering mode. In the zero-steering mode, when the motion control module detects that the steering angle of the first drive wheel 200 and the second drive wheel 300 has reached the steering threshold, the motion control module limits the rotation speed of the first drive wheel 200 and the second drive wheel 300 to below a preset value.

[0094] In some embodiments, the zero-steering mode, like the normal mode, multi-directional movement mode, and small turning radius mode, is directly set in the mode switching controller as a switching mode. Upon entering this mode, the first drive wheel 200 and the second drive wheel 300 turn synchronously in opposite directions according to the signal input from the motion control module, turning to their travel limits, where the turning angle is 90 degrees. The motion control module limits the rotational speed of the first drive wheel 200 and the second drive wheel 300 to below a preset value. The vehicle body 100 responds to the signal input from the motion control module and begins to rotate.

[0095] In some embodiments, the normal mode includes a first mode and a second mode. In the first mode, the motion control module controls the first drive wheel to turn, and the second drive wheel turns synchronously with the first drive wheel, with the steering angle of the second drive wheel being smaller than the steering angle of the first drive wheel. In the second mode, the motion control module controls the second drive wheel to turn, and the first drive wheel turns synchronously with the second drive wheel, with the steering angle of the first drive wheel being smaller than the steering angle of the second drive wheel.

[0096] As shown in Figure 9, the control logic of the high-level picking cart is as follows:

[0097] The mode switching controller is connected to the motion control module and transmits information indicating the corresponding switching status to the motion control module.

[0098] The motion control module responds to the information indicating the corresponding switching state and switches to the corresponding motion mode;

[0099] The motion control module listens to the sensors 501 on both handles 500. It only receives the linear signal from the motion control module when it receives the signals from the sensors 501 on both handles 500 at the same time.

[0100] The motion control module receives a signal indicating the steering angle and controls the rotation angle of the first drive wheel 200 and / or the second drive wheel 300 according to the signal;

[0101] The motion control module receives a signal indicating the rotation speed and controls the rotation speed of the first drive wheel 200 and / or the second drive wheel 300 according to the signal.

[0102] When the mode switching controller on the high-level picking vehicle switches states, the motion control module responds and switches to the corresponding motion mode. In some embodiments, after switching motion modes, the first drive wheel 200 and the second drive wheel 300 return to the zero position. In the zero position state, the first drive wheel 200 and the second drive wheel 300 rotate at 0 degrees and have a steering angle of 0 degrees.

[0103] As shown in Figure 10, the motion control module includes two handles 500. Each handle 500 receives several linear signal inputs to control the movement of the first drive wheel 200 and the second drive wheel 300. Specifically, one signal input controls the rotational speed of the first drive wheel 200 and / or the second drive wheel 300, and another signal input controls the steering angle of the first drive wheel 200 and / or the second drive wheel 300.

[0104] Optionally, the two handles 500 are axially aligned on the same plane, with each handle 500 corresponding to a person's hands, and the distance between the two handles 500 is slightly greater than the width of an adult's shoulder. The two handles 500 are horn-shaped, a structure that is also suitable for the human body and reduces fatigue caused by prolonged contact with the two handles 500.

[0105] Optionally, the signal input includes one or more of the pushing and pulling force on the two handles 500 and the opening degree of the two handles 500 rotating along the axial direction of the handles 500.

[0106] In this embodiment, the handle 500 includes an inner handle and an outer handle rotatably connected to and sleeved on the inner handle. The outer handle and the inner handle are elastically connected, and a zero position is generated through this elastic connection. Under no external force, the outer handle is always in the zero position. The outer handle and the inner handle can be connected by an encoder or other sensors that record angles. The inner handle is fixed relative to the vehicle body, and the outer handle rotates axially relative to the inner handle. The opening degree of the aforementioned handle 500 axial rotation is generated by detecting the angle of rotation of the outer handle relative to the inner handle. The opening degree generated by the rotation angle is positively correlated with the steering angle; the larger the opening degree, the larger the steering angle.

[0107] In some embodiments, the aforementioned zeroing operation is performed automatically after the operator's hands are removed from the handle 500 or automatically zeroed due to the zero input signal from the handle 500.

[0108] Optionally, a pressure sensor is provided on the surface of the handle 500. The pressure sensor is arranged in a dot matrix on the side wall of the handle 500. Pushing or pulling can generate corresponding input signals. Based on the input signals, the direction of the force applied to the handle 500 is determined. Then, based on the magnitude of the pushing force, the motion control module controls the first drive wheel 200 and / or the second drive wheel 300 to steer and rotate. The magnitude of the pushing force and the rotation speed are positively correlated; the greater the pushing force, the greater the rotation speed.

[0109] In this embodiment, the signal input is linear, which is more in line with human intuition, avoids errors, and reduces training costs.

[0110] Optionally, the inner side of the handle 500, corresponding to the area of ​​the thumb, is also provided with a control button or a rotatable structure. The control button or rotatable structure can control other components attached to the vehicle body through the controller built into the vehicle body. Taking the high-level picking vehicle of this application as an example, the controller can control the raising or lowering of the platform carrying people. However, this is not a limitation; the lifting and lowering of the forklift's forks can also be controlled.

[0111] Optionally, one handle 500 controls the rotation speed of the first drive wheel 200 and / or the second drive wheel 300 via a signal input motion control module, and the other handle 500 controls the steering angle of the first drive wheel 200 and / or the second drive wheel 300 via a signal input motion control module.

[0112] In some embodiments, the motion control module receives signals generated by the rotational opening of the two handles 500 to control the steering angle output by the first drive wheel 200 and / or the second drive wheel 300; and controls the rotational speed output by the first drive wheel 200 and / or the second drive wheel 300 by receiving signals provided by pressure sensors on the surface of the handles 500.

[0113] In all three motion modes described above, the functions of the two handles 500 remain the same. For example, the left handle 500 is always used to control the rotation of the first drive wheel 200 and / or the second drive wheel 300, i.e., the vehicle's feed, while the right handle 500 is always used to control the steering of the first drive wheel 200 and / or the second drive wheel 300, i.e., the vehicle's steering. This configuration reduces the user's mental burden and the probability of errors.

[0114] In this embodiment, the handle 500 is also provided with a sensing device 501 for sensing whether the operator is holding the two handles 500. The sensing device 501 is communicatively connected to the motion control module. When the sensing device 501 confirms that the operator is holding the two handles 500, the motion control module controls the high-level picking cart to move.

[0115] In some embodiments, the sensing device 501 is the pressure sensor mentioned above, which is used to detect whether the operator's hands are on the handle 500. The control flow of the high-level picking cart is roughly as follows:

[0116] Operator controls the high-level picking cart:

[0117] The operator enters the platform of the high-level picking cart;

[0118] Select the appropriate switching state using the mode switching controller;

[0119] Place both hands on the two handles 500;

[0120] Control commands are input via two handles 500;

[0121] After completing the task, the vehicle was powered off.

[0122] Referring to Figures 1 and 4, a first vertically arranged plate 104 is provided near the front end of the vehicle body 100, and a second vertically arranged plate 105 is provided near the rear end of the vehicle body 100. The first plate 104 and the second plate 105 divide the vehicle body 100 into a front, middle and rear section along its length. The second plate 105 is higher than the first plate 104, and an installation space is provided near the upper part of the second plate 105 for installing the power supply battery 106.

[0123] In this embodiment, the front part is used to position the first drive structure and the first drive wheel 200, the middle part is used to position the gantry 700, and the rear part is used to position the second drive structure and the second drive wheel 300. This layout is preferred because it allows the drive wheels to be placed on the front and rear sides of the platform, reducing the height of the vehicle body and the center of gravity of the vehicle, making it easier for the operator to enter the platform.

[0124] As shown in Figure 5, a lamp mounting base 102 is formed by an inward recess at the front end of the vehicle body 100, and a driving warning light 103 is installed in the lamp mounting base 102. The front and rear ends of the vehicle body 100 have corresponding front warning lights and rear warning lights, and the length of the front warning lights and rear warning lights does not exceed the length of the vehicle body 100.

[0125] Referring to Figures 1 and 5, a gantry 700 is detachably connected to the vehicle body. A gantry body 710 is detachably connected between the first plate 104 and the second plate 105. A lifting plate 720 is slidably connected to the gantry body 710. A drive cylinder is provided at the top of the gantry body 710, which drives a winch. A traction chain 730 is wound around the winch and connected to the lifting plate 720. A platform 800 is detachably connected to the lifting plate 720. In some embodiments, the lifting plate 720 and the platform 800 are an integral structure; in other embodiments, the lifting plate 720 and the platform 800 are detachably connected.

[0126] As shown in Figure 11, the front of the platform 800 is provided with a shelf that can be raised and lowered relative to the platform 800. The platform 800 is provided with a hydraulic cylinder 810. The telescopic end of the hydraulic cylinder 810 is fixedly connected to the shelf. The shelf includes a fixed plate 811 and a movable plate 812. The movable plate 812 can extend or retract relative to the fixed plate 811 to adjust the length of the shelf. The movable plate 812 can be retracted to the rear of the front of the car body 100.

[0127] As shown in Figure 13, the gantry 700 includes a gantry body 710 and a lifting plate 720 that moves relative to each other. The platform 800 is installed on the lifting plate 720, and the gantry body 710 is installed between the first plate 104 and the second plate 105.

[0128] As shown in Figure 12, guard arms are provided on both sides of the platform 800. The guard arms include an upper guard arm 820 and a lower guard arm 821. The upper guard arm 820 and the lower guard arm 821 are connected by a connecting rod to rotate synchronously. A positioning seat 822 is provided on the platform 800. A detection circuit connected to the motion control module is provided on the positioning seat 822. When the guard arm is in a horizontal position, the lower guard arm 821 is in contact with the positioning seat 822, and the detection circuit transmits a signal to the motion control module.

[0129] As shown in Figures 14 to 18, the vehicle body 100 has several wheel mounting positions 5, which are located at various corner points of a rectangle. Specifically, the vehicle body 100 has a total of four wheel mounting positions 5. The center of gravity of the vehicle body 100 is located inside the rectangle, thereby preventing the vehicle body 100 from overturning and causing a rollover accident.

[0130] The rectangle coincides with the projected shape of the vehicle body 100 on the horizontal plane. In some possible embodiments, the rectangle is larger or smaller than the projected shape of the vehicle body 100 on the horizontal plane. The rectangle and the projected shape of the vehicle body 100 on the horizontal plane produce a graphic shape that is the same but different in size.

[0131] In this embodiment, the first drive wheel 200 and the second drive wheel 300 are disposed on two wheel mounting positions 5 along the length of the rectangle, and two omnidirectional wheels 101 are mounted on wheel mounting positions 5 corresponding to the other two corner points of the rectangle. In some embodiments, the first drive wheel 200 and the second drive wheel 300 are located on the same side along the width of the rectangle. In other embodiments, the first drive wheel 200 and the second drive wheel 300 are located on opposite sides along the width of the rectangle. Specifically, the first drive wheel 200 is located on the left front wheel and the second drive wheel 300 is located on the left rear wheel; or the first drive wheel 200 is located on the right front wheel and the second drive wheel 300 is located on the right rear wheel; or the first drive wheel 200 is located on the left front wheel and the second drive wheel 300 is located on the right rear wheel; or the first drive wheel 200 is located on the right front wheel and the second drive wheel 300 is located on the left rear wheel.

[0132] Corresponding to the positions of the first drive wheel 200 and the second drive wheel 300, the vehicle body 100 is provided with a first drive structure 6 and a second drive structure 7. The first drive structure 6 drives the first drive wheel 200 to move, and the second drive structure 7 drives the second drive wheel 300 to move. The movement includes rotation and steering.

[0133] Example 2

[0134] The difference between the high-level picking cart in Example 2 and Example 1 is that the drive structure is different.

[0135] Referring to Figures 17 and 18, the first drive structure 6 includes a power seat 410, a power motor 420 mounted on the power seat 410, a steering seat 440, and a steering motor 430 mounted on the steering seat 440. The power seat 410 and the steering seat 440 are rotatably connected. The steering motor 430 is driven by the power seat 410 and drives the power seat 410 to rotate. The steering seat 440 is fixedly connected to the vehicle body 100. The power motor 420 drives the first drive wheel 200 to rotate. The structure of the second drive structure 7 is the same as that of the first drive structure 6. The drive motor of the second drive structure 7 drives the second drive wheel 300 to rotate. The drive motor and the power seat 410 of the first drive structure 6 are connected by a reducer 431; the drive motor and the power seat 410 of the second drive structure 7 are also connected by a reducer 431.

[0136] In this embodiment, the top of the power seat 410 is circular and the outer edge is provided with a gear ring 432. The steering motor 430 is driven by a drive gear 433, which meshes with the gear ring 432. A driven gear 434 is also rotatably connected to the steering seat 440. The driven gear 434 and the drive gear 433 are arranged on both sides of the gear ring 432, and the centers of the driven gear 434 and the drive gear 433 are arranged on a straight line passing through the center of the gear ring 432. This structure can further improve the steering accuracy of the drive wheel and improve the stability of the drive structure.

[0137] This application provides several examples of motion patterns, but is not limited thereto. Those skilled in the art can select and set other motion combinations of the first drive wheel 200 and the second drive wheel 300 to generate new motion patterns according to the teachings of this invention and actual use requirements.

[0138] Obviously, the embodiments described above are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort should fall within the scope of protection of this application.

[0139] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0140] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0141] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A double drive wheel high pick vehicle, characterized in that, The high-level sorting vehicle comprises a vehicle body, a first driving wheel, a second driving wheel, a plurality of universal wheels, and a motion control module, the universal wheels are arranged at positions close to the outer edge of the vehicle body, the first driving wheel and the second driving wheel are located in the length direction of the vehicle body, one end of the vehicle body is provided with a first driving structure, the other end of the vehicle body is provided with a second driving structure, the first driving structure drives the first driving wheel to move, and the second driving structure drives the second driving wheel to move, the movement includes rotation and turning; the high-level sorting vehicle has a plurality of motion modes, and the motion control module controls at least one of the first driving wheel and the second driving wheel to rotate and controls at least one of the first driving wheel and the second driving wheel to turn according to the motion mode.

2. The high-level sorting vehicle according to claim 1, wherein the plurality of motion modes comprise a normal mode, a multi-directional movement mode, and a small turning radius mode; in the normal mode, the motion control module controls one of the first driving wheel and the second driving wheel to turn and controls one or both of the first driving wheel and the second driving wheel to rotate; in the multi-directional movement mode, the motion control module controls the first driving wheel and the second driving wheel to turn synchronously, the turning directions are the same and the turning angles are the same, and the motion control module controls one or both of the first driving wheel and the second driving wheel to rotate; in the small turning radius mode, the motion control module controls the first driving wheel and the second driving wheel to turn synchronously, the turning directions are opposite and the turning angles are the same, and the motion control module controls one or both of the first driving wheel and the second driving wheel to rotate.

3. The high pick vehicle of claim 1, wherein, The first driving structure and the second driving structure each comprise a power seat, a power motor, a turning seat, and a turning motor, the power motor is arranged on the power seat, the turning motor is arranged on the turning seat, the power seat and the turning seat are rotationally connected, the turning motor is in transmission connection with the power seat to drive the power seat to rotate, the turning seat is elastically connected to the vehicle body through a suspension part, the power motor of the first driving structure drives the first driving wheel to rotate, and the driving motor of the second driving structure drives the second driving wheel to rotate.

4. The high pick vehicle of claim 3, wherein, The suspension part comprises a sliding rail, a guide rod, and a suspension spring, the guide rod is arranged on the vehicle body and extends in the height direction; the turning seat is provided with a guide hole, the guide rod is inserted into the guide hole, the suspension spring is inserted on the guide rod and abuts against the vehicle body and the turning seat at two ends thereof, the sliding rail is arranged on the vehicle body and extends in the height direction, the turning seat is provided with a sliding groove, and the sliding groove and the sliding rail are in sliding connection.

5. The high pick vehicle of claim 3, wherein, The top of the power seat is circular and the outer edge is provided with a toothed ring. The steering motor is driven by a drive gear, which meshes with the toothed ring. A driven gear is also rotatably connected to the steering seat. The driven gear and the drive gear are arranged on both sides of the toothed ring, and the centers of the driven gear and the drive gear are located on a straight line passing through the center of the toothed ring.

6. The high pick vehicle of claim 1, wherein, The first drive wheel is located on one side of the central axis of the vehicle body, and the second drive wheel is located on the other side of the central axis of the vehicle body; or, the first drive wheel and the second drive wheel are arranged on the central axis of the vehicle body.

7. The high pick vehicle of claim 2, wherein the first and second pick modules are configured to be moved between the first and second positions by a single actuator. In the normal mode, the motion control module controls the first drive wheel to turn, and the second drive wheel turns synchronously with the first drive wheel, with the steering angle of the second drive wheel being less than the steering angle of the first drive wheel; or, in the normal mode, the motion control module controls the second drive wheel to turn, and the first drive wheel turns synchronously with the second drive wheel, with the steering angle of the first drive wheel being less than the steering angle of the second drive wheel.

8. The high pick vehicle of claim 2, wherein, The small turning radius mode includes a zero-position turning mode. In the zero-position turning mode, when it is detected that the turning angles of the first drive wheel and the second drive wheel have both reached the turning threshold, the rotation speed of the first drive wheel and the second drive wheel is limited to below a preset value.

9. The high pick vehicle of claim 2, wherein, The normal mode includes a first mode and a second mode. In the first mode, the motion control module controls the first drive wheel to steer and controls the second drive wheel to maintain the current steering position. In the second mode, the motion control module controls the second drive wheel to steer and controls the first drive wheel to maintain the current steering position.

10. The high pick vehicle of claim 1, wherein, The high-level picking vehicle also includes a controller for human-machine interaction. The controller includes a mode switching controller and a motion control module. The mode switching controller is used to input a switching state, and the motion control module switches motion modes according to the switching state input by the mode switching controller.

11. The high pick vehicle of claim 1, wherein, The motion control module includes two handles, each of which receives a plurality of linear signal inputs to control the movement of the first drive wheel and the second drive wheel. One handle controls the rotational speed of the first drive wheel and / or the second drive wheel through signal inputs, and the other handle controls the steering angle of the first drive wheel and / or the second drive wheel through signal inputs. The signal inputs include one or more of the pushing and pulling forces on each handle and the opening degree of each handle about its axis.

12. The high pick vehicle of claim 11, wherein, Each of the handles is equipped with a sensing device for sensing whether the operator is holding the handle. The sensing device is communicatively connected to the motion control module. When the sensing device confirms that the operator is holding the handle, the motion control module controls the high-level picking cart to move.

13. The high pick vehicle of claim 1, wherein, The high-level picking vehicle also includes a vehicle body gantry and a platform for carrying users, which is lifted and connected to the gantry; the first drive structure is provided near the front end of the vehicle body, and the second drive structure is provided near the rear end of the vehicle body; the vehicle body is provided with a vertically arranged first plate and a second plate, which divide the vehicle body into a front, middle and rear section along the length direction; wherein, the front section is used to position the first drive structure and the first drive wheel, the middle section is used to position the gantry, and the rear section is used to position the second drive structure and the second drive wheel; the motion control module is provided on the platform.

14. The high pick vehicle of claim 13, wherein, The omnidirectional wheel is located at a corner of the vehicle body; or, the front end of the vehicle body is recessed to form a lamp mounting base, and a driving warning light is installed in the lamp mounting base; or, the omnidirectional wheel is located at a corner of the vehicle body, the front end of the vehicle body is recessed to form a lamp mounting base, and a driving warning light is installed in the lamp mounting base.

15. The high pick vehicle of claim 13, wherein, The platform is equipped with guard arms on both sides, each guard arm consisting of an upper guard arm and a lower guard arm. The upper guard arm and the lower guard arm are connected by a connecting rod to rotate synchronously. The platform is equipped with a positioning seat, and the positioning seat is equipped with a detection circuit connected to the motion control module. When the guard arm is in a horizontal position, the lower guard arm is in contact with the positioning seat, and the detection circuit transmits a signal to the motion control module.

16. The high pick vehicle of claim 13, wherein, The vehicle body is equipped with a power supply battery, and the upper part of the second plate provides an installation space for installing the power supply battery.

17. The high pick vehicle of claim 13, wherein, The front of the platform is equipped with a shelf that can be raised and lowered relative to the platform. The shelf includes a fixed plate and a movable plate. The movable plate can extend or retract relative to the fixed plate to adjust the length of the shelf. The movable plate can be retracted to the rear of the front of the vehicle body. The platform is equipped with a hydraulic cylinder, and the extension end of the hydraulic cylinder is fixedly connected to the shelf.

18. The high pick vehicle of claim 13, wherein, The gantry includes a gantry body and a lifting plate that can be raised and lowered relative to the gantry body. The gantry body is mounted on a second plate, and the platform is mounted on the lifting plate. The gantry body is provided with a drive cylinder, which drives a winch to rotate. A traction chain is wound around the winch, and the traction chain is connected to the lifting plate.

19. The high pick vehicle of claim 1, wherein, The vehicle body has multiple wheel mounting positions located at various corner points of a rectangle. The center of gravity of the vehicle body is located inside the rectangle. The first drive wheel and the second drive wheel are mounted on two wheel mounting positions along the length of the rectangle, and two omnidirectional wheels are mounted on wheel mounting positions corresponding to the other two corner points of the rectangle.

20. The high pick vehicle of claim 19, wherein, The rectangle coincides with the shape of the projection of the vehicle body onto the horizontal plane.

21. The high pick vehicle of claim 19, wherein, The first drive wheel and the second drive wheel are located on the same side of the rectangle in the width direction; or, the first drive wheel and the second drive wheel are located on opposite sides of the rectangle in the width direction.

22. The high pick vehicle of claim 1, wherein, The first driving structure and the second driving structure each comprise a power seat, a power motor, a steering seat and a steering motor, the power motor is arranged on the power seat, the steering motor is arranged on the steering seat, the power seat and the steering seat are rotationally connected, the steering motor is in transmission connection with the power seat to drive the power seat to rotate, the steering seat is fixedly connected on the vehicle body, the power motor of the first driving structure drives the first driving wheel to rotate, and the driving motor of the second driving structure drives the second driving wheel to rotate.

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