Obstacle avoidance and detection device for vehicle body of four-way shuttle and pallet, and working method thereof

An obstacle avoidance and detection device for a vehicle body of a four-way shuttle and a pallet, comprising a four-way shuttle (1), pallets (3) with goods, and Y direction tracks (22) and an X direction track (21) that are interlaced horizontally and longitudinally, wherein the four-way shuttle (1) operates in track directions of the Y direction tracks (22) and the X direction track (21);

• shelf supports (23) are arranged on two sides of the Y direction tracks (22);
• the pallets (3) are supported on the shelf supports (23);
• a vehicle body (11) of the four-way shuttle (1) is provided with an X+ directional distance sensor (17) and an X− directional distance sensor (18) respectively on front and rear sides in an X direction;
• the vehicle body (11) of the four-way shuttle (1) is provided with a Y+ directional distance sensor (16) and a Y− directional distance sensor (15) respectively on front and rear sides in a Y direction;
• the X+ directional distance sensor (17), the X− directional distance sensor (18), the Y+ directional distance sensor (16), and the Y− directional distance sensor (15) respectively detect distances between the four-way shuttle (1) in an operating direction of the four-way shuttle (1) and an obstacle;
• when the distances reach a first set value, the four-way shuttle (1) slows down;
• and when the distances reach a second set value, the four-way shuttle (1) stops.