{
  "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.",
  "assignees": [
    "SHANGHAI ZS ROBOTICS CO LTD"
  ],
  "authors": [
    "FEI WU",
    "JIANQUAN CHEN",
    "LEI CUI",
    "YAFENG GE"
  ],
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  "source_date": "2026-03-18",
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  "title": "Body and pallet obstacle avoidance detection device of four-way shuttle and operating method therefor",
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