CN220056231U - Warehouse conveying system and three-way conveying forklift for conveying warehouse cargoes - Google Patents

Abstract

The utility model discloses a warehouse conveying system and a three-way conveying forklift for conveying warehouse cargoes. The three-way carrying forklift comprises a forklift body, a three-way fork assembly and a controller; the vehicle body can run in the roadway; the three-way fork assembly is arranged on the vehicle body and can perform reversing movement to adjust the gesture so as to take/put goods in the goods space; the controller is arranged in the vehicle body and used for controlling the running of the vehicle body, constructing a virtual geometric space through a proportional-integral-derivative control algorithm and controlling the three-way fork assembly to conduct reversing movement in the virtual geometric space. Through the mode, the three-way fork assembly can be accurately controlled, so that the accuracy of the three-way fork assembly in fork taking of cargoes is improved.

Description

Warehouse conveying system and three-way conveying forklift for conveying warehouse cargoes

Technical Field

The utility model relates to the technical field of warehouse cargo handling, in particular to a warehouse handling system and a three-way handling forklift for warehouse cargo handling.

Background

Along with the intelligent degree of warehouse conveying system promotes gradually, current unmanned carrier can accomplish the transport task by high efficiency.

In order to make efficient use of warehouses, there are increasing types of warehouses available. The height of the goods shelves is increased, the distance between the goods shelves is reduced, and the like can be effectively increased, but new challenges are brought to the carrying task of the unmanned carrier. For example, when the distance between the goods shelves is small, the unmanned carrier is easy to collide with the goods shelves or even between the goods shelves, so that the goods can be dropped, and a large potential safety hazard exists.

Disclosure of Invention

The technical problem to be solved mainly by the utility model is to provide a warehouse conveying system and a three-way conveying forklift for carrying warehouse goods, which can accurately control the three-way fork assembly so as to improve the accuracy of the three-way fork assembly in taking goods.

In order to solve the technical problems, the utility model adopts a technical scheme that: a warehouse handling system is provided. The warehouse conveying system comprises a plurality of rows of racks and a three-way conveying vehicle. A plurality of rows of shelves, each row of shelves being provided with a plurality of cargo spaces at intervals along the length direction thereof; the adjacent two rows of shelves are arranged at intervals to form a roadway between the adjacent two rows of shelves; the three-way carrying forklift comprises a forklift body, a three-way fork assembly and a controller; the vehicle body can run in the roadway; the three-way fork assembly is arranged on the vehicle body and can perform reversing movement to adjust the gesture so as to take/put goods in the goods space; the controller is arranged in the vehicle body and used for controlling the running of the vehicle body, constructing a virtual geometric space through a proportional-integral-derivative control algorithm and controlling the three-way fork assembly to conduct reversing movement in the virtual geometric space.

In order to solve the technical problems, the utility model adopts another technical scheme that: a three-way handling forklift for warehouse cargo handling is provided. The warehouse for the three-way carrying forklift comprises a plurality of rows of goods shelves, wherein each row of goods shelves is provided with a plurality of goods spaces at intervals along the length direction of the goods shelves; the adjacent two rows of shelves are arranged at intervals to form a roadway between the adjacent two rows of shelves; the three-way carrying forklift comprises a forklift body, a three-way fork assembly and a controller; the vehicle body can run in the roadway; the three-way fork assembly is arranged on the vehicle body and can perform reversing movement to adjust the gesture so as to take/put goods in the goods space; the controller is arranged in the vehicle body and used for controlling the running of the vehicle body, constructing a virtual geometric space through a proportional-integral-derivative control algorithm and controlling the three-way fork assembly to conduct reversing movement in the virtual geometric space.

The beneficial effects of the utility model are as follows: the three-way fork assembly is accurately controlled by using the controller with the proportional-integral-derivative control algorithm, so that the three-way fork assembly can accurately move to a correct position for forking goods, the forking accuracy of the three-way fork assembly on the goods can be improved, the situation that the goods are not forked properly and the goods caused by collision of the three-way fork assembly and the goods shelf fall is reduced, and the safety of the three-way carrying forklift in carrying the goods is improved.

Drawings

FIG. 1 is a schematic view of an embodiment of a warehouse handling system of the present utility model;

FIG. 2 is a schematic view of a three-way handling fork truck embodiment of the present utility model;

fig. 3 is a schematic view of a part of the structure of the three-way carrying forklift shown in fig. 2.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

With the wide use of unmanned carrier in warehouse handling system, current unmanned carrier has can accomplish the transport task with high efficiency. In order to make efficient use of warehouses, there are increasing types of warehouses available. To increase the utilization of the warehouse, the warehouse may increase the height of the shelves, decrease the distance between shelves, etc. However, when the unmanned carrier runs in the existing warehouse, for example, when the distance between the goods shelves is smaller, the unmanned carrier is easy to collide with the goods shelves or even between the goods shelves, so that the goods can fall down, and a large potential safety hazard exists.

In order to solve the above technical problems, the present utility model proposes at least the following embodiments.

As shown in fig. 1, the warehouse handling system 10 described in connection with the present warehouse handling system embodiment may be used in a variety of types of warehouses, such as medical distribution warehouses, logistics transportation warehouses, and the like. The warehouse handling system 10 includes: a multi-row pallet 100 and a three-way handling forklift 200.

Multiple rows of shelves 100 are used for placement of goods. Each row of shelves 100 is provided with a plurality of cargo spaces 101 along the length direction thereof, and cargo can be placed in different cargo spaces 101 according to different kinds. Adjacent rows of shelves 100 are spaced apart to form a lane 300 between adjacent rows of shelves 100. The three-way transporting forklift 200 can travel in the roadway 300 between two adjacent rows of racks 100 to transport and pick/place the goods placed at different cargo sites 101. The three-way lift truck 200 may be used to remove cargo from the multi-row pallet 100 or to place cargo on the multi-row pallet 100.

Each row of shelves 100 includes a stop track 400 extending along its length. The limit rails 400 of two adjacent rows of shelves 100 are arranged at intervals. The three-way truck 200 travels between two limit rails 400 and can travel to the corresponding cargo space 101. Through setting up spacing track 400, can make three-way transport fork truck 200 travel in the regional of injecing, reduce three-way transport fork truck 200 and goods shelves 100 collision's possibility, improve three-way transport fork truck 200 and go and the security of goods transport, can also guarantee that three-way transport fork truck 200 can realize getting/putting goods operation relative goods shelves 100 smoothly moreover.

Specifically, the roadway 300 and the limit rail 400 extend along the length direction of the shelf 100, and two sides of the roadway 300 correspond to one limit rail 400 respectively. By providing the limit rail 400, the three-way carrying forklift 200 can be guided to travel in the roadway 300, and the possibility of collision between the three-way carrying forklift 200 and the goods shelf 100 can be reduced.

Each row of shelves 100 further includes a plurality of cargo space position plates 102, where the plurality of cargo space position plates 102 are disposed on the limiting rails 400 along the corresponding limiting rails 400 at intervals, and are disposed in one-to-one correspondence with the plurality of cargo spaces 101. The cargo space position plates 102 may be used to represent the location of the cargo space 101, e.g., each cargo space position plate 102 is used to identify the location of one cargo space 101. The cargo space 101 can be correspondingly detected by detecting the cargo space pallet 102. The cargo space 101 may be identified by the cargo space position plate 102, for example, by identifying each cargo space position plate 102 and each cargo space 101 by a corresponding label, so that the label of the cargo space 101 corresponding to the cargo position plate 102 may be detected by detecting the label of the cargo space position plate 102.

For example, when the three-way forklift 200 is to carry a certain item on the pallet 100, the cargo space 101 where the item is placed is determined. Since the cargo space 101 corresponds to the cargo space pallet 102, that is, when the three-way handling forklift 200 detects the cargo space pallet 102 corresponding to the cargo space 101, it can be said that the three-way handling forklift 200 finds the cargo space 101.

As shown in fig. 2, the three-way handling forklift 200 depicted in the three-way handling forklift embodiment of the present utility model includes a body 201, a three-way fork assembly 202, a controller 203, and a wheel assembly 204. The vehicle body 201 can travel in the tunnel 300. The three-way fork assembly 202 is provided to the vehicle body 201 and can perform reversing movement to adjust the posture so as to pick up/put the cargo in the cargo space 101. For example, the three-way fork assembly 202 may be raised, lowered, translated, and rotated to pick/place cargo at the cargo space 101. A controller 203 is provided to the vehicle body 201 for controlling the travel of the vehicle body 201 and the movement of the three-way fork assembly 202. The wheel assembly 204 is used to drive the vehicle body 201 forward, backward or rotate under the control of the controller 203.

The manner in which the cargo space 101 is identified by the cargo space position plate 102 may also be by counting the number of detected cargo space position plates 102 to determine the cargo space 101 to which the current cargo space position plate 102 corresponds, for example. For example, when a plurality of racks 100 are provided on both sides of each lane 300 and each rack 100 is provided with a plurality of cargo spaces 101, one cargo space setting plate 102 may be provided at each cargo space 101 correspondingly. When the three-way truck 200 travels in one direction along the roadway 300, the three-way truck 200 counts one cargo space pallet 102 each time it passes until the target cargo space 101 is found.

Optionally, the three-way handling forklift 200 may further include at least two photodetectors 205, where the at least two photodetectors 205 are disposed on two sides of the vehicle body 201 adjacent to the limit rail 400, respectively. Each photodetector 205 is used to detect the cargo position plate 102. The photodetectors 205 may be used to detect the cargo position plate 102 using light. For example, the cargo space plate 102 may be provided with a reflector, the photodetectors 205 may emit light to the cargo space plate 102, the cargo space plate 102 may reflect light to the photodetectors 205, and the photodetectors 205 may detect the cargo space plate 102 by receiving the reflected light. By providing the photoelectric detector 205 on the three-way carrying forklift 200, the cargo space setting board 102 corresponding to the cargo space 101 can be detected, thereby facilitating the three-way carrying forklift 200 to find the cargo space 101.

Further, the controller 203 may be configured to control the vehicle body 201 to park at the corresponding cargo space 101 when the cargo space deck 102 is detected by the photodetector 205. Because the cargo space position plates 102 and the cargo spaces 101 are in one-to-one correspondence, the corresponding cargo space 101 can be found through detection of the cargo space position plates 102, and the vehicle body 201 is controlled to stop at the moment, so that the vehicle body 201 is stopped at the correct cargo space 101, and the position of the vehicle body 201 does not need to be additionally adjusted. Not only can the accuracy of three-way carrying forklift 200 to the goods space transport be improved, but also the carrying efficiency of three-way carrying forklift 200 can be effectively improved.

As shown in fig. 1 and 2, the vehicle body 201 optionally has a first side 230 and a second side 240 disposed opposite each other, with the two restraint rails 400 facing the first side 230 and the second side 240, respectively. The first side 230 and the second side 240 are adjacent to one of the restraint rails 400, respectively, when the three-way lift truck 200 travels between two rows of pallets 100. The first side 230 and the second side 240 of the vehicle body 201 are each provided with at least one photodetector 205. At least one photodetector positioned on the first side 230 is configured to detect a distance between the first side 230 and the spacing rail 400 toward the first side 230. At least one photodetector located on the second side 240 is configured to detect a distance between the second side 240 and the spacing rail 400 toward the second side 240. By providing the photodetector 205, it is possible to further judge whether the vehicle body 201 is about to collide with the stopper rail 400.

Optionally, the first side 230 and the second side 240 of the vehicle body 201 are each provided with at least one mounting member 210, and at least two mounting members 210 are in one-to-one correspondence with at least two photodetectors 205. The at least one mounting member 210 disposed on the first side 230 of the vehicle body 201 is directed toward the spacing rail 400 adjacent to the first side 230 and the at least one mounting member 210 disposed on the second side 240 of the vehicle body 201 is directed toward the spacing rail 400 adjacent to the second side 240. By providing the mounting 210, the photo-detector 205 may be protected such that the three-way handling forklift 200 does not damage the photo-detector 205 when colliding with the limit rail 400 or even the pallet 100.

Further, the mounting member 210 is provided with a mounting space 211 and a window 212 communicating with the mounting space 211. The photodetector 205 is disposed in the installation space 211 and is capable of detecting the cargo position plate 102 via the window 212. By providing the mounting member 210 that may correspond to the photo detector 205, the three-way handling forklift 200 may detect the mounting member 210 by using the photo detector 205 to correspondingly find the corresponding cargo position plate 102. A window 212 is reserved on the mounting member 210 for the photodetector 205 to detect, so that the light of the photodetector 205 can be successfully emitted, i.e., the photodetector 205 can be protected without affecting the detection of the photodetector 205.

Specifically, the mounting member 210 may be provided in a plate shape, including two side plates 213, a fixing plate 214, and a top plate 215. The two side plates 213 are disposed opposite to each other, and the top plate 215 is connected to one end of the two side plates 213 near the top of the vehicle body 201 and is located between the two side plates 213. The two side plates 213 and the top plate 215 are fixed to the vehicle body 201. Two side plates 213 and a top plate 215 enclose a mounting space 211 and a window 212. The fixing plate 214 is connected to one side plate 213 near the edge of the vehicle body 201, extends toward the other side plate 213, and is disposed opposite to the window 212. The fixing plate 214 is fixedly connected to one side of the vehicle body 201 facing the limit rail 400. The photodetector 205 is fixedly disposed in the installation space 211. The above-mentioned arrangement of the mounting member 210 can reduce interference of external light to the photodetector 205 while protecting the photodetector 205, so that accuracy of detection results of the photodetector 205 can be improved.

The fixing plate 214 is provided with at least one kidney-shaped hole 216, and the vehicle body 201 is provided with at least one connecting hole 217. The projection of the connecting hole 217 on the plane of the kidney-shaped hole 216 falls into the kidney-shaped hole 216. The fixing plate 214 and the vehicle body 201 are fixedly connected by a fastener 218 penetrating through the kidney-shaped hole 216 and inserted into the connecting hole 217. Through correspondingly arranging the kidney-shaped hole 216 and the connecting hole 217, the fixing plate 214 can adjust the position relative to the vehicle body 201, so that the position of the mounting piece 210 relative to the vehicle body 201 can be adjusted, and the photoelectric detector 205 can be protected better.

Optionally, the three-way handling forklift 200 may further comprise a plurality of impact runners 219, the first side 230 and the second side 240 each being provided with at least one impact runner 219. Further, the first side 230 and the second side 240 of the vehicle body 201 are each provided with at least two collision runners 219. The rotational axis direction of the collision runner 219 is the same as the height direction of the vehicle body 201. The collision runner 219 is used for being in collision contact with the limit rail 400, so that when the distance between the three-way carrying forklift 200 and the limit rail 400 is smaller than a preset value, the collision runner 219 can enable the three-way carrying forklift 200 to move in a direction away from the limit rail 400 under the action of a reaction force, and therefore the possibility of collision between the three-way carrying forklift 200 and the limit rail 400 and even between the three-way carrying forklift and the goods shelf 100 is reduced.

Alternatively, the collision runner 219 may be disposed protruding with respect to the vehicle body 201, so as to increase the distance between the vehicle body 201 and the stopper rail 400, and further reduce the possibility of collision between the vehicle body 201 and the stopper rail 400 and even the shelf 100.

Optionally, the collision runner 219 may be disposed at a distance from the photodetector 205, so that the collision runner 219 does not easily collide with the photodetector 205 when colliding with the limit rail 400, thereby further enhancing the protection of the photodetector 205.

The controller 203 may also be configured to construct a virtual geometric space through a preset algorithm and control the three-way fork assembly 202 to move within the virtual geometric space while controlling the vehicle body 201 and the three-way fork assembly 202. For example, the three-way fork assembly 202 may be controlled to fold with the vehicle body 201 or unfold with the vehicle body 201 by a rotational movement in the virtual geometric space, and the three-way fork assembly 202 may be controlled to perform a reversing movement in the virtual geometric space. The virtual geometric space is a space that can be used for movement of the three-way fork assembly 202, for example, a target position of a handling task performed by the three-way fork assembly 202 and a position that needs to be traversed to reach the target position. Of course, the virtual geometry is configured to accommodate avoidance of obstructions, such as in the virtual geometry of the three-way fork assembly 202, where the three-way fork assembly 202 cannot collide or even contact the pallet 100.

It is difficult to achieve precise control of the three-way fork assembly 202, such as to move the three-way fork assembly 202 to the exact position when the cargo is being forked. The three-way fork assembly 202 may be controlled using a proportional-integral-derivative control algorithm.

The proportional-integral-derivative control algorithm (proportional, integral, derivative, also called PID algorithm) is a control algorithm composed of proportional, integral and derivative. The PID algorithm simultaneously adopts three kinds of regulation of proportion regulation, integral regulation and differential regulation to the three-way fork assembly 202, and can effectively correct the deviation between the three-way fork assembly 202 and the target position, thereby enabling the three-way fork assembly 202 to reach a stable state.

Wherein the scaling proportionally reflects the offset of the three-way fork assembly 202, and the scaling adjusts to reduce the offset immediately upon the offset. The use of scaling may cause the three-way fork assembly 202 to vary widely, and thus the use of scaling may tend to destabilize the three-way fork assembly 202. Especially when the error is very close to the target position, the target position is difficult to access using proportional adjustment, and thus the effect is very limited.

Because scaling is used to easily destabilize the three-way fork assembly 202, there is a static difference between the target position and the three-way fork assembly 202 after it has stabilized. The integral adjustment may reduce the static difference by continually integrating so that the three-way fork assembly 202 is as close to the target location as possible. But the integral adjustment may result in a reduced response speed of the three-way fork assembly 202 and may also have an impact on the stability of the three-way fork assembly 202.

Differential regulation may reflect the rate of change of the deviation, so a trend of deviation change can be foreseen. Therefore, differential adjustment can effectively correct the deviation before the deviation becomes large. The use of differential modulation not only increases the response speed, but also improves the stability of the three-way fork assembly 202.

Through the PID algorithm of using three kinds of regulation control, can effectively correct the deviation of three-way fork subassembly 202 for three-way fork subassembly 202 can be in advance the deceleration before reaching the target position, thereby makes the motion of three-way fork subassembly 202 more smooth, and then can carry out accurate effectual control to three-way fork subassembly 202.

Specifically, the controller 203 may be configured to control the vehicle body 201 to park at the corresponding cargo space 101 when the photo detector 205 detects the cargo space pallet 102, and to construct a virtual geometric space through a PID algorithm after parking, and to control the three-way fork assembly 202 within the virtual geometric space. When the vehicle body 201 is parked at the corresponding cargo space 101, it is indicated that the cargo can be picked up at this time. At this time, the three-way fork assembly 202 needs to be lifted, redirected or telescoped to fork the cargo, and the controller 203 uses the PID algorithm to construct a virtual geometric space through which the three-way fork assembly 202 needs to pass from the current position to the target position facing the cargo. After the virtual geometry space is built, the three-way fork assembly 202 needs to be controlled to move within the virtual geometry space.

For example, when the three-way fork assembly 202 needs to be extended forward to fork the cargo after reaching the corresponding cargo space 101, the three-way fork assembly 202 needs to be extended forward below the cargo and cannot be extended beyond the cargo rack, at this time, the controller 203 needs to use the PID algorithm to construct the virtual geometric space that the three-way fork assembly 202 needs to pass through from the original position forward to the target position below the cargo and avoid the other cargo rack 100 and the cargo, and at the same time, the controller 203 needs to control the three-way fork assembly 202 to move in the virtual geometric space to reach the target position, which plays the role of controlling the extension of the three-way fork assembly 202, and avoids the three-way fork assembly 202 from exceeding the virtual geometric space.

The PID algorithm can be used for constructing a proper virtual geometric space, the three-way fork assembly 202 is controlled to move in the virtual geometric space, the movement range of the three-way fork assembly 202 can be accurately limited, so that the three-way fork assembly 202 can accurately take out or place cargoes on a correct cargo space 101, and other goods shelves 100 and even cargoes cannot collide, and therefore the safety of carrying the cargoes can be improved.

Alternatively, a PID algorithm may be used to create a virtual geometry and control the three-way fork assembly 202 to reverse motion within the virtual geometry as the vehicle body 201 travels within the roadway 300.

For example, while the vehicle body 201 is traveling in the roadway 300, the controller 203 establishes a virtual geometric space in the roadway 300 based on the region defined by the respective two limit rails 400 through a PID algorithm and controls the three-way fork assembly 202 to perform a reversing motion in the virtual geometric space. When the vehicle body 201 runs in the roadway 300, the steering of the vehicle body 201 may cause the three-way fork assembly 202 to have an angle change relative to the roadway 300, and the three-way fork assembly 202 may collide with the limit rail 400. The three-way fork assembly 202 can now avoid collisions with the limit rails 400 by performing a reversing motion, so the controller 203 needs to establish a virtual geometric space within the roadway 300 based on the areas defined by the respective two limit rails 400 by means of a PID algorithm. The virtual geometric space not only enables the three-way fork assembly 202 to perform reversing movement in the roadway 300, but also enables the three-way fork assembly 202 not to collide with the limit rail 400. That is, the controller 203 constructs the virtual geometric space by using the PID algorithm in the roadway 300, so that the three-way fork assembly 202 performs reversing motion to avoid the forward collision with the limit rail 400 when the vehicle body 201 deviates from the original driving direction, and the three-way fork assembly 202 further performs avoiding on the limit rail 400 in the steering motion process, so that the three-way fork assembly 202 and the limit rail 400 can be protected to a certain extent, and the driving safety of the vehicle body 201 is improved.

Optionally, the width of the virtual geometric space in the arrangement direction of the respective two limit rails 400 is smaller than the distance between the respective two limit rails 400. The above arrangement is beneficial to further reducing the possibility of collision between the three-way fork assembly 202 and the limit rail 400 in the reversing movement process, so that the safety of cargo handling can be improved. In addition, by using the PID algorithm, the distance between the two limit rails 400 can be set reasonably, so that the space utilization rate is improved to a certain extent, and the three-way carrying forklift 200 can be suitable for more application scenes, such as a warehouse with smaller distance between the shelves 100.

Alternatively, a PID algorithm may be used to create a virtual geometry and control the three-way fork assembly 202 to reverse motion within the virtual geometry as the vehicle body 201 travels outside of the roadway 300.

For example, when the vehicle body 201 runs outside the roadway 300, the controller 203 controls the three-way fork assembly 202 to rise to a preset height outside the roadway 300 through a PID algorithm, and constructs a virtual geometric space, so as to control the three-way fork assembly 202 to perform reversing motion in the virtual geometric space. When the three-way fork assembly 202 is lifted, the three-way fork assembly 202 may collide with the pallet 100 or the goods on the pallet 100 on the other side if performing the reversing motion, so the controller 203 needs to construct a proper virtual geometric space. The virtual geometric space not only enables the three-way fork assembly 202 to avoid other shelves 100 and goods, but also enables the three-way fork assembly 202 to smoothly perform reversing motions to complete the goods handling task. That is, the controller 203 constructs the virtual geometric space by using the PID algorithm outside the roadway 300, so that the three-way fork assembly 202 can avoid other shelves 100 and cargoes while completing the cargo carrying task, thereby effectively improving the safety of the three-way fork assembly 202 in carrying cargoes, especially in carrying high-level cargoes.

Wherein, the preset height is greater than the standard height of a goods. When the preset height is smaller than the standard height of a cargo, the three-way fork assembly 202 can cause collision between the three-way fork assembly 202 and the cargo when the cargo is forked, which not only can cause the cargo to fall, but also can cause damage to the cargo and the three-way carrying forklift 200. Therefore, increasing the preset height is beneficial to increasing the height of the three-way fork assembly 202, and reducing the possibility of collision between the three-way fork assembly 202 and the low-level cargo, thereby increasing the safety of the three-way fork assembly 202 in transporting the cargo.

In summary, the controller 203 with the PID algorithm is used to precisely control the three-way fork assembly 202, so that the three-way fork assembly 202 can be accurately moved to the correct position for forking the goods, thereby improving the forking accuracy of the three-way fork assembly 202 on the goods, reducing the situation that the goods are not forked properly and the goods fall down due to collision between the three-way fork assembly 202 and the goods shelf 100, and improving the safety of the three-way carrying forklift 200 during carrying the goods.

The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present utility model.

Claims (10)

1. A three-way handling forklift for handling goods in a warehouse, wherein the warehouse comprises a plurality of rows of goods shelves, and each row of goods shelves is provided with a plurality of goods spaces at intervals along the length direction of the goods shelves; the adjacent two rows of shelves are arranged at intervals so as to form a roadway between the adjacent two rows of shelves; the three-way carrying forklift comprises a forklift body, a three-way fork assembly and a controller; the vehicle body can run in the roadway; the three-way fork assembly is arranged on the vehicle body and can perform reversing movement to adjust the gesture so as to take/put the goods in the goods space; the controller is arranged on the vehicle body and used for controlling the running of the vehicle body, constructing a virtual geometric space through a proportional-integral-derivative control algorithm and controlling the three-way fork assembly to conduct reversing movement in the virtual geometric space.

2. The three-way handling forklift of claim 1, wherein,

each row of shelves comprises a limit rail extending along the length direction thereof; the limiting rails of two adjacent rows of shelves are arranged at intervals; the three-way carrying forklift is limited to travel between the two limit rails, and then can travel to the corresponding goods space.

3. The three-way handling forklift of claim 2, wherein,

each row of goods shelves further comprises a plurality of goods position setting plates, and the goods position setting plates are arranged on the limiting rails at intervals along the corresponding limiting rails and are arranged in one-to-one correspondence with the goods positions; each of the cargo space pallets is used for identifying the position of one cargo space;

the vehicle body is provided with a first side and a second side which are oppositely arranged, the two limit rails face the first side and the second side respectively, and at least one photoelectric detector is arranged on each of the first side and the second side; the at least one photodetector on the first side is configured to detect a distance between the first side and the spacing track toward the first side, and the at least one photodetector on the second side is configured to detect a distance between the second side and the spacing track toward the second side; each of the photodetectors is configured to detect the cargo space location panel; the controller is used for controlling the vehicle body to park at the corresponding goods space when the photoelectric detector detects the goods space locating plate, constructing the virtual geometric space through the proportional-integral-derivative control algorithm after parking, and controlling the three-way fork assembly to be in the virtual geometric space.

4. The three-way handling forklift as claimed in claim 3, wherein,

the first side and the second side are respectively provided with at least one mounting piece, and the at least one mounting piece corresponds to the at least one photoelectric detector one by one; the mounting piece is provided with a mounting space and a window communicated with the mounting space; the photoelectric detector is arranged in the installation space and can detect the cargo position setting plate through the window.

5. The three-way handling forklift of claim 4, wherein,

the mounting piece is plate-shaped and comprises two side plates, a fixing plate and a top plate; the two side plates are oppositely arranged, and the top plate is connected to one end of the two side plates, which is close to the top of the vehicle body, and is positioned between the two side plates; the two side plates and the top plate are fixed relative to the vehicle body; the two side plates and the top plate are enclosed to form the installation space and the window; the fixing plate is connected with one side plate, is close to the edge of the vehicle body, extends towards the other side plate, and is arranged opposite to the window; the fixed plate is fixedly connected with one side of the vehicle body, which faces the limit rail; the photoelectric detector is fixedly arranged in the installation space.

6. The three-way handling forklift of claim 5, wherein,

the fixing plate is provided with at least one waist-shaped hole, and the vehicle body is provided with at least one connecting hole; the projection of the connecting hole on the plane of the kidney-shaped hole falls into the kidney-shaped hole; the fixing plate is fixedly connected with the vehicle body through a fastener which penetrates through the kidney-shaped hole and is inserted into the connecting hole.

7. The three-way handling forklift as claimed in claim 3, wherein,

the three-way carrying forklift further comprises a plurality of collision rotating wheels, and at least one collision rotating wheel is arranged on each of the first side and the second side; the rotating axial direction of the collision rotating wheel is the same as the height direction of the car body; the collision rotating wheel and the photoelectric detector are arranged at intervals; the collision rotating wheel is used for colliding with the limit rail.

8. The three-way handling forklift of claim 2, wherein,

when the vehicle body runs in the roadway; the controller establishes the virtual geometric space in the roadway based on the area defined by the two corresponding limit rails through the proportional-integral-derivative control algorithm and controls the three-way fork assembly to perform reversing movement in the virtual geometric space; the width of the virtual geometric space in the arrangement direction of the two corresponding limit rails is smaller than the distance between the two corresponding limit rails.

9. The three-way handling forklift of claim 1, wherein,

when the vehicle body runs outside the roadway, the controller controls the three-way fork assembly to rise to a preset height outside the roadway through the proportional-integral-derivative control algorithm, constructs the virtual geometric space and further controls the three-way fork assembly to perform reversing movement in the virtual geometric space; wherein the preset height is greater than the standard height of a cargo.

10. A warehouse handling system, comprising:

a plurality of rows of shelves, each row of shelves being provided with a plurality of goods spaces at intervals along the length direction thereof; the adjacent two rows of shelves are arranged at intervals so as to form a roadway between the adjacent two rows of shelves;

the three-way carrying forklift comprises a forklift body, a three-way fork assembly and a controller; the vehicle body can run in the roadway; the three-way fork assembly is arranged on the vehicle body and can perform reversing movement to adjust the gesture so as to take/put the goods in the goods space; the controller is arranged on the vehicle body and used for controlling the running of the vehicle body, constructing a virtual geometric space through a proportional-integral-derivative control algorithm and controlling the three-way fork assembly to conduct reversing movement in the virtual geometric space.