CN110921180B - Tray access control system, control method and tray access method - Google Patents
Tray access control system, control method and tray access method Download PDFInfo
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- CN110921180B CN110921180B CN201911310154.XA CN201911310154A CN110921180B CN 110921180 B CN110921180 B CN 110921180B CN 201911310154 A CN201911310154 A CN 201911310154A CN 110921180 B CN110921180 B CN 110921180B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0485—Check-in, check-out devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a tray access control system which comprises an identification tag, a storage inlet intelligent trolley, an inlet trolley tag read-write module, a storage outlet intelligent trolley, an outlet trolley tag read-write module, an intelligent trolley track, a tray access frame, an access frame inlet tag read-write module, an access frame outlet tag read-write module and a master control upper computer; the identification tag indicates the tray type; the storage inlet/outlet intelligent trolley is used for loading and conveying the trays; the inlet/outlet trolley label read-write module is used for reading the type of the tray and uploading the intelligent trolley and the master control upper computer; the access frame inlet/outlet label reading and writing module is used for reading the type of the tray and uploading the type of the tray to a master control upper computer; the tray storing and taking frame stores and takes the tray; the intelligent trolley travels on the intelligent trolley track. The invention also discloses a control method of the tray access control system, and a tray access method realized by the tray access control system and the control method. The invention has high reliability, good accuracy and high efficiency.
Description
Technical Field
The invention belongs to the field of industrial automation, and particularly relates to a tray access control system, a control method and a tray access method.
Background
With the development of economic technology and the improvement of living standard of people, the automation technology is widely applied to the production and the life of people, and brings endless convenience to the production and the life of people.
In metallurgical plants and other situations, the production line of the plant needs to frequently take out proper trays from the warehouse, and also needs to frequently store the used trays in the production line back to the warehouse. However, the current related tray access mode generally adopts a manual mode, that is, a production worker takes out trays required by a production line from a warehouse and sequentially puts the trays into the production line according to the prompt of a system; or workers wait at the tail end of the production line, sequentially and manually take down the used trays, stack the used trays nearby, and then uniformly convey the used trays back to the warehouse.
Obviously, the mode of present artifical tray of taking out and artifical tray of retrieving not only wastes time and energy, and production efficiency is extremely low moreover, and the reliability is also not high.
Disclosure of Invention
One of the objectives of the present invention is to provide a tray access control system with high reliability, accuracy and efficiency.
The second objective of the present invention is to provide a control method for the tray access control system.
The invention also provides a tray access control system and a tray access method realized by the tray access control system and the tray access control method.
The invention provides a tray access control system, which comprises an identification tag, a storage inlet intelligent trolley, an inlet trolley tag read-write module, a storage outlet intelligent trolley, an outlet trolley tag read-write module, an intelligent trolley track, a tray access frame, an access frame inlet tag read-write module, an access frame outlet tag read-write module and a master control upper computer; the identification label is arranged on the tray; the inlet trolley label reading and writing module is simultaneously connected with the storage inlet intelligent trolley and the master control upper computer; the exit trolley label reading and writing module is simultaneously connected with the storage exit intelligent trolley and the master control upper computer; the storage inlet intelligent trolley, the storage outlet intelligent trolley, the access frame inlet label reading and writing module and the access frame outlet label reading and writing module are all connected with a master control upper computer; the access frame entrance label reading and writing module is arranged at the entrance of the tray access frame; the access frame outlet label reading and writing module is arranged at the outlet of the tray access frame; the identification tag is used for indicating the type of the tray; the storage entrance intelligent trolley is used for loading the used trays from the production line and conveying the trays to the tray storing and taking frame for storage according to the command sent by the master control upper computer; the warehousing outlet intelligent trolley is used for taking out the tray from the tray storing and taking frame according to a command sent by the master control upper computer and conveying the tray to an inlet of a production line; the inlet trolley label read-write module is used for reading the type of the tray loaded by the storage inlet intelligent trolley and uploading the tray to the storage inlet intelligent trolley and the master control upper computer; the exit trolley label read-write module is used for reading the type of the tray loaded on the storage exit intelligent trolley and uploading the tray to the storage exit intelligent trolley and the master control upper computer; the access frame inlet label reading and writing module is used for reading the tray type stored in the tray access frame and uploading the tray type to a master control upper computer; the access frame outlet label reading-writing module is used for reading the type of the tray taken out of the tray access frame and uploading the type of the tray to a master control upper computer; the tray access frame is used for accessing the tray; the intelligent trolley track is used for walking of the intelligent trolley.
The tray access control system also comprises a plurality of positioning sensor modules; the positioning sensor module is arranged at a specific position on the intelligent trolley track and used for indicating that the intelligent trolley for warehousing entrance and the intelligent trolley for warehousing exit have reached the specific position.
The tray access control system also comprises a plurality of deceleration sensor modules; the speed reduction sensor module is arranged at a specific position on the intelligent trolley track and used for indicating the intelligent trolley at the warehousing inlet and the intelligent trolley at the warehousing outlet to reduce the speed after reaching the specific position, so that the working efficiency of the intelligent trolley at the warehousing inlet and the intelligent trolley at the warehousing outlet is improved.
The identification tag is an RFID tag; and the corresponding inlet trolley label read-write module, the outlet trolley label read-write module, the access frame inlet label read-write module and the access frame outlet label read-write module are all RFID read-write modules.
The invention also discloses a control method of the tray access control system, which comprises the following steps:
a step of storing the tray:
s1, when a production line needs to store trays, a master control upper computer controls an intelligent trolley at a storage inlet to wait for the trays at a specific position;
s2, placing the tray on the production line to the intelligent storage inlet trolley;
s3, reading the identification tag on the tray by the inlet trolley tag reading and writing module, and uploading the reading result to the intelligent storage inlet trolley and the master control upper computer;
s4, the master control upper computer sends a control instruction to the intelligent storage inlet trolley according to the uploaded identification tag reading result of the tray;
s5, the intelligent storage entrance trolley runs on the intelligent trolley track according to the received command, and the tray is conveyed to a target area of the tray storing and taking frame;
s6, placing the tray into a target area of a tray storing and taking frame by the intelligent warehousing entrance trolley;
s7, reading the identification tag on the tray by the access frame inlet tag reading and writing module, and uploading the reading result to a master control upper computer to finish the storage of the tray;
a step of taking out the tray:
s8, when the production line needs the tray, the master control upper computer sends a control instruction to the intelligent storage and export trolley;
s9, the intelligent storage and export trolley runs on the intelligent trolley track according to the received control instruction and reaches a target area of the tray storing and taking frame to wait for the tray;
s10, placing a target tray on an intelligent storage and export trolley by a tray storing and taking frame;
s11, reading an identification label on the tray by an access frame outlet label reading and writing module, and uploading a reading result to a master control upper computer;
s12, reading the identification tag on the tray by the tag reading and writing module of the outlet trolley, and uploading the reading result to the intelligent storage outlet trolley and the master control upper computer;
s13, the master control upper computer sends a control instruction to the intelligent storage and export trolley according to the uploaded identification tag reading result of the tray;
and S14, the intelligent storage and export trolley runs on the intelligent trolley track according to the received control command, and the tray is conveyed to a production line to finish the taking out of the tray.
The invention also provides a tray access method realized by the tray access control system and the control method, which specifically comprises the following steps:
A. acquiring the type number N of the trays;
B. dividing the tray access rack into 2N sub-areas according to the number N of the tray types obtained in the step S1; the 1 st to Nth sub-areas are independent access areas, and the N +1 st to 2 Nth sub-areas are mixed access areas;
C. b, sequentially corresponding the 1 st sub-area to the Nth sub-area to the 1 st tray to the Nth tray respectively, and only storing the ith tray in the ith sub-area;
D. for the 1 st tray to the nth tray, and the N +1 st sub-area to the 2N sub-area, the following rule is adopted as the priority rule:
rule 1: for any ith tray, dividing the (N + 1) th sub-area to the (2) th sub-area into N priorities, and sequentially storing the ith tray according to the priority;
rule 2: for any two kinds of trays, namely an ith tray and a jth tray, the priority of the storage area corresponding to the ith tray is different from the priority of the storage area corresponding to the jth tray;
E. when the tray is stored, the tray is stored by adopting the following method:
for the ith tray, preferentially storing the ith tray into the ith sub-area of the independent access area of the ith tray; if the ith sub-area of the independent access area of the ith tray is full of trays, sequentially storing the ith tray according to the priority of the mixed access area of the ith tray;
F. when the tray is taken out, the tray is taken out by adopting the following method:
for the ith tray, preferentially taking out the ith tray stored in the mixed access area of the ith tray, wherein the taking-out sequence is as follows: taking out the trays in a reverse order according to the storage sequence of the ith tray in the corresponding mixed access area; if the mixed access area of the ith tray is not stored with the ith tray, the ith tray is taken out directly from the ith sub-area of the independent access area of the ith tray.
The tray storing and taking method specifically comprises the following steps of:
a. the number of types of trays is 3;
b. dividing the tray access shelf into 6 sub-areas according to the number 3 of the tray types obtained in the step S1; the 1 st to 3 rd sub-areas are independent access areas, and the 4 th to 6 th sub-areas are mixed access areas;
c. b, respectively and sequentially corresponding the 1 st sub-area to the 3 rd sub-area to the 1 st tray to the 3 rd tray, wherein the 1 st sub-area only stores the 1 st tray, the 2 nd sub-area only stores the 2 nd tray, and the 3 rd sub-area only stores the 3 rd tray;
d. for the 1 st tray to the 3 rd tray, and the 4 th sub-area to the 6 th sub-area, the following rule is adopted as the priority rule:
for the 1 st tray, the 4 th sub-area is a first priority area, the 5 th sub-area is a second priority area, and the 6 th sub-area is a third priority area;
for the 2 nd tray, the 4 th sub-area is a third priority area, the 5 th sub-area is a first priority area, and the 6 th sub-area is a second priority area;
for the 3 rd tray, the 4 th sub-area is a second priority area, the 5 th sub-area is a third priority area, and the 6 th sub-area is a first priority area;
e. when the tray is stored, the tray is stored by adopting the following method:
for the 1 st tray, preferentially storing the 1 st tray to the 1 st sub-area of the independent access area of the 1 st tray; if the 1 st sub-area of the independent access area of the 1 st tray is full, preferentially storing the 1 st tray into the 4 th sub-area; if the 4 th sub-area is fully stored, the 1 st tray is preferentially stored in the 5 th sub-area; if the 5 th sub-area is fully stored, the 1 st tray is preferentially stored in the 6 th sub-area;
for the 2 nd tray, preferentially storing the 2 nd sub-area of the independent access area of the 2 nd tray; if the sub-area 2 of the independent access area of the tray 2 is full, the tray 2 is preferentially stored in the sub-area 5; if the 5 th sub-area is fully stored, the 2 nd tray is preferentially stored in the 6 th sub-area; if the 6 th sub-area is fully stored, the 2 nd tray is preferentially stored in the 4 th sub-area;
for the 3 rd tray, preferentially storing the 3 rd sub-area of the independent access area of the 3 rd tray; if the 3 rd sub-area of the independent access area of the 3 rd tray is full, the 3 rd tray is preferentially stored in the 6 th sub-area; if the 6 th sub-area is fully stored, the 3 rd tray is preferentially stored in the 4 th sub-area; if the 4 th sub-area is fully stored, the 3 rd tray is preferentially stored in the 5 th sub-area;
f. when the tray is taken out, the tray is taken out by adopting the following method:
preferentially taking out the 1 st tray of the 6 th sub-area from the 1 st tray; if the No. 1 tray is not in the No. 6 subarea, the No. 1 tray in the No. 5 subarea is preferentially taken out; if the No. 1 tray is not in the No. 5 subarea, the No. 1 tray in the No. 4 subarea is preferentially taken out; if the 4 th sub-area has no 1 st tray, directly taking out the 1 st tray from the 1 st sub-area of the independent access area of the 1 st tray;
preferentially taking out the 2 nd tray of the 4 th subarea for the 2 nd tray; if the No. 2 tray is not in the No. 4 sub-area, the No. 2 tray in the No. 6 sub-area is preferentially taken out; if the sub-area 6 has no tray 2, preferentially taking out the tray 2 in the sub-area 5; if the 5 th sub-area has no 2 nd tray, directly taking out the 2 nd tray from the 2 nd sub-area of the 2 nd independent access area;
preferentially taking out the 3 rd tray of the 5 th sub-area from the 3 rd tray; if the No. 3 tray is not in the No. 5 sub-area, the No. 3 tray in the No. 4 sub-area is taken out preferentially; if the No. 3 tray is not in the No. 4 sub-area, the No. 3 tray in the No. 6 sub-area is taken out preferentially; if the No. 3 tray is not in the No. 6 subarea, the No. 3 tray is directly taken out from the No. 3 subarea of the No. 3 tray independent access area.
The tray access control system, the control method and the tray access method thereof realize the automation of tray access in an automatic control and centralized mode, and have the advantages of high reliability, good accuracy and higher efficiency.
Drawings
FIG. 1 is a functional block diagram of a tray access control system according to the present invention.
Fig. 2 is a schematic diagram of the intelligent trolley base plate and the track.
Fig. 3 is a schematic diagram of a lifting mechanism of the intelligent trolley.
Fig. 4 is a schematic method flow chart of the control method of the present invention.
FIG. 5 is a flowchart illustrating a method of accessing a tray according to the present invention.
Detailed Description
Fig. 1 is a functional block diagram of a tray access control system according to the present invention: the invention provides a tray access control system, which comprises an identification tag, a storage inlet intelligent trolley, an inlet trolley tag read-write module, a storage outlet intelligent trolley, an outlet trolley tag read-write module, an intelligent trolley track, a tray access frame, an access frame inlet tag read-write module, an access frame outlet tag read-write module, a master control upper computer, a plurality of deceleration sensor modules and a plurality of positioning sensor modules, wherein the storage inlet intelligent trolley is arranged on the storage inlet intelligent trolley; the identification label is arranged on the tray; the inlet trolley label reading and writing module is simultaneously connected with the storage inlet intelligent trolley and the master control upper computer; the exit trolley label reading and writing module is simultaneously connected with the storage exit intelligent trolley and the master control upper computer; the storage inlet intelligent trolley, the storage outlet intelligent trolley, the access frame inlet label reading and writing module and the access frame outlet label reading and writing module are all connected with a master control upper computer; the access frame entrance label reading and writing module is arranged at the entrance of the tray access frame; the access frame outlet label reading and writing module is arranged at the outlet of the tray access frame; the identification tag is used for indicating the type of the tray; the storage entrance intelligent trolley is used for loading the used trays from the production line and conveying the trays to the tray storing and taking frame for storage according to the command sent by the master control upper computer; the warehousing outlet intelligent trolley is used for taking out the tray from the tray storing and taking frame according to a command sent by the master control upper computer and conveying the tray to an inlet of a production line; the inlet trolley label read-write module is used for reading the type of the tray loaded by the storage inlet intelligent trolley and uploading the tray to the storage inlet intelligent trolley and the master control upper computer; the exit trolley label read-write module is used for reading the type of the tray loaded on the storage exit intelligent trolley and uploading the tray to the storage exit intelligent trolley and the master control upper computer; the access frame inlet label reading and writing module is used for reading the tray type stored in the tray access frame and uploading the tray type to a master control upper computer; the access frame outlet label reading-writing module is used for reading the type of the tray taken out of the tray access frame and uploading the type of the tray to a master control upper computer; the tray access frame is used for accessing the tray; the intelligent trolley track is used for the intelligent trolley to walk; the positioning sensor module is arranged at a specific position on the intelligent trolley track and used for indicating that the intelligent trolley at the warehousing inlet and the intelligent trolley at the warehousing outlet reach the specific position; the speed reduction sensor module is arranged at a specific position on the intelligent trolley track and used for indicating the intelligent trolley at the warehousing inlet and the intelligent trolley at the warehousing outlet to reduce the speed after reaching the specific position, so that the working efficiency of the intelligent trolley at the warehousing inlet and the intelligent trolley at the warehousing outlet is improved.
In particular implementation, the identification tag is an RFID tag; and the corresponding inlet trolley label read-write module, the outlet trolley label read-write module, the access frame inlet label read-write module and the access frame outlet label read-write module are all RFID read-write modules.
Fig. 2 is a schematic diagram of the intelligent trolley base plate and the track of the invention: the moving part of the trolley mainly comprises wheels and a bottom plate 21, and the four wheels move on a guide rail 22 to drive the lifting mechanism and the tray on the wheels to move back and forth in three channels and positions for taking or putting the tray to a production line. The positioning of the trolley is mainly controlled by a sensor, a speed reduction sensor is arranged before the trolley is about to reach a target position, a motor for controlling the movement of the trolley can reduce the speed after the speed reduction sensor is detected, and the trolley can stop until the in-place trolley detects the in-place sensor. The lifting mechanism of the trolley is fixed on the bottom plate of the moving part of the trolley.
Fig. 3 is a schematic diagram of a lifting mechanism of the intelligent trolley of the invention: the tray storing and taking rack is a rack with higher height; the trolley lifting mechanism mainly comprises the following parts: 1. a table top: the table top is used for placing the tray and the RFID read-write head controller; 2. a scissor arm: the scissor arm is mainly used for lifting the tray, and as the tray is generally heavier, the scissor arm has the following advantages: firstly, the shear arm is labor-saving, simple in structure and low in cost, and then the shear arm is large in bearing capacity and stable in structure; 3. center axis of the scissor arm: the telescopic scissors are mainly used for stretching and retracting the scissor arms; 4. fixing a shaft: the scissors arm fixing device is mainly used for fixing the scissors arm; 5. a chassis: the supporting component is used as a trolley lifting mechanism; 6. roller: when the scissor arm needs to be lifted or lowered, the roller can move back and forth in the rolling groove of the chassis, so that the resistance of lifting movement can be greatly reduced; 7. fixing a base: mainly used for fixing the lifting mechanism on the trolley; 8. the lowest height support rod: the part is the lowest limit position of the lifting mechanism, and the lifting mechanism is prevented from suddenly losing power or falling to the limit position to damage the lifting mechanism due to the action of external force; 9. lifting hook: the lifting mechanism is used when being mounted on a trolley; 10. a hydraulic cylinder; 11. a hydraulic pump: the part is a power mechanism of the lifting mechanism, adopts hydraulic pressure as the power mechanism, and has the advantages of large lifting force, simple structure, low cost and the like.
Fig. 4 is a schematic flow chart of the control method of the present invention: the control method of the tray access control system disclosed by the invention comprises the following steps:
a step of storing the tray:
s1, when a production line needs to store trays, a master control upper computer controls an intelligent trolley at a storage inlet to wait for the trays at a specific position;
s2, placing the tray on the production line to the intelligent storage inlet trolley;
s3, reading the identification tag on the tray by the inlet trolley tag reading and writing module, and uploading the reading result to the intelligent storage inlet trolley and the master control upper computer;
s4, the master control upper computer sends a control instruction to the intelligent storage inlet trolley according to the uploaded identification tag reading result of the tray;
s5, the intelligent storage entrance trolley runs on the intelligent trolley track according to the received command, and the tray is conveyed to a target area of the tray storing and taking frame;
s6, placing the tray into a target area of a tray storing and taking frame by the intelligent warehousing entrance trolley;
s7, reading the identification tag on the tray by the access frame inlet tag reading and writing module, and uploading the reading result to a master control upper computer to finish the storage of the tray;
a step of taking out the tray:
s8, when the production line needs the tray, the master control upper computer sends a control instruction to the intelligent storage and export trolley;
s9, the intelligent storage and export trolley runs on the intelligent trolley track according to the received control instruction and reaches a target area of the tray storing and taking frame to wait for the tray;
s10, placing a target tray on an intelligent storage and export trolley by a tray storing and taking frame;
s11, reading an identification label on the tray by an access frame outlet label reading and writing module, and uploading a reading result to a master control upper computer;
s12, reading the identification tag on the tray by the tag reading and writing module of the outlet trolley, and uploading the reading result to the intelligent storage outlet trolley and the master control upper computer;
s13, the master control upper computer sends a control instruction to the intelligent storage and export trolley according to the uploaded identification tag reading result of the tray;
and S14, the intelligent storage and export trolley runs on the intelligent trolley track according to the received control command, and the tray is conveyed to a production line to finish the taking out of the tray.
In the specific implementation, an intelligent trolley is respectively arranged at the inlet and the outlet of the storage channel; the trolley moves along a fixed track; when a tray needs to be stored in the storage channel, the trolley automatically runs to a production line, then a gripper on the production line can place the tray on the inlet trolley, the RFID module on the trolley automatically identifies the type of the tray, and the system can automatically calculate which channel the tray is placed in to be most suitable according to the type of the tray; the cart will then automatically deposit the pallet into the designated lane. When a certain type of tray is needed on the production line, the system automatically calculates which channel to take the tray to be the most suitable, and then the outlet trolley moves to the channel designated by the system to convey the tray needed on the production line to the production line. When the trolley needs to be taken out or stored in a tray of the upper channel (the tray storing and taking frame is a higher frame at the moment), and the trolley moves, the lifting mechanism can lift at the same time, so that the tray can conveniently enter and exit the storage channel. When a tray enters the inlet of the storage channel, the conveyor belt of the storage channel can drag the tray to move forwards until the tray is blocked by the stopper and cannot move forwards. When a tray needs to go out of the storage channel, when the exit trolley reaches the storage channel, the stopper at the exit of the storage channel can descend, the tray can enter the trolley, after the foremost tray enters the trolley, the stopper at the foremost of the exit can ascend, meanwhile, the tray at the back can move forwards until the foremost tray touches the first stopper to stop, and the second tray touches the second stopper to stop.
FIG. 5 is a flow chart of a method of accessing a tray according to the present invention: the invention also provides a tray access method realized by the tray access control system and the control method, which specifically comprises the following steps:
A. acquiring the type number N of the trays;
B. dividing the tray access rack into 2N sub-areas according to the number N of the tray types obtained in the step S1; the 1 st to Nth sub-areas are independent access areas, and the N +1 st to 2 Nth sub-areas are mixed access areas;
C. b, sequentially corresponding the 1 st sub-area to the Nth sub-area to the 1 st tray to the Nth tray respectively, and only storing the ith tray in the ith sub-area;
D. for the 1 st tray to the nth tray, and the N +1 st sub-area to the 2N sub-area, the following rule is adopted as the priority rule:
rule 1: for any ith tray, dividing the (N + 1) th sub-area to the (2) th sub-area into N priorities, and sequentially storing the ith tray according to the priority;
rule 2: for any two kinds of trays, namely an ith tray and a jth tray, the priority of the storage area corresponding to the ith tray is different from the priority of the storage area corresponding to the jth tray;
E. when the tray is stored, the tray is stored by adopting the following method:
for the ith tray, preferentially storing the ith tray into the ith sub-area of the independent access area of the ith tray; if the ith sub-area of the independent access area of the ith tray is full of trays, sequentially storing the ith tray according to the priority of the mixed access area of the ith tray;
F. when the tray is taken out, the tray is taken out by adopting the following method:
for the ith tray, preferentially taking out the ith tray stored in the mixed access area of the ith tray, wherein the taking-out sequence is as follows: taking out the trays in a reverse order according to the storage sequence of the ith tray in the corresponding mixed access area; if the mixed access area of the ith tray is not stored with the ith tray, the ith tray is taken out directly from the ith sub-area of the independent access area of the ith tray.
In specific implementation, the following description will be given of the procedure of tray access, taking N as 3 as an example:
a. the number of types of trays is 3;
b. dividing the tray access shelf into 6 sub-areas according to the number 3 of the tray types obtained in the step S1; the 1 st to 3 rd sub-areas are independent access areas, and the 4 th to 6 th sub-areas are mixed access areas;
c. b, respectively and sequentially corresponding the 1 st sub-area to the 3 rd sub-area to the 1 st tray to the 3 rd tray, wherein the 1 st sub-area only stores the 1 st tray, the 2 nd sub-area only stores the 2 nd tray, and the 3 rd sub-area only stores the 3 rd tray;
d. for the 1 st tray to the 3 rd tray, and the 4 th sub-area to the 6 th sub-area, the following rule is adopted as the priority rule:
for the 1 st tray, the 4 th sub-area is a first priority area, the 5 th sub-area is a second priority area, and the 6 th sub-area is a third priority area;
for the 2 nd tray, the 4 th sub-area is a third priority area, the 5 th sub-area is a first priority area, and the 6 th sub-area is a second priority area;
for the 3 rd tray, the 4 th sub-area is a second priority area, the 5 th sub-area is a third priority area, and the 6 th sub-area is a first priority area;
e. when the tray is stored, the tray is stored by adopting the following method:
for the 1 st tray, preferentially storing the 1 st tray to the 1 st sub-area of the independent access area of the 1 st tray; if the 1 st sub-area of the independent access area of the 1 st tray is full, preferentially storing the 1 st tray into the 4 th sub-area; if the 4 th sub-area is fully stored, the 1 st tray is preferentially stored in the 5 th sub-area; if the 5 th sub-area is fully stored, the 1 st tray is preferentially stored in the 6 th sub-area;
for the 2 nd tray, preferentially storing the 2 nd sub-area of the independent access area of the 2 nd tray; if the sub-area 2 of the independent access area of the tray 2 is full, the tray 2 is preferentially stored in the sub-area 5; if the 5 th sub-area is fully stored, the 2 nd tray is preferentially stored in the 6 th sub-area; if the 6 th sub-area is fully stored, the 2 nd tray is preferentially stored in the 4 th sub-area;
for the 3 rd tray, preferentially storing the 3 rd sub-area of the independent access area of the 3 rd tray; if the 3 rd sub-area of the independent access area of the 3 rd tray is full, the 3 rd tray is preferentially stored in the 6 th sub-area; if the 6 th sub-area is fully stored, the 3 rd tray is preferentially stored in the 4 th sub-area; if the 4 th sub-area is fully stored, the 3 rd tray is preferentially stored in the 5 th sub-area;
f. when the tray is taken out, the tray is taken out by adopting the following method:
preferentially taking out the 1 st tray of the 6 th sub-area from the 1 st tray; if the No. 1 tray is not in the No. 6 subarea, the No. 1 tray in the No. 5 subarea is preferentially taken out; if the No. 1 tray is not in the No. 5 subarea, the No. 1 tray in the No. 4 subarea is preferentially taken out; if the 4 th sub-area has no 1 st tray, directly taking out the 1 st tray from the 1 st sub-area of the independent access area of the 1 st tray;
preferentially taking out the 2 nd tray of the 4 th subarea for the 2 nd tray; if the No. 2 tray is not in the No. 4 sub-area, the No. 2 tray in the No. 6 sub-area is preferentially taken out; if the sub-area 6 has no tray 2, preferentially taking out the tray 2 in the sub-area 5; if the 5 th sub-area has no 2 nd tray, directly taking out the 2 nd tray from the 2 nd sub-area of the 2 nd independent access area;
preferentially taking out the 3 rd tray of the 5 th sub-area from the 3 rd tray; if the No. 3 tray is not in the No. 5 sub-area, the No. 3 tray in the No. 4 sub-area is taken out preferentially; if the No. 3 tray is not in the No. 4 sub-area, the No. 3 tray in the No. 6 sub-area is taken out preferentially; if the No. 3 tray is not in the No. 6 subarea, the No. 3 tray is directly taken out from the No. 3 subarea of the No. 3 tray independent access area.
Claims (5)
1. A tray access method is characterized by comprising a tray access control system and a control method;
the tray access control system comprises an identification tag, a storage inlet intelligent trolley, an inlet trolley tag read-write module, a storage outlet intelligent trolley, an outlet trolley tag read-write module, an intelligent trolley track, a tray access frame, an access frame inlet tag read-write module, an access frame outlet tag read-write module and a master control upper computer; the identification label is arranged on the tray; the inlet trolley label reading and writing module is simultaneously connected with the storage inlet intelligent trolley and the master control upper computer; the exit trolley label reading and writing module is simultaneously connected with the storage exit intelligent trolley and the master control upper computer; the storage inlet intelligent trolley, the storage outlet intelligent trolley, the access frame inlet label reading and writing module and the access frame outlet label reading and writing module are all connected with a master control upper computer; the access frame entrance label reading and writing module is arranged at the entrance of the tray access frame; the access frame outlet label reading and writing module is arranged at the outlet of the tray access frame; the identification tag is used for indicating the type of the tray; the storage entrance intelligent trolley is used for loading the used trays from the production line and conveying the trays to the tray storing and taking frame for storage according to the command sent by the master control upper computer; the warehousing outlet intelligent trolley is used for taking out the tray from the tray storing and taking frame according to a command sent by the master control upper computer and conveying the tray to an inlet of a production line; the inlet trolley label read-write module is used for reading the type of the tray loaded by the storage inlet intelligent trolley and uploading the tray to the storage inlet intelligent trolley and the master control upper computer; the exit trolley label read-write module is used for reading the type of the tray loaded on the storage exit intelligent trolley and uploading the tray to the storage exit intelligent trolley and the master control upper computer; the access frame inlet label reading and writing module is used for reading the tray type stored in the tray access frame and uploading the tray type to a master control upper computer; the access frame outlet label reading-writing module is used for reading the type of the tray taken out of the tray access frame and uploading the type of the tray to a master control upper computer; the tray access frame is used for accessing the tray; the intelligent trolley track is used for the intelligent trolley to walk;
the control method comprises the following steps:
a step of storing the tray:
s1, when a production line needs to store trays, a master control upper computer controls an intelligent trolley at a storage inlet to wait for the trays at a specific position;
s2, placing the tray on the production line to the intelligent storage inlet trolley;
s3, reading the identification tag on the tray by the inlet trolley tag reading and writing module, and uploading the reading result to the intelligent storage inlet trolley and the master control upper computer;
s4, the master control upper computer sends a control instruction to the intelligent storage inlet trolley according to the uploaded identification tag reading result of the tray;
s5, the intelligent storage entrance trolley runs on the intelligent trolley track according to the received command, and the tray is conveyed to a target area of the tray storing and taking frame;
s6, placing the tray into a target area of a tray storing and taking frame by the intelligent warehousing entrance trolley;
s7, reading the identification tag on the tray by the access frame inlet tag reading and writing module, and uploading the reading result to a master control upper computer to finish the storage of the tray;
a step of taking out the tray:
s8, when the production line needs the tray, the master control upper computer sends a control instruction to the intelligent storage and export trolley;
s9, the intelligent storage and export trolley runs on the intelligent trolley track according to the received control instruction and reaches a target area of the tray storing and taking frame to wait for the tray;
s10, placing a target tray on an intelligent storage and export trolley by a tray storing and taking frame;
s11, reading an identification label on the tray by an access frame outlet label reading and writing module, and uploading a reading result to a master control upper computer;
s12, reading the identification tag on the tray by the tag reading and writing module of the outlet trolley, and uploading the reading result to the intelligent storage outlet trolley and the master control upper computer;
s13, the master control upper computer sends a control instruction to the intelligent storage and export trolley according to the uploaded identification tag reading result of the tray;
s14, the intelligent storage and export trolley runs on a track of the intelligent trolley according to the received control command, and the tray is conveyed to a production line to finish the taking out of the tray;
the tray access method specifically comprises the following steps:
A. acquiring the type number N of the trays;
B. dividing the tray access rack into 2N sub-areas according to the number N of the tray types obtained in the step S1; the 1 st to Nth sub-areas are independent access areas, and the N +1 st to 2 Nth sub-areas are mixed access areas;
C. b, sequentially corresponding the 1 st sub-area to the Nth sub-area to the 1 st tray to the Nth tray respectively, and only storing the ith tray in the ith sub-area;
D. for the 1 st tray to the nth tray, and the N +1 st sub-area to the 2N sub-area, the following rule is adopted as the priority rule:
rule 1: for any ith tray, dividing the (N + 1) th sub-area to the (2) th sub-area into N priorities, and sequentially storing the ith tray according to the priority;
rule 2: for any two kinds of trays, namely an ith tray and a jth tray, the priority of the storage area corresponding to the ith tray is different from the priority of the storage area corresponding to the jth tray;
E. when the tray is stored, the tray is stored by adopting the following method:
for the ith tray, preferentially storing the ith tray into the ith sub-area of the independent access area of the ith tray; if the ith sub-area of the independent access area of the ith tray is full of trays, sequentially storing the ith tray according to the priority of the mixed access area of the ith tray;
F. when the tray is taken out, the tray is taken out by adopting the following method:
for the ith tray, preferentially taking out the ith tray stored in the mixed access area of the ith tray, wherein the taking-out sequence is as follows: taking out the trays in a reverse order according to the storage sequence of the ith tray in the corresponding mixed access area; if the mixed access area of the ith tray is not stored with the ith tray, the ith tray is taken out directly from the ith sub-area of the independent access area of the ith tray.
2. The method of claim 1, wherein the pallet access control system further comprises a plurality of position sensor modules; the positioning sensor module is arranged at a specific position on the intelligent trolley track and used for indicating that the intelligent trolley for warehousing entrance and the intelligent trolley for warehousing exit have reached the specific position.
3. The method of accessing trays of claim 1 wherein the tray access control system further comprises a plurality of deceleration sensor modules; the speed reduction sensor module is arranged at a specific position on the intelligent trolley track and used for indicating the intelligent trolley at the warehousing inlet and the intelligent trolley at the warehousing outlet to reduce the speed after reaching the specific position, so that the working efficiency of the intelligent trolley at the warehousing inlet and the intelligent trolley at the warehousing outlet is improved.
4. The method for accessing a tray according to any one of claims 1 to 3, wherein the identification tag is an RFID tag; and the corresponding inlet trolley label read-write module, the outlet trolley label read-write module, the access frame inlet label read-write module and the access frame outlet label read-write module are all RFID read-write modules.
5. The method of claim 1, wherein the accessing of the tray is performed by the steps of:
a. the number of types of trays is 3;
b. dividing the tray access shelf into 6 sub-areas according to the number 3 of the tray types obtained in the step S1; the 1 st to 3 rd sub-areas are independent access areas, and the 4 th to 6 th sub-areas are mixed access areas;
c. b, respectively and sequentially corresponding the 1 st sub-area to the 3 rd sub-area to the 1 st tray to the 3 rd tray, wherein the 1 st sub-area only stores the 1 st tray, the 2 nd sub-area only stores the 2 nd tray, and the 3 rd sub-area only stores the 3 rd tray;
d. for the 1 st tray to the 3 rd tray, and the 4 th sub-area to the 6 th sub-area, the following rule is adopted as the priority rule:
for the 1 st tray, the 4 th sub-area is a first priority area, the 5 th sub-area is a second priority area, and the 6 th sub-area is a third priority area;
for the 2 nd tray, the 4 th sub-area is a third priority area, the 5 th sub-area is a first priority area, and the 6 th sub-area is a second priority area;
for the 3 rd tray, the 4 th sub-area is a second priority area, the 5 th sub-area is a third priority area, and the 6 th sub-area is a first priority area;
e. when the tray is stored, the tray is stored by adopting the following method:
for the 1 st tray, preferentially storing the 1 st tray to the 1 st sub-area of the independent access area of the 1 st tray; if the 1 st sub-area of the independent access area of the 1 st tray is full, preferentially storing the 1 st tray into the 4 th sub-area; if the 4 th sub-area is fully stored, the 1 st tray is preferentially stored in the 5 th sub-area; if the 5 th sub-area is fully stored, the 1 st tray is preferentially stored in the 6 th sub-area;
for the 2 nd tray, preferentially storing the 2 nd sub-area of the independent access area of the 2 nd tray; if the sub-area 2 of the independent access area of the tray 2 is full, the tray 2 is preferentially stored in the sub-area 5; if the 5 th sub-area is fully stored, the 2 nd tray is preferentially stored in the 6 th sub-area; if the 6 th sub-area is fully stored, the 2 nd tray is preferentially stored in the 4 th sub-area;
for the 3 rd tray, preferentially storing the 3 rd sub-area of the independent access area of the 3 rd tray; if the 3 rd sub-area of the independent access area of the 3 rd tray is full, the 3 rd tray is preferentially stored in the 6 th sub-area; if the 6 th sub-area is fully stored, the 3 rd tray is preferentially stored in the 4 th sub-area; if the 4 th sub-area is fully stored, the 3 rd tray is preferentially stored in the 5 th sub-area;
f. when the tray is taken out, the tray is taken out by adopting the following method:
preferentially taking out the 1 st tray of the 6 th sub-area from the 1 st tray; if the No. 1 tray is not in the No. 6 subarea, the No. 1 tray in the No. 5 subarea is preferentially taken out; if the No. 1 tray is not in the No. 5 subarea, the No. 1 tray in the No. 4 subarea is preferentially taken out; if the 4 th sub-area has no 1 st tray, directly taking out the 1 st tray from the 1 st sub-area of the independent access area of the 1 st tray;
preferentially taking out the 2 nd tray of the 4 th subarea for the 2 nd tray; if the No. 2 tray is not in the No. 4 sub-area, the No. 2 tray in the No. 6 sub-area is preferentially taken out; if the sub-area 6 has no tray 2, preferentially taking out the tray 2 in the sub-area 5; if the 5 th sub-area has no 2 nd tray, directly taking out the 2 nd tray from the 2 nd sub-area of the 2 nd independent access area;
preferentially taking out the 3 rd tray of the 5 th sub-area from the 3 rd tray; if the No. 3 tray is not in the No. 5 sub-area, the No. 3 tray in the No. 4 sub-area is taken out preferentially; if the No. 3 tray is not in the No. 4 sub-area, the No. 3 tray in the No. 6 sub-area is taken out preferentially; if the No. 3 tray is not in the No. 6 subarea, the No. 3 tray is directly taken out from the No. 3 subarea of the No. 3 tray independent access area.
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| CN201911310154.XA CN110921180B (en) | 2019-12-18 | 2019-12-18 | Tray access control system, control method and tray access method |
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| CN201911310154.XA CN110921180B (en) | 2019-12-18 | 2019-12-18 | Tray access control system, control method and tray access method |
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| JP3960093B2 (en) * | 2002-03-22 | 2007-08-15 | オムロン株式会社 | Storage, storage management method, storage management program, and recording medium recording the storage management program |
| CN202282015U (en) * | 2011-10-18 | 2012-06-20 | 惠州金泽集团有限公司 | System for identifying tray logistics information |
| CN203733138U (en) * | 2013-09-18 | 2014-07-23 | 广州市嘉诚国际物流股份有限公司 | RFID monitoring system for storage tray |
| CN104978637A (en) * | 2015-07-18 | 2015-10-14 | 周盈裕 | Novel automatic intelligent tobacco warehouse device |
| CN105775540B (en) * | 2016-03-07 | 2018-05-11 | 上海诺力智能科技有限公司 | A kind of access pallet control method of magnetic stripe guiding vehicle |
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