KR100270597B1 - Product transportation management system - Google Patents

Abstract

The present invention relates to a system for controlling and managing logistics equipment such as cranes, trucks, forklifts, and vehicles. In the logistics management control system for tracking and controlling the position of the logistics equipment used in the yard, the logistics management A ground station controller for providing information for the mobile station; A base station for transmitting information of the ground station controller or receiving information transmitted from a mobile station; A distribution device control unit controlling the distribution devices according to the information from the ground station control unit and generating information on an operation result of the distribution devices; And a mobile station transmitting the information of the logistics device control unit to the base station or receiving the information transmitted from the base station, wherein the base station and the mobile station communicate by radio wave transmission / reception methods. It is possible to perform logistics logistics scheduling by communicating information between the base station and the mobile station by a wireless method, and thus efficiently performing work instructions between the logistics equipment.

Description

Logistics Management Control System

The present invention relates to a system for controlling and managing logistics equipment such as cranes, trucks, forklifts, and vehicles, and in particular, all logistics flows from goods receipt to delivery using wireless communication between the ground station computer for logistics management control and the computer for logistics equipment control. The present invention relates to a logistics management control system that can automatically perform the operation.

In general, the logistics equipment automation equipment refers to a system that automatically collects data generated in the process of inputting, loading, and releasing products, and controls and manages the operation of various logistics equipment according to the collected data.

Conventional logistics equipment automation equipment has a communication between the ground station computer and the crane, vehicle computers in the unit of a mobile device, there is a problem that the data sharing between the entire logistics equipment is difficult and thus effective logistics management is limited.

The first technical problem to be achieved by the present invention is to send and receive information through a common communication network by wireless communication with a computer provided in a process computer of a ground station, a crane, a truck and a forklift, and unmanned logistics processing from the receipt of goods to delivery It is to provide a logistics management control system that can be processed automatically.

A second technical object of the present invention is to provide a vehicle state detection apparatus for detecting a state of a load in a loading box of a vehicle entering and leaving a yard and transmitting the state information to a ground station computer for logistics management.

The third technical problem to be achieved by the present invention is to provide a vehicle number identification device for identifying the unique number of the vehicle coming into the yard in order to raise / lower the product, and transmits the information to the ground station computer for logistics management.

The fourth technical problem to be achieved by the present invention is to provide a crane control device that can operate unmanned while communicating with the ground station computer in the logistics management system.

1 is an overall block diagram of a logistics management control system according to the present invention.

2 is a view showing a detailed configuration of the crane unit shown in FIG.

3 and 4 are diagrams showing the detailed configuration of the balance shown in FIG.

5 is a diagram illustrating a detailed configuration of the forklift unit shown in FIG. 1.

6, 7 and 8 are views showing the detailed configuration of the access vehicle analysis apparatus shown in FIG.

9 is a diagram showing a detailed configuration of the vehicle number recognition device 18 shown in FIG.

10 is a flowchart illustrating a logistics management control method according to the present invention.

Logistics management control system according to the present invention to achieve the above first problem,

In the logistics control system for tracking and controlling the location of the logistics equipment used in the yard,

A ground station controller providing information for logistics management; A base station for transmitting information of the ground station controller or receiving information transmitted from a mobile station; A distribution device control unit controlling the distribution devices according to the information from the ground station control unit and generating information on an operation result of the distribution devices; And a mobile station transmitting the information of the distribution device control unit to the base station or receiving information transmitted from the base station, wherein the base station and the mobile station communicate by radio wave transmission and reception. Vehicle number recognition device for recognizing the information about the unique number and transmits the unique number of the vehicle to the ground international fisherman, or an entrance vehicle analysis device for detecting information about the cargo in the loading box of the vehicle entering the yard do.

In order to achieve the above-described second object, the vehicle state detecting apparatus according to the present invention,

An apparatus for detecting a state of a vehicle entering and exiting the yard in a system for managing the operation of the logistics equipment used in the yard,

A first sensing unit for sensing a length in a traveling direction of the vehicle and a loading state of the load; A second sensing unit for sensing a length of the vehicle in a vertical direction and a loading state of the load; A third sensing unit for sensing a height of a load of the vehicle at the side of the vehicle; A driving unit for moving the first, second, and third sensing units in a predetermined direction; And a control unit for receiving the data sensed by the first, second, and third detection units to determine the loading state of the product in the loading box of the vehicle.

Vehicle number identification apparatus according to the present invention to achieve the third object,

An apparatus for identifying a unique number of a vehicle entering and leaving the yard in a system for logistics management in a yard,

A transmission unit attached to a side of the vehicle and transmitting a radio signal relating to a unique number assigned to each vehicle; A receiver which receives a radio signal transmitted from the transmitter; A demodulator for demodulating the received radio signal; Recognizing the unique number of the vehicle from the demodulated signal, characterized in that it comprises a recognition unit for transmitting the unique number of the vehicle to the ground international fisherman.

The crane control apparatus according to the present invention to achieve the fourth object,

In the device for controlling the crane installed in the yard in the system for logistics management in the yard,

A distance measuring unit for emitting infrared light and analyzing the light reflected by the reflector to detect the current position of the crane; Product detection unit for detecting information about the product to work with the crane; An angle measuring unit for measuring an angle of the wire rope connected to the crane; And a speed control unit for controlling the traveling and transverse moving speeds of the crane according to the information of the product detecting unit and the angle of the rope of the angle measuring unit.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

1 is an overall block diagram of a logistics management control system according to the present invention. The mobile devices for logistics management include cranes that lift / reel the product while moving the X, Y axis (vertical axis, vertical axis) in the direction of travel / transverse from the top of the yard, as long as one crane can move. A forklift for moving the product on the ground and a forklift for moving the product from the ground of the yard, each of the logistical equipment controllers controls the logistical equipment according to information from the ground station computer, and Generate the information and send it to the ground station computer. The apparatus includes a device capable of detecting a number or state of a vehicle entering and leaving the yard, and having a guide plate displaying various types of information.

The host computer 11 is a main computer that stores all the information on the work content of the yard and controls all the devices by providing all the information necessary for the operation of the various devices as necessary.

The ground station computer 12 receives the state information or the movement information of each logistic device through the base station 13, and also the unique number of the access vehicle and the vehicle from the vehicle number recognition device 18 and the access vehicle analysis device 17. Receives information on the loading state, generates information for logistics management and transmits to each logistics device through the base station (13).

The base station 13 transmits the information generated by the ground station computer 12 to the crane unit 14, the bogie unit 15 or the forklift unit 16, or the crane unit 14, the bogie unit 15 or the forklift truck. Information transmitted from the mobile station provided in the unit 16 is received and sent to the ground station computer 12.

The crane unit 14 includes a mobile station A 141 and a crane control unit 143, which receives information transmitted from the ground station computer 12 to the crane unit 14 via the base station 13. To the crane control unit 143, and also transmits the information generated by the crane control unit 143 to the base station 13, the crane control unit 143 detects the current X, Y coordinates of the crane, the width of the product , Weight, hoist / lift height, and angle of wire rope can be measured, and the movement speed of the crane can be controlled appropriately, and crane work on the desired product is made according to the information transmitted from the ground station computer 12. Control to lose. The detailed structure of the crane part 14 is mentioned later through FIG.

The balance unit 15 includes a mobile station B 151 and a balance control unit 153, which receives information transmitted from the ground station computer 12 to the balance unit 15 through the base station 13. The balance controller 153 transmits the information generated by the balance controller 153 to the base station 13, and the balance controller 153 moves the balance according to the information transmitted from the ground station computer 12. And position control. The detailed configuration of the cart 15 will be described later with reference to FIGS. 3 and 4.

The forklift unit 16 includes a mobile station C 161 and a forklift controller 163, which receives information transmitted from the ground station computer 12 to the forklift unit 16 through the base station 13. To the forklift control unit 163, and also transmits the information generated by the forklift control unit 163 to the base station 13, and the forklift control unit 163 generates information on its position and state information of the moving material, and thus the ground station. It transmits to the computer 12. The detailed configuration of the forklift unit 16 will be described later with reference to FIG. 5.

The entrance and exit vehicle analysis apparatus 17 detects and transmits the information about the cargo in the loading box of the vehicle entering the yard to the ground station computer 12. The on-vehicle vehicle analysis device 17 analyzes the presence or absence and the form of the vehicle on the vehicle by image processing and links the unmanned work of the crane. The detailed configuration thereof will be described later with reference to FIGS. 6, 7, and 8.

The vehicle number recognition device 18 recognizes the information about the unique number attached to each vehicle and transmits the unique number of the vehicle to the ground station computer 12. The detailed configuration of the vehicle number recognition device 18 will be described later with reference to FIG. 9.

The vehicle control display board 19 displays information regarding a moving position of the vehicle and serves as a guide plate of the vehicle driver.

Here, the communication between the base station 13 connected to the ground station computer 12 and the mobile stations 141, 151, and 161 in each control unit is based on a radio radio communication method, and each mobile station has a unique carrier in relation to its logistics equipment. A frequency can be given to distinguish each mobile station. This radio radio system can secure a relatively high transmission speed, wide scalability, and a transmission length of up to 2 km.

And, the mobile stations are provided for each of the logistics equipment, the ground station is provided with a transceiver corresponding to each mobile station, so that the ground station and the mobile station can directly transmit and receive data 1: 1. On the other hand, the ground station is provided with a transceiver that can demodulate and demodulate a signal in a certain range of frequency bands, and can be implemented in a 1: N communication method to perform communication with each mobile station in a token manner. If there is not much data to transmit / receive with the mobile station and its transmission / reception period is long, 1: N communication may be advantageous.

2 is a view showing a detailed configuration of the crane unit 14 shown in FIG. Information transmitted through the mobile station A 21 is received by the crane computer 22, and information generated by the crane computer 22 is transmitted to the base station through the mobile station A (21). The crane computer 22 includes infrared distance measuring instruments 23a and b, various sensors 26 and angle measuring instruments 27 to collect the state information of the crane.

The infrared range finders 23a and b emit infrared light while the reflecting plates 24a and 24b are attached to the yard wall surfaces corresponding to the X and Y axes, and receive the light reflected by the reflecting plates 24a and 24b again. In addition, by analyzing the time difference between the radiation and the reception can detect their current position. Infrared light is generated using a light emitting diode which is a light emitting device using natural emission light.

Various sensors 26 measure the width, weight, hoisting / lowering height, etc. of the product, and the angle measuring device 27 measures an angle of how much the wire rope installed on the crane is inclined. The speed controller 28 appropriately controls the moving speed at the time of traveling / raising or hoisting / reeling the crane in consideration of various information detected by the sensor 26 and the angle measuring device 27.

The lifter operating panel 25 instructs the contents of the operation when the crane is manned by the operator, and provides information on whether there is no error in the contents of the operation by the operator.

3 is a diagram illustrating a detailed configuration of the cart 15 shown in FIG. 1. The trolley is used to move products from one to the other while moving them from one to the other, and to be lifted / unloaded by crane.

The information transmitted through the mobile station B 31 is received by the balance computer 32, and the information generated by the balance computer 32 is transmitted to the base station through the mobile station B 31. The balance computer 32 includes a position control portion 33 for detecting the absolute position and the relative position of the balance and various sensors 34 for position control or operation control to collect the status information of the balance.

4 is a view showing in more detail the balance shown in FIG. The trolley 40 carries the product 48 and moves, and can be operated unmanned or manned.

The antenna 42a and the wireless modem 42 are for wireless communication with the base station,

The stop position detector 43c recognizes the specific data displayed on the bottom surface of the rail when the cart 40 stops at a specific position and detects where the current cart position is. The identification mark unique to the frame can be detected, and the absolute position of the vehicle can be detected by the stop position detector 43c.

The protruding portion 43a and the end limit 43b are sensors that detect information of the displacement position during movement when the vehicle is driven by the balance driving portion 47 and provide information to control acceleration or deceleration at a specific position. The anti-collision sensor 44 is a sensor for preventing a collision that may occur when the vehicle moves, and the emergency stop switch 46 is a switch used when it is necessary to suddenly stop the vehicle. And the product sensor 49 is a sensor which determines whether the product 48 is loaded in the trolley | bogie.

The trolley | bogie drive part 47 receives the information about the movement instruction transmitted from the ground station computer, and drives a motor corresponding to the movement distance. The balance driving unit 47 generates a pulse signal corresponding to the distance to which the balance should move to drive the balance driving motor. The driver panel 41 and the control and drive panel 45 are those used when the driver rides the truck and drives the vehicle directly.

5 is a diagram illustrating a detailed configuration of the forklift unit 16 shown in FIG. The information transmitted through the mobile station C 55 is received by the forklift control unit 56, and the information generated by the forklift control unit 56 is transmitted to the base station through the mobile station C 55. The forklift controller 56 includes a position measuring unit 57 and various sensors 59 to collect state information of the forklift. Here, the forklift is driven by the driver as instructed by the ground station.

The position measuring unit 57 includes a rotation detector that emits infrared light at the top of the forklift, and detects the light reflected by the reference reflector 58 provided with a reflector at a portion related to the moving path of the forklift, and the forklift. Determine the current location of. The position measuring unit 57 continuously generates its own position data for each unit time while rotating the rotation detector at a constant speed. The sensor 59 detects whether there is a product in the loading portion of the forklift truck and generates information on the presence or absence of moving materials.

FIG. 6 is a diagram illustrating a detailed configuration of the access vehicle analyzing apparatus 17 shown in FIG. 1. The vehicle analyzing apparatus includes a top analysis camera 63 for detecting state information of the top surface of the entry and exit vehicle 62 and a side analysis camera 64 for detecting state information of the side of the entry and exit vehicle 62, And an image analysis computer 61 for generating the state information of the entrance and exit vehicle 62 according to the information detected by the analysis cameras 63 and 64 and transmitting it to the base station. The vehicle analysis device detects the loading state of the loading box of the vehicle to obtain position determination information for loading or unloading the product, thereby helping to unmann the crane work.

FIG. 7 is a view illustrating in more detail the apparatus for analyzing access vehicles shown in FIG. 6. The vehicle analysis computer 70 receives the image signals S1-S4 generated by the cameras 74a, 75a, 76a, and 77a to generate vehicle status information. The drive controller 72a generates the cameras 74a, The motor drives 72b for driving the respective motors 74c, 75c, 76c, 77c are controlled so that 75a, 76a, 77a can move along the predetermined paths 74b, 75b, 76b, 77b. Each drive DRV1-DRV4 in motor drive 72b drives motors 74c, 75c, 76c, 77c, respectively, and each motor 74c, 75c, 76c, 77c has corresponding cameras. The 74a, 75a, 76a, 77a can be moved along the predetermined paths 74b, 75b, 76b, 77b.

Here, the movement paths 74b and 75b of the first and second cameras 74a and 75a are installed in the longitudinal direction of the vehicle, and the movement path 76b of the third camera 76a is perpendicular to the longitudinal direction of the vehicle. The moving path 77b of the fourth camera 77a is installed in the height direction at the side of the vehicle. In addition, distance measuring sensors 73a and 73b are provided on the side surfaces of the third camera 76a provided in the direction perpendicular to the longitudinal direction of the vehicle. The distance measuring sensors 73a and 73b are sensors for detecting height information of a loading box of a vehicle by using a laser beam, and a load is loaded according to the height information detected by each sensor while moving the movement path 77b. In particular, the twisted state of a long product, such as a slab, can be detected.

When the vehicle 73b stops at the predetermined position 73a, the cameras 74a, 75a, 76a, and 77a move along the movement path to take a picture of the vehicle, and the captured image signals S1-S4 are taken as the vehicle. Sent to analysis computer 70. The vehicle analysis computer 70 analyzes the transmitted video signal to determine whether or not the product is loaded in the loading box 73c of the vehicle, or whether the width, height, height of the loaded product is sufficient. The terminal 71a operates the operation of the vehicle analysis computer 70, and the status indicator 71b indicates' stop 'indicating that the driver of the vehicle is to stop the vehicle, and' indicating that the vehicle is currently being checked. 'Inspection', 'complete' to indicate that the vehicle inspection is completed, and 'failure' to indicate that there is an error in the vehicle inspection. The vehicle driver drives according to the message of the status indicator 71b. In addition, a message about the current work content or a message about the movement of the vehicle may be output to the driver by outputting it through the voice output device.

FIG. 8 is a detailed view of the vehicle analysis computer 70 shown in FIG. The video signal photographed by the camera 80 is amplified by the amplifier 81 and then converted into a digital video signal by the analog-to-digital converter 82 and input to the main controller 83. The main controller 83 processes the digital video signal to generate information on the loading state of the vehicle, and the information is transmitted to the ground station computer via the interface 87. The synchronization signal generation unit 84 generates a synchronization signal required for the operation of the camera 80, and the arithmetic operation unit 85 is a high speed processor that is in charge of arithmetic operations required for signal processing of the main control unit 83, 86 is a memory used in signal processing.

9 is a diagram showing a detailed configuration of the vehicle number recognition device 18 shown in FIG. When the vehicle 91 enters the yard through a predetermined passage, the sign 92 attached to the side of the vehicle emits a predetermined radio signal, and the antenna 93 receives the signal. Each vehicle is assigned its own unique number, and the sign 92 transmits a unique radio signal corresponding to the unique number. The demodulator 94 demodulates the radio signal, and the recognition unit 95 determines what the unique number of the vehicle is. The unique number of the vehicle recognized by the recognition unit 95 is transmitted to the ground station computer.

10 is a flowchart illustrating a logistics management control method according to the present invention. When a vehicle to load or unload the product enters the yard (101), by analyzing the radio signal transmitted from the sign attached to the vehicle by the vehicle number identification device to recognize the unique number of the vehicle (102), and analyze the access vehicle The apparatus detects the state information of the load loaded in the loading box of the vehicle (103). The detected vehicle identification number and the loading status information are inputted to the ground station computer, and the ground station computer generates the loading information corresponding to the vehicle and makes a guide display for moving to the predetermined position with respect to the vehicle, and the vehicle according to the guidance. Move to the defined position (104). In addition, the ground station computer generates the loading / unloading work contents for the vehicle and sends the contents to the logistics equipment control unit, and the logistics equipment control unit operates according to the received task information (105). A crane, a forklift, a bogie, etc. operate according to a work instruction to load or unload an object to the vehicle (106), and the vehicle moves to a predetermined passage (107). Information about the work of these logistics equipment is transmitted to the ground station computer.

As described above, according to the logistics management control system according to the present invention, logistics management information and logistics equipment information and the like by communicating between the base station and the mobile station by a wireless method, and performs logistics scheduling, accordingly Efficiently carry out the instructions so you can do the logistics you want.

Claims (10)

In the logistics control system for tracking and controlling the location of the logistics equipment used in the yard, A ground station controller providing information for logistics management; A base station for transmitting information of the ground station controller or receiving information transmitted from a mobile station; A distribution device control unit controlling the distribution devices according to the information from the ground station control unit and generating information on an operation result of the distribution devices; A mobile station transmitting information of the distribution device control unit to the base station or receiving information transmitted from the base station, And the base station and the mobile station communicate by radio wave transmission and reception. The method of claim 1, And a vehicle number recognition device for recognizing information about the unique number attached to each vehicle and transmitting the unique number of the vehicle to the ground international fisherman. The method of claim 1, It further comprises an access vehicle analysis device for detecting information about the load in the loading box of the vehicle entering the yard, The ground station control unit receives the information from the access vehicle analysis device, logistics management control system, characterized in that for generating information on the loading or disembarkation position of the product. According to claim 1, wherein the logistics device control unit The yard operates according to the work instructions provided by the ground station control unit, and controls the traveling and traversing speed of the crane by detecting the current position of the crane, information about the product to be worked with the crane, and the angle of the wire rope connected to the crane. A plurality of crane control units corresponding to the installed plurality of cranes; A balance controller which detects an absolute position and a relative position of the balance and moves to a predetermined position according to the movement information provided by the ground station controller; And And a moving vehicle control unit which operates according to a work instruction provided by the ground station control unit, determines a current position using infrared light, and detects the presence or absence of a product in the loading unit. An apparatus for detecting a state of a vehicle entering and exiting the yard in a system for managing the operation of the logistics equipment used in the yard, A first sensing unit for sensing a length in a traveling direction of the vehicle and a loading state of the load; A second sensing unit for sensing a length of the vehicle in a vertical direction and a loading state of the load; A third sensing unit for sensing a height of a load of the vehicle at the side of the vehicle; A driving unit for moving the first, second, and third sensing units in a predetermined direction; And And a control unit for receiving the data sensed by the first, second, and third detection units to determine the loading state of the product in the loading box of the vehicle. The method of claim 5, wherein the control unit A converter for converting the data transmitted from the first, second and third sensing units into digital data; A calculator configured to receive the digital data and calculate a loading length and width of the vehicle and a length, width and height of a currently loaded load; And And an interface for transmitting the calculated data. The method of claim 5, And a detector configured to measure a distance by a laser beam installed in a vertical direction of the traveling direction of the vehicle and determine a degree of loading of the loaded cargo being twisted in the longitudinal direction of the load loaded on the vehicle. An apparatus for identifying a unique number of a vehicle entering and leaving the yard in a system for logistics management in a yard, A transmission unit attached to a side of the vehicle and transmitting a radio signal relating to a unique number assigned to each vehicle; A receiver which receives a radio signal transmitted from the transmitter; A demodulator for demodulating the received radio signal; And a recognition unit for recognizing the unique number of the vehicle from the demodulated signal and transmitting the unique number of the vehicle to a terrestrial international fisherman. In the device for controlling the crane installed in the yard in the system for logistics management in the yard, A distance measuring unit for emitting infrared light and analyzing the light reflected by the reflector to detect the current position of the crane; Product detection unit for detecting information about the product to work with the crane; An angle measuring unit for measuring an angle of the wire rope connected to the crane; And And a speed control unit for controlling the traveling and traversing movement speed of the crane according to the information of the product detection unit and the angle of the rope of the angle measurement unit. The method of claim 9, wherein the product detection unit Crane control device for detecting information about the width, weight of the product and the height of hoisting / lifting.