KR102484915B1 - Tray-based automated warehouse system - Google Patents

Abstract

It is about a tray-based automated warehouse system that unifies cargo loading and moving devices into trays and enables mutual detachability between trays so that trays can be moved longitudinally or transversely to automatically enter / exit cargo / logistics. , Longitudinal / transversal movement lines formed in the logistics loading space where logistics are loaded and transporting trays loaded with logistics, formed in the center of the logistics loading space, transporting trays transported to the transverse movement line to the logistics take-out position, or trays Loads or takes out logistics while moving to the central cargo movement rail, the central cargo movement rail, and the longitudinal/transverse movement line that transports the cargo to the transverse movement line of the loading position, and is combined through the movement of adjacent trays, removable trays, and longitudinal movement lines. Moves the tray to the waiting space, transfers the tray to be transferred to the central cargo moving rail through the movement of the transverse movement line, and transmits movement information through communication with the tray and movement line controller remotely, A tray-based automated warehouse system is implemented, including a logistics control device that controls loading and unloading of materials.

Description

Tray-based automated warehouse system

The present invention relates to a tray-based automated warehouse system, and in particular, unifies cargo loading and moving devices into trays, and mutually detachable trays so that the trays are moved longitudinally or transversally to automatically load/receive cargo/logistics. It is about a tray-based automated warehouse system that enables shipment.

Logistics, short for physical distribution, refers to the flow of products from producers to consumers. To explain this more specifically, it includes all the processes of transporting, loading, unloading, storing, and packaging produced goods, as well as the process of distributing materials such as distribution processing and transportation infrastructure. In addition, the distribution concept of information such as an information network is also applied to all.

The cargo storage warehouse is a place to temporarily store cargo. The logistics system efficiency of the cargo storage warehouse can be evaluated based on the amount of products that can be stored in the same area as the time required to load the cargo into the warehouse and the time required to release the loaded cargo.

In this way, the efficiency of the logistics system is evaluated by the time required to load the cargo into the warehouse and the time required to release the loaded cargo. ) system is being used.

The MDPS system is known as a device for loading, transporting, and shipping cargo using mainly shuttles and satellites.

In the cargo storage warehouse as described above, the cargo is lifted up by a forklift and moved a certain distance, and then the cargo is loaded at a corresponding place.

The forklift must move directly according to the space in which the cargo is loaded. However, since the forklift is slow and must be operated by a person, time and cost are incurred, and a passage for the forklift is required, so there is a disadvantage in that the loading space is narrowed.

Therefore, there is a demand for proposals of various methods for quickly loading cargo into a loading location or taking out the loaded cargo while efficiently using the loading space.

In response to these demands, conventionally proposed technologies are disclosed in <Patent Document 1> to <Patent Document 2> below.

The prior art disclosed in <Patent Document 1> implements complete automation of cargo warehousing and warehousing due to location control of the shuttle and set light and communication with the central control unit, so that more accurate and automated warehousing and warehousing can be performed.

However, since this prior art is a method using a moving shuttle that moves a predetermined path, a path for moving the shuttle is required, resulting in loss of logistics loading space, and has disadvantages in that first-in-first-out is difficult.

In addition, the prior art disclosed in <Patent Document 2> includes a plurality of rails or tracks 22a and 22b arranged in a grid pattern 14 on a stack of containers. The grid pattern includes a plurality of grid spaces, and each stack is located within the footprint of a single grid space. The load handling device is adapted to move transversely on rails or tracks over the stack. The load handling device includes a container accommodating space 114 which, in use, is positioned above the rail or track, and a lifting device 104 arranged to lift containers from the stack into the container accommodating space. The load handling device, when in use, occupies substantially only one grid space in the storage system, thereby improving the efficiency of the load space.

However, since this prior art is a method using a robot having an autonomous driving function, the implementation cost of a warehouse system is high due to the use of a high-performance robot for data processing and judgment through multiple sensors, and autonomous movement is performed because a plurality of robots move simultaneously. The disadvantage is that complex control algorithms for the path are also required.

Republic of Korea Patent Registration No. 10-1482519 (2015.01.08. Registration) (MDPS control system configuration and operation method) Republic of Korea Patent Publication No. 10-2016-0040690 (published on April 14, 2016) (device for recovering an object from a storage system)

Therefore, the present invention has been proposed to solve the problem of not being able to efficiently utilize the logistics loading space in the general logistics warehouse system as described above, the difficulty of loading and unloading the logistics quickly, and various problems occurring in the prior art, In order to provide a tray-based automated warehouse system that unifies the and moving devices into trays and enables mutual detachability between trays to move the trays longitudinally or transversely to automatically enter / exit cargo / logistics. There is a purpose.

In order to achieve the above object, the "tray-based automated warehouse system" according to the present invention,

Longitudinal / transversal movement lines formed in the logistics loading space where logistics are loaded and transporting the tray loaded with logistics;

a central cargo moving rail formed in the center of the logistics loading space and transporting the tray transported to the transverse movement line to a logistics take-out position or transporting the tray to the transverse movement line of the loading position;

Trays that load or carry out logistics while moving along the central cargo moving rail and longitudinal/transverse moving lines, and are detachable from adjacent trays;

a movement line controller for moving the coupled tray to a waiting space through movement of the terminal movement line and transporting the tray to be transferred to the central cargo movement rail through movement of the transversal movement line; and

It is characterized in that it includes a logistics control device that remotely transmits movement information through communication with the tray and movement line controller, and controls the loading of the tray and the transport of the logistics.

In the above, the logistics loading space is characterized in that first and second logistics loading spaces are formed on both sides around the central cargo moving rail.

In the above, it is characterized in that a waiting space is provided at the ends of the first and second logistics loading spaces to temporarily move the tray and wait.

In the above tray, rollers are provided on the upper part of the body for convenient transport of logistics, and moving wheels are provided at the lower edge of the body to move the tray in the longitudinal / lateral direction, and the moving wheels are rotatable, , A coupling member for coupling with an adjacent tray is provided on one side of the body, a coupling grabber for attaching and detaching an adjacent tray is provided on the opposite side provided with the coupling member, and a coupling grabber for detaching the transverse movement line is provided on the lower surface of the body. A transverse grabber is provided, and the tray is characterized in that it simultaneously carries out logistics transport and logistics loading.

In addition, inside the tray,

A communication module for transmitting and receiving data through communication with the distribution control device;

a controller for controlling the tray to be transported or fixed by controlling the coupling grabber and the transversal grabber based on the movement information received through the communication module; and

It characterized in that it comprises a grabber driving unit for opening or closing the coupling grabber and the transversal grabber under the control of the controller.

In the above, the controller

a movement information receiving unit for receiving movement information transmitted from the logistics control device through the communication module; and

It characterized in that it comprises a grabber control unit for controlling the opening operation or closing operation of the coupling / crossing grabber based on the movement information received from the movement information receiver.

In the above, the moving line controller,

A communication module for transmitting and receiving data through communication with the distribution control device;

a controller for determining a tray to be controlled based on the movement information received through the communication module and controlling driving of the vertical/transverse movement line corresponding to the determined tray to be controlled;

a traversing movement line driving unit for driving the traversing movement line under the control of the controller; and

It is characterized in that it comprises a terminal movement line driver for driving the terminal movement line under the control of the controller.

In the above, the controller

a movement information receiving unit for receiving movement information transmitted from the logistics control device through the communication module;

a control target tray determination unit for determining a control target tray based on the movement information received from the movement information receiver; and

and a movement line control unit for controlling driving of the vertical/transverse movement line corresponding to the control target tray determined by the control target tray determining unit.

In the above, the movement line controller transfers the tray to the waiting space to prepare a space for loading or carrying out the logistics of another tray through the longitudinal / transversal movement line driving, or transfers the tray to the loading space to load the logistics, , It is characterized in that the tray is transported to the delivery position where the logistics are to be delivered.

In the above, the logistics control device,

an input unit for inputting logistics loading or export information;

Based on the logistics information input through the input unit, the information database is searched to determine the loading position or the carrying out position, the tray to be moved or the tray to be moved to the surroundings is determined according to the determined position, and movement information of the determined tray is generated to determine the corresponding tray and a controller that transmits data to the moving line controller; and

and a communication unit for transmitting the movement information transmitted from the controller to the tray and movement line controllers.

The movement information may include at least one of movement location information including identification information of a tray to be moved and movement direction, and movement amount information.

In the above, the controller

Logistics information receiving unit for receiving warehouse or warehouse logistics information through the input unit;

a movement location determining unit for determining a movement location of a selected product from an entire layout of a logistics loading space stored in an information database based on the logistics information received by the logistics information receiving unit;

a moving tray determining unit for determining a tray to be moved when the corresponding product is moved according to the moving location of the product determined by the moving location determining unit;

a movement information generation unit generating movement information of the tray determined by the movement tray determining unit;

and a movement information transmitter for transmitting the movement information generated by the movement information generator to the tray and movement line controllers.

In the above, the logistics control device displays the entire layout of the logistics loading space on the screen under the control of the controller, the location of the logistics loading or the location of the tray to be taken out, the location information of the tray moving to the waiting space, and the moving location information of the moving tray. It is characterized in that it further comprises a display unit for displaying any one or more of the screen.

According to the present invention, the cargo loading and moving device is unified into a tray, and a coupling member capable of coupling other trays to the tray is provided so that it can be moved while being detached from other trays, thereby automating the entry/exit of cargo/logistics There are advantages to promoting

In particular, by using trays to simultaneously carry out logistics movement and cargo loading, there is an excellent effect of improving the efficiency of the logistics loading space.

1 is a schematic configuration diagram of a tray-based automated warehouse system according to the present invention;
2 is a block configuration diagram showing an embodiment of the tray of FIG. 1;
3 is a block diagram showing an embodiment of the movement line controller of FIG. 1;
4 is a block configuration diagram showing an embodiment of the distribution control device of FIG. 1;
5a and 5b are structural diagrams of an embodiment of a tray applied to the present invention;
6 to 8 are exemplary diagrams of loading or unloading logistics using moving lines and trays in a logistics loading space in the present invention.

Hereinafter, a tray-based automated warehouse system according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The terms or words used in the present invention described below should not be construed as being limited to a conventional or dictionary meaning, and the inventor may appropriately define the concept of the term in order to explain his/her invention in the best way. It should be interpreted as a meaning and concept consistent with the technical spirit of the present invention based on the principle that it can be.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only preferred embodiments of the present invention, and do not represent all of the technical spirit of the present invention, so various equivalents and equivalents that can replace them at the time of the present application It should be understood that variations may exist.

1 is a schematic configuration diagram of a tray-based automated warehouse system according to the present invention, FIG. 2 is a block configuration diagram showing an embodiment of a tray of FIG. 1, and FIG. 3 is an embodiment of a moving line controller of FIG. 4 is a block configuration diagram showing an embodiment of the distribution control device of FIG. 1, FIGS. 5A and 5B are structural diagrams of an embodiment of a tray applied to the present invention, and FIGS. 6 to 8 are the present invention It is an exemplary view of loading or unloading logistics using moving lines and trays in the logistics loading space in .

As shown in this, the tray-based automated warehouse system according to the present invention is formed in the logistics loading space 2 where the logistics (cargo) 1 is loaded, and the terminal for transporting the tray 100 loaded with the logistics. / Transversal movement lines 305 and 304, formed in the center of the logistics loading space 2, transports the tray transported to the transversal movement line 304 to the logistics take-out position, or transports the tray to the transverse movement line at the loading position It may be configured to include a central cargo moving rail 20 that transfers to.

Here, the longitudinal/transverse movement lines 305 and 304 may be implemented in the form of a grid in the logistics loading space 2 . Accordingly, the tray 100 may be moved in the transverse direction or the longitudinal direction by the longitudinal/transverse movement lines 305 and 304 . Specifically, the trays to move the logistics are transported in the transverse direction through the transversal movement line 304, and the trays to be moved to the waiting space are coupled with a mutual coupling grabber, and then the vertical movement line 305 is used to transfer the most of the loading space. are transported to their seats at the same time.

In the logistics loading space 2, first and second logistics loading spaces 31 and 32 are formed on both sides of the central cargo moving rail 20 as a center.

In addition, waiting spaces 3 to 6 in which the tray 100 temporarily moves and waits are provided at arbitrary positions in the first and second logistics loading spaces 31 and 32.

Preferably, the waiting spaces 3 and 4 may be provided at the lower and upper positions of the first logistics loading space 31, and the waiting space 5 at the lower and upper positions of the second logistics loading space 32 (6) can be provided.

The tray moved to the waiting space may be restored to its original position or moved to another position when the actual movement of the tray to be moved is completed.

In addition, the tray-based automated warehouse system according to the present invention loads or takes out logistics 1 while moving with the central cargo moving rail 20 and the longitudinal/transverse moving lines 305 and 304, and the adjacent trays and It is configured to include a detachable tray 100.

Here, a plurality of trays 100 may be provided in the logistics loading space 2, and since each tray has the same configuration and operation, only one tray 100 will be described below for convenience of description.

The tray 100 is equipped with rollers 120 for convenience in transporting logistics on the upper part of the body 103, and at the lower edge of the body 103 to move the tray 100 in the longitudinal/lateral direction. Moving wheels 104 to 107 are provided, the moving wheels 104 to 107 are rotatable, and a coupling member 120 for coupling with an adjacent tray is provided on one surface of the body 103, and the coupling member 120 is provided. On the opposite side where the member 120 is provided, a coupling grabber 108 for detaching an adjacent tray is provided, and a transverse grabber 109 for detaching a transverse movement line 304 is provided on the lower surface of the body 103 . This tray 100 simultaneously performs logistics transport and logistics loading.

In addition, the inside of the tray 100 is a communication module 101 for transmitting and receiving data through communication with the logistics control device 200, the coupling grabber based on the movement information received through the communication module 101 ( 108) and the controller 110 that controls the transverse grabber 109 to control the tray 100 to be transported or fixed, and the combination grabber 108 and the transverse grabber 109 are listed under the control of the controller 110 It includes a grabber driving unit 102 that closes.

The controller 110 is based on the movement information receiving unit 111 that receives the movement information transmitted from the logistics control device 200 through the communication module 101 and the movement information received from the movement information receiving unit 111. It includes a grabber control unit 112 that controls the opening or closing operation of the furnace coupling/crossing grabbers 108 and 109, and a roller control unit 113 that drives the rollers 130.

The tray 100 may be moved to a waiting space to prepare a space for loading or unloading other trays, to a loading space to load goods, or to a delivery position to unload goods.

In addition, the tray-based automated warehouse system according to the present invention moves the combined tray to the waiting space through the movement of the longitudinal movement line 305, and moves the tray to be transferred through the movement of the transversal movement line 304. It may include a movement line controller 300 that transfers to the central cargo movement rail 20.

The movement line controller 300 determines the tray to be controlled based on the movement information received through the communication module 301 that transmits and receives data through communication with the logistics control device 200, and , controller 310 for controlling the driving of the longitudinal/transverse movement lines 305 and 304 corresponding to the determined tray to be controlled, and transverse movement for driving the transversal movement line 304 under the control of the controller 310. A line driver 302 and a terminal movement line driver 303 driving the terminal movement line 305 under the control of the controller 310 are included.

In addition, the controller 310 includes a movement information receiver 311 that receives movement information transmitted from the logistics control device 200 through the communication module 301, and movement information received from the movement information receiver 311. The control target tray determining unit 312 for determining the control target tray based on the control target tray determining unit 312 drives the longitudinal/transverse movement lines 305 and 304 corresponding to the control target tray determined by the control target tray determining unit 312. It includes a movement line control unit 313 for controlling.

The moving line controller 300 moves the trays to the waiting space to prepare a space for loading or taking out other trays or loads logistics through the longitudinal/transverse movement lines 305 and 304. It plays the role of transporting the tray to the loading space or transporting the tray to the delivery location to take out the logistics.

In addition, the tray-based automated warehouse system according to the present invention transmits movement information through communication with the tray 100 and the movement line controller 200 remotely, thereby controlling the loading and unloading of the tray 100. It includes a logistics control device 200 to.

As shown in FIG. 4, the logistics control device 200 has an input unit 201 for inputting information on loading or unloading of logistics, and an information database 204 based on the logistics information input through the input unit 201. A controller 210 that searches and determines a loading position or an unloading position, determines a tray to be moved or a nearby moving target tray according to the determined position, generates movement information of the determined tray, and transmits the movement information to the corresponding tray and movement line controller 300 , The communication unit 202 for transmitting the movement information transmitted from the controller 210 to the tray 100 and the movement line controller 300, and the entire layout of the logistics loading space 2 under the control of the controller 210 It may include a display unit 203 that displays on the screen and displays any one or more of a logistics loading position or a tray position to be taken out, position information of a tray moving to a waiting space, and moving position information of a moving tray.

The movement information may include at least one of movement location information including identification information of a tray to be moved and movement direction, and movement amount information.

In addition, the controller 210 stores the information database 204 based on the logistics information received from the logistics information receiving unit 211 and the logistics information receiving unit 211 for receiving shipment or warehousing logistics information through the input unit 201. The movement location determining unit 212 for determining the movement location of the selected logistics in the entire layout of the stored logistics loading space, and the movement target when moving the corresponding logistics according to the movement location of the logistics determined by the movement location determining unit 212. A moving tray determining unit 213 for determining a tray, a movement information generating unit 214 generating movement information of the tray determined by the moving tray determining unit 213, and movement information generated by the movement information generating unit 214 It may include a movement information transmitter 215 that transmits to the tray 100 and the movement line controller 300.

The distribution control device 200 may use a device such as a personal computer (PC) or a kiosk.

The operation of the tray-based automated warehouse system according to the present invention configured as described above will be described in detail.

In the present invention, operations are roughly divided into two methods: delivery and warehousing of logistics.

First, the release is explained as follows.

The delivery person of the logistics searches for logistics information to be shipped through the input unit 201 of the logistics control device 200 . Logistics search may use a normal search method. For example, a keyword search may be used or a method of searching a logistics storage list of the information database 204 may be used.

When a logistics storage list is selected or logistics information to be shipped by a keyword is input, the controller 210 searches the information database 204 to extract corresponding logistics information and displays it through the display unit 203 .

The user selects the logistics to be shipped from the logistics information displayed through the display unit 203 or selects the logistics to be shipped through keyword input.

Logistics information selected in this way is received by the logistics information receiving unit 211 of the controller 210 and transmitted to the movement location determining unit 212 .

The moving location determining unit 212 determines the moving location of the selected logistics from the entire layout of the logistics loading space stored in the information database 204 based on the logistics information received from the logistics information receiving unit 211 . Here, in the overall layout of the logistics loading space 2, if the user designates a specific logistics location to be shipped out, the designated location becomes a moving location, and if the user does not designate a specific logistics location to be shipped out, the movement location determining unit 212 The logistics location is determined as a moving location according to a predetermined logistics release algorithm.

When the moving location (actually the logistics location) is determined by the moving location determining unit 212, the moving tray determining unit 213 moves the corresponding product according to the moving location of the logistics determined by the moving location determining unit 212. When moving, the tray to be moved is determined. Here, one tray may be loaded with outgoing logistics, but another tray may need to be moved depending on the location of the corresponding tray. Referring to FIG. 8, when the logistics to be released is A (tray), in order for the logistics A to move to the central cargo moving rail 20, 8 spaces (c, d, e, f, g, h , i, j) must be moved along the transversal movement line. At this time, the trays existing in 8 spaces in the horizontal direction and 32 trays (4 × 8 = 32) located on top of the 8 trays should be moved to the nearest waiting space (eg, 4). Therefore, the moving tray determining unit 213 determines the tray A loaded with the goods to be shipped, the trays located in the 8 spaces in the horizontal direction, and the 32 trays located above them as trays to be moved.

When the tray to be moved is determined in the above manner, the movement information generation unit 214 generates movement information of the tray determined by the movement tray determination unit 213. Here, the movement information may be referred to as movement path information of an actual movement target tray. That is, the tray (A) loaded with the logistics to be actually shipped can be movement information that moves from the central cargo movement rail 20 to the port (P) after moving the 8-space transverse movement line in the horizontal direction, The tray located at 8 squares in the horizontal direction and the 32 trays located above it may be movement information to move to the waiting space 4 by 5 spaces (4, 3, 2, 1, waiting space) in the vertical direction. Since the movement information includes the identification information (unique information, ID) of the corresponding tray, it is easy to distinguish the tray to be moved. Here, the movement information may include at least one of movement location information including identification information of a tray to be moved and movement direction, and movement amount information.

In the present invention, the structure of the loading space is exemplified as a rectangle, and the vertical/transverse movement lines are also limited to the lattice structure, but the present invention is not limited to this, and as shown in FIG. 8, the central cargo at the current location A moving rail may be implemented to have a diagonal moving rail or an incline so as to move to the moving rail in the shortest distance.

Next, the movement information transmission unit 215 transmits the movement information to the communication unit 202 to transmit the movement information generated by the movement information generation unit 214 to the tray 100 and the movement line controller 300 .

The communication unit 202 converts the received movement information into a data format of a preset communication method with the tray 100 and the movement line controller 300 and transmits the movement information.

The movement information transmitted from the logistics control device 200 is simultaneously received by the tray 100 and the movement line controller 300 . Here, actual movement information is transmitted to all trays present in the logistics loading space (2).

The tray loaded in the logistics loading space 2 checks the tray identification information included in the movement information transmitted from the logistics control device 200, and ignores the received movement information if it is not its own identification information.

Unlike this, if the tray identification information included in the received movement information is its own identification information, it is received and the grabber is controlled using the movement location information included in the movement information.

For example, the communication module 101 of the tray 100 receives movement information transmitted from the logistics control device 200 and transmits it to the controller 110 .

The controller 110 controls the operation of the coupling grabber 108 and the cross grabber 109 based on the movement information received through the communication module 101 .

That is, the movement information receiving unit 111 of the controller 110 receives the movement information transmitted from the logistics control device 200 through the communication module 101, and uses the identification information included in the movement information to identify itself. It compares with the information and confirms whether it is the movement information transmitted to itself. As a result of this check, if the movement information is transmitted to the mobile station, the received movement information is transmitted to the grabber control unit 112.

The grabber control unit 112 checks the movement information received from the movement information receiving unit 111 to determine whether the tray to transport the logistics is the tray itself or to move to the waiting space to secure the moving space of the tray to transport the logistics. Determine if it is a tray.

As a result of this determination, if it is a moving target tray (eg, A) to move the actual goods, it controls the grabber driving unit 102 to open the coupling grabber 108 and release the coupling with the adjacent tray. In addition, the crossing grabber 109 is closed to hold the crossing movement line 304. At this time, the tray existing on top of the tray (A) also opens the coupling grabber to release the coupling with the tray (A). Thus, the tray A is in a state where it can move freely in the transverse direction.

Here, the grabber is a device that serves to hold or release the moving line.

As shown in FIG. 8, assuming that the tray A moves to the central cargo moving rail 20 by moving 8 spaces in the transverse direction, the transverse grabber 109 of the tray A is closed to form the transverse movement line 304 In addition, the engagement grabber 108 is opened to release the engagement with the adjacent tray. At this time, since the binding force with the tray A is also released from the tray adjacent to the tray A, the tray A freely moves in the transverse direction according to the movement of the transverse movement line 304.

Here, the tray 100 has a roller 120 provided thereon, and is driven by the roller control unit 113 of the controller 110 to promote convenience in loading or unloading the logistics (cargo) 1. In addition, 360° rotatable moving wheels 104 - 107 are provided at the corners of the tray 100 to promote convenience in movement during transverse or longitudinal movement. This tray 100 is a method in which logistics (1) to be loaded is loaded on the top, and when logistics are received, it is moved to the loading space and then stopped at the loading position, so loading and transport of logistics (1) can be implemented simultaneously as a single unit. there is. Therefore, the use of such a tray does not require a separate moving space for the tray, so the efficiency of the loading space can be improved.

On the other hand, the movement line controller 300 receives the movement information transmitted from the logistics control device 200 through the communication module 301 and transmits it to the controller 310.

The controller 310 determines a tray to be controlled based on the movement information received through the communication module 301, and controls driving of the longitudinal/transverse movement lines 305 and 304 corresponding to the determined tray to be controlled. Thus, the tray is conveniently moved to a desired location.

The transfer control of the tray 100 is performed by the transverse movement line driving unit 302 or the longitudinal movement line driving unit 303 .

That is, the transverse movement line driving unit 302 drives the transverse movement line 304 under the control of the controller 310 to transport the tray holding the transverse movement line 304 with a grabber in the transverse direction, and the longitudinal movement The line driver 303 moves all the trays holding the longitudinal movement line 305 with a grabber in the longitudinal direction at the same time and places them in the waiting space.

More specifically, this is as follows.

The movement information receiving unit 311 of the controller 310 receives movement information transmitted from the logistics controller 200 through the communication module 301 and transmits the movement information to the control target tray determining unit 312 .

Subsequently, the control target tray determination unit 312 determines the control target tray based on the movement information received from the movement information receiving unit 311 .

Next, the movement line control unit 313 controls the driving of the vertical/transverse movement lines 305 and 304 corresponding to the control target tray determined by the control target tray determination unit 312 to move the target tray to the target position. transfer to

Here, the movement information is information on a path to move a tray loaded with goods to be shipped from the current position to a position to be shipped, and a tray on a movement route not loaded with goods to be shipped is movement path information to move from the current position to the nearest waiting space.

When the movement position of the movement information is confirmed, the movement line controller 313 moves the transverse movement line 304 or the longitudinal movement line 305 through the transverse movement line driver 302 or the longitudinal movement line driver 303. and move the tray.

If the tray A is to be moved in the transverse direction as shown in FIG. 8, the transverse grabber 109 grabs the transverse movement line 304, and the connection grabber 108 disconnects from the adjacent tray do. The grabber can be simply implemented using a power generating means such as a motor and an actuator that can open and close the tongs by the generated power.

According to the transverse movement, the transverse movement line driver 302 drives the transverse movement line 304 (which may be a pulling method) to move the tray A in the transverse direction. At the same time, when the tray A is moved, the longitudinal movement line driving unit 303 simultaneously moves the tray existing on the path in the longitudinal direction and places it in the waiting space. Here, the transverse movement line driver 302 can selectively operate all the plurality of transverse movement lines provided in the logistics loading space 2, and similarly, the longitudinal movement line driver 303 is also provided in the logistics loading space 2 All of the plural terminal movement lines can be selectively operated. Of course, it is also possible to simultaneously move a plurality of transversal movement lines or a plurality of longitudinal movement lines.

That is, the tray loaded with the logistics to be shipped moves to the delivery position, and the trays to be emptied of the movement path move to the waiting space 4. Here, the movement line control unit 313 can simply implement movement position control by controlling the rotation amount or rotation time of a motor that operates the transversal movement line driver 302 or the longitudinal movement line driver 303 .

In this way, since the trays to be moved are moved to a waiting space to prepare a space for loading or carrying out other trays or to a release location from which the logistics are taken out, the present invention provides a separate moving space for the trays to move. don't need this

On the other hand, when the tray loaded with the logistics to be shipped out is completed moving to the delivery location, the trays that have moved to the waiting space at the same time are restored to their original locations or moved to a preset loading location as needed.

If necessary, the logistics control device 200 communicates with the tray 100 in real time, receives current location information, and displays the location of the tray through the display unit 203 in a mobile manner on the entire warehouse layout, The manager can remotely recognize the location of the current logistics in real time.

On the other hand, even when loading logistics, the logistics are loaded in a manner similar to the control of the tray at the time of shipment as described above.

The difference from logistics delivery is that while the tray carrying the logistics is on its way to the loading position, the tray on the moving path of the corresponding tray moves to the waiting space first, emptying the moving path, and the tray to be loaded moves. is to do Here, since the moving method of the tray to be loaded or the moving method of the tray moving to the waiting space is also performed in the same way as in the case of releasing the logistics, a detailed description thereof will be referred to the method of releasing the logistics.

In addition, although the preferred embodiment of the present invention has been described only for a loading space having a single-layer structure, the present invention is not limited thereto and can be applied to a loading space having a multi-layer structure.

For example, in a multi-story warehouse, an elevator capable of moving each floor is provided, trays are moved on each floor in the same manner as in the embodiment of the present invention, and movement between floors is performed using an elevator. That is, if the elevator door is implemented so that it can be connected to the end of the central cargo moving rail on each floor, the present invention can be simply applied to a multi-story warehouse system to optimize the shipping and receiving of logistics while promoting the efficiency of the loading space. You can do it.

Although the invention made by the present inventors has been specifically described according to the above embodiments, the present invention is not limited to the above embodiments, and it is common knowledge in the art that various changes can be made without departing from the gist of the present invention. It is self-evident to those who have

1: Logistics (freight)
2: Logistics loading space
3 - 6: waiting area
20: central cargo moving rail
31: first logistics loading space
32: 2nd logistics loading space
100: tray
101: communication module
102: grabber driving unit
103: body
104 - 107: moving wheel
108: coupling grabber
109: cross grabber
110: controller
111: movement information receiver
112: grabber control unit
120: coupling member
200: Logistics control device
201: input unit
202: Ministry of Communications
203: display unit
204: information database (DB)
210: controller
211: logistics information receiving unit
212: moving position determining unit
213: moving tray determining unit
214: movement information generation unit
215: movement information transmission unit
300: moving line controller
301: communication module
302: transverse movement line driving unit
303: terminal moving line driving unit
310: controller
311: movement information receiver
312: control target tray determination unit
313: movement line controller

Claims (13)

Longitudinal / transversal movement lines formed in the logistics loading space where logistics are loaded and transporting the tray loaded with logistics;
a central cargo moving rail formed in the center of the logistics loading space and transporting the tray transported to the transverse movement line to a logistics take-out position or transporting the tray to the transverse movement line of the loading position;
Trays that load or carry out logistics while moving along the central cargo moving rail and longitudinal/transverse moving lines, and are detachable from adjacent trays;
a movement line controller for moving the coupled tray to a waiting space through movement of the terminal movement line and transporting the tray to be transferred to the central cargo movement rail through movement of the transversal movement line; and
A tray-based automated warehouse system comprising a logistics control device that remotely transmits movement information through communication with the tray and movement line controller to control the loading and unloading of the tray.
The tray-based automated warehouse system of claim 1, wherein the logistics loading space has first and second logistics loading spaces formed on both sides around the central cargo moving rail.
The tray-based automated warehouse system of claim 2, wherein a waiting space in which a tray temporarily moves and waits is provided at the ends of the first and second logistics loading spaces.
In claim 1, the tray may be provided with rollers for convenient transport of logistics on the upper part of the body, and moving wheels are provided at the lower edge of the body to move the tray in the longitudinal / lateral direction, and the moving wheels are It is rotatable, and a coupling member for coupling with an adjacent tray is provided on one side of the body, and a coupling grabber for attaching and detaching an adjacent tray is provided on the other side of the coupling member, and a transverse movement line is provided on the lower surface of the body. A transverse grabber for detaching is provided, and the tray is a tray-based automated warehouse system, characterized in that for simultaneously carrying out logistics transport and loading.
In claim 4, inside the tray,
A communication module for transmitting and receiving data through communication with the distribution control device;
a controller for controlling the tray to be transported or fixed by controlling the coupling grabber and the transversal grabber based on the movement information received through the communication module; and
A tray-based automated warehouse system comprising a grabber driving unit for opening or closing the coupling grabber and the transversal grabber under the control of the controller.
In claim 5, the controller,
a movement information receiving unit for receiving movement information transmitted from the logistics control device through the communication module;
a grabber control unit controlling an opening or closing operation of the coupling/traversing grabber based on the movement information received from the movement information receiver; and
A tray-based automated warehouse system comprising a roller controller for controlling the driving of the rollers.
In claim 1, the moving line controller,
A communication module for transmitting and receiving data through communication with the distribution control device;
a controller for determining a tray to be controlled based on the movement information received through the communication module and controlling driving of the vertical/transverse movement line corresponding to the determined tray to be controlled;
a traversing movement line driving unit for driving the traversing movement line under the control of the controller; and
A tray-based automated warehouse system, characterized in that it comprises a terminal movement line driver for driving the terminal movement line under the control of the controller.
In claim 7, the controller,
a movement information receiving unit for receiving movement information transmitted from the logistics control device through the communication module;
a control target tray determination unit for determining a control target tray based on the movement information received from the movement information receiver; and
A tray-based automated warehouse system comprising a movement line control unit for controlling driving of the longitudinal/transverse movement line corresponding to the control target tray determined by the control target tray determination unit.
In claim 1, the moving line controller transfers a tray to a waiting space to prepare a space for loading or taking out another tray of goods through the longitudinal/transverse movement line driving, or moves a tray to a loading space to load a logistic. A tray-based automated warehouse system characterized in that the tray is transported to a delivery position to be transported or transported.
In claim 1, the logistics control device,
an input unit for inputting logistics loading or export information;
Based on the logistics information input through the input unit, the information database is searched to determine the loading position or the carrying out position, the tray to be moved or the tray to be moved to the surroundings is determined according to the determined position, and movement information of the determined tray is generated to determine the corresponding tray and a controller that transmits data to the moving line controller; and
A tray-based automated warehouse system comprising a communication unit for transmitting the movement information transmitted from the controller to the tray and movement line controller.
The tray-based automated warehouse system of claim 10, wherein the movement information includes at least one of movement location information and movement amount information including identification information and movement direction of the tray to be moved.
In claim 10, the controller,
Logistics information receiving unit for receiving warehouse or warehouse logistics information through the input unit;
a movement location determining unit for determining a movement location of a selected product from an entire layout of a logistics loading space stored in an information database based on the logistics information received from the logistics information receiving unit;
a moving tray determining unit for determining a tray to be moved when the corresponding product is moved according to the moving location of the product determined by the moving location determining unit;
a movement information generation unit generating movement information of the tray determined by the movement tray determining unit; and
A tray-based automated warehouse system comprising a movement information transmission unit for transmitting the movement information generated by the movement information generation unit to a tray and a movement line controller.
The method of claim 10, wherein the logistics control device displays the entire layout of the logistics loading space on the screen under the control of the controller, and displays information on the location of the tray moving to the waiting space, the location of the tray moving to the waiting space, and displaying the entire layout of the logistics loading space on the screen. A tray-based automated warehouse system further comprising a display unit for displaying any one or more of the moving location information on the screen.

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