KR20160028287A - Prevention method of shuttle collision for goods destination system - Google Patents

Prevention method of shuttle collision for goods destination system Download PDF

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Publication number
KR20160028287A
KR20160028287A KR1020140117200A KR20140117200A KR20160028287A KR 20160028287 A KR20160028287 A KR 20160028287A KR 1020140117200 A KR1020140117200 A KR 1020140117200A KR 20140117200 A KR20140117200 A KR 20140117200A KR 20160028287 A KR20160028287 A KR 20160028287A
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KR
South Korea
Prior art keywords
shuttle unit
unit
rack structure
shuttle
layer
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Application number
KR1020140117200A
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Korean (ko)
Inventor
장윤석
김우람
서명덕
양민영
Original Assignee
한국항공대학교산학협력단
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Priority to KR1020140117200A priority Critical patent/KR20160028287A/en
Publication of KR20160028287A publication Critical patent/KR20160028287A/en

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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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The present invention relates to a method of preventing a shuttle unit collision of an automatic freight system, comprising a step of generating an order, a detecting step of detecting the presence of a shuttle unit, a detecting step of detecting the presence of a shuttle unit in another layer of the rack structure A locking step of detecting a occupation state of the shuttle unit in the corresponding layer of the rack structure and locking the corresponding layer of the rack structure, and a selection step of selecting the shuttle unit, when the shuttle unit is detected in another layer of the rack structure, A moving step of moving the pair of lift units to a layer of the rack structure having the shuttle unit selected in the step of moving the shuttle unit, and a shuttle unit moving step of moving the shuttle unit selected as the lift unit to the corresponding layer of the rack structure. do. Therefore, it is possible to prevent the shuttle unit from colliding with the inter-layer movement of the shuttle unit, thereby increasing the working efficiency.

Description

TECHNICAL FIELD [0001] The present invention relates to a shuttle unit collision prevention system for an automatic cargo system,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method of preventing a shuttle unit from colliding with a shuttle unit, And a method for preventing a shuttle unit collision.

Generally, an automobile cargo system that is widely used in the field of logistics automation is a rack structure having a rack for storing cargoes, a work table for selectively loading and unloading cargo in and out of an automatic warehouse, a guide installed along the side of the rack structure And a stacker crane that moves along the rails and loads the load of the work platform into the rack of the rack structure under the control of the control device or releases the load placed in the rack of the rack structure. Such an automatic freight system is also referred to as an automatic warehouse.

Such an automatic cargo storage system is disclosed in Japanese Patent Application Laid-Open No. 2009-143651 (Patent Document 1).

The conventional automatic warehousing system disclosed in Patent Document 1 has two rows of shelves for storing cargo, two rows of rails facing each other, and a rail disposed on the ground between the two rows of shelves. A stacker crane for loading and unloading objects with a thermal shelf, and a control unit for controlling the stacker crane.

In order to store the cargo, the conventional automatic cargo system moves the stacker crane out of both ends of the two-row rack, and loads the cargo on the stacker crane. Then, the stacker crane moves between two rows of shelves under control of the control unit, moves the cargo to a place where there is an empty loading space, and then transfers the cargo to the loading space of the rack.

The conventional automatic cargo system as described above is constructed such that one stacker crane moves along a rail placed on the ground to load and unload the cargo on the shelf so that it takes a long time .

To solve this problem, in order to quickly carry out and carry out a large number of cargoes, a plurality of rack structures are constituted by two or more rows, and a shuttle unit is arranged between each row of two rows of double rack structure, An automated cargo system has been proposed that can be carried out or brought in.

Here, when the shuttle unit is charged or broken in a plurality of layers of the rack structure, the space may be left empty. Thus, even if an order is generated by a layer of a rack structure without a shuttle unit, there is a demand for a technique for assigning an order to a shuttle unit of another layer for processing.

Japanese Unexamined Patent Publication (Kokai)

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide a shuttle unit which is configured to control shuttle units and a lift unit by wireless communication, And it is an object of the present invention to provide a method of preventing a shuttle unit collision of an automatic cargo system that can prevent a shuttle unit from being collided.

In order to accomplish the above object, the present invention provides a method for detecting a shuttle unit, comprising the steps of: generating an order; detecting a presence of a shuttle unit in a layer of a rack structure (hereinafter referred to as a corresponding layer) A detecting step 2 for detecting the presence of a shuttle unit in another layer of the rack structure if the shuttle unit is not present in the corresponding layer of the rack structure in the detecting step 1 and a step 2 for detecting the shuttle unit in another layer of the rack structure A locking step of detecting a occupation state of the shuttle unit in the corresponding layer of the rack structure and locking the corresponding layer of the rack structure, and a rack having a shuttle unit selected in the selecting step, A moving step of moving a pair of lift units to a layer of a structure, a shuttle unit for moving the selected shuttle unit to a corresponding layer of the rack structure by the lift unit, Characterized in that it comprises the same steps.

Preferably, the order generating step includes the step of setting the corresponding layer of the rack structure in which the operator has the cargo in a plurality of layers of the rack structure or the loading space in which the cargo is to be loaded.

If the number of the shuttle units detected in the second step is more than two, the distance between the shuttle unit and the corresponding layer and the amount of battery are measured, and then the shuttle unit is selected .

The shuttle unit moving step may include a loading step in which the selected shuttle unit is loaded on the lift unit and a lift step of moving the lift unit up and down to the corresponding layer of the rack structure when the shuttle unit is loaded on the lift unit. A unit moving step, and a step of getting off the shuttle unit from the lift unit.

Preferably, the step of moving the shuttle unit further includes a step of releasing the locking of the rack structure layer on which the selected shuttle unit is mounted after the shuttle unit is removed.

According to the present invention, when the shuttle unit of another layer is moved between layers because there is no shuttle unit in the cargo carrying layer of the order-allocated rack structure, the waiting shuttle unit is selected and moved to lock the corresponding layer of the rack structure, It is possible to prevent the shuttle unit from colliding with each other when moving the unit between the layers, and the working efficiency can be increased.

1 is a perspective view illustrating an automatic cargo system according to an embodiment of the present invention;
2 is a block diagram showing a shuttle unit crash prevention device in the automatic cargo system of FIG.
3 is a flow chart showing a shuttle unit crash prevention method in the automatic cargo system of FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a perspective view illustrating an automatic cargo system according to an embodiment of the present invention, FIG. 2 is a block diagram illustrating an apparatus for preventing a shuttle unit from colliding with the automatic cargo system of FIG. 1, FIG. 5 is a flowchart showing a shuttle unit collision avoiding method in the system. FIG.

1, an automatic cargo system 100 according to an embodiment of the present invention includes a plurality of rack structures 110 each having a plurality of stacked bed spaces 111, And lift units 130 and 131 for loading or unloading cargo at both ends of each rack structure 110. The shuttle unit 140 is disposed between the pair of rack structures 110, Is provided for each layer of the pair of rack structures 110.

Reference numeral 120 denotes an atmospheric conveyor unit provided at both ends of the rack structure 110 for temporarily waiting for the cargo G to be moved to the rack structure 110 by the lift units 130 and 131.

Here, the shuttle unit 140 may be provided on each layer of the rack structure 110, or may not be provided on each layer, but may be provided on only some layers.

As described above, in the automatic cargo system 100 according to the embodiment of the present invention, when the rack structures 110 are formed in a double-layer structure, 1, a pair of rack structures 110 will be described as an example.

As shown in FIG. 1, the automatic cargo system 100 is provided so that the shuttle unit 140 is reciprocally movable in each layer between a pair of rack structures 110 in two rows. A pair of lift units are provided at both ends of the rack structure 110 to transfer or transfer the cargo to or from the rack structure 110. [ do.

The automatic cargo system 100 according to an embodiment of the present invention is configured such that a worker carries out a shuttle unit 140, a carry-in lift unit, a carry-out lift unit, and a main controller 150 provided outside the rack structure 110 And is configured to be operated by a manipulated or set value.

The shuttle unit 140 and the main controller 150 are provided with wireless communication units 141 and 151 to transmit and receive information about the control of the shuttle unit 140 wirelessly. Accordingly, the operator is configured to move the shuttle unit 140 or carry the cargo G to the loading space 111 of the rack structure 110 by the operation of the main controller 150. [ Since the shuttle unit 140 is operated wirelessly, it has its own power supply unit and has parts necessary for driving.

Here, it is preferable that the wireless communication between the shuttle unit 140 and the main controller 150 is performed by WiFi, Bluetooth, or Near Field Communication (NFC). The power unit of the shuttle unit 140 is composed of a rechargeable battery that can be charged and used.

The shuttle unit wireless communication unit 141 is provided in each shuttle unit 140 provided in each layer of the rack structure 110 and configured to wirelessly communicate with the wireless communication unit 151 of the main controller 150. That is, the shuttle unit 140 maintains the activated state when the automatic cargo system 100 is operated. The shuttle unit 140 is always connected to the main controller 150 wirelessly, 140, or to pick up a cargo, the shuttle unit wireless communication unit 141 is operated after receiving a signal.

The main controller 150 is connected to each of the shuttle units 140 provided in each floor of the rack structure 110 by wireless communication so that an operator can select one of the plurality of shuttle units 140 from the main controller 150 Or a plurality of images can be selected and adjusted.

3 is a flowchart illustrating a method of preventing a shuttle unit collision of an automatic freight system according to an embodiment of the present invention.

A shuttle unit automatic discharge control method of an automatic cargo system according to an embodiment of the present invention is as follows.

First, an order generating step is provided. (S100)

Here, order generation refers to discharging the cargo in the rack structure 110 to the outside or loading the cargo from the outside to the rack structure 110. Hereinafter, a case where the rack structure 110 discharges the cargo will be described as an example.

When the order is generated, the operator confirms the layer of the rack structure 110 on which the cargo is loaded, and orders the order allocation in the main controller 150.

Thereafter, there is a detection step 1 for detecting whether or not a shuttle unit 140 for loading cargo is present in a layer (hereinafter referred to as a corresponding layer) of the rack structure 110 in which the cargo is present (S110)

When the waiting shuttle unit 140 is detected in the corresponding layer of the rack structure 110, the order is assigned to the detected waiting shuttle unit 140.

This detection step S110 is configured to detect the shuttle unit 140 that is scheduled to wait in the corresponding layer of the rack structure 110 and allocate the order.

Here, the shuttle unit 140, which is scheduled to wait in the corresponding layer of the rack structure 110, is currently allocated another order. However, when all the allocated orders are processed, The shuttle unit 140 is a standby unit.

After the detection step S110, when there is no shuttle unit 140 in the layer of the rack structure 110 in which the cargo is present, the detected detection that the atmospheric shuttle unit 140 is present in the other layer of the rack structure 110 (S120)

If there is a waiting shuttle unit 140 in another layer of the rack structure 110, the shuttle unit 140 has a selection step of selecting the shuttle unit 140 (S130)

Here, the waiting shuttle unit 140 refers to the shuttle unit 140 that is not operating with the shuttle unit 140 that is not carrying the cargo.

In this selection step S130, if there is one waiting shuttle unit 140 detected in the detection step 2, the detected shuttle unit 140 is immediately selected.

If the number of the waiting shuttle units 140 detected in the second detection step S120 is two or more, the battery amount of the detected shuttle units 140 is detected and compared or the distance from the shuttle unit 140 to the cargo carrying floor is measured , The shuttle unit 140 having a sufficient amount of battery remaining or a distance close thereto is selected and selected.

Here, when comparing the amounts of batteries of the shuttle units 140, when the shuttle unit 140 moves from the uppermost layer to the lowermost layer of the rack structure and there is a sufficient amount of battery to be able to work, It is preferable to select the shuttle unit 140 which is close to the cargo loading layer.

At this time, the amount of the battery enough for the shuttle unit 140 to operate is set in the main controller 150, and the amount of the set battery is compared with the amount of the current battery of the shuttle unit 140.

And a locking step of locking the corresponding layer of the rack structure 110 by detecting the occupation state of the shuttle unit 140 in the corresponding layer of the rack structure 110 after the shuttle unit selection step S130. (S140)

Here, the occupation state of the shuttle unit 140 refers to a state in which the shuttle unit 140 is being operated on the corresponding layer of the rack structure 110 or another shuttle unit 140 is prone to move to that layer.

Here, when the selected shuttle unit 140 is in a state occupied by the corresponding layer of the rack structure 110, when the operation of the shuttle unit 140 of the corresponding layer of the rack structure 110 is completed .

Thereafter, when the corresponding layer of the rack structure 110 is not occupied or is finished, the corresponding layer of the rack structure 110 is locked. The locking of the corresponding layer of the rack structure 110 may prevent the shuttle unit 140 other than the selected shuttle unit 140 from being moved to the corresponding layer of the rack structure 110, ) Is a process of reserving the corresponding layer of the product. Locking or unlocking the layers of the rack structure 110 may prevent the shuttle unit 140 from moving to the rack structure 110 or move the shuttle unit 140 to the rack structure 110 layer .

And a lift unit moving step of moving the lift unit 130 to a position of the selected waiting shuttle unit 140 after the locking step S140 (S150)

The step of moving the lift unit S150 is a process of moving the lift unit 130 to a layer of the rack structure 110 having the shuttle unit 140 selected in the selecting step S130.

And a shuttle unit moving step of moving the shuttle unit 140 selected as the lift unit 130 to the corresponding layer of the rack structure 110 after the lift unit moving step S150.

The shuttle unit moving step S160 moves the lift unit 130 up and down to the corresponding floor of the rack structure 110 in a boarding step S161 in which the selected shuttle unit 140 is mounted on the lift unit 130, (S162), and a step of lowering the shuttle unit from the lift unit (S163).

The shuttle unit moving step S160 is a step in which the shuttle unit 140 selected as the corresponding layer of the rack structure 110 gets off and the layer of the rack structure 110 in which the selected shuttle unit 140 departs (I.e., the layer of the rack structure on which the unit is mounted) (S164)

The unlocking step S164 is a step in which the layer of the rack structure 110 from which the selected shuttle unit 140 starts is moved so that the selected shuttle unit 140 moves to occupy the corresponding layer of the rack structure 110 of another layer Therefore, the other shuttle unit 140 is introduced into the layer of the rack structure 110 from which the selected shuttle unit 140 started, thereby releasing the locking so that the work can be performed.

In the automatic freight system according to the present invention as described above, when there is no shuttle unit 140 in the cargo stacking layer of the order-allocated rack structure 110, when the shuttle unit 140 of another layer moves between layers, The shuttle unit 140 can be prevented from colliding with the interlayer movement of the shuttle unit 140 by selectively moving the unit (the shuttle unit that does not work) and locking the corresponding layer of the rack structure 110, The work efficiency can be increased.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is understandable. Accordingly, the true scope of the present invention should be determined by the following claims.

G: Cargo 100: Automatic cargo system
110: Rack structure 111: Loading space
112: guide rail
120: atmospheric conveyor unit 130, 131: lift unit
140: Shuttle unit 141: Shuttle unit wireless communication unit
150: main controller 151: wireless communication unit
152: Shuttle unit display section

Claims (5)

An order generating step;
A first detecting step of detecting the presence of a shuttle unit in a layer of a rack structure (hereinafter referred to as a corresponding layer) on which a cargo is loaded or loaded, after the order generating step;
Detecting the presence of the shuttle unit in another layer of the rack structure if the shuttle unit is not present in the corresponding layer of the rack structure in the first detection step;
A selection step of selecting a shuttle unit when the shuttle unit is detected in another layer of the rack structure;
A locking step of detecting an occupied state of the shuttle unit in the corresponding layer of the rack structure and locking the corresponding layer of the rack structure;
A moving step of moving the pair of lift units to a layer of the rack structure having the shuttle unit selected in the selecting step;
A shuttle unit moving step of moving the selected shuttle unit to the corresponding layer of the rack structure with the lift unit;
Wherein the shuttle unit collides with the shuttle unit. The method according to claim 1,
The order generating step includes:
The method comprising the step of setting the corresponding layer of the rack structure in which the operator has a cargo in a plurality of layers of the rack structure or a loading space in which the cargo is intended to be loaded. The method according to claim 1,
Wherein the selecting step comprises:
And when the number of the shuttle units detected in the second step is more than two, the shuttle unit is selected as the shuttle unit that is close to the floor or has a large battery capacity. The method according to claim 1,
The shuttle unit moving step includes:
A step of loading the selected shuttle unit on the lift unit;
A lift unit moving step of moving up and down the lift unit to the corresponding layer of the rack structure when the shuttle unit is mounted on the lift unit;
A step of getting off the shuttle unit from the lift unit;
Wherein the shuttle unit collides with the shuttle unit. The method of claim 4,
The shuttle unit moving step includes:
Further comprising the step of releasing the locking of the rack structure layer on which the selected shuttle unit is mounted after the shuttle unit is removed from the shuttle unit.

KR1020140117200A 2014-09-03 2014-09-03 Prevention method of shuttle collision for goods destination system KR20160028287A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108137230A (en) * 2016-09-12 2018-06-08 爱鸥自动化系统有限公司 Picking auxiliary device
CN108657712A (en) * 2018-05-28 2018-10-16 贺婷 A kind of automatic intelligent tiered warehouse facility

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009143651A (en) 2007-12-12 2009-07-02 Ihi Corp Cargo moving method in automated storage and retrieval warehouse

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009143651A (en) 2007-12-12 2009-07-02 Ihi Corp Cargo moving method in automated storage and retrieval warehouse

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108137230A (en) * 2016-09-12 2018-06-08 爱鸥自动化系统有限公司 Picking auxiliary device
US10504199B2 (en) 2016-09-12 2019-12-10 Aioi Systems Co., Ltd. Picking assistant system
CN108137230B (en) * 2016-09-12 2020-07-03 爱鸥自动化系统有限公司 Auxiliary device for picking up goods
CN108657712A (en) * 2018-05-28 2018-10-16 贺婷 A kind of automatic intelligent tiered warehouse facility

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