KR20180077793A - Method for loading and unloading freight - Google Patents

Abstract

The present invention relates to load storing and releasing methods, and a load storing method comprises: (a) a step of deciding a storage position, at which a transferred load is stored in a load storage, and locating a load on the buffer conveyor of a tier corresponding to the decided storage position by using an elevator; (b) a step of deciding whether a shuttle is present in the tier where the load is located or there is a shuttle assigned to another load in the tier, where the load is located, so as to be moved from another tier to the tier where the load is located; (c) a step of moving the existing shuttle to the input point of the tier where the load is located if it is decided in step (b) that there is a shuttle in the tier where the load is located, while moving the shuttle to be moved to the input point of the tier where the load is located if it is decided that there is no shuttle in the tier where the load is located but there is a shuttle to be moved to the tier where the load is located; and (d) the step for storing the load by moving the load located on the buffer conveyor to the storage position through the shuttle moved to the input point, wherein the number of shuttles for moving loads can be set to be smaller than the total number of the tiers of the load storage.

Description

METHOD FOR LOADING AND UNLOADING FREIGHT

The present invention relates to a cargo handling method.

In recent years, demand for lightweight cargo has increased in the logistics market as the e-commerce and retailing, pharmaceutical and cosmetics industries have grown rapidly, and the need for a lightweight cargo handling automated logistics equipment capable of efficiently handling large volumes of cargo is emphasized .

Automated storage & retrieval system (AS / RS) is one of the most well-known automated logistics systems. The advantages of AS / RS include high throughput, space utilization and increased safety. The AS / RS typically uses a stacker-crane as a loading and unloading device. In contrast, the shuttle based storage and retrieval system (SBS / RS) handles cargo using lifts and shuttles.

AS / RS and SBS / RS are similar in that cargo can be handled without operator intervention, but because of the different basic drive, compared to AS / RS which can handle one cargo at a time, SBS / RS, which can handle multiple cargoes at once, is much more capable of handling the same time. Therefore, SBS / RS can be said to be better suited for small-lot items of various kinds than AS / RS.

The SBS / RS can be divided into a tier-captive SBS / RS, which operates using a shuttle provided for each layer, and a tier-to-tier SBS / RS, which operates using fewer shuttles than the total number of layers. have.

In the Tier-to-Tier SBS / RS where the shuttle is provided less than the total number of floors, since the shuttle must perform the interlayer movement and the shuttle in the layer can move in both directions on one line, And the shuttle is delayed (delayed). In such a case, there is a disadvantage in that the efficiency of the cargo in and out is lowered.

The background technology of the present application is disclosed in Korean Patent Laid-Open Publication No. 10-1999-007752 (published on January 25, 1999).

The present invention has been made to solve the above-mentioned problems of the prior art, and it is an object of the present invention to solve the above-mentioned problems of the prior art, and to provide a shuttle- And to provide a cargo transfer method capable of eliminating a shuttle delay (delay) problem.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cargo transfer method capable of more effectively operating a shuttle in order to improve a cargo transfer efficiency in a tier-to-tier SBS / RS.

It is to be understood, however, that the technical scope of the embodiments of the present invention is not limited to the above-described technical problems, and other technical problems may exist.

According to an aspect of the present invention, there is provided a method of loading a cargo in accordance with an embodiment of the present invention, the method comprising the steps of: (a) determining a storage location at which the transferred cargo is stored in the cargo storage, (B) a shuttle is present in the layer in which the cargo is located or is assigned to another cargo in the layer in which the cargo is located to move from the other layer to the layer in which the cargo is located; (C) if it is determined in the step (b) that there is a shuttle in the floor where the cargo is located, moving to an entry point where the cargo is located and a shuttle is not present on the floor where the cargo is located, Moving the shuttle to the loading position of the floor where the cargo is located, if the shuttle is determined to exist, and (d) And the number of shuttles for moving the cargo may be set to be less than the total number of floors of the cargo store.

In addition, in the method for loading a cargo according to an embodiment of the present invention, (c1) when it is determined that there is no shuttle in the layer where the cargo is located, The method may further include determining whether there is a shuttle unassigned to another of the shuttles existing in a layer other than the layer where the cargo is located.

(C2) if it is determined in step (c1) that there is no shuttle unassigned to another cargo, the cargo receiving method according to one embodiment of the present invention may include: And moving the minimum distance shuttle to the receiving position of the floor where the cargo is located if the minimum distance shuttle is in the idle state.

(C3) when it is determined in step (c1) that there is a shuttle unassigned to another cargo, the cargo receiving method according to an embodiment of the present invention includes: Selecting a shuttle located at a minimum distance from the layer in which the cargo is located during a shuttle in an idle state and moving the shuttle to a receiving position of the floor where the cargo is located.

In the step (c3), when there is no idle shuttle in the unassigned shuttle group, a minimum distance shuttle located at a minimum distance from the layer in which the cargo is located among all shuttles is assigned to the cargo, When the distance shuttle is idle, the distance shuttle can be moved to the receiving position of the floor where the cargo is located.

The step (a) may include: (a1) selecting a layer in which the shuttle is present and a layer in which the shuttle is to be moved among the entire layers of the cargo store; (a2) Selecting a bay having a minimum distance between the bays capable of storing cargoes from the loading position, if the car has a bay capable of storing at least one cargo; and (a3) ≪ / RTI > may be determined to be the bay selected in the step.

In the step (a1), if the selected layer does not have a bay capable of storing at least one cargo, any one of the layer in which the shuttle is present and the layer in which the shuttle is to be moved is selected randomly .

In addition, in the step (a1), if the layer in which the shuttle exists and the layer in which the shuttle is scheduled to move do not have a bay capable of storing the cargo, the layer in which the shuttle is present in the entire layer and the layer in which the shuttle is scheduled to move Any one of the layers may be randomly selected.

Meanwhile, a method of delivering cargo according to an embodiment of the present invention includes: (a) checking the position of a bay where a cargo dispatched from a cargo store is stored; Determining whether or not there is a shuttle to be assigned to another cargo in a layer where the cargo is located and moving from another layer to a layer in which the cargo is located; (b) The shuttle is moved to the transaction point of the floor where the cargo is located and the shuttle is scheduled to move to the floor where the cargo is located, Moving the shuttle scheduled to be moved to the transaction point of the layer in which the cargo is located; (c) Moving the cargo to an output point via a shuttle moved to an originating point, and (d) placing the cargo moved to the leaving location in a buffer conveyor of the layer in which the cargo is located, Wherein the number of shuttles for moving the cargo can be set to less than the total number of floors of the cargo store.

In addition, the method of delivering cargo according to an embodiment of the present invention is characterized in that (b1) when it is determined that there is no shuttle in the layer where the cargo is located, The method may further include determining whether there is a shuttle unassigned to another of the shuttles existing in a layer other than the layer where the cargo is located.

(B2) when it is determined that there is no shuttle unassigned to another cargo in the step (b1), the cargo moving method according to an embodiment of the present invention is characterized in that, And moving the minimum distance shuttle to the transaction point of the layer in which the cargo is located if the minimum distance shuttle is in the idle state.

In addition, the method of delivering cargo according to an embodiment of the present invention may include: (b3) if it is determined in step (b1) that there is a shuttle unassigned to another cargo, the unassigned shuttle group including the unassigned shuttle Selecting a shuttle located at a minimum distance from the layer in which the cargo is located during the idle shuttle to the transaction point of the layer in which the cargo is located.

In the step (b3), when there is no idle shuttle in the unassigned shuttle group, a minimum distance shuttle located at a minimum distance from the layer in which the cargo is located among all shuttles is assigned to the cargo, The distance shuttle can be moved to the transaction point of the layer where the cargo is located when idle.

Meanwhile, the cargo transferring method according to an embodiment of the present invention may include a step of loading the cargo by the cargo loading method and a step of loading the cargo by the cargo loading method.

The above-described task solution is merely exemplary and should not be construed as limiting the present disclosure. In addition to the exemplary embodiments described above, there may be additional embodiments in the drawings and the detailed description of the invention.

According to the above-mentioned problem solving means of the present invention, it is possible to determine whether or not a shuttle is present on the floor where the cargo is located, whether or not there is a shuttle scheduled to move to the floor where the cargo is located, Layer SBS / RS, it is possible to effectively solve the shuttle-to-shuttle collision problem and the shuttle-delay (delay) problem by limiting only one shuttle to the floor.

According to the present invention, there is an effect that the shuttle equipped with fewer than the total number of the cargo storages can be operated more effectively, thereby improving the efficiency of the cargo transfer in the tier-to-tier SBS / RS.

However, the effects obtainable here are not limited to the effects as described above, and other effects may exist.

1 is a diagram for explaining the concept of a Tier-captive SBS / RS and a Tier-to-Tier SBS / RS in an SBS / RS.
2 is a schematic view of the SBS / RS of FIG. 1 viewed from above.
3 is a schematic operational flow diagram of a cargo receiving method according to one embodiment of the present application.
FIG. 4 is an algorithm illustrating a method for determining a storage location where a cargo is stored in a cargo store in a cargo loading method in accordance with an embodiment of the present invention.
5 is a schematic operational flow diagram of a cargo delivery method according to one embodiment of the present application.
FIG. 6 is a detailed flowchart of a method of loading a cargo according to an embodiment of the present invention.
7 is a detailed flow chart of a cargo delivery method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. It should be understood, however, that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, the same reference numbers are used throughout the specification to refer to the same or like parts.

Throughout this specification, when an element is referred to as being "connected" to another element, it is intended to be understood that it is not only "directly connected" but also "electrically connected" or "indirectly connected" "Is included.

It will be appreciated that throughout the specification it will be understood that when a member is located on another member "top", "top", "under", "bottom" But also the case where there is another member between the two members as well as the case where they are in contact with each other.

Throughout this specification, when an element is referred to as "including " an element, it is understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise.

The present invention relates to a method for effectively managing a shuttle-to-tier SBS / RS (shuttle-based storage & retrieval system)

1 is a diagram for explaining the concept of a Tier-captive SBS / RS and a Tier-to-Tier SBS / RS in an SBS / RS.

1 (a) is a conceptual diagram of a tier-captive SBS / RS. In the tier-captive SBS / RS, one shuttle 50 is provided for each floor of the cargo store 40, 40). ≪ / RTI > 1 (b) is a conceptual diagram of a tier-to-tier SBS / RS. In the tier-to-tier SBS / RS, the shuttle 50 may be provided in a number smaller than the total number of floors of the cargo store 40. There is a difference between the number of shuttles and the operation method of the shuttle between the tier-captive SBS / RS and the tier-to-tier SBS / RS.

1, the SBS / RS may include a conveyor 10, an elevator (or lift) 20, a buffer conveyor 30, a cargo store (or storage) 40 and a shuttle 50.

When loading a cargo, the elevator 20 can move the cargo 1 that has entered the conveyor 10 to the target floor. Here, the target layer may refer to a layer corresponding to a position where the cargo store 40 wants to store the cargo. In the example of FIG. 1, the total number of layers of the cargo store 40 may be six, where the target layer may be, for example, six layers. The cargo 1 in the elevator 20 moved to the target floor may be located on the buffer conveyor 30 of the target floor and then when the shuttle 50 arrives at the position corresponding to the buffer conveyor 30, The cargo 1 can be put on by transferring the cargo 1 located in the buffer conveyor 30 to the bay 41 capable of storing cargo in the cargo store 40. This can be more easily understood with reference to FIG.

2 is a schematic view of the SBS / RS of FIG. 1 viewed from above.

2, when the cargo 1 in the elevator 20 moved to the target floor is located on the buffer conveyor 30 of the target floor, the shuttle 50 moves to the position corresponding to the buffer conveyor 30 . Thereafter, the shuttle 50 can load the cargo 1 located in the buffer conveyor 30 on the shuttle 50 as shown in Fig. 2 (a). Thereafter, the shuttle 50 moves to a position where the cargo 1 is stored in the cargo store 40 as shown in Fig. 2 (b), and then moves the cargo 1 loaded on the shuttle 50 to a position corresponding to the position It can be placed in a bay where the cargo can be stored.

On the other hand, when the cargo is delivered (or dispensed), the shuttle 50 can be moved to the position of the bay where the cargo dispatched in the cargo store 40 is stored. Thereafter, the transferred shuttle 50 can load the goods to be shipped and place them in a buffer conveyor of the corresponding layer (for example, a structure indicated by reference numeral 30 on the left side in Fig. 2). The cargo situated in the buffer conveyor is then conveyed to a cargo leaving the cargo through an elevator (e.g., the designation 20 on the left in Figure 2) (e.g., Configuration) is moved to the layer on which the cargo is placed.

Here, the buffer conveyor, the elevator and the conveyor (for example, the configuration on the left side of FIG. 2) used for delivering cargo are separated from the buffer conveyor, the elevator and the conveyor (for example, However, the present invention is not limited thereto. As another example, a buffer conveyor, an elevator, and a conveyor, which are used when goods are loaded, can be utilized when a cargo is shipped. In addition, the cargo holds 40 including a plurality of bays may be provided at a predetermined interval, and the shuttle 50 may be provided in the space between the pair of cargo holds 40, The shuttle 50 is capable of moving in both directions with respect to the longitudinal direction so that the shuttle 50 can store the transported cargo in any one of the cargo stores located in both directions, The cargo stored in any one of the cargo stores can be dispensed.

On the other hand, in a tier-to-tier SBS / RS in which the shuttle is provided in a smaller number than the total number of floors in the cargo storages, the shuttle must perform the interlayer movement and the shuttle can be moved in both directions on one line, A problem may occur such that a collision occurs between shuttles or a shuttle is delayed (delayed). Accordingly, the cargo handling method according to an embodiment of the present invention proposes a technique for preventing a collision between shuttles in a tier-to-tier SBS / RS and more effectively reducing shuttle delay.

The cargo transfer method according to an embodiment of the present invention may include a step of loading the cargo by the cargo receiving method to be described later and a step of shipping the cargo by the cargo transfer method to be described later. A more detailed description follows.

3 is a schematic operational flow diagram of a cargo receiving method according to one embodiment of the present application.

In order to facilitate understanding of the present invention, for example, the cargo store is composed of six layers in total, and eight bays in each layer of the cargo store are shown in FIG. 2 It is assumed that there are a pair in both directions (i.e., each bay has 16 bays) based on a line on which the shuttle moves. It is also assumed that the storage location of the transported cargo here is, for example, the fourth-most located bay from the buffer conveyor in the 5-story right cargo store. It is also assumed that there are two conveyor lines for conveying the cargo, and that the conveyor for conveying the cargo to be stored is located on the first floor. The number of shuttles for moving the cargo in the cargo receiving method according to one embodiment of the present invention may be set to be less than the total number of floors in the cargo store, Which is less than the number 6, can be set.

Referring to FIG. 3, a method of loading a cargo according to an embodiment of the present invention includes: determining a storage position (specifically, a floor, a bay) in which the transferred cargo is stored in the cargo storage, The cargo can be placed on the buffer conveyor of the layer corresponding to the location (S31). For example, in step S31, the storage location where the cargo is stored can be determined as the fourth-positioned bay from the buffer conveyor in the right cargo store on the fifth floor, and the cargo arriving on the first- So that it can be placed in a buffer conveyor of five layers. Hereinafter, a method of determining the storage location at which the cargo is stored will be described in more detail with reference to FIG. 4, which will be described later.

Next, in step S32, it is possible to determine whether a shuttle exists in the floor where the cargo is located or is allocated to another cargo in the floor where the cargo is located, and there is a shuttle scheduled to move from the other floor to the floor where the cargo is located. For example, in step S32, it is possible to determine whether a shuttle exists in the fifth floor where the cargo is located or is allocated to another cargo in the fifth floor, and there is a shuttle scheduled to move from the other floor to the fifth floor. Meanwhile, the conveyor line for conveying the cargo in the SBS / RS can be formed as two conveyor lines (the first conveyor line and the second conveyor line) as shown in FIG. 2, May refer to a cargo conveyed through a conveyor line or a second conveyor line that is already located on a buffer conveyor of a layer (e.g., 5th layer) where the cargo is stored, or a layer (e.g., 5th floor), which is a cargo awaiting dispatch (goods issue) from the cargo already stored in the cargo floor, and which is allocated to the shuttle by the dispatch command.

Next, in step S33, if it is determined in step S32 that there is a shuttle in the floor where the cargo is located, the shuttle that is present in the floor where the cargo is located can be moved to the input point of the floor where the cargo is located have. If it is determined in step S33 that there is no shuttle on the floor where the cargo is located but there is a shuttle scheduled to move to the floor where the cargo is located, the shuttle scheduled to be moved may be moved to the receiving position of the floor where the cargo is located. For example, if it is determined in step S33 that a shuttle is present on the fifth floor where the cargo is located, the existing shuttle existing on the fifth floor may be moved to the fifth floor entry position, It is determined that there is a shuttle scheduled to move to the fifth floor where the freight is located, the shuttle to be moved can be moved to the fifth floor arrival position. Here, the receiving position is a position at which the shuttle waits for loading a freight located on the buffer conveyor on the shuttle, and may be a position between the buffer conveyors 30 located on both sides as shown in FIG. 2 (a).

Next, in step S34, the cargo placed in the buffer conveyor of the layer on which the cargo is located can be moved to the storage position through the shuttle moved to the receiving position. That is, for example, in step S34, the shuttle moved to the fifth-layer receiving position is moved to the storage position (that is, the fifth storage occupation position from the buffer conveyor to the fourth storage position) Located in the bay), and then the cargo loaded in the shuttle can be placed in the storage location.

On the other hand, if it is determined in step S32 that there is no shuttle in the floor where the cargo is located and there is no shuttle scheduled to move to the floor where the cargo is located, a shuttle is assigned to the cargo to be stored It is necessary to bring a shuttle existing in another layer into the corresponding layer. In other words, it is necessary to assign a shuttle to the cargo located on the conveyor on the 5th floor, bringing the shuttle located on the other floor to the 5th floor.

To this end, in the method of loading a cargo according to an embodiment of the present invention, when it is determined that there is no shuttle in the layer where the cargo is located and there is no shuttle scheduled to move to the floor where the cargo is located, And a step S33-1 of judging whether or not there is a shuttle unassigned to another of the shuttles existing in another floor. That is, in step S33-1, it is possible to determine whether or not there is an unassigned shuttle which is not allocated to another cargo among the shuttles existing in the other floor, in order to call the shuttle existing in the other floor to the corresponding floor .

In addition, the cargo taking-in method according to an embodiment of the present invention is characterized in that when it is determined in step S33-1 that there is no shuttle unassigned to another cargo, a minimum distance (i.e., Distance S) to the cargo, and if the minimum distance shuttle is in an idle state, move the minimum distance shuttle to the goods receipt location of the floor where the cargo is located. have.

Specifically, in step S33-2, when it is determined that there is no shuttle unassigned to another of the shuttles existing in the other floor, in other words, all the shuttles present in the other floor are assigned to another freight If an interlayer transfer is in progress (or scheduled) or is scheduled to ship a cargo of that layer, a minimum distance shuttle of another floor located at a minimum distance from the layer where the cargo is located (for example, 5th floor) Can be assigned. For example, the cargo is located on the 5th floor, and the shuttle located on the 4th floor is assigned to the 4th floor cargo, and the 4th floor cargo is to be loaded on the 4th floor. The shuttle located on the 6th floor is assigned to the 2nd floor cargo The second floor cargo will be loaded on the second floor and the shuttle located on the first floor will be allocated to the third floor cargo and if the third floor cargo is to be loaded on the third floor, The four-story shuttle can be assigned to the cargo as a minimum distance shuttle.

Thereafter, when the minimum distance shuttle is left idle by the end of the scheduled time (i.e., the 4th floor shuttle loads the 4th floor cargo on the 4th floor), the 4th floor minimum distance shuttle, It can be moved to the fifth floor entry position. At this time, the shuttle can be interlayer moved by at least one of the two elevators corresponding to each of the two conveyor lines. For example, the shuttle can be raised and lowered between two elevators corresponding to each of the two conveyor lines (more specifically, both sides of the shuttle are arranged to be fastened or seated on each of the two elevators) . As another example, the shuttle can be raised and lowered in a state of being moved to any one of the two elevators corresponding to each of the two conveyor lines. However, the inter-layer movement method of the shuttle is not limited to this, and can be variously performed by a known method or a method to be developed in the future. Thereafter, the minimum distance shuttle, which is moved to the 5th floor receiving position, can carry the cargo by moving the cargo located in the buffer conveyor to the storage position.

In addition, the cargo taking-in method according to an embodiment of the present invention is characterized in that when it is determined in step S33-1 that a shuttle unassigned to another cargo exists, in the unassigned shuttle group including the unassigned shuttle, And a step S33-3 of selecting a shuttle located at a minimum distance from the layer in which the cargo is located in the shuttle and moving the shuttle to the receiving position of the floor where the cargo is located. At this time, if there is no idle shuttle in the unassigned shuttle group at step S33-3, the minimum distance shuttle of the other floor located at the minimum distance from the floor where the cargo is located among all the shuttles can be assigned to the cargo, The minimum distance shuttle can be moved to the receiving position of the floor where the cargo is located when idle.

Specifically, in step S33-3, when it is determined in step S33-1 that there is a shuttle unassigned to another cargo, the minimum distance from the floor where the cargo is located in the unassigned shuttle group including the unassigned shuttle From the shuttle where it is located, you can check whether the shuttle is idle. For example, suppose that shuttle 1, shuttle 2, and shuttle 3 are included in the unassigned shuttle group, and shuttle 1, shuttle 2, and shuttle 3 are located close to the fifth floor where the cargo is located. At this time, in step S33-3, it can be checked whether or not the shuttle 1 located at the minimum distance from the fifth floor where the cargo is located in the unassigned shuttle group is in the idle state. At this time, when the shuttle 1 is in the idle state, the shuttle 1 can be assigned to the freight to be stored (that is, the five-storey cargo) in order to prevent the shuttle 1 from being called simultaneously by another freight. Expressed differently, the shuttle 1 can be occupied as a shuttle of the cargo to be stored. Thereafter, the shuttle 1 assigned to the cargo can be moved to the receiving location on the fifth floor, where the cargo is located.

On the other hand, when the first shuttle is not in the idle state, it can be determined whether or not there is an unassigned shuttle except for the shuttle 1. At this time, when it is determined that an unassigned shuttle other than Shuttle 1 is present, it is possible to confirm whether or not the shuttle located at a minimum distance from the floor where the freight is located among the unassigned shuttles except Shuttle 1 is in the idle state. At this time, since shuttle 2 and shuttle 3 exist in the unassigned shuttle group except for shuttle 1, it is possible to confirm whether shuttle 2 located at the minimum distance from the floor in which the cargo is located in shuttle 2 and shuttle 3 is in an idle state. At this time, if the shuttle 2 is idle, the shuttle 2 can be assigned to the cargo as described above, and then the shuttle 2 can be moved to the receiving position of the floor where the cargo is located.

If the shuttle 2 is not in the idle state, it is possible to determine whether or not there is an unassigned shuttle other than the shuttle 2 and the shuttle 1 as described above. At this time, since the shuttle 3 exists as an unallocated shuttle, it can be determined whether or not the shuttle 3 is idle. At this time, if the shuttle 3 is idle, the shuttle 2 can be assigned to the cargo, and then the shuttle 3 can be moved to the receiving position of the floor where the cargo is located. On the other hand, if it is determined that there is no further unassigned shuttle in the unassigned shuttle group, then the minimum distance shuttle of the other floor located at a minimum distance from the floor in which the cargo is located, , And the minimum distance shuttle assigned to the cargo can be moved to the fifth floor floor where the cargo is located. Thereafter, the shuttle, which has been moved to the loading position, can load the cargo by moving the cargo of the fifth layer to the storage position.

In the method of loading a cargo according to one embodiment of the present invention, only one shuttle can be moved on one floor, thereby effectively preventing collision between shuttles.

Meanwhile, in the method of loading a cargo according to an embodiment of the present invention, a storage position at which a cargo is stored in a cargo storage can be determined through the algorithm of FIG.

FIG. 4 is an algorithm illustrating a method for determining a storage location where a cargo is stored in a cargo store in a cargo loading method in accordance with an embodiment of the present invention.

First, in brief, in the method of loading a cargo according to an embodiment of the present invention, when determining a storage position where a cargo is stored in the cargo store in step S31, a layer in which a shuttle is present among all layers of the cargo store, The layer (i. E., The layer that will have the shuttle) can be considered as a priority over the other layers. Accordingly, in the method of loading a cargo according to an embodiment of the present invention, it is possible to minimize the inter-floor movement of the shuttle when storing the cargo, and to use the elevator more efficiently.

Referring to FIG. 4, in step S31, the following steps 1 to 4 may be performed to determine a storage position at which the cargo transferred in the cargo storage is stored.

In step 1, it is possible to select either the layer where the shuttle exists or the layer where the shuttle is scheduled to move among the entire layers of the cargo store. The selection at this time can be made randomly. Next, in step 2, if the layer selected in step 1 has at least one bay capable of storing cargo, it is possible to select a bay having a minimum distance between the bays capable of storing cargo from the receiving position, The position can be determined as the storage position at which the cargo is stored. At this time, when the next cargo is stored in the selected floor after the cargo is stored in the selected bay, the cargo is stored from the receiving position of the corresponding floor among the bays of the corresponding floor excluding the previously selected bay (i.e., You can select a bay with the smallest possible distance between the bays and store the next cargo in the location of the selected bay.

Meanwhile, in step 1, if one of the previously selected layers does not have a bay capable of storing at least one cargo (i.e., there is no cargo storage space in any selected one layer) The layer in which the shuttle is present and the layer in which the shuttle is scheduled to move can be selected again at random. Thereafter, in step 2, if the randomly reselected layer has a bay capable of storing at least one cargo, it is possible to select a bay having a minimum distance between the bays from which the cargo can be stored from the loading position, It can be determined as a storage position at which the cargo is stored.

If both the layer in which the shuttle is present and the layer in which the shuttle is to be moved do not have a freely storeable bay (that is, there is no space for freight storage in both the layer where the shuttle exists and the layer where the shuttle is scheduled to move) In step 3, either the layer in which the shuttle is present in the entire layer or the layer in which the shuttle is scheduled to be moved is excluded, can be selected at random. Thereafter, in step 4, if the randomly selected layer has a bay capable of storing at least one cargo, it is possible to select a bay having a minimum distance between the bays capable of storing cargo from the loading position, Can be determined as the storage position to be stored.

For example, suppose that the second and third layers of the six layers, which are all layers of the cargo store, are the layers to which the shuttle is to be moved, and the fourth layer is the layer where the shuttle is present. At this time, either Step 2, Step 3 or Step 4 can be selected in Step 1. In this case, for example, if four layers are selected and the fourth layer has a bay capable of storing at least one cargo, in step 2, a bay having a minimum distance between the bays capable of storing cargo from the cargo position is selected on the fourth floor, You can store your cargo in the bay on the fourth floor.

If there are no bays capable of storing at least one cargo on the fourth floor, either step 2 or 3 can be selected again in step 1. At this time, if the second layer is selected and the second layer has a bay capable of storing at least one cargo, in step 2, a bay having a minimum distance between the bays capable of storing cargo from the receiving position on the second floor is selected, The cargo can be stored in the bay of the car.

On the other hand, if the second, third, and fourth layers do not have a bay capable of storing cargo, in step 3, if there is no bay capable of storing at least one cargo in the second floor, . At this time, when the three-layer structure does not have at least one bay capable of storing the cargo, any one of the six layers excluding the second, third and fourth layers, that is, the first, fifth and sixth layers, You can choose. If, for example, one of the first, fifth and sixth layers is selected and the first layer has a bay capable of storing at least one cargo, in step 4, the distance between the bays Can be selected, and the cargo can be stored in the selected one-storey bay.

According to the method for loading a cargo according to an embodiment of the present invention, through the step 1 and the step 2, a layer in which a shuttle is present and a layer in which a shuttle is present are present, It is possible to first check the layer to which the shuttle is scheduled to move and store the cargo in the bay where the distance between the bays capable of storing the cargo from the receiving position is selected among the randomly selected layers among the layers identified as the first. On the other hand, if it is not possible to store the cargo because there is no cargo storage space in the layer identified as the first, then step 3 and step 4 are performed to randomly select a layer among the non-shuttable layer and the non- , It is possible to store the cargo in the bay with the minimum distance between the bays where the cargo can be stored from the receiving position in the selected layer. The method of determining the storage position of the cargo according to one embodiment of the present invention can improve the efficiency of the entire system of the present invention by minimizing the interlayer movement of the shuttle.

In the above description, steps S31 to S34 may be further divided into additional steps or combined into fewer steps, according to embodiments of the present disclosure. Also, some of the steps may be omitted as necessary, and the order between the steps may be changed.

5 is a schematic operational flow diagram of a cargo delivery method according to one embodiment of the present application.

In the cargo leaving method according to one embodiment of the present invention, the basic concept of limiting only one shuttle to one floor is the same as in the cargo closing method described above. However, in the cargo leaving method, There is a difference in that the cargo transferred to the corresponding floor through the elevator is not moved to the storage position of the cargo storage but stored, and the cargo stored in the cargo storage is moved out through the elevator. Therefore, even if omitted below, the description of the cargo receipt method can be applied to the cargo dispatch method as well.

Referring to FIG. 5, the method of delivering cargo according to an embodiment of the present invention includes first checking the position of a bay where a cargo dispatched from a cargo store is stored, Or whether there is a shuttle scheduled to move from another floor to a floor where the cargo is located (S51).

Next, in step S52, if it is determined in step S51 that there is a shuttle in the floor where the cargo is located, the shuttle existing in the floor where the cargo is located can be moved to the transaction point of the floor where the cargo is located have. If it is determined in step S52 that there is no shuttle on the floor where the cargo is located but there is a shuttle scheduled to move to the floor where the cargo is located, the shuttle to be moved may be moved to the transaction point of the floor where the cargo is located. Here, the transaction point may refer to the point where the shuttle is located to load the cargo stored in the cargo store on the shuttle.

Next, in step S53, the cargo can be moved through the shuttle moved to the transaction point to the output point of the layer where the identified cargo is located.

Next, in step S54, the cargo moved to the delivery position can be delivered by placing the cargo on the buffer conveyor for the delivery of the layer in which the cargo is located.

On the other hand, if it is determined in step S51 that there is no shuttle in the floor where the cargo is located and there is no shuttle scheduled to move to the floor where the cargo is located, a shuttle is assigned to the cargo to be shipped It is necessary to bring a shuttle existing in another layer into the corresponding layer.

If the shuttle does not exist on the floor where the cargo is located and there is no shuttle scheduled to be moved to the floor in which the cargo is located, the cargo dispatch method according to one embodiment of the present invention is such that, And determining whether or not there is a shuttle unassigned to another of the shuttles existing in the other floor, step S52-1.

In addition, the cargo shipment method according to an embodiment of the present invention is characterized in that when it is determined in step S52-1 that there is no shuttle unassigned to another cargo, the minimum distance shuttle To the cargo and moving the minimum distance shuttle to the transaction point of the floor where the cargo is located if the minimum distance shuttle is idle.

In addition, the cargo shipment method according to the embodiment of the present invention is characterized in that, when it is determined in step S52-1 that a shuttle unassigned to another cargo exists, Selecting a shuttle located at a minimum distance from the layer where the cargo is located during the shuttle, and moving the shuttle to the transaction point of the layer where the cargo is located. At this time, if there is no idle shuttle in the unassigned shuttle group, a minimum distance shuttle located at a minimum distance from the floor where the cargo is located among the entire shuttle can be assigned to the cargo, Can be moved to the transaction point of the layer where the cargo is located when idle.

In the above description, steps S51 to S54 may be further divided into further steps or combined into fewer steps, according to embodiments of the present invention. Also, some of the steps may be omitted as necessary, and the order between the steps may be changed.

Hereinafter, the detailed flow of the cargo handling method of the present invention will be briefly described based on the details described above.

FIG. 6 is a detailed flowchart of a method of loading a cargo according to an embodiment of the present invention.

The cargo loading method shown in FIG. 6 may mean the same method as the cargo loading method described above. Therefore, even if the following description is omitted, the description of the method of loading the cargo may be applied equally to the description of the method of loading the cargo described below.

The cargo taking method according to one embodiment of the present invention can determine a position (i.e., a floor, a bay) where the cargo to be stored can be stored in the cargo store when the cargo to be stored is transferred through the conveyor (S611) ). Thereafter, the elevator can be used to place the cargo on the buffer conveyor of the layer determined in step S612 (S613).

Thereafter, in step S614, it is possible to determine whether a shuttle exists in the layer where the cargo is located, or whether the shuttle is to be moved from the other layer to the layer in which the cargo is located,

If it is determined in step S614 that there is a shuttle on the floor where the cargo is located or a shuttle scheduled to move to the floor where the cargo is located exists (S614-Y), in step S615, The shuttle is moved to the destination of the floor where the cargo is located and if it is determined that there is no shuttle in the floor where the cargo is located but there is a shuttle scheduled to move to the floor where the cargo is located, To the receiving position of the layer.

Thereafter, in step S616, the shuttle moved to the loading position moves the cargo placed on the conveyor to the storage position in the cargo store, and then transfers the cargo to the storage location. Thereafter, in step S617, the shuttle can perform the next job or place the shuttle at the receiving position of the layer.

On the other hand, if it is determined in step S614 that there is no shuttle in the floor where the cargo is located and there is no shuttle scheduled to move to the floor where the cargo is located (S614-N), in step S618, It is possible to confirm whether or not there is a shuttle unassigned to another cargo.

If it is determined in step S618 that there is no unassigned shuttle (S619-N), in step S620, a shuttle (i.e., a minimum distance shuttle) located at a minimum distance from the floor in which the cargo is located, To the cargo and wait until the minimum distance shuttle assigned to the cargo is idle. Thereafter, if the minimum distance shuttle is idle, then in step S621 the minimum distance shuttle can be moved to the floor where the cargo is located by using an elevator. Thereafter, in step S615, the minimum distance shuttle first arrives at the receiving position of the floor in which the cargo is located. Therefore, in step S616, the minimum distance shuttle can move the cargo to the storage position.

On the other hand, if it is determined in step S618 that there is an unassigned shuttle (S619-Y), it is determined in step S622 that the unassigned shuttle has a minimum distance (i.e., the closest distance) You can select an unassigned shuttle located. Thereafter, in step S623, it may be determined whether the unallocated shuttle selected in step S622 is in the idle state. If it is determined in step S622 that the unassigned shuttle is in the idle state (S623-Y), it is determined in step S622 that the other freight can not simultaneously call the shuttle determined to be in the idle state in step S622 By assigning the determined shuttle to the cargo to be stored, the shuttle can be occupied as a shuttle of the cargo to be stored.

On the other hand, if it is determined in step S622 that the unassigned shuttle is not in the idle state (S623-N), in step S624, it may be determined whether or not there is an unassigned shuttle other than the shuttle selected in step S622. If it is determined in step S624 that there is an unassigned shuttle (S624-Y), in step S625, among the unassigned shuttles other than the shuttle selected in step S622, Shuttle can be selected. After step S625, the process of step S623 may be performed, and a duplicate description will be omitted. On the other hand, if it is determined in step S624 that there is no unassigned shuttle (S624-N), the process of step S620 may be performed, and a duplicate description will be omitted.

In the above description, steps S611 to S621 may be further divided into further steps or combined into fewer steps, according to an embodiment of the present invention. Also, some of the steps may be omitted as necessary, and the order between the steps may be changed.

7 is a detailed flow chart of a cargo delivery method according to an embodiment of the present invention.

The cargo delivery method shown in FIG. 7 may mean the same method as the cargo delivery method described above. Therefore, even if the following description is omitted, the description of the cargo dispatch method may be applied to the description of the cargo dispatch method described below.

The cargo shipment method according to one embodiment of the present invention may search in step S711 if the job for shipment has arrived after the storage for the previous cargo is completed. At this time, the work for cargo dispatch may mean that the dispatch order for the cargo in the cargo store is received, and the position of the stored cargo is confirmed.

Thereafter, in step S712, it is possible to determine whether a shuttle is present on the floor where the cargo to be delivered exists or whether there is a shuttle scheduled to move to the floor where the cargo to be delivered is located. If it is determined in step S712 that there is a shuttle on the floor where the cargo is located or a shuttle scheduled to move to the floor in which the cargo is located (S712-Y), in step S713, It is possible to add the task searched in step S711 to the schedule list of the existing shuttle in the floor where the cargo is located, in order to move the existing shuttle to the transaction point corresponding to the bay where the cargo is stored. On the other hand, if it is determined in step S713 that there is no shuttle on the floor where the cargo is located but there is a shuttle scheduled to move to the floor where the cargo is located, in order to move the shuttle scheduled to move to the transaction point of the floor where the cargo is located, The task searched in S711 can be added to the schedule list of the shuttle scheduled to be moved to the floor where the cargo is located. Thereafter, in step S714, the shuttle, which has added the task to the schedule list, can wait until it reaches the transaction point corresponding to the bay where the goods are stored. Thereafter, in step S715, the freight to which the shuttle moved to the transaction point is transferred can be moved to the unloading position. Thereafter, in step S716, the shuttle can perform the next job or place the shuttle at the receiving position of the layer.

On the other hand, if it is determined in step S712 that there is no shuttle on the floor where the cargo is located and there is no shuttle scheduled to move to the floor where the cargo is located (S712-N), then in step S717, It is possible to confirm whether or not there is a shuttle unassigned to another cargo. In this case, the processes from step S717 to steps S718 to S725 are the same as those from step S618 to step S626 in FIG. 6, and therefore, duplicated description will be omitted below. On the other hand, after step S720, the process of step S713 may be performed.

In the above description, steps S711 to S725 may be further divided into further steps, or combined in fewer steps, according to embodiments of the present disclosure. Also, some of the steps may be omitted as necessary, and the order between the steps may be changed.

The cargo loading method, the cargo loading method, and the cargo loading / unloading method according to an embodiment of the present invention may be implemented in a form of a program command which can be executed through various computer means and recorded in a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

In addition, the cargo taking-in method, the cargo taking-out method, and the cargo taking-out method described above can also be implemented in the form of a computer program or an application executed by a computer stored in a recording medium.

It will be understood by those of ordinary skill in the art that the foregoing description of the embodiments is for illustrative purposes and that those skilled in the art can easily modify the invention without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be interpreted as being included in the scope of the present invention.

Claims (15)

In the method of loading the cargo,
(a) determining a storage location at which the transported cargo is stored in the cargo storage and using the elevator to locate the cargo in a buffer conveyor of the layer corresponding to the determined storage location;
(b) determining whether a shuttle is present in the layer in which the cargo is located or is assigned to another cargo in a layer in which the cargo is located to move from another layer to a layer in which the cargo is located;
(c) if it is determined in step (b) that a shuttle is present in the layer in which the cargo is located, moving the existing shuttle to an input point of a layer in which the cargo is located, Moving a shuttle scheduled to be moved to a receiving position of a floor in which the cargo is located, when it is determined that there is no shuttle in the floor where the cargo is located but there is a shuttle scheduled to move to the floor where the cargo is located; And
(d) loading the cargo by moving the cargo located in the buffer conveyor to the storage location via the shuttle moved to the loading position,
Wherein the number of shuttles for moving the cargo is less than the total number of floors of the cargo store. The method according to claim 1,
(c1) if it is determined in step (b) that there is no shuttle in the floor where the cargo is located and that there is no shuttle scheduled to move to the floor where the cargo is located, Further comprising the step of determining whether a shuttle unassigned to another of the plurality of cargoes is present. 3. The method of claim 2,
(c2) allocating to the cargo a minimum distance shuttle located at a minimum distance from the layer in which the cargo is located, if it is determined in step (c1) that there is no shuttle unassigned to another cargo, Moving the minimum distance shuttle to a warehouse location of the floor where the cargo is located if the distance shuttle is in an idle state. 3. The method of claim 2,
(c3) if it is determined in the step (c1) that there is a shuttle unassigned to another cargo, it is determined that a shuttle in the unassigned shuttle group including the unassigned shuttle, Further comprising the step of selecting a shuttle located at a distance to move to a warehouse location of the floor where the cargo is located. 5. The method of claim 4,
In the step (c3), when there is no idle shuttle in the unassigned shuttle group, a minimum distance shuttle located at a minimum distance from the layer in which the cargo is located among all shuttles is assigned to the cargo, Is moved to the loading position of the floor where the cargo is located when the cargo is idle. The method according to claim 1,
The step (a)
(a1) selecting any one of the layers in which the shuttle is present and the layer in which the shuttle is to be moved among the entire layers of the cargo store;
(a2) if the layer selected in step (a1) has a bay capable of storing at least one cargo, selecting a bay having a minimum distance between the bays capable of storing cargoes from the receiving position; And
(a3) determining a storage position at which the cargo is stored as the bay selected at the step (a2). The method according to claim 6,
The step (a1) may include randomly selecting any one of the layer in which the shuttle exists and the layer in which the shuttle is scheduled to move, except for the selected layer, if the selected layer does not have a bay capable of storing at least one cargo In, cargo wearing method. 8. The method of claim 7,
The step (a1) may include: if the layer in which the shuttle is present and the layer in which the shuttle is to be moved do not have a bay capable of storing cargo, the layer in which the shuttle is present in the entire layer and the layer The method comprising the steps of: In the cargo delivery method,
(a) identifying the location of a bay in which the cargo leaving the cargo store is stored, assigning a shuttle to the layer in which the cargo is located or assigned to another cargo in the layer in which the cargo is located, Determining whether a shuttle scheduled to move to a floor where the cargo is located exists;
(b) if it is determined in step (a) that a shuttle is present in the layer in which the cargo is located, moving the existing shuttle to a transaction point of the layer in which the cargo is located, Moving the shuttle to be moved to a transaction point of the layer in which the cargo is located if it is determined that there is no shuttle on the floor where the cargo is located but there is a shuttle scheduled to move to the floor where the cargo is located;
(c) moving the cargo to an output point via a shuttle moved to the transaction point; And
(d) dispatching the cargo by placing the cargo moved to the dispatch location in a buffer conveyor of the layer in which the cargo is located,
Wherein the number of shuttles for moving the cargo is set to be less than the total number of floors of the cargo store. 10. The method of claim 9,
(b1) if it is determined that the shuttle does not exist in the layer in which the cargo is located and a shuttle scheduled to move to the floor where the cargo is located does not exist, Further comprising determining whether a shuttle unassigned to another of the plurality of cargoes is present. 11. The method of claim 10,
(b2) allocating to the cargo a minimum distance shuttle located at a minimum distance from the layer in which the cargo is located, if it is determined in step (b1) that there is no shuttle unassigned to another cargo, Moving the minimum distance shuttle to the transaction point of the layer in which the cargo is located if the distance shuttle is in an idle state. 11. The method of claim 10,
(b3) if it is determined in the step (b1) that there is a shuttle unassigned to another cargo, the shuttle in the unassigned shuttle group including the unassigned shuttle, Further comprising: selecting a shuttle located at a distance to move to a transaction point of the layer in which the cargo is located. 13. The method of claim 12,
Wherein in the step (b3), if there is no idle shuttle in the unassigned shuttle group, a minimum distance shuttle located at a minimum distance from the layer in which the cargo is located among all shuttles is assigned to the cargo, Is moved to the transaction point of the floor where the cargo is located when idle. In the cargo handling method,
The method of claim 1, further comprising the steps of: And
A method of delivering cargo comprising the step of delivering cargo by the cargo delivery method according to claim 9. A computer-readable recording medium recording a program for executing the method of any one of claims 1 to 14 in a computer.

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