KR20220090787A - Mobile line-based automated warehouse system - Google Patents

Abstract

It relates to a moving line-based automated logistics warehouse system that unifies the cargo loading and moving device into a tray and enables automatic loading/unloading of cargo/logistics using a rack including a moving line that the tray can move, Longitudinal/transverse movement line formed in the logistics loading space where the logistics are loaded and moving the tray loaded with the logistics, formed in the center of the logistics loading space and transported to the logistic unloading location or loading the tray Tray that loads or unloads logistics while moving to the central freight moving rail, the central freight moving rail and the longitudinal/transverse moving line, and transports the tray to the moving position through the movement of the longitudinal/transverse moving line It implements a mobile line-based automated warehouse system, including a moving line controller and a logistics control device that remotely transmits movement information through communication with the tray and movement line controller to control the tray loading and unloading. .

Description

Mobile line-based automated warehouse system {Mobile line-based automated warehouse system}

The present invention relates to an automated logistics warehouse system based on a moving line, in particular, by unifying the cargo loading and moving device into a tray, and automatically loading/unloading cargo/logistics using a rack including a moving line in which the tray can move It is related to an automated logistics warehouse system based on a mobile line.

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, unloading, storing, and packaging the produced goods, as well as the process of distribution of materials such as distribution processing and transport infrastructure. In addition, all concepts of information distribution, such as information networks, are also applied.

A warehouse is a place where cargo is temporarily stored, and it helps the timely distribution of cargo so that cargo that has not been distributed immediately can be stored and released if necessary. The cargo storage warehouse may evaluate the efficiency of the logistics system with the number of products that can be stored in the same area as the time required for the process of loading the cargo into the warehouse and the time taken for the process of discharging the loaded cargo.

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

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

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

The forklift has to move directly depending on the space in which the cargo is loaded, but the forklift is slow and must be operated by a human.

Therefore, there is a demand for proposals of various methods for quickly loading cargo to a loading place or unloading the loaded cargo while efficiently using the loading space.

In response to such a request, conventionally proposed techniques are disclosed in the following <Patent Document 1> to <Patent Document 2>.

The prior art disclosed in <Patent Document 1> realizes complete automation of loading and unloading of cargo due to position control of shuttle and setlight and communication with the central control unit, so that more accurate and automated storage and delivery can be performed.

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

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

However, since this prior art uses 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 because a number of robots move at the same time There is a disadvantage that a complex control algorithm for the path is also required.

Republic of Korea Patent Registration No. 10-1482519 (registration on January 8, 2015) (MDPS control system configuration and operation method) Korean Patent Laid-Open Publication No. 10-2016-0040690 (published on April 14, 2016) (device for retrieving objects from storage system)

Therefore, the present invention is proposed to solve the problem that the logistics loading space cannot be efficiently utilized in the general logistics warehouse system as described above, the disadvantages of rapid loading and unloading of the logistics, and various problems occurring in the prior art. The purpose of providing an automated logistics warehouse system based on a moving line is to unify and move equipment into a tray, and to automatically enter/exit cargo/logistics using a rack that includes a moving line where the tray can move. There is this.

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

A longitudinal/transverse movement line formed in the logistics loading space where the logistics are loaded and guiding the tray on which the logistics are loaded;

a central freight moving rail formed in the center of the logistic loading space to transport the tray transferred to the terminal moving line to the logistic unloading position or to transfer the tray to the transverse moving line of the loading position;

a tray for loading or unloading logistics while moving to the central freight moving rail and the longitudinal/transverse moving line;

a movement line controller for transferring the tray to a movement position through movement of the longitudinal/transverse movement line; and

It is characterized in that it comprises a logistics control device that remotely transmits the movement information through communication with the tray and the movement line controller to control the loading and unloading of the material of the tray.

In the above, the longitudinal/transverse movement line is characterized in that it is implemented in the form of a grid in the logistics loading space.

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

At the ends of the first and second logistics loading spaces in the above, a waiting space is provided in which the tray temporarily moves and waits.

In the above, the tray is provided with a roller on the upper portion of the body for convenience in transporting logistics, and a moving wheel is provided at the lower edge of the body to move the tray in the longitudinal/transverse direction, and the moving wheel is rotatable, , The tray is characterized in that the logistics transfer and the logistics load at the same time.

In addition, inside the tray,

a communication module for transmitting and receiving data through communication with the logistics control device;

a line detection sensor for detecting the crossing and terminating movement lines;

a controller for controlling a tray to be transported or fixed by controlling a longitudinal/transverse grabber for attaching and detaching the longitudinal/transverse movement line based on the movement information received through the communication module or the line detection result of the line detection sensor; and

and a grabber driving unit for opening or closing the longitudinal/transverse grabber according to the control of the controller.

In the above controller,

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

and a grabber control unit for controlling the opening or closing operation of the longitudinal/transverse grabber based on the movement information received by the movement information receiver and the line detection information sensed by the line detection sensor.

The moving line controller in the above,

a communication module for transmitting and receiving data through communication with the logistics control device;

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

a transverse moving line driving unit for driving a transverse moving line under the control of the controller; and

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

In the above controller,

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

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

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

In the above, the movement line controller transfers the tray to the waiting space to prepare a space for loading or unloading other trays through the driving of the longitudinal/transverse movement line, or transfers the tray to the loading space to load the logistics, or , characterized in that the tray is transferred to the unloading position to unload the logistics.

The logistics control device in the above,

an input unit for inputting loading or unloading information of logistics;

Based on the logistic information input through the input unit, the information database is searched to determine the loading position or unloading position, the tray to be moved or the surrounding tray is determined according to the determined position, and movement information of the determined tray is generated to determine the tray and movement. a controller that transmits to the line controller; and

It characterized in that it comprises a communication unit for transmitting the movement information transmitted from the controller to the tray and the movement line controller.

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

In the above controller,

Logistics information receiving unit for receiving shipment or stocking logistics information through the input unit;

a movement position determining unit for determining a movement position of the selected logistics in the overall layout of the logistics loading space stored in the 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 moving the corresponding material according to the moving position of the material determined by the moving position determining unit;

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

and 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.

In the above, the logistics control device displays the entire layout of the logistics loading space on the screen according to the control of the controller, the logistics loading position or the tray position to be taken out, the position information of the tray moving to the waiting space, and the movement position 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, there is an advantage in that the cargo loading and moving device can be unified as a tray, and cargo/logistics can be automatically loaded/unloaded using a rack including a moving line through which the tray can move.

In particular, there is an excellent effect of improving the efficiency of the logistics loading space by simultaneously performing the logistics movement and cargo loading using the tray.

1 is a schematic configuration diagram of an automated logistics warehouse system based on a mobile line according to the present invention;
Figure 2 is a block diagram showing an embodiment of the tray of Figure 1;
3 is a block diagram showing an embodiment of the movement line controller of FIG. 1;
Figure 4 is a block diagram showing an embodiment of the logistics control device of Figure 1;
5 is an exemplary view of a tray and logistics loading space applied to the present invention;
6 and 7 are exemplary views of loading or unloading logistics using a moving line and a tray in the logistics loading space in the present invention.

Hereinafter, an automated logistics warehouse system based on a moving line 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 conventional or dictionary meanings, and the inventor may appropriately define the concept of terms to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it can be.

Accordingly, 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 It should be understood that there may be variations.

1 is a schematic configuration diagram of a moving line-based automated logistics warehouse system according to the present invention, FIG. 2 is a block diagram showing an embodiment of the tray of FIG. 1, and FIG. 3 is an embodiment of the moving line controller of FIG. is a block diagram showing a block diagram, FIG. 4 is a block diagram illustrating an embodiment of the logistics control device of FIG. 1, FIG. 5 is an exemplary diagram of a tray and logistics loading space applied to the present invention, FIGS. 6 to 7 are It is an exemplary view of loading or unloading logistics using a moving line and a tray in the logistics loading space in the present invention.

As shown in this figure, the automated logistics warehouse system based on the moving line according to the present invention is formed in the logistics loading space 2 where the logistics (cargo) 1 is loaded and transports the tray 100 on which the logistics are loaded. Longitudinal/transverse moving lines 305 and 304, formed in the center of the logistics loading space 2, and transporting the tray transferred to the longitudinal moving line 305 to the logistics unloading position or transversely moving the tray to the loading position It may be configured to include a central freight moving rail 20 that transfers to the line 304 .

Here, the longitudinal / transversal 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 in the longitudinal direction by the longitudinal/transverse movement lines 305 and 304 .

The logistics loading space 2 is formed with first and second logistics loading spaces 31 and 32 on both sides around the central cargo moving rail 20 .

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

Preferably, the waiting space (3) (4) may be provided in the lower and upper positions of the first logistics loading space 31, and the waiting space (5) in 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 moving line-based automated warehouse system according to the present invention is a tray 100 for loading or unloading the logistics 1 while moving to the central freight moving rail 20 and longitudinal/transverse moving lines 305 and 304 . ) is included.

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

The tray 100 is provided with a roller 120 for convenience in transporting the logistics 1 on the upper part of the body, and a moving wheel ( 106 - 109) is provided, the moving wheels 106 - 109 are rotatable, and the tray 100 can perform logistics transport and logistics loading at the same time.

In addition, in the inside of the tray 100, a communication module 101 for transmitting and receiving data through communication with the logistics control device 200, a line detection sensor for detecting the crossing and terminating movement lines 304 and 305 ( 102), on the basis of the movement information received through the communication module 101 or the line detection result of the line detection sensor 102, the longitudinal/transverse grabber for attaching and detaching the longitudinal/transverse movement lines 305 and 304 It may include a controller 110 that controls the tray 100 to be transported or fixed, and a grabber driving unit 103 that opens or closes the longitudinal/transverse grabber according to the control of the controller 110 .

The controller 110 includes a movement information receiving unit 111 that receives movement information transmitted from the distribution control device 200 through the communication module 101, the movement information received from the movement information receiving unit 111 and the Based on the line detection information detected by the line detection sensor 102, the grabber control unit 112 for controlling the opening or closing operation of the longitudinal/transverse grabber, and the roller controller 113 for controlling the driving of the roller 120 may include

Such a tray 100 may move to a waiting space to prepare a space for loading or unloading other trays, move to a loading space to load logistics, or move to an unloading position to unload logistics.

In addition, the moving line-based automated warehouse system according to the present invention includes a moving line controller 300 for transferring the tray 100 to a moving position through the movement of the longitudinal/transverse moving lines 305 and 304. can do.

The movement line controller 300 determines a control target tray based on the movement information received through the communication module 301 for transmitting and receiving data through communication with the distribution control device 200, and the communication module 301, , a controller 310 that controls the driving of the longitudinal/transverse moving lines 305 and 304 corresponding to the determined control target tray, and a transverse movement that drives the transverse moving line 304 according to the control of the controller 310 It includes a line driver 302 and a terminal movement line driver 303 for driving the terminal movement line 305 under the control of the controller 310 .

In addition, the controller 310 includes a movement information receiving unit 311 for receiving movement information transmitted from the distribution control device 200 through the communication module 301 , and movement information received from the movement information receiving unit 311 . The control target tray determining unit 312 that determines the control target tray based on and a movement line control unit 313 to control.

This movement line controller 300 transfers the tray to the waiting space to prepare a space for loading or unloading other trays by driving the longitudinal/transverse movement lines 305 and 304, or to load the logistics. It transports the tray to the loading space or transports the tray to the unloading location where the logistics are to be unloaded.

In addition, the mobile line-based automated warehouse system according to the present invention remotely transmits movement information through communication with the tray 100 and the mobile line controller 200, so as to load and unload the tray 100. It includes a logistics control device 200 to control.

As shown in FIG. 4, the logistics control device 200 includes an input unit 201 for inputting loading or unloading information of logistics, and an information database 204 based on the logistics information input through the input unit 201. The controller 210 determines the loading position or the unloading position by searching, determining the tray to be moved or the surrounding tray according to the determined position, and generating the movement information of the determined tray and transmitting it to the corresponding tray 100 and the 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, the overall layout of the logistics loading space 2 under the control of the controller 210 may include a display unit 203 that displays on the screen any one or more of the logistics loading position or the tray position to be taken out, the position information of the tray moving to the waiting space, and the movement position information of the moving tray on the screen. .

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

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

Such a distribution control device 200 may use a personal computer (PC), such as a kiosk (Kiosk).

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

In the present invention, the operation is roughly divided into two types of logistics outgoing and warehousing.

First, the delivery will be described as follows.

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

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

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

The selected logistics information is received by the logistics information receiving unit 211 of the controller 210 and transmitted to the moving position determining unit 212 .

The movement position determining unit 212 determines the movement position of the selected logistics from the overall 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 specifies a specific logistics location to be shipped, the designated location becomes a moving location, and if the user does not specify a specific logistics location to ship out, the moving location determining unit 212 is According to a predetermined logistics outgoing algorithm, the logistics location is determined as a moving location.

When the moving position (which is actually a distribution position) is determined by the moving position determining unit 212, the moving tray determining unit 213 moves the corresponding distribution according to the moving position of the material determined by the moving position determining unit 212. Decide which tray to move when. Here, there may be one tray loaded with outgoing logistics, but there may be cases in which other trays need to be moved depending on the position of the corresponding tray. Referring to FIG. 7 , when the logistics to be shipped is A (tray), in order for the logistics A to move to the central freight moving rail 20, 8 spaces (c, d, e, f, g, h) in the transverse direction , i, j) must be moved across the line of movement. At this time, the trays existing in the 8 compartments in the horizontal direction and the 32 trays (4 × 8 = 32) located above the 8 trays must be moved to the nearest waiting space (eg, 4). Therefore, the moving tray determining unit 213 determines the tray (A) on which the logistics to be shipped out, the tray located in the 8 lateral direction, and 32 trays located above the tray to be moved as the moving target tray.

When the tray to be moved is determined in the above manner, the movement information generating unit 214 generates movement information of the tray determined by the moving tray determining unit 213 . Here, the movement information may be referred to as movement path information of the actual movement target tray. That is, the tray (A) loaded with the actual logistics to be shipped out can be movement information to move from the central freight rail 20 to the port (P) direction after moving the transverse movement line of 8 spaces in the lateral direction. , a tray located in 8 spaces in the horizontal direction and 32 trays located above it may be movement information to move in the longitudinal direction by 5 spaces (4, 3, 2, 1, waiting space) to the waiting space 4 . Since the movement information includes 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 and movement amount information including identification information and movement direction of the tray to be moved.

In the present invention, the structure of the loading space is exemplified as a rectangle, and the longitudinal/transverse movement lines are also limited to only a grid structure, but the present invention is not limited thereto, and as shown in FIG. It is also possible to implement a moving rail to have a diagonal moving rail or an inclination 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 communication method preset with the tray 100 and the movement line controller 300 and transmits the movement information.

The movement information transmitted from the distribution control device 200 is simultaneously received by the tray 100 and the movement line controller 300 . Here, the actual movement information is transmitted to all trays existing 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.

On the other hand, 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 the movement information transmitted from the distribution control device 200 and transmits it to the controller 110 .

The controller 110 controls the operations of the terminal grabber 104 and the traversing grabber 105 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 identifies the identification information included in the movement information. It is compared with the information to check whether it is the transfer information delivered to the user. As a result of this check, if the movement information is transmitted to the user, the received movement information is transmitted to the grabber control unit 112 .

The grabber control unit 112 is configured to open the longitudinal/transverse grabbers 104 and 105 based on the movement information received from the movement information receiving unit 111 and the line detection information detected by the line detection sensor 102 or Controls the closing action.

Here, a grabber is a device that holds or releases a moving line.

Assuming that the tray (A) moves 8 spaces in the transverse direction and moves to the central freight rail 20 as shown in FIG. 7 , the transverse grabber 105 of the tray 100 is closed to close the transverse moving line 304 . is caught, and the terminal grabber 104 is opened to release the terminal movement line 305 . Accordingly, the tray 100 is moved in the transverse direction according to the movement of the transverse movement line 304 . When the role of the grabber is changed, the moving direction of the tray is also changed.

Here, the tray 100 is provided with a roller on the upper portion, so that it is convenient for the loading and unloading of the logistics (cargo) 1 . In addition, the corner of the tray 100 is provided with 360 ° rotatable moving wheels (106 - 109), it promotes convenient movement when moving in the lateral or longitudinal direction. Since this tray 100 is a method of loading the logistics (1) to be loaded on the upper part, moving to the loading space and stopping at the loading position when logistics are received, it is possible to simultaneously implement the loading and transport of the logistics (1) as a single unit. have. Therefore, since the use of such a tray does not require a separate movement space of the tray, it is possible to improve the efficiency of the loading space.

Meanwhile, the movement line controller 300 receives the movement information transmitted from the distribution control device 200 through the communication module 301 and transmits it to the controller 310 .

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

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

That is, the transverse moving line driving unit 302 drives the transverse moving line 304 under the control of the controller 310 to transport the tray holding the transverse moving line 304 with a grabber in the transverse direction, and longitudinal movement The line driving unit 303 transports the tray holding the terminal moving line 305 with a grabber in the longitudinal direction.

A more detailed explanation of this is as follows.

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

Next, the control target tray determining unit 312 determines a control target tray based on the movement information received from the movement information receiving unit 311 .

Next, the moving line control unit 313 controls the driving of the longitudinal/transverse moving lines 305 and 304 corresponding to the control target tray determined by the control target tray determining unit 312 to set the moving target tray to a target position. transferred to

Here, the movement information is path information for the tray loaded with the logistics to be shipped from the current location to the delivery location, and the tray on the movement route not loaded with the logistics to be shipped from the current location to the nearest waiting space.

When the movement position of the movement information is confirmed, the movement line control unit 313 moves the cross movement line 304 or the terminal movement line 305 through the cross movement line driving unit 302 or the terminal movement line driver 303 . to move the tray.

If the tray A has to move in the transverse direction as shown in FIG. 7 , the transversal grabber 105 catches the transverse movement line 304 , and the longitudinal grabber 104 catches the longitudinal movement line 305 . will let go The grabber can be implemented simply by using a power generating means such as a motor and an actuator that can open and close the clamp by the generated power.

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

That is, the tray loaded with the logistics to be shipped moves to the delivery location, and the trays that need to empty the movement path move to the waiting space 4 . Here, the movement line control unit 313 may simply implement the movement position control by controlling the rotation amount or rotation time of the motor that operates the transverse movement line driver 302 or the terminal 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 unloading other trays, or to a shipping location where the logistics are taken out, the present invention provides a separate moving space for the tray to move. I don't need this.

In addition, the tray 100 detects the longitudinal line using the line detection sensor 102 so that the transverse grabber 105 does not get caught in the longitudinal moving line 305 when moving in the transverse direction. As a result of this detection, when the terminal line is sensed during lateral movement, the grabber driving unit 103 is operated by the grabber control unit 112 to open the cross grabber 105 and ride the terminal line as it is without being caught in the terminal line.

On the other hand, when the trays loaded with the logistics to be shipped complete the movement to the shipping position, the trays moved to the waiting space at the same time are restored to their original positions or moved to a preset loading position if necessary.

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

On the other hand, even when loading the 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 with logistics is that, while the tray loaded with logistics is navigating to the location to be loaded, the tray existing on the movement path of the tray moves to the waiting space first, leaving the movement path empty and the tray to be loaded stops moving. is to do Here, since the movement method of the loading target tray or the movement method of the tray moving to the waiting space is also made in the same manner as the shipment of the logistics, a detailed description thereof will be referred to the logistics shipment method.

In addition, a preferred embodiment of the present invention has been described only with respect to a loading space having a single-layer structure, but the present invention is not limited thereto, and may be applied to a multi-layered loading space.

For example, an elevator capable of moving each floor is provided in a multi-storey logistics warehouse, and the movement of the tray on each floor is the same as in the embodiment of the present invention, and the movement between floors is moved using the elevator. That is, if the elevator door is implemented so that it can be connected to the end of the central freight rail of each floor, the present invention can be applied to a multi-story logistics warehouse system to promote efficiency of loading space while optimizing the delivery and warehousing of logistics be able to do

Although the invention made by the present inventor has been described in detail according to the above embodiment, the present invention is not limited to the above embodiment 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 (Cargo)
2: Logistics loading space
3 - 6: waiting area
20: central cargo rail
31: first logistics loading space
32: second logistics loading space
100: tray
101: communication module
102: line detection sensor
103: grabber driving unit
104: end grabber
105: transverse grabber
106 - 109: moving wheel
110: controller
111: mobile information receiving unit
112: grabber control unit
113: roller controller
200: logistics control device
201: input unit
202: communication department
203: display unit
204: information database (DB)
210: controller
211: logistics information receiving unit
212: movement position determining unit
213: transfer tray determining unit
214: movement information generation unit
215: mobile information transmission unit
300: movement line controller
301: communication module
302: transverse movement line driving unit
303: terminal moving line driving unit
310: controller
311: mobile information receiving unit
312: control target tray determining unit
313: moving line control unit

Claims (14)

A longitudinal/transverse movement line formed in the logistics loading space where the logistics are loaded and moving the tray on which the logistics are loaded;
a central freight moving rail formed in the center of the logistic loading space and transporting the tray transferred to the terminal moving line to the logistic unloading position or transferring the tray to the transverse moving line of the loading position;
a tray for loading or unloading logistics while moving to the central freight moving rail and longitudinal/transverse moving line;
a movement line controller for transferring the tray to a movement position through movement of the longitudinal/transverse movement line; and
and a logistics control device that remotely transmits movement information through communication with the tray and the movement line controller to control the tray loading and unloading.
The automated logistics warehouse system according to claim 1, wherein the longitudinal/transverse moving lines are implemented in a lattice form in the logistics loading space.
The automated logistics warehouse system of claim 1, wherein the logistics loading space has first and second logistics loading spaces on both sides of the central cargo moving rail.
The method according to claim 3, Ends of the first and second logistics loading space, the moving line-based automated logistics warehouse system, characterized in that the waiting space is provided for the tray to temporarily move and wait.
The method according to claim 1, The tray may be provided with a roller for the convenience of transporting the material on the upper portion of the body, the lower edge of the body is provided with a moving wheel to move the tray longitudinally / transversely, the moving wheel Rotation is possible, and the tray is a moving line-based automated logistics warehouse system, characterized in that it performs logistics transport and logistics loading at the same time.
The method according to claim 5, Inside the tray,
a communication module for transmitting and receiving data through communication with the logistics control device;
a line detection sensor for detecting the crossing and terminating movement lines;
a controller for controlling a tray to be transported or fixed by controlling a longitudinal/transverse grabber for attaching and detaching the longitudinal/transverse movement line based on the movement information received through the communication module or the line detection result of the line detection sensor; and
and a grabber driving unit that opens or closes the longitudinal/transverse grabber according to the control of the controller.
The method according to claim 6, The controller,
a movement information receiving unit for receiving movement information transmitted from the distribution control device through the communication module;
a grabber control unit for controlling an opening operation or a closing operation of the longitudinal/transverse grabber based on the movement information received by the movement information receiver and the line detection information sensed by the line detection sensor; and
An automated warehouse system based on a moving line, characterized in that it includes a roller controller that controls the driving of the rollers.
The method according to claim 1, The moving line controller,
a communication module for transmitting and receiving data through communication with the logistics control device;
a controller for determining a control target tray based on the movement information received through the communication module and controlling the driving of the longitudinal/transverse movement line corresponding to the determined control target tray;
a transverse moving line driving unit for driving a transverse moving line under the control of the controller; and
A mobile line-based automated warehouse system comprising a terminal moving line driving unit for driving the terminal moving line according to the control of the controller.
The method according to claim 8, the controller,
a movement information receiving unit for receiving movement information transmitted from the distribution control device through the communication module;
a control target tray determining unit for determining a control target tray based on the movement information received from the moving information receiving unit; and
Moving line-based automated warehouse system comprising a moving line control unit for controlling the driving of the vertical / transverse moving line corresponding to the control target tray determined by the control target tray determining unit.
The method according to claim 1, The moving line controller, by driving the longitudinal / transverse moving line, transfer the tray to the waiting space to prepare a space for loading or unloading other trays, or transfer the tray to the loading space to load the logistics. An automated logistics warehouse system based on a moving line, characterized in that the tray is transported or transported to a transport location where the logistics are to be transported.
The method according to claim 1, The logistics control device,
an input unit for inputting loading or unloading information of logistics;
Based on the logistic information input through the input unit, the information database is searched to determine the loading position or unloading position, the tray to be moved or the surrounding tray is determined according to the determined position, and movement information of the determined tray is generated to determine the tray and movement. a controller that transmits to the line controller; and
Mobile line-based automated warehouse system, characterized in that it comprises a communication unit for transmitting the movement information transmitted from the controller to the tray and the movement line controller.
The automated warehouse system according to claim 1, 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.
The method according to claim 11, The controller,
Logistics information receiving unit for receiving shipment or stocking logistics information through the input unit;
a movement position determining unit for determining a movement position of the selected logistics in the overall layout of the logistics loading space stored in the 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 moving the corresponding material according to the moving position of the material determined by the moving position determining unit;
a movement information generation unit for generating movement information of the tray determined by the movement tray determination unit; and
and 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 according to claim 11, The logistics control device displays the entire layout of the logistics loading space on the screen according to the control of the controller, the logistics loading position or the tray position to be taken out, the position information of the tray moving to the waiting space, the moving tray Moving line-based automated warehouse system, characterized in that it further comprises a display unit for displaying any one or more of the moving location information on the screen.

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