TWI786537B - Inventory and pick-up method of dynamic warehousing system with automated crane cooperation - Google Patents

Abstract

An inventory and picking method for a dynamic warehousing system with automatic crane cooperation, mainly using cranes and forklifts to randomly place carrier units in a storage site in a one-to-one manner. The carrier unit is composed of a frame and a forklift. It is composed of pallets that are fully loaded in the frame and carry goods. Readable labels that store goods information are set on the trays for the central control unit to read and record for goods storage management and inventory and pick-up processes.

Description

Inventory and pick-up method of dynamic warehousing system with automated crane cooperation

The invention relates to an access system and an access method for stored goods.

Arrangement by category is the basic method of traditional warehouse goods collection and distribution management, but the disadvantage is that although the management system specifies and records the storage point where the goods are sorted by category in the warehouse, it cannot absolutely prevent the warehouse staff from storing the goods in the wrong storage point The problem. The warehouse allocates space according to the category of items. When a certain type of goods is received less or taken out more, there will be many vacancies in the space of this category, but it cannot be placed for other categories of goods. Or when a certain type of goods is received more and the original storage space is insufficient, there is no suitable place for the overflowed goods to be stored. Obviously, the system and method of sorting requires more warehouse space, but it cannot use the space efficiently.

The storage and retrieval method of goods also leads to a huge space in the food warehouse but cannot be used effectively. The current storage system uses cranes and forklifts (or stackers) as the main tools for picking and placing goods, especially for extremely heavy or bulky goods. .

As shown in Figure 1, when the crane 1 is used to pick and place the goods 2, the hoisted goods 2 move in the space above the storage workshop, so the height of the storage workshop needs to be increased. The general factory building height is 6 meters, and the factory building using the crane needs to be increased to 10 meters or 12 meters. As shown in Figure 2, when a forklift 3 is used to pick and place goods 2, the storage plant must reserve a spacious passage 4 for the operation and rotation of the forklift, and the passage area of the storage plant is usually larger than the area for storing goods.

In order to solve the above problems, the present invention proposes a dynamic warehouse goods access system and access method.

Technical features of the present invention: a dynamic storage system for automatic crane cooperation, including: a plurality of carrier units, a storage area and a reading device for the storage area, an exchange area and a reading device for the exchange area, a relay station and A relay station reading device, a power transmission device, and a central control unit; the central control unit directs, controls, orders, and manages the operation and return information of the above devices and equipment; the carrier unit is composed of a frame 1. A plurality of pallets loaded with goods placed in the frame; each of the pallets includes a readable label, and the readable label contains a label information, and the label information records the information of the goods carried by the pallet; The power transmission device includes at least one truck and at least one forklift; the power transmission device is responsible for the movement of the carrier unit in the storage area, the exchange area, and the relay station; the storage area has a predetermined number of collection storage site and a conveying channel for the movement of the forklift and the carrier unit; each storage site is for a carrier unit to be placed, and each carrier unit is fully loaded with the pallet; the storage sites are arranged side by side, A row of collection stations only faces one conveying channel; the collection area reading device detects whether each collection station has a carrier unit, and reads the readable label of each pallet, and The detected and read tag information is sent to the central control unit; the central control unit records whether each collection site has the carrier unit, and the collection site with the carrier unit further stores each of them The label information of the pallet; the exchange area receives the carrier unit from the storage area; the exchange area reading device reads the readable label of each pallet in the exchange area, and sends the label information sent to the central The control unit records; the pick-up personnel or the pick-up device take the designated pallet in the exchange area; when the pallet moves out of the exchange area, the central control unit clears the relevant records; the relay station receives the pallet from the exchange area The carrier unit also receives new carrier units containing new goods and readable labels; the relay station reading device reads the readable labels of each pallet in the relay station, and transmits the label information to the The central control unit records; when the pallet moves out of the relay station, the central control unit clears the relevant records.

Preferably, the width of the delivery channel is specifically defined as 1-1.5 times the width of the carrier unit.

Preferably, the readable tag is an RFID tag.

Preferably, the readable label is one of barcode, two-dimensional code, three-dimensional code, color, image, text, symbol or a combination of at least two.

An inventory method applying the above-mentioned dynamic storage system of the automatic crane cooperation of the present invention, comprising: step 1, randomly selecting several pallets in the relay station, putting them together in one frame, and constructing a warehouse full of pallets wearing unit; step 2, the central control unit designates an empty storage site, and orders the forklift to move the wearing unit in step 1 to the delivery channel of the designated storage site; step 3, the central control unit The unit commands the crane to hoist the carrier unit on the forklift in the conveying channel, move it into and place it in the designated storage site; the height of the carrier unit lifted by the crane is the pallet 2 to 3 times the height; step 4, after the designated storage site receives the carrier unit, the storage area reading device transmits the storage site and label information to the central control unit for recording.

A method for picking goods using the above-mentioned dynamic storage system with automatic crane cooperation of the present invention, comprising: step 1, the central control unit compares and searches for information about the storage area according to the picking conditions contained in a picking order Each label information record; step 2, the central control unit indicates from the record the label information containing the picking conditions, and the storage site where the label information is located; step 3, the central control unit controls the crane from The carrier unit is hoisted from the pointed out storage site, and then moved to the adjacent conveying channel after leaving the ground; when the carrier unit leaves the storage site, the central control unit clears the vehicle Relevant records of the unit at the storage site; the vehicle unit is lifted from the ground at a height 2 to 3 times the height of the pallet, and the fork of the forklift enters the frame; Step 4, the forklift will move out of the collection The carrier unit of the storage site is loaded to the exchange area, and the exchange area reading device reads the readable label of each pallet in the exchange area, and sends the label information to the central control unit for recording, It is for the pick-up personnel or the pick-up device to identify and take away the pallet that meets the pick-up conditions, so that the carrier unit in the exchange area becomes a state of less than full pallets; when the pallet is removed from the exchange area, the central control unit Clearing the relevant record of the pallet in the exchange area; Step 5, the central control unit commands the power transmission device to move the carrier unit that is not fully loaded with the pallet in the exchange area to the relay station.

Purpose and effect of the present invention:

Each pallet that constitutes the carrier unit has a readable label that records the information of the goods carried in detail. The warehouse manager (natural person or robot) does not need to know the content of the goods when purchasing. There is no need to classify the goods, just randomly place the pallets in the frame to form a carrier unit full of pallets. The storage areas and storage stations are also not planned in advance, but based on the principle that one storage station stores one vehicle unit, and the storage stations randomly store vehicle units. Finally, the reading equipment reads each reading label, and transmits the label information (that is, the cargo information) to the central control unit. The central control unit records each pallet and the storage site where it is located, and completes the warehouse management of the goods. , will not miss any storage goods. Afterwards, when picking up the goods, the location can be easily found according to the goods information and the storage site recorded by the central control unit. Each carrier unit is fully utilized to be fully loaded with goods, and each storage site can be randomly used to store carrier units, and the utilization rate of the entire storage space is greatly improved.

The carrier unit is the basic unit of inventory and pick-up. The carrier unit enters and exits the storage station, exchange area, and relay station. The central control unit deletes and adds storage records in real time according to the label information read by the reading device. Accurately control the location of each pallet (goods).

Based on the configuration of the storage site and the conveying channel, the forklift is responsible for moving the carrier unit into the storage area (or the reverse), and the crane moves the carrier unit from the forklift to the storage site (or the reverse) ), the crane lifts the carrier unit at a low height, specifically reducing the vertical space occupation ratio of the crane when it is operating in the storage area, and the forklift does not need to turn around during the transportation, just keep moving forward and backward in a straight line, the conveying channel It is not necessary to reserve the turning space of the forklift, and specifically reduce the horizontal space occupation ratio of the forklift and the conveying channel in the storage area, so that the maximum space utilization rate of the storage area can be used to store the carrier unit.

Based on the features described in the preceding paragraph, the present invention is particularly suitable for storage and transportation of heavy and bulky goods.

<Prior Technology>

1: Crane

2: Goods

3: forklift

4: channel

<this invention>

20: Storage area

21: Collection site

22: Collecting area reading equipment

23: Conveying channel

30: Vehicle unit

301: frame

302: tray

303: Goods

32: Readable label

41: Power transmission device

411: Crane

412: forklift

50: exchange area

51: Reading equipment in the exchange area

60: relay station

61: Relay station reading equipment

W1: lane width

H1: pallet height

H2: Lifting height

VIII-VIII: Cross section, view orientation of Figure 8

〔Figure 1〕A side view schematic diagram of the conventional warehouse management using cranes to pick and place goods.

〔Figure 2〕A top view schematic diagram of picking and placing goods with a forklift in conventional warehouse management.

[Fig. 3] It is a top view schematic diagram of the configuration of the dynamic food storage and retrieval system of the present invention.

[Fig. 4] A schematic front view of the carrier unit of the present invention.

[FIG. 5] One of the schematic diagrams of the overhead view of the inventory of the dynamic storage and retrieval system of the present invention.

[Fig. 6] The second schematic diagram of the top view action of the inventory of the dynamic storage and retrieval system of the present invention.

[Fig. 7] The third schematic diagram of the top view action of the inventory of the dynamic storage and retrieval system of the present invention.

[FIG. 8] is a side view of the cross-section VIII-VIII in FIG. 7 and the direction of view.

[Fig. 9] One of the schematic diagrams of the top view action of the dynamic warehouse storage and retrieval system of the present invention.

[Fig. 10] The second schematic diagram of the top view action of the dynamic warehouse storage and retrieval system of the present invention.

[Fig. 11] The third schematic diagram of the top view action of the dynamic warehouse storage and retrieval system of the present invention.

[Fig. 12] The fourth schematic diagram of the top view action of the dynamic warehouse storage and retrieval system of the present invention.

As shown in Fig. 3 and Fig. 4, the dynamic storage system of the automatic crane cooperation of the present invention includes a plurality of carrier units 30, a storage area 20, a collection area reading device 22, an exchange area 50 and an exchange area reading device 51. A relay station 60, a relay station reading device 61, a power transmission device 41, and a central control unit. The central control unit directs, controls, orders, and manages the operation and returned information of the above devices and equipment.

The power transmission device 41 is a combination of a crane 411 and a forklift 412 (or called a stacker). The power transmission device 41 is responsible for moving the carrier unit 30 in and out of the storage area 20 , the exchange area 50 , and the relay station 60 . The central control unit controls the horizontal and vertical moving strokes and fixed positions of the power transmission device 41 .

The carrier unit 30 is composed of a frame 301, several pallets 302 placed in the frame 301, and goods 303 carried by the pallets 302. The goods are usually heavy or large goods. The pallet 302 in cannot be an empty pallet. Both the pallet 302 and the frame 301 are used with a forklift 412 . The pallet 302 may be a plate pallet, a box pallet, or a column pallet. According to the fork-in approach of the forklift 412, the pallet 302 and the frame 301 can be two-way fork or four-way fork. The frame 301 is additionally provided with a hanging device matching with the crown block 411 . The pallet 302 is moved in and out of the frame 301 by the operation of the forklift 70 . Each pallet 302 includes a readable label 32 , and the readable label 32 contains a label information, and the label information records the information of the goods carried by the pallet 302 . The readable label 32 can be an RFID (Radio Frequency Identification, radio frequency identification) tag (Tag), or a barcode, a two-dimensional code, a three-dimensional code, a color, an image, a text, a symbol, or at least two or more types. Combination of states. The goods information includes but not limited to product name, product number, producer, specification, production time, quantity, unit price, total price, tax amount, transfer or delivery time, ..., etc.

In the storage area 20, a predetermined number of storage sites 21 and conveyance channels 23 for the movement of the forklift 412 and the carrier unit 30 are set up, and the storage sites 21 and the transport channels 23 are recorded by the central control unit. Each storage station 21 is provided with a carrier unit 30 , and each carrier unit 30 is fully loaded with pallets 302 . The collection and storage sites 21 are arranged side by side, and a row of collection and storage sites 21 can only face one conveying channel 23 . The width W1 (marked in FIG. 3 ) of the conveying channel 23 is enough for the forklift 412 to transport the carrier unit 30. The forklift 412 reciprocates in a straight line in the conveying channel 23 but does not turn around. Therefore, the conveying channel 23 does not need to be reserved for the forklift 412. room to turn. The collection area reading device 22 detects whether each collection site 21 has a carrier unit 30, and reads the readable label 32 of each pallet 302, and transmits the detected and read label information to The central control unit. The central control unit records whether each collection station 21 has a carrier unit 30, and the collection station 21 with the carrier unit 30 further stores the label of each pallet 302 therein Information. In short, the central control unit records each pallet 302 and the storage site 21 where it is located. When the carrier unit 30 moves out of the storage site 21, the central control unit clears the relevant records.

The exchange area 50 receives the carrier units 30 from the storage area 20 . The exchange area reading device 51 reads the readable label 32 of each pallet 302 in the exchange area 50 , and sends the label information to the central control unit for record. Pick-up personnel or pick-up devices take away the designated pallet 302 in the exchange area 50 . When the tray 302 moves out of the exchange area 50, the central control unit clears the relevant records.

The relay station 60 receives the carrier units 30 from the exchange area 50 , because part of the pallets 302 have been removed in the exchange area 50 , so the carrier units 30 moving into the relay station 60 are not fully loaded with pallets 302 . The pallet 302 of the new incoming goods is also temporarily stored here. The relay station reading device 61 reads the readable label 32 of each tray 302 in the relay station 60, and sends the label information to the central control unit for record. When the tray 302 moves out of the relay station 60, the central control unit clears the relevant records.

The configuration of the storage area reading device 22, the exchange area reading device 51, and the relay station reading device 61 depends on the detection requirements and the readable label 32, so as to realize the purpose of automatic reading and automatic processing of information. For example: the readable label 32 is an RFID Tag, and the reading device adopts an RFID reader. The readable label 32 is a one-dimensional code, and the reading device adopts a barcode scanner; the readable label 32 is a two-dimensional code, a three-dimensional code, images, characters, symbols, and the reading device uses an image sensor (CCD, CMOS ). The readable label 32 is a color, and the reading device adopts a color sensor.

As shown in Fig. 5 to Fig. 8, the inventory method of the dynamic warehousing system using the above-mentioned automatic crane cooperation of the present invention includes: step 1, randomly selecting several pallets 302 in the relay station 60, and placing them in a frame 301 In, build a wearing unit 30 full of pallets 302; Step 2, the central control unit designates an empty storage site 21, and commands the forklift 412 move the wearing unit 30 full of pallets 302 to the delivery channel 23 of the designated storage site 21; step 3, the central control unit orders the crane 411 to lift the carrier unit 30 on the forklift 412 of the delivery channel 23 , then translate and enter and be placed in the designated storage site 21; when the crane 411 hoisted the carrier unit 30, the height H2 (marked in Figure 8) of the hoist did not have to exceed the total height of the carrier unit 30, and It is enough to make the pallet 302 separate from the fork of the forklift 412. The specific definition is that the height H1 of the carrier unit 30 lifted by the crane 411 is 2 to 3 times the height H1 of the pallet 302 (as shown in Figure 4); Step 4 After the designated storage site 21 receives the carrier unit 30, the storage area reading device 22 transmits the storage site 21 and label information to the central control unit for recording. Accordingly, the central control unit records each pallet 302 and the storage site 21 where it is located, that is, records the storage site 21 where each cargo is located.

As shown in Figures 9 to 12, the picking method of the dynamic storage system using the above-mentioned automatic crane cooperation of the present invention includes: Step 1, the central control unit compares and searches for the goods according to the picking conditions contained in a picking order Each label information record of the storage area 20; Step 2, the central control unit indicates from the record the label information containing the picking conditions, and the storage site 21 where the label information is located; Step 3, the central control unit The unit controls the crane 411 to hoist the carrier unit 30 from the designated storage site 21, and move it to the adjacent conveying channel 23 after it leaves the ground; when the carrier unit 30 leaves its storage site 21, the The central control unit clears the relevant records of the storage site 21; the height of the carrier unit 30 lifted from the ground only needs to be 2 to 3 times the height of the pallet 302, so that the fork of the forklift 412 prepared in the conveying channel 23 enters the fork The frame 301; Step 4, the forklift 412 carries the carrier unit 30 to the exchange area 50, the exchange The area reading device 51 reads the readable label 32 of each pallet 302 in the exchange area 50, and transmits the label information to the central control unit for recording, and the pick-up personnel or pick-up devices identify and take away the items that meet the pick-up requirements. When the pallet 302 is moved out of the exchange area 50, the central control unit clears the relevant records of the exchange area 50; Step 5, the central control unit orders the power transmission device 41 to load the pallet 302 that is not fully loaded. The tool unit 30 moves to the relay station 60.

30: Vehicle unit

301: frame

302: tray

303: Goods

32: Readable label

H1: pallet height

Claims (2)

An inventory method for a dynamic storage system with automatic crane cooperation, the dynamic storage system includes a plurality of carrier units, a storage area and a reading device for the storage area, an exchange area and a reading device for the exchange area, and a relay station and a relay station reading device, a power transmission device, and a central control unit; the central control unit directs, controls, orders, and manages the operation and return information of the above devices and equipment; the carrier unit is composed of a A frame, a plurality of pallets loaded with goods placed in the frame; each pallet includes a readable label, and the readable label contains a label information, and the label information records the data of the goods carried by the pallet ; The power transmission device includes at least one truck and at least one forklift; the power transmission device is responsible for the movement of the carrier unit in the storage area, the exchange area, and the relay station; The storage site and the conveying channel for the movement of the forklift and the carrier unit; each storage site is for a carrier unit to be placed, and each carrier unit is fully loaded with the pallet; the storage sites are arranged side by side , a row of collection stations only faces one conveying channel; the collection area reading device detects whether each collection station has a carrier unit, and reads the readable label of each pallet, and Send the detected and read tag information to the central control unit; the central control unit records whether each storage site has the carrier unit, and the storage site with the carrier unit further stores each of them The label information of the pallet; the exchange area receives the carrier unit from the storage area; the exchange area reading device reads the readable label of each pallet in the exchange area, and sends the label The information is sent to the central control unit for record; the pick-up personnel or the pick-up device take the designated pallet in the exchange area; when the pallet is moved out of the exchange area, the central control unit clears the relevant records; The relay station receives the carrier unit from the exchange area, and also receives the carrier unit carrying new goods and readable labels; the relay station reading device reads the identifier of each pallet in the relay station Read the label, and send the label information to the central control unit for recording; when the pallet moves out of the relay station, the central control unit clears the relevant records; it is characterized in that the inventory method of the dynamic storage system includes: step 1, randomly select the A plurality of the pallets in the relay station are collected and placed in one frame to construct a wearing unit full of the pallet; step 2, the central control unit designates an empty storage site and orders the forklift to Step 1: The wearing unit is moved to the conveying channel of the designated storage site; Step 3: The central control unit orders the crane to lift the carrier unit on the forklift in the conveying channel, and moves into and places it In the designated storage site; the height of the carrier unit lifted by the crane is 2 to 3 times the height of the pallet; step 4, after the designated storage site receives the carrier unit, The collection area reading device transmits the collection site and label information to the central control unit for recording. A method for picking up goods in a dynamic storage system with automatic crane cooperation, the dynamic storage system includes a plurality of carrier units, a storage area and a reading device for the storage area, an exchange area and a reading device for the exchange area, a The relay station and a relay station reading equipment, a power transmission device, and a central control unit; the central control unit directs, controls, orders, and manages the operation and return information of the above devices and equipment; the carrier unit is composed of A frame, several pallets loaded with goods placed in the frame; each pallet includes a readable label, and the readable label contains a label information, and the label information records the goods carried by the pallet material; The power transmission device includes at least one truck and at least one forklift; the power transmission device is responsible for the movement of the carrier unit in the storage area, the exchange area, and the relay station; the storage area has a predetermined number of collection storage site and a conveying channel for the movement of the forklift and the carrier unit; each storage site is for a carrier unit to be placed, and each carrier unit is fully loaded with the pallet; the storage sites are arranged side by side, A row of collection stations only faces one conveying channel; the collection area reading device detects whether each collection station has a carrier unit, and reads the readable label of each pallet, and The detected and read tag information is sent to the central control unit; the central control unit records whether each collection site has the carrier unit, and the collection site with the carrier unit further stores each of them The label information of the pallet; the exchange area receives the carrier unit from the storage area; the exchange area reading device reads the readable label of each pallet in the exchange area, and sends the label information Send to the central control unit for records; pick-up personnel or pick-up devices take the designated pallet in the exchange area; when the pallet moves out of the exchange area, the central control unit clears the relevant records; The coming carrier unit also receives carrier units containing new goods and readable labels; the relay station reading device reads the readable labels of each pallet in the relay station, and transmits the label information to the central control unit record; when the pallet moves out of the relay station, the central control unit clears the relevant records; it is characterized in that the method for picking up the dynamic storage system includes: step 1, the central control unit according to a picking order Contained pick-up conditions, compare and search for each tag information record about the storage area; step 2, the central control unit indicates from the record the tag information containing the pick-up conditions, and the set where the tag information is located storage site; Step 3, the central control unit controls the crane to hoist the carrier unit from the indicated storage site, and move it to the adjacent conveying channel after leaving the ground; storage site, the central control unit clears the relevant records of the carrier unit at the storage site; the frame; Step 4, the forklift transports the carrier unit removed from the storage site to the exchange area, and the exchange area reading device reads the readable label of each pallet in the exchange area, And send the label information to the central control unit for recording, so that the pick-up personnel or the pick-up device can identify and take away the pallet that meets the pick-up conditions, so that the carrier unit in the exchange area becomes a state of less than full pallets; when the When the pallet is moved out of the exchange area, the central control unit clears the relevant record of the pallet in the exchange area; Step 5, the central control unit orders the power transmission device to move the carrier unit that is not fully loaded with the pallet in the exchange area to The relay station.

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