KR102712592B1 - Multi-level shuttle and multi-level shuttle system - Google Patents

Abstract

According to one embodiment, a multi-level shuttle is disclosed, which includes: an upper guide connected to an upper rail of a first storage rack having a plurality of layers; a lower guide connected to a lower rail of the first storage rack; a picker for loading new cargo into the first storage rack or obtaining storage cargo currently being stored in the first storage rack; a driving unit for supplying driving power and an elevating power to the picker; an elevating guide used for elevating the picker; and a control unit for controlling movements of the driving unit and the picker.

Description

{MULTI-LEVEL SHUTTLE AND MULTI-LEVEL SHUTTLE SYSTEM}

The present disclosure relates to a multi-level shuttle and a multi-level shuttle system. Specifically, the present disclosure relates to a multi-level shuttle and a multi-level shuttle system which are efficient in terms of structural expansion and space utilization.

As logistics automation technology rapidly develops, the need for automation of existing manual logistics warehouses is increasing, and as demand for rapid delivery increases, there is a need to build small-scale urban logistics centers with improved space utilization and improve the operational efficiency of large-scale logistics centers.

Conventional logistics shuttles include mini shuttles that are installed on storage facilities such as shelves and move back and forth or up and down to transport cargo to designated locations, and shuttles that are placed on each floor of the rails of storage facilities and transport cargo in a certain direction.

However, these conventional technologies have the disadvantage of being difficult to expand in structure and have limitations in intensive storage, making it difficult to build small-scale logistics centers in urban areas, and reducing the operational efficiency of logistics centers due to limitations in the amount of cargo transported from storage facilities.

Accordingly, a logistics shuttle technology that solves the above-mentioned problems and is efficient in terms of space and cost is required.

The present disclosure can provide a multi-level shuttle and a multi-level shuttle system. Specifically, a multi-level shuttle and a multi-level shuttle system that are efficient in terms of structural expansion and space utilization are disclosed. The technical problems to be solved are not limited to the technical problems described above, and various technical problems may be further included within a scope obvious to a person skilled in the art.

A multi-level shuttle according to a first aspect of the present disclosure may include an upper guide connected to an upper rail of a first storage rack having a plurality of layers; a lower guide connected to a lower rail of the first storage rack; a picker for loading new cargo into the first storage rack or obtaining storage cargo currently being stored in the first storage rack; an elevating guide used for elevating the picker; and a control unit for controlling movements of the driving unit and the picker.

In addition, the multi-level shuttle further includes a driving unit that supplies driving power and lifting power to the picker; and the control unit can control the driving unit and the picker to transfer the stored cargo to an exit port located at the end of the first storage rack.

Additionally, the control unit can control the driving unit and the picker to obtain the new cargo from an inlet port located at the end of a second storage rack located opposite the first storage rack.

Additionally, the picker can insert the new cargo into the second storage rack or obtain the stored cargo being stored in the second storage rack.

Additionally, the picker may include a slide frame positioned at the bottom of the picker, which is drawn in when there is movement of cargo between the picker and the second storage rack, and is drawn in when movement of cargo between the picker and the second storage rack is finished.

Additionally, one or more rollers may be positioned at the end of the slide frame, and the upper side of the end of the slide frame may have a curved shape, and the lower side of the end of the slide frame may have a right-angled shape.

Additionally, the control unit can control the movement of the picker based on the movement line of the opposing picker attached to the second storage rack located opposite the first storage rack.

In addition, the control unit may control the movement of the picker based on different priorities assigned to each of a first case in which the picker transfers the stored cargo to an outlet port located at the end of the first storage rack when the movement line of the opposing picker overlaps with a preset level or more, a second case in which the opposing picker transfers the stored cargo to an outlet port located at the end of the first storage rack, a third case in which the opposing picker obtains the new cargo from an inlet port located at the end of the second storage rack, and a fourth case in which the picker obtains the new cargo from an inlet port located at the end of the second storage rack.

In addition, the control unit may obtain logistics information about the new cargo and the stored cargo scheduled to be received or released within a preset time, and may determine the size of the picker shared space that the picker occupies per unit time based on the logistics information, with respect to the picker shared space representing the space shared by the picker and the opposing picker between the first storage rack and the second storage rack.

A multi-level shuttle system according to a second aspect of the present disclosure may include: an exit port including a first conveyor belt for transferring cargo to the outside, a first storage rack having a first upper rail positioned at the top and a second lower rail positioned at the bottom, and configured with a plurality of layers; an inlet port including a second conveyor belt for obtaining the cargo from the outside, a second storage rack having a second upper rail positioned at the top and a second lower rail positioned at the bottom, and configured with a plurality of layers; a first multi-level shuttle attached to the first storage rack and configured to insert or obtain the cargo with respect to the first storage rack and the second storage rack; a second multi-level shuttle attached to the second storage rack and configured to insert or obtain the cargo with respect to the first storage rack and the second storage rack; and a control unit for controlling movements of the first multi-level shuttle and the second multi-level shuttle.

Additionally, the control unit can control the first multi-level shuttle to transfer the storage cargo stored in the first storage rack to the outlet port located at the end of the first storage rack.

Additionally, the second multi-level shuttle can be controlled to obtain new cargo from the inlet port located at the end of the second storage rack located opposite the first storage rack.

Additionally, the control unit can control a picker included in the first multi-level shuttle to place the new cargo into the second storage rack or obtain the stored cargo currently being stored in the second storage rack.

Additionally, the picker may include a slide frame positioned at the bottom of the picker, which is drawn in when there is movement of cargo between the picker and the second storage rack, and is drawn in when movement of cargo between the picker and the second storage rack is finished.

Additionally, the control unit can control the movements of the first multi-level shuttle and the second multi-level shuttle based on the paths of the first multi-level shuttle and the second multi-level shuttle.

A third aspect of the present disclosure may provide a computer-readable recording medium having recorded thereon a program for executing the method according to the first aspect on a computer. Alternatively, a fourth aspect of the present disclosure may provide a computer program stored on a recording medium for implementing the method according to the first aspect.

According to one embodiment, an automated facility can be built using an existing rack, and the installation process is simple, making it efficient in terms of installation period and cost.

In addition, the structure can be expanded in a block-like manner, allowing for intensive storage in a limited space according to the size of the logistics sensor, thereby improving space utilization.

Additionally, by sharing the moving space of the multi-level shuttle, the amount of water can be improved while allowing for the installation of more storage racks, maximizing space efficiency.

The effects of the present disclosure are not limited to the effects described above, and should be understood to include all effects that can be inferred from the composition of the invention described in the detailed description or claims of the present disclosure.

FIG. 1 is a block diagram schematically illustrating the configuration of a multi-level shuttle system (1000) according to one embodiment.
FIG. 2 is a plan view illustrating in more detail the configuration of a multi-level shuttle system (1000) according to one embodiment.
FIG. 3 is a perspective view showing the configuration of the first storage rack (100) according to one embodiment in more detail from the side.
FIG. 4 is a perspective view showing a side view of a first multi-level shuttle (300) and a second multi-level shuttle (400) attached to a first storage rack (100) and a second storage rack (200), respectively, according to one embodiment.
FIG. 5 is a block diagram schematically illustrating the configuration of a first multi-level shuttle (300) according to one embodiment, and FIGS. 6 and 7 are perspective views each illustrating more specifically each disassembled component and the overall configuration of the first multi-level shuttle (300) according to one embodiment.
FIG. 8 is a perspective view showing an operation of a first picker (310) according to one embodiment to move cargo, and FIGS. 9 and 10 are perspective views showing an operation of a first picker (310) according to one embodiment to control a first slide frame (311) to move cargo to a second storage rack (200).
Figures 11 and 12 are drawings for explaining various embodiments of a multi-level shuttle system (1000).

The terms used in the embodiments are selected from the most widely used general terms possible while considering the functions in the present disclosure, but this may vary depending on the intention of a technician working in the relevant field, precedents, the emergence of new technologies, etc. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meanings thereof will be described in detail in the description of the relevant invention. Therefore, the terms used in the present disclosure should be defined based on the meanings of the terms and the overall contents of the present disclosure, rather than simply the names of the terms.

When a part of the specification is said to “include” a component, this does not mean that other components are excluded, unless otherwise specifically stated, but rather that other components may be included. In addition, terms such as “… part,” “… module,” etc., used in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software.

Below, with reference to the attached drawings, embodiments of the present disclosure are described in detail so that those skilled in the art can easily practice the present disclosure. However, the present disclosure may be implemented in various different forms and is not limited to the embodiments described herein.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

FIG. 1 is a block diagram schematically illustrating the configuration of a multi-level shuttle system (1000) according to one embodiment, and FIG. 2 is a plan view more specifically illustrating the configuration of a multi-level shuttle system (1000) according to one embodiment.

Specifically, FIGS. 1(a) and 1(b) are block diagrams schematically illustrating a multi-level shuttle system (1000) from the top and the side, respectively, according to one embodiment, and FIGS. 2(a) to 2(c) are plan views more specifically illustrating a multi-level shuttle system (1000) from the top, one side, and the other side, respectively, according to one embodiment.

Referring to FIGS. 1 and 2, a multi-level shuttle system (1000) includes one or more storage racks and one or more multi-level shuttles, and in one embodiment, may include at least one of a first storage rack (100), a second storage rack (200), a first multi-level shuttle (300), a second multi-level shuttle (400), and a control unit (500).

The first storage rack (100) may include at least one of a plurality of layers (110), a first upper rail (120), a first lower rail (130), and a first port (140).

Each of the plurality of layers (110) can provide a space for storing cargo. The first top rail (120) is located at the top of the first storage rack (100) and can be installed transversely, for example, at the top of the uppermost layer among the plurality of layers (110). The first bottom rail (130) is located at the bottom of the first storage rack (100) and can be installed parallel to the first top rail (120), for example, at the bottom of the lowest layer among the plurality of layers (110).

The first port (140) is a port for transmitting cargo to the outside or obtaining cargo from the outside, and in one embodiment, it may be an exit port including a first conveyor belt for transmitting cargo to the outside, but is not limited thereto, and may also be an inlet port including a second conveyor belt for obtaining cargo from the outside. In one embodiment, the first port (140) may be located at an end of the first storage rack (100), and when the structure is expanded as a plurality of storage racks are connected, stacked, and sequentially arranged, it may be located at a point corresponding to an end of all of the plurality of storage racks.

The second storage rack (200) may include at least one of a plurality of layers (210), a second top rail (220), a second bottom rail (230), and a second port (240). As described above with respect to the first storage rack (100), the plurality of layers (110) provide a space for storing cargo, the second top rail (220) and the second bottom rail (230) are respectively located at the top and bottom of the second storage rack (200), and the second port (240) is a port for transferring cargo to the outside or obtaining cargo from the outside. In one embodiment, the second port (240) may be an inlet port including a second conveyor belt for obtaining cargo from the outside, but is not limited thereto, and may be an outlet port.

FIG. 3 is a perspective view showing the configuration of the first storage rack (100) according to one embodiment more specifically from the side. For convenience of explanation, the first storage rack (100) will be described, but the second storage rack (200) can also be configured or operated in the same manner.

Referring to FIG. 3, the first upper rail (120) may be arranged to extend in a horizontal direction by being joined to the uppermost point of a support member that supports a plurality of layers (110) on one side of the first storage rack (100) through a joining means (e.g., a fixing screw, etc.), and the first lower rail (130) may be arranged to extend in a horizontal direction by being joined to the lowest point of the corresponding support member through a joining means. In one embodiment, the first upper rail (120) and the first lower rail (130) may be implemented in a form that is detachable from the first storage rack (100), and for example, when a plurality of storage racks are joined to extend a structure in a vertical direction or are joined at the ends to extend a structure in a horizontal direction, the joining positions may be adjusted accordingly.

In one embodiment, the first upper rail (120) and the first lower rail (130) may each be configured with a plurality of transport rails according to preset size specifications, and for example, a plurality of transport rails (e.g., base rails) and auxiliary rails (e.g., rack posts) having preset lengths (e.g., 50 mm pitch), shapes, thicknesses, hole shapes, horizontal spacing between holes, vertical spacing, etc. may be combined and assembled to extend in the horizontal direction.

In one embodiment, the first top rail (120) and the first bottom rail (130) may be different from each other, for example, the first bottom rail (130) may include a transport rail (e.g., a base rail) that is connected to the side and bottom of the first multi-level shuttle (300) from the side of the first storage rack (100) to provide a drivable transport space for the first multi-level shuttle (300), and the first top rail (120) may further include, in addition to the transport rail, an auxiliary rail (e.g., a rack post) that is connected to the side of the first multi-level shuttle (300) from the upper portion of the transport rail to reinforce the supporting force.

Accordingly, the first storage rack (100) can be simply obtained by installing the first upper rail (120) and the first lower rail (130) on a conventional storage rack, thereby having an efficient effect in terms of installation period and cost.

FIG. 4 is a perspective view showing a side view of a first multi-level shuttle (300) and a second multi-level shuttle (400) attached to a first storage rack (100) and a second storage rack (200), respectively, according to one embodiment.

Referring to FIG. 4, the first storage rack (100) and the second storage rack (200) are arranged to face each other, and for example, the first upper rail (120) and the first lower rail (130) can be positioned within a preset distance from each other so as to face the second upper rail (220) and the second lower rail (230).

The first multi-level shuttle (300) is attached to the first storage rack (100) and can load or obtain cargo from at least one of the first storage rack (100) and the second storage rack (200). For example, when there is only the first storage rack (100), the first multi-level shuttle (300) performs driving control for the left-right movement of the first picker (310) included in the first multi-level shuttle (300) and for picking cargo, and lifting control for the up-down movement to insert new cargo into the first storage rack (100) or retrieve stored cargo currently being stored in the first storage rack (100), and when there are the first storage rack (100) and the second storage rack (200), the first picker (310) performs driving control and lifting control to insert new cargo into the first storage rack (100) and the second storage rack (200) or retrieve stored cargo.

The second multi-level shuttle (400) is attached to the second storage rack (200) located opposite the first storage rack (100), and likewise, the second picker (410) included in the second multi-level shuttle (400) performs driving control and lifting control for picking cargo, thereby enabling loading or obtaining cargo for at least one of the second storage rack (200) and the first storage rack (100).

Accordingly, a first picker movement space (10) indicating a space in which a first picker (310) of a first multi-level shuttle (300) moves, a second picker movement space (20) indicating a space in which a second picker (410) of a second multi-level shuttle (400) moves, and a picker sharing space (30) indicating a space shared by the first picker (310) and the second picker (410) can be formed between the first storage rack (100) and the second storage rack (200). In this way, by sharing a space in which each picker can move, a greater number of storage racks can be arranged at a higher density per unit area, thereby increasing loading efficiency.

The control unit (500) can control the movement of the first multi-level shuttle (300) and the second multi-level shuttle (400). In one embodiment, the control unit (500) can obtain logistics information on new cargo and stored cargo scheduled to be received or released within a preset time for the first storage rack (100) and the second storage rack (200) from an external device (e.g., a logistics server) or memory, and control the movement of the first picker (310) and the second picker (410) according to the logistics information to enable the input of new cargo or the retrieval of stored cargo.

The control unit (500) can control the first multi-level shuttle (300) to transmit the stored cargo being stored in the first storage rack (100) to the first port (140) (e.g., exit port) located at the end of the first storage rack (100), and can transmit mission information including, for example, the type of cargo transport (e.g., receipt), location information (e.g., location coordinates, storage box number), destination information (e.g., exit port), and cargo type (e.g., medium-large, small, etc.) to the first multi-level shuttle (300).

The control unit (500) can control the second multi-level shuttle (400) to obtain new cargo from the second port (240) (e.g., the entrance port) located at the end of the second storage rack (200), for example, control the first multi-level shuttle (300) to transfer the stored cargo being stored in the first storage rack (100) to the first port (140) (e.g., the exit port) located at the end of the first storage rack (100), and can transmit mission content including, for example, the type of cargo transport (e.g., shipment), location information (e.g., location coordinates, port number), destination information (e.g., storage box number), and cargo type (e.g., medium-large, small, etc.) to the second multi-level shuttle (400).

The control unit (500) can control the first picker (310) included in the first multi-level shuttle (300) to insert new cargo into the second storage rack (200) or obtain stored cargo being stored in the second storage rack (200). In one embodiment, the first picker (310) includes a first slide frame (311) located at the bottom, and the first slide frame (311) can be derived when there is movement of cargo between the first picker (310) and the second storage rack (200) according to the control of the control unit (500) and the first multi-level shuttle (300), and can be brought in when the movement of cargo between the first picker (310) and the second storage rack (200) is finished.

For example, when the first picker (310) moves cargo between the first storage racks (100), the first multi-level shuttle (300) and the first storage rack (100) are not spaced apart from each other by more than a preset distance. However, when the first picker (310) moves cargo between the second storage racks (200), the first multi-level shuttle (300) and the second storage rack (200) are spaced apart from each other by more than a preset distance. Therefore, by extending the first slide frame (311) toward the second storage rack (200) and then moving the cargo, it is possible to control the cargo to be moved flexibly and prevent it from falling or being damaged. A more specific description of the configuration and operation of the first slide frame (311) will be described later in the section regarding the detailed configuration of the first multi-level shuttle (300).

The control unit (500) can control the second picker (410) included in the second multi-level shuttle (400) to insert new cargo into the first storage rack (100) or obtain stored cargo currently being stored in the first storage rack (100). Similarly, the second picker (410) includes a second slide frame (411) located at the bottom, and the second slide frame (411) can be derived when there is movement of cargo between the second picker (410) and the first storage rack (100) according to the control of the control unit (500) and the second multi-level shuttle (400), and can be brought in when the movement of cargo between the second picker (410) and the first storage rack (100) is finished.

The control unit (500) can control the movements of the first multi-level shuttle (300) and the second multi-level shuttle (400) based on the paths of the first multi-level shuttle (300) and the second multi-level shuttle (400).

In one embodiment, the control unit (500) may determine the route of each multi-level shuttle to satisfy the shortest travel time or shortest travel distance within a non-overlapping range based on the mission information assigned to each multi-level shuttle, and control the movement accordingly. For example, based on the first mission information assigned to the first multi-level shuttle (300), for example, the first mission information to move cargo from the 1-1 location (e.g., the 1st storage bin of the 1st storage rack (100)) to the 1-2 location (e.g., the shipping port), and the second mission information assigned to the second multi-level shuttle (400), for example, the second mission information to move cargo from the 2-1 location (e.g., the 2nd storage bin of the 2nd storage rack (200)) to the 2-2 location (e.g., the receiving port), the first movement line of the first picker (310) from the 1-1 location to the 1-2 location and the second movement line of the second picker (410) from the 2-1 location to the 2-2 location are determined so as to satisfy the shortest movement time or the shortest movement distance without overlapping each other, thereby determining the first multi-level shuttle (300) and the second Each can be transmitted to a multi-level shuttle (400). In one embodiment, it is possible to determine whether the paths of the first picker (310) and the second picker (410) overlap based on the preset shuttle size and margin.

In another embodiment, the control unit (500) may determine the expected movement path of each of the first picker (310) and the second picker (410) for the cargo within a range that does not overlap each other based on logistics information about new cargo and stored cargo scheduled to be received or released within a preset time, and may assign task information for the cargo to one of the first picker (310) and the second picker (410) that satisfies the shortest movement time or the shortest movement distance, and control the movement path and movement accordingly.

In one embodiment, the control unit (500) determines the vertical height difference between the first picker (310) and the second picker (410) so that the movement lines of the first picker (310) and the second picker (410) do not overlap, and controls the cross movement of the first picker (310) and the second picker (410) so that the determined height difference is maintained or greater. For example, when the expected movement lines of the first picker (310) and the second picker (410), which are primarily determined based on the shortest movement time or the shortest movement distance, overlap each other, one of the heights may be moved upward by a preset distance or greater from the overlapping point at the cargo pickup point or before reaching the overlapping point, and the other height may be moved downward by a preset distance or greater from the overlapping point, so that the height difference between them is sufficiently maintained to prevent a collision.

In one embodiment, the control unit (500) determines the first movement line of the first picker (310) and the second movement line of the second picker (410) to satisfy the shortest movement time or the shortest movement distance for the movement lines of the first picker (310) and the second picker (410), and when it is determined that the first movement line and the second movement line overlap by a preset level or more, the control unit (500) can update the first movement line and the second movement line by giving different priorities according to a plurality of cases indicating the types of mission information.

In one embodiment, the plurality of cases may include at least one of a first case in which the first picker (310) transfers the stored cargo to an outlet port located at the end of the first storage rack (100), a second case in which the second picker (410) opposite the first picker (310) transfers the stored cargo to an outlet port located at the end of the first storage rack (100), a third case in which the second picker (410) obtains a new cargo from an inlet port located at the end of the second storage rack (200), and a fourth case in which the first picker (310) obtains a new cargo from an inlet port located at the end of the second storage rack (200).

In one embodiment, the control unit (500) can control the movements of the first multi-level shuttle (300) and the second multi-level shuttle (400) based on different priorities assigned to each of the first to fourth cases, and for example, can control the movements of the first picker (310) and the second picker (410) by adjusting at least one of the first and second movement lines according to priorities assigned in the order of the first, second, third, and fourth cases. For example, a higher priority can be assigned when the type of mission is the release of stored cargo than when the type of mission is the input of new cargo, and a higher priority can be assigned when cargo movement is performed on storage racks that are not spaced apart from each other and do not require the operation of slide frames than when cargo movement is performed on storage racks that are spaced apart from each other and require the operation of slide frames.

In one embodiment, the control unit (500) may update one of the first and second movement lines so that a picker assigned a task corresponding to a lower priority among the first and second movement lines avoids a collision with a picker assigned a task corresponding to a higher priority. For example, if the second movement line has a lower priority than the first movement line, only the second movement line may be adjusted so as not to overlap with the first movement line, or the second movement line and the movement time of the second picker (410) may be adjusted so that it waits for a certain period of time at a specific point (e.g., an expected collision point) and then moves so as not to collide with the first picker (310) moving along the first movement line.

In another embodiment, the control unit (500) may update the path of a picker assigned a task corresponding to a lower priority among the first path and the second path by a first ratio (e.g., 70%), and update the path of a picker assigned a task corresponding to a higher priority by a second ratio (e.g., 30%) that is smaller than the first ratio. For example, if the second path has a lower priority than the first path, both the first path and the second path may be adjusted, but the second path may be adjusted more.

In one embodiment, the control unit (500) may update the routes and moving speeds of the first multi-level shuttle (300) and the second multi-level shuttle (400) based on the remaining distance to the destination, whether a direction change is required during the movement, and if a direction change is required, whether it is an ascending or descending direction or a driving direction, the type of the target cargo, and whether the target cargo is set as an important cargo, if the first route and the second route overlap a preset level or more. For example, a shorter distance from the expected collision point to the destination, an absence of a direction change, a direction change in the driving direction if any, a larger target cargo, and a cargo set as an important cargo may be given a higher priority, and a route with a lower priority may be adjusted to avoid a collision with a route with a higher priority.

In one embodiment, the control unit (500) may determine the size of the picker shared space (30) occupied by the first picker (310) and the second picker (410) per unit time, respectively, for the picker shared space (30) between the first storage rack (100) and the second storage rack (200), based on logistics information. For example, if the number of tasks to be performed by the first multi-level shuttle (300) within a preset time, the average distance required for cargo movement, or the number of tasks corresponding to the type of shipment is greater than that of the second multi-level shuttle (400), the overall movements of the first multi-level shuttle (300) and the second multi-level shuttle (400) may be controlled so that the area occupied by the first picker (310) per unit time in the picker shared space (30) is greater than that of the second picker (410) by a preset value or more.

In one embodiment, the control unit (500) can control the movement of the first multi-level shuttle (300) and the second multi-level shuttle (400) so that the paths of the first multi-level shuttle (300) and the second multi-level shuttle (400) do not overlap each other based on a pre-stored learning algorithm (e.g., machine learning, deep learning, etc.), and, for example, apply the movement history according to the type of movement, the location of the cargo, the type of the cargo, the time required, and whether a bottleneck occurs in the preceding and succeeding steps, etc. to the pre-stored deep learning algorithm to generate a path determination model that determines the optimal path of the multi-level shuttle, and, by using the path determination model updated through learning, perform assignment of mission information, adjustment of the path, etc. in a direction that minimizes the bottleneck, including the preceding and succeeding steps of the pick-up step, within a range that does not overlap each other.

In one embodiment, the control unit (500) may be implemented as a server, such as a computer, that operates through a computer program to realize the functions described in the present specification, and may include all kinds of wired and wireless communication devices that may be connected to other devices (e.g., the first multi-level shuttle (300), the fourth multi-level shuttle (400)) through a network. Here, the network may be configured through various communication networks, such as wired and wireless, and may be configured as various communication networks, such as, for example, a local area network (LAN), a metropolitan area network (MAN), and a wide area network (WAN).

In addition, the multi-level shuttle system (1000) may further include other components in addition to the components illustrated in FIGS. 1 and 2. For example, the multi-level shuttle system (1000) may further include a management server (not illustrated) that manages the overall logistics of cargo, a workstation that transports picked-up cargo to a space where a worker is located, a storage device (e.g., a database, a cloud) that stores information about cargo, etc., or according to another embodiment, some of the components illustrated in FIGS. 1 and 2 may be omitted.

FIG. 5 is a block diagram schematically illustrating the configuration of a first multi-level shuttle (300) according to one embodiment, and FIGS. 6 and 7 are perspective views each illustrating the disassembled components and the overall configuration of the first multi-level shuttle (300) according to one embodiment in more detail. For convenience of explanation, the first multi-level shuttle (300) will be described, but the second multi-level shuttle (400) may also be configured or operated in the same manner.

Referring to FIGS. 5 to 7, the first multi-level shuttle (300) may include a first picker (310), a first upper guide (320), a first lower guide (330), a first driving unit (340), a first lifting guide (350), and a first control unit (360).

The first picker (310) is positioned between the first upper guide (320) and the first lower guide (330), and can be connected to the first lifting guide (350). It can move in the left and right directions of the first multi-level shuttle (300) according to the driving control of the first control unit (360), and can move in the up and down directions of the first multi-level shuttle (300) through the first lifting guide (350) according to the lifting control by the first control unit (360).

As described above, the first picker (310) can insert new cargo into at least one of the first storage rack (100) and the second storage rack (200) or obtain stored cargo being stored in at least one of the first storage rack (100) and the second storage rack (200), and this operation can be controlled by the first control unit (360).

The first upper guide (320) is connected to the upper rail (120) of the first storage rack (100), and for example, the first upper guide (320) may be positioned on the upper rail (120) via a connecting member (e.g., a moving wheel, etc.) connected to the upper rail (120). In addition, the first lower guide (330) is connected to the lower rail (130) of the first storage rack (100), and may be positioned at the lower end of the first lifting guide (350).

The first driving unit (340) can supply driving power of the first multi-level shuttle (300) and lifting power of the picker (310), and in one embodiment, can be attached to the upper guide (320) or the lower guide (330).

The first driving unit (340) may include a driving driving unit (341) that supplies driving power to the first multi-level shuttle (300) and an elevation driving unit (342) that supplies elevation power to the picker (310). In one embodiment, the driving driving unit (341) may be installed at one end of the first upper guide (320) and may be implemented as a driving motor that controls the left-right driving of the first multi-level shuttle (300) by controlling the rotational force applied to a connecting member (e.g., a moving wheel, etc.) connected to the upper rail (120). In one embodiment, the lifting drive unit (342) may be implemented as a lifting motor that controls the rotational force applied to a connecting member (e.g., belt, sheave, etc.) installed on the other end of the first upper guide (320) and connected to the first picker (310) through the first lifting guide (350) to control the up-and-down lifting of the first multi-level shuttle (300).

The first lifting guide (350) is used for lifting the first picker (310) and provides a space for the first picker (310) to lift, may be positioned between the first upper guide (320) and the first lower guide (330), and may be connected to both sides of the first picker (310). In one embodiment, the above-described guides may be implemented by including a support member made of the same or similar material (e.g., iron).

The first control unit (360) can control the movement of the first driving unit (340) and the first picker (310). As described above, the first control unit (360) can control the first driving unit (340) and the first picker (310) to transfer the storage cargo stored in the first storage rack (100) to the outlet port located at the end of the first storage rack (100), and obtain new cargo from the inlet port located at the end of the second storage rack (200) and insert the new cargo into the first storage rack (100). As described above, an embodiment in which the inlet port is located at the end of the first storage rack (100) and the outlet port is located at the end of the second storage rack (200) is also possible.

In addition, the first control unit (360) controls the first driving unit (340) and the first picker (310) to obtain new cargo from the inlet port located at the end of the second storage rack (200), and to insert the new cargo into the first storage rack (100) or the second storage rack (200), and to insert new cargo into the second storage rack (200) or to obtain stored cargo being stored in the second storage rack (200). As described above, the first picker (310) attached to the first storage rack (100) can also insert or retrieve cargo for the second storage rack (200) located opposite the first storage rack (100).

In one embodiment, the first control unit (360) may control the movement of the first driving unit (340) and the first picker (310) according to mission information received from another device (e.g., the control unit (500), a logistics server) to move cargo from a predetermined location to another predetermined location. For example, the first control unit (360) may determine a first path for performing a mission according to the mission information received from the control unit (500), and may determine whether there is an overlap with the second path of the second picker (410) in conjunction with the second multi-level shuttle (400), and if there is an overlap, may update the first path to avoid the overlap or request the second multi-level shuttle (400) to update the path. As another example, the first control unit (360) may receive mission information from the control unit (500) including a first movement line scheduled so as not to overlap with the second movement line of the second picker (410), and control the movement of the first picker (310) according to the first movement line.

In one embodiment, the first control unit (360) may control the movement of the first picker (310) based on the movement line of an opposing picker attached to another storage rack positioned opposite the first storage rack (100), and may control the overall movement including the movement line and moving speed of the first picker (310) so that the movement line and the movement line of the second picker (410) attached to the second storage rack (200) opposite the first storage rack (100) do not overlap by more than a preset level. In one embodiment, the first control unit (360) may include the embodiments described above with respect to the control unit (500) for controlling the movement of the picker.

FIG. 8 is a perspective view showing an operation of a first picker (310) according to one embodiment to move cargo, and FIGS. 9 and 10 are perspective views showing an operation of a first picker (310) according to one embodiment to control a first slide frame (311) to move cargo to a second storage rack (200).

Referring to FIG. 8, the first picker (310) may include a picking member (312) for picking up and fixing a cargo, and a picking motor (313) for moving the picked up cargo. In one embodiment, the picking motor (313) may include at least one of a first motor for supplying movement power in a first direction (e.g., a driving direction of the first multi-level shuttle (300)) with respect to a horizontal plane to control the left-right movement of the picking member (312), and a second motor for supplying movement power in a second direction (e.g., a forward-backward direction for moving forward or backward with respect to the cargo (40)) perpendicular to the first direction with respect to the horizontal plane to control the back-and-forth movement of the picking member (312).

For example, when movement of cargo begins, the first picker (310) controls the first motor to increase the gap between the picking members (312) to a preset first value (e.g., 428 mm) or more, as shown in FIG. 8(a), to open a space in which cargo can be picked up, and when movement of cargo ends, the first motor is controlled to decrease the gap between the picking members (312) to a preset second value (e.g., 216 mm) or more, to close the space in which cargo can be picked up, as shown in FIG. 8(b), and during the movement of cargo, the second motor is controlled to move the picking members (312) toward the first storage rack (100), as shown in FIG. 8(c), to pick up the cargo (40).

Referring to FIGS. 9 and 10, the first picker (310) may further include a first slide frame (311) positioned at the bottom, and the picking motor (313) may further include a third motor that supplies movement power in a second direction (e.g., in the forward/backward direction with respect to the cargo (40)) to control the forward/backward movement of the first slide frame (311).

As illustrated in FIGS. 9 and 10(b), when there is movement of cargo between the first picker (310) and the second storage rack (200), the first picker (310) may protrude the first slide frame (311) in the forward direction with respect to the second storage rack (200) by a preset distance, and as illustrated in FIG. 10(a), when the movement of cargo between the first picker (310) and the second storage rack (200) is finished, the first slide frame (311) may be retracted in the backward direction with respect to the second storage rack (200) by a preset distance. In one embodiment, the preset distance may correspond to the width of the second picker movement space (20).

Accordingly, for cargo in the first storage rack (100), the loading and unloading of cargo can be easily accomplished without any additional means, but for cargo in the second storage rack (200), the loading and unloading of cargo is hindered by the empty space formed between the second storage racks (200), so that the cargo can be flexibly loaded and unloaded by providing a lower support.

In one embodiment, one or more rollers (314) may be positioned at the end of the first slide frame (311), and for example, as shown in FIG. 10(b), by arranging a roller (314) implemented in the form of a circular rotating plate on the upper end of the first slide frame (311) that first comes into contact when cargo is pulled in from the second storage rack (200), even when the cargo is slightly misaligned or there is a certain amount of space between the cargo and the second storage rack (200), the cargo can be flexibly moved inside the picker.

In one embodiment, the first slide frame (311) can be implemented via a conveyor, thereby providing a lower support for the cargo through conveyor driving while also performing the conveyor function, so that the cargo can be easily moved without driving a separate side arm.

In one embodiment, the upper side of the end of the first slide frame (311) may be curved, and the lower side of the end of the first slide frame (311) may be right-angled. For example, as illustrated in identification number 1010, since the upper edge of the outer end of the first slide frame (311) is implemented in a circular curved shape, the cargo can move more smoothly, and as illustrated in identification number 1020, since the lower edge of the outer end of the first slide frame (311) is implemented in a right-angled shape, the load moving through the upper part of the first slide frame (311) can be supported, thereby providing the effect of more stable operation.

For example, the first slide frame (311) is included in one end of a belt conveyor arranged at the bottom of the first picker (310), and a roller (314) is arranged at the end of the first slide frame (311) as a component included in the belt conveyor to assist the movement of cargo, and since the upper shape of the slide frame (311) as viewed from the side is implemented as a curved surface, the operation of the belt conveyor can be supported to be smoother, and as the belt is wound and rotated along the rotation loop installed on the belt conveyor, the side length of the belt conveyor can be changed as the first slide frame (311) moves for external protrusion or internal introduction.

In one embodiment, when the first picker (310) operates the slide frame (311), the pickup speed for the cargo may be reduced by a preset ratio or more. For example, in the process of picking up cargo located in the second storage rack (200) rather than the first storage rack (100), movement obstruction or damage to the cargo may occur due to a gap space, so that the movement speed of the picking member (312) in the process of picking up the cargo for the second storage rack (200) may be controlled to be lower by a preset ratio (e.g., 10%) or more than the movement speed of the picking member (312) in the process of picking up the cargo for the first storage rack (100).

In one embodiment, the first control unit (360) may be implemented as a central processor unit (CPU) that controls the overall operation of the multi-level shuttle (100) and may be electrically connected to components of the multi-level shuttle (100) to control the flow of data between them.

In addition, it will be understood by those skilled in the art that other general components may be further included in the multi-level shuttle (100) in addition to the components illustrated in FIG. 1. According to one embodiment, the multi-level shuttle (100) may further include a wired/wireless communication module that can be connected to other devices or components through a network to transmit and receive various pieces of information, a storage module for storing data used throughout the operation, a user interface for receiving user input, etc.

Figures 11 and 12 are drawings for explaining various embodiments of a multi-level shuttle system (1000).

Referring to FIG. 11, the first storage rack (100) (or the second storage rack (200)) is implemented as a heterogeneous cargo arrangement rack shelf having a plurality (e.g., five) of units (refer to identification number 1110), the control unit (360) connected to the other side of the first picker (310) includes a weather control panel (refer to identification number 1120), a driving motor and an elevation motor are positioned on the left and right sides of the first upper guide (320), respectively (refer to identification numbers 1130 and 1140), the first picker (310) includes a telescopic fork unit (refer to identification number 1150), the first upper rail (120) includes a power supply unit (Bus Bar) (refer to identification number 1160), and the first lower rail (130) may include a barcode for location recognition (refer to identification number 1170). For convenience of explanation, only one of the two multi-level shuttles is shown in Fig. 11, and the other multi-level shuttle located opposite the picker can also be configured in the same manner.

Referring to FIG. 12, the multi-level shuttle system (1000) can be implemented in various forms as different numbers of storage racks and multi-level shuttles are placed in different locations.

For example, as shown in Fig. 12(a), it can be implemented in the form of a single main body arrangement in which a first storage rack (100) is arranged, a first multi-level shuttle (300) is attached to the first storage rack (100), and an outlet port (or an inlet port) is arranged at the end of the first storage rack (100).

As another example, as shown in FIG. 12(b), the first storage rack (100) and the second storage rack (200) are arranged to face each other, the first multi-level shuttle (300) and the second multi-level shuttle (400) are attached to the first storage rack (100) and the second storage rack (200), respectively, and an outlet port (or inlet port) and an inlet port (or outlet port) are arranged at the ends of the first storage rack (100) and the second storage rack (200), respectively, in the form of a double main body arrangement.

As another example, as shown in Fig. 12(c), in addition to the form of a double main body arrangement, a third storage rack may be additionally arranged on the top of the first storage rack (100) (or the second storage rack (200)) in the form of a two-level or more main body arrangement. In addition, a multi-level shuttle may be stacked in multiple layers (e.g., four layers) or more to replace the role of a mini load, in which case more facilities can be operated in the same space, which has the effect of facilitating response to high water volume.

In this way, the multi-level shuttle system (1000) can be easily expanded in various forms, making it cost-effective, and by allowing two pickers to share the same space, cargo can be stored more intensively in a limited space, maximizing space utilization with maximum loading per unit area.

Meanwhile, the above-described method can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable recording medium. In addition, the structure of the data used in the above-described method can be recorded on a computer-readable recording medium through various means. The computer-readable recording medium includes storage media such as magnetic storage media (e.g., ROM, RAM, USB, floppy disk, hard disk, etc.), optical reading media (e.g., CD-ROM, DVD, etc.).

Those skilled in the art related to the present embodiment will understand that the disclosed methods can be implemented in modified forms without departing from the essential characteristics of the above-described description. Therefore, the disclosed methods should be considered in an illustrative rather than a restrictive sense. The scope of the present disclosure is indicated by the claims, not the foregoing description, and all differences within the scope equivalent thereto should be interpreted as being included in the present disclosure.

1000: Multi-level shuttle system
100: 1st storage rack
110: Multiple layers 120: First top rail
130: 1st lower rail 140: 1st port
200: 2nd storage rack
210: Multiple layers 220: Second top rail
230: 2nd lower rail 240: 2nd port
300: 1st Multi-Level Shuttle
310: 1st picker 320: 1st top guide
330: 1st lower guide 340: 1st drive unit
350: 1st lift guide 360: 1st control unit
400: 2nd Multi-Level Shuttle
410: 2nd picker 420: 2nd top guide
430: Second lower guide 440: Second drive unit
450: Second lift guide 460: Second control unit
500: Control Unit

Claims (15)

A top guide connected to the top rail of a first storage rack consisting of multiple layers;
A bottom guide connected to the bottom rail of the first storage rack;
A picker for placing new cargo into the first storage rack or obtaining stored cargo currently being stored in the first storage rack;
A lifting guide used for lifting the above picker; and
A control unit for controlling the movement of the picker;
The above control unit
Obtain logistics information on the new cargo and the stored cargo scheduled to be received or shipped within a preset time, and control the movement of the picker based on the logistics information.
A multi-level shuttle for determining the size of the picker shared space occupied by the picker, the picker shared space representing the space shared by the picker and the opposing picker between the first storage rack and the second storage rack.
In paragraph 1,
It further includes a driving unit that supplies driving power and lifting power to the picker, and the control unit
A multi-level shuttle that controls the driving unit and the picker to transfer the stored cargo to the exit port located at the end of the first storage rack.
In the second paragraph,
The above control unit
A multi-level shuttle that controls the above driving unit and the above picker to obtain the new cargo from an inlet port located at the end of a second storage rack located opposite the first storage rack.
In the third paragraph,
The above picker
A multi-level shuttle for loading new cargo into the second storage rack or obtaining the stored cargo currently being stored in the second storage rack.
In paragraph 4,
The above picker
A multi-level shuttle comprising a slide frame positioned at the bottom of the picker, the slide frame being derived when there is movement of cargo between the picker and the second storage rack, and being introduced when movement of cargo between the picker and the second storage rack is finished.
In paragraph 5,
At the end of the above slide frame, one or more rollers are positioned,
The upper end of the above slide frame has a curved shape,
A multi-level shuttle, the lower end of which of the above slide frames has a right-angled shape.
In paragraph 1,
The above control unit
A multi-level shuttle that controls the movement of the picker based on the path of the opposing picker attached to the second storage rack located opposite the first storage rack.
In paragraph 7,
The above control unit
If the path of the opposing picker overlaps with the preset level or more,
A multi-level shuttle that controls the movement of the picker based on different priorities assigned to each of a first case in which the picker transfers the storage cargo to an outlet port located at the end of the first storage rack, a second case in which the opposing picker transfers the storage cargo to an outlet port located at the end of the first storage rack, a third case in which the opposing picker obtains the new cargo from an inlet port located at the end of the second storage rack, and a fourth case in which the picker obtains the new cargo from an inlet port located at the end of the second storage rack.
In paragraph 1,
The above control unit
A multi-level shuttle, wherein the size of the picker shared space occupied by the picker per unit time is determined based on the logistics information.
An outlet port including a first conveyor belt for transferring cargo to the outside, a first storage rack comprising a first upper rail positioned at the top and a second lower rail positioned at the bottom, and comprising a plurality of layers;
An inlet port including a second conveyor belt for obtaining said cargo from the outside, a second storage rack comprising a second upper rail positioned at the top and a second lower rail positioned at the bottom, and comprising a plurality of layers;
A first multi-level shuttle attached to the first storage rack and configured to load or obtain the cargo for the first storage rack and the second storage rack;
A second multi-level shuttle attached to the second storage rack and for loading or obtaining the cargo for the first storage rack and the second storage rack; and
A multi-level shuttle system, comprising: a control unit for controlling the movements of the first multi-level shuttle and the second multi-level shuttle by obtaining logistics information on new cargo and stored cargo scheduled to be received or released within a preset time and controlling the movements of pickers based on the logistics information.
In Article 10,
The above control unit
A multi-level shuttle system that controls the first multi-level shuttle to transfer the storage cargo stored in the first storage rack to the exit port located at the end of the first storage rack.
In Article 11,
A multi-level shuttle system for controlling the second multi-level shuttle to obtain new cargo from the inlet port located at the end of the second storage rack located opposite the first storage rack.
In Article 12,
The above control unit
A multi-level shuttle system that controls the picker included in the first multi-level shuttle to insert the new cargo into the second storage rack or obtain the stored cargo being stored in the second storage rack.
In Article 13,
The above picker
A multi-level shuttle system comprising a slide frame positioned at the bottom of the picker, the slide frame being introduced when movement of cargo occurs between the picker and the second storage rack, and being introduced when movement of cargo ends between the picker and the second storage rack.
In Article 10,
The above control unit
A multi-level shuttle system that controls the movements of the first multi-level shuttle and the second multi-level shuttle based on the paths of the first multi-level shuttle and the second multi-level shuttle.