JPH03182403A - Warehouse control system by means of manned forklift - Google Patents

Abstract

PURPOSE:To prevent a human mistake and increase the flexibility of control in the warehouse control system by means of a manned forklift using pallets, by making the forklift conduct the data processing of the location information of a pallet and the confirmation of its own position by receiving an Id signal issued from a pallet area. CONSTITUTION:In the case of pallet location being conducted, a host computer 9 conducts a call to a forklift 3 through an access station 5 and a control unit 27. At this time, the forklift 3 loads a pallet 1, and reads a bar code provided on the front face of the pallet 1 by means of a bar code reader 25, and transmission is made to the host computer 9 through the access station 5. The host computer 9 makes the contents of an operation on the basis of the vacancy information of a mounting place, and an indication is made at an indicating portion 31.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a warehouse management system using a manned forklift that manages cargo stored in pallets at a predetermined location in a warehouse.

(Prior Art) Conventionally, as a method of placing, managing, and picking cargo at a predetermined location in a warehouse, a system is known in which the process is automatically carried out using an unmanned vehicle and no human intervention is required.

With this system, all data such as shelf management, pallet management, inventory management, etc. can be managed by computer, as long as there is no waste caused by the machine itself, and picking can be carried out efficiently.

(Problems to be Solved by the Invention) However, according to the above-mentioned conventional unmanned automatic system, when there are many items to be stored in the warehouse and there are many types of pallets, the unmanned system becomes difficult. Depending on the fixed layout, a problem arises in that it cannot support a wide variety of products. In this regard, more flexible automation is actually desirable, but increasing flexibility inevitably reduces efficiency, making it difficult to obtain desirable effects.

On the other hand, manned systems can be expected to allow for flexible work, but they are prone to errors due to trial and error, and there is a problem in that errors can occur in input information and output instruction information for data management by computers.

In particular, when taking out a pallet located at the back of the destination location, if the pallet in front must be temporarily placed and taken out, if the target pallet is taken out as it is, a mistake may occur in the management of the temporarily placed pallet. There is.

Therefore, it is an object of the present invention to provide a warehouse management system that takes advantage of the advantages of a manned system, avoids disadvantages such as human error, and enables flexible warehouse management.

(Means for Solving the Problems and Their Effects) The warehouse management system of the present invention is capable of loading pallets containing cargo onto a single claw of a manned forklift and transporting them to a pallet area in a warehouse, or moving pallets in a pallet area. This is a warehouse management system using a manned forklift for carrying out deliveries, in which Id signal transmitters that emit a unique Id (identification) signal when receiving an excitation signal are arranged in the warehouse in correspondence with each pallet area. , an Id signal receiver that emits an excitation signal and receives the work d@ signal, and confirms the position of the forklift itself based on the Id signal received by the Id signal receiver, and associates the pallet with the Id signal of the pallet area. The manned forklift is equipped with a control unit that exchanges pallet location information with a data processing device.

Therefore, I of the Id signal emitter (based on the I signal)
The position of the oak lift is confirmed, and the pallet can be placed within the pallet area of the giant marker, and the position of the pallet placed within the pallet area can be confirmed with certainty. Further, since the pallet and the pallet area are always associated with each other and registered in the data processing device based on the Id multiplication signal, mistakes in pallet management do not occur during loading, unloading, or temporary storage. Furthermore, since the content of the work is sequentially transferred between the control unit and the data processing device, errors associated with manned work can be eliminated, and more flexible warehouse management can be achieved.

(Example) An embodiment of the present invention will be described below based on the drawings.

Figure 1 is a schematic diagram showing the main parts of the warehouse, and in the figure, Well 1 and #2 indicate the stockyard provided on the warehouse floor to store a large number of pallets 1 containing cargo. There are many other facilities in the warehouse as well. Each stockyard #1, #2, etc. is divided into pallet areas E1 to E12 where pallets 1 are placed, and Id (Identification 3) Ig corresponding to each pallet area E1 to E12. A signal transmitter 5l-S12 is buried in the floor surface. In this embodiment, basically, the lower side of each stockyard #1, #2, etc. in the figure is moved by the forklift 3.
pallet 1 by forklift 3.
The loading and unloading operations are performed from the lower side of the pallet areas E1 to E12 in the figure.

Further, an access station 5 is installed near each stockyard #1, #2, . . . and exchanges data wirelessly with a control unit 27 mounted on a forklift 3, which will be described later. Each access station 5 is connected to a host computer (data processing device) 9 through a central controller 7, and the central controller 7 and host computer 9 are installed in an office. In addition, there is a warehousing slip reader 11 in the office that reads data from warehousing slips for goods received by trucks.
．． An issuing printer 13 for issuing shipping slips for items to be shipped from the warehouse, a monitor 15, and the like are provided, and each is connected to the host computer 9.

Further, as shown in FIG. 2, the pallet 1 is formed into a box shape capable of storing cargo, and a receiving unit 17 is attached to the front center portion of the pallet 1. This receiving unit 17 is equipped with a lamp 19 and a buzzer 21, and is configured to light up the lamp 19 and sound the buzzer 21 to contribute to picking when it receives its own code signal set in advance during picking. Further, a barcode (code display) 23 unique to the pallet is affixed to the lower part of the receiving unit 17, and this barcode 23 is registered and stored in the host computer 9 together with the name of the load etc. when the pallet is stored.

The forklift 3 is operated by normal manned operation, and as shown in FIG.
7. Operation panel 29 for control unit, monitor display (display section) 31. Scanner (Id signal receiver)
It is equipped with 33. The barcode reader 25 is provided at the base end of the two fork claws 3a at a position corresponding to the barcode 23 of the pallet 1 stacked on the fork claws 3a. In this embodiment, this barcode reader 25 is of an optical reading type, and the fork claw 3a
The barcode 23 of the pallet 1 loaded on the machine is read.

The control unit 27, operation panel 29, and monitor display 31 are installed in front of the lift driver's seat, and the scanner 33 is installed at the bottom of the lift 3 so as to face the floor. In addition, the control unit 27 and the scanner 3
3 and the like will be explained below together with the above-mentioned Id signal transmitters S1 to S12.

First, as shown in FIG. 4, the Id signal transmitters S1 to S12 have a transmitter/receiver section 35 that receives an excitation signal emitted from a scanner (Id signal receiver) 33 and transmits its own unique Id multiplied signal. , an amplifier 37 , a waveform shaping section 39 , and a trigger circuit 41 are sequentially connected to this transmitter/receiver section 35 . The trigger circuit 41 receives a unique Id by the trigger signal.
It1 generates (identification) signal
The signal generator 43 is connected to the signal, and the Id signal is phase-modulated through the shift register 45, the phase converter 47, and the modulator 49, and the Id@ signal is transmitted from the transmitter/receiver 35 through the amplifier 51. In this embodiment, an Id signal transmitter having a radius of, for example, about 40 cm is used as the field strength of the transmitted Id multiplied signal, that is, the range that can be received by the scanner 33.

Next, the scanner 33 includes an excitation signal generation section 53 that generates an excitation signal, and a transmission/reception section 55 that transmits the excitation signal from the excitation signal generation section 53 and receives the Id multiplied signal. @55 has an amplifier 57, a filter 59,
Amplifier 61. Phase detection sections 63 are sequentially connected. Then, the phase of the analog Id multiplied signal received by the transmitting/receiving section 55 is detected and transmitted from the signal transmitting section 65 to the signal receiving section 67 of the control unit 27 .

The control unit 27 sends an A/D signal to the signal receiving section 67.
Conversion section 69, digital conversion section 71. Serial-to-parallel converters 73 are sequentially connected, and the serial signal received by the signal receiver 67 is converted into an analog Id times signal into a digital signal, converted into a serial digital signal, and further converted into a parallel digital signal, and then sent to the central processing unit. (CP
U) is input to 75. Then, in this CPU 75, the above-mentioned received Id multiplied signal comparison and offset calculation processing to be described later are performed. The CPU 75 has RAM, ROM,
Equipped with an I10 port, location data and I
d signal verification data is stored. Also, CPU7
A transmitting/receiving section 79 is connected to the host computer 5 via a two-way communication interface 77, and data is exchanged with the host computer 9 wirelessly through an antenna 79a of the transmitting/receiving section 79. Furthermore, the CPU 75 has a frame memory 81.
A display section (monitor display) 31 is connected via the terminal, and necessary data is displayed on the screen. Further, an operation panel 29 for operating the control unit described above is connected to the I10 boat.

Note that 29a in the figure is a completion button that is operated when the work is completed.

Next, the operation of the above system will be explained.

Necessary information such as product name code, consignor name, quantity, etc. for each type of cargo transported by truck is registered in advance in the host computer 9 in the office based on the receipt slip, and each type of cargo is stored on the pallet 1. Each is stored. At the time of registration, a bar code 23 corresponding to each load is affixed to this pallet l, and this bar code 23 is registered in the host computer 9 together with each product name coat. In this case, the type of pallet 1, for example the vertical and horizontal dimensions mx, is also registered.

First, a case will be described in which a load is carried into a storage location in a warehouse, that is, a case in which pallet location is performed.

The forklift 3 that is on standby or near the loading location is called by the host computer 9 through the access station 5 and the control unit 27. The called forklift 3 performs processing based on the flowchart shown in FIG. That is, when a loaded pallet l is loaded onto the fork claws 3a of the forklift 3, the barcode 23 provided on the front of the pallet 1 is read by the barcode reader 25 of the forklift 3, and the completion button 29a is pressed. , the pallet information is transmitted from the transmitter 79 of the control unit 27 to the host computer 9 via the nearby access station 5 (step T□). Upon receiving the pallet information, the host computer 9 creates the work content based on the information on the availability of the loading location, transmits it to the control unit 27 through the access station 5, and displays it on the screen on the display unit 31 (T2). For example, in which area (El) of which stockyard (#1, #2, etc.) is the pallet 1 currently loaded being loaded?

E2...) is specified.

If the loading location is specified as area E7 of stockyard #1, for example, drive the forklift 3 to the vicinity of stockyard #1 and operate the operation panel 29 to drive the scanner 33. As a result, an excitation signal is transmitted from the transmitter/receiver section 55 (T3). Among the transmitters (St ~ 512) buried in the floor, those near the forklift are activated by the excitation signal and transmit their own unique Id times signals, and these Id times signals are sent to the scanner one after another as the forklift truck 3 moves. 33 (T4). The read Id times signal is checked in the control unit 27 to see if it is the designated area (
T5). This verification is performed based on the area data stored in advance in the RAM and the Id times signal.

Next, when the target Id multiplied signal is detected, a correction, that is, an offset calculation, is performed to appropriately place the pallet 1 in the area E7 corresponding to the transmitter S7 emitting the Id multiplied signal (T6 ). This offset calculation is based on the 6th
As shown in the figure, this is done to correct the deviation between the center S0 of the scanner 33 attached to the forklift 3 and the center P0 of the pallet 1 loaded on the fork claw 3a.

In other words, if the horizontal dimension of pallet 1 is M, the vertical dimension is m, the dimension from the scanner 33 to the left edge of pallet L is Sx, and the dimension from scanner 33 to the front edge of pallet L is Sy, then the offset calculation as shown in the following formula can be performed. Based on the offset value (
X, Y) are required.

X = (see/2) -S.

Y=(sentence/2)+S.

Further, if the range in which the scanner 33 can read the Id times signal of the transmitter Sγ is α, when the scanner 33 enters this range α, the I(f signal is read, so
Specific position Xn of the emitter Sγ.

Yn is obtained by the following formula.

Xn - α ≦ , the fork claw 3a moves based on these values and the pallet 1 is lowered (T
7). Further, this offset calculation can be easily applied even when the sizes of the pallets 1 are different. Then, by pressing the completion button 29a, the barcode 23 of the valet 1, the item name of the cargo, and the area number (contents include an Id times signal, etc.) are transmitted to the host computer 9 through the access station 5 and registered (T,).
, pallet location work is completed. Therefore, the position of the pallet placed within the pallet area can be confirmed with certainty.

In addition, in the carrying-in work above, we explained the case where a specific pallet area was specified, but even if the worker arbitrarily carries the cargo into an empty pallet area, the pallet and pallet area are associated with each other based on the Id signal and managed by the host computer. This allows for more flexible warehouse management.

Next, a description will be given of picking a load located within the stockyard area.

By operating the operation panel 29, a coat signal corresponding to the load to be picked is wirelessly transmitted through the antenna 79a of the control unit 27. This code signal is received by the receiving unit 17 attached to the pallet 1, and if it is the same as the preset own coat, the lamp 19 of the receiving unit 17 lights up and the buzzer 21 sounds. The location of the cargo is detected and loaded onto the forklift 3. In this case too, the picking information is transmitted to the host computer 9 via the access station 5 by pressing the completion button 29a.

By the way, if there is another load in front of the target load to be taken out, the target load cannot be directly taken out, so the other load must be temporarily placed.

In the case of such temporary storage, as mentioned earlier, the barcode 23 on the pallet 1 is read by the barcode reader 25, the Id times the signal of the transmitter in the area where the temporary storage is read, and finally another load is placed. This information is transmitted to the host computer 9 and registered. Therefore, the management of the cargo can be ensured by temporary storage.

In the above-mentioned embodiments, the present invention has been explained by taking as an example a case where the present invention is applied to warehouse management. It goes without saying that the present invention can be applied not only to forklifts but also to unmanned vehicles, mobile carts, and the like.

(Effects of the Invention) As explained above, according to the present invention, the position of the forklift is confirmed based on the Id signal, so the position of the pallet placed within the pallet area can be confirmed with certainty. Since pallets and pallet areas are registered in association with each other, there is no problem in pallet management during picking or temporary storage. In addition, since the content of the work can be sequentially indicated through the exchange of information between the data processing device and the control unit, errors caused by trial and error associated with manned work can be eliminated, making it possible to perform more flexible warehouse management. Become.

[Brief Description of the Drawings] Figures 1 to 6 show an embodiment of the present invention, with Figure 1 being a plan view showing a stockyard in a warehouse, Figure 2 being a perspective view of a pallet, and Figure 3 being a perspective view of a pallet. is a perspective view of a manned forklift,
FIG. 4 is a schematic block diagram of the Id signal receiver and control unit, FIG. 5 is a flow chart of pallet location, and FIG. 6 is an explanation of positional deviation correction (offset). 3...Amateur forklift...Pallet 9...Data processing device 27...Control unit 33...Id signal receiver E4-E1□...Pallet area S1-S1□...Id signal transmission body

Claims (1)

[Claims] In a warehouse management system using a manned forklift that carries a loaded pallet onto the fork claws of a manned forklift to a pallet area in a warehouse or takes out a pallet from the pallet area, an excitation signal is received. An Id signal transmitter that emits a unique Id (identification) signal is arranged in the warehouse in correspondence with each pallet area, and an Id signal receiver that emits an excitation signal and receives the Id signal. and a control unit that confirms the position of the forklift itself based on the Id signal received by the Id signal receiver and sends and receives pallet location information relating the pallet to the Id signal of the pallet area to and from the data processing device; A warehouse management system using a manned forklift, characterized in that the manned forklift is equipped with the following.