KR-102963125-B1 - CARGO MOVING METHOD

KR102963125B1KR 102963125 B1KR102963125 B1KR 102963125B1KR-102963125-B1

Abstract

The present invention relates to a cargo transfer method. A cargo transfer method according to one embodiment of the present invention comprises the steps of: determining whether a loading node and an unloading node are the same node based on work information; if the loading node and the unloading node are the same, setting a temporary transit node; moving a transfer trolley loaded with cargo to the temporary transit node; and moving the transfer trolley from the temporary transit node to the unloading node to unload the cargo. During the process of passing through the temporary transit node, the transfer trolley performs fork height adjustment for cargo unloading. According to the present invention, by resolving the collision problem that may occur during inter-floor cargo transfer where the loading and unloading nodes are the same, safe inter-floor cargo transfer is possible at the same node.

Inventors

손정례

Assignees

현대무벡스 주식회사

Dates

Publication Date: 20260512
Application Date: 20231026

Claims (7)

A cargo transfer method in which a fork-type transfer trolley traveling on multiple nodes spaced apart from each other and interconnected via links loads cargo from a multi-layer rack located at a loading node and unloads cargo from a multi-layer rack located at an unloading node. A step of determining whether the loading node and the unloading node are the same node based on work information; If the above loading node and the above unloading node are the same, a step of setting a temporary transit node; The step of the above transfer cart loaded with cargo moving to the above temporary transit node; and The above transfer trolley includes the step of moving from the above temporary transit node to the above unloading node to unload cargo, and During the process of passing through the aforementioned temporary transit node, the transfer trolley performs fork height adjustment for cargo unloading operations, and The step of setting the above temporary transit node is A step of selecting one or more candidate nodes adjacent to the above loading node; and A cargo transfer method comprising the step of selecting the temporary transit node among the candidate nodes based on a preset guaranteed distance and guaranteed angle.
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In Article 1, The step of selecting the above temporary transit node is For each of the above candidate nodes, a step of calculating the distance from the loading node; For each of the above candidate nodes, a step of calculating a placement angle from the loading node; and A cargo transfer method comprising the step of selecting, among the above candidate nodes, one node as the temporary transit node, wherein the separation distance is greater than or equal to the guaranteed distance and the arrangement angle is less than or equal to the guaranteed angle.
In Paragraph 3, The step of selecting the above temporary transit node A cargo transfer method in which, among nodes where the above separation distance is greater than or equal to the above guaranteed distance and simultaneously the above placement angle is less than or equal to the above guaranteed angle, the node with the minimum separation distance is selected as the temporary transit node.
In Paragraph 3, The step of selecting the above temporary transit node A cargo transfer method in which, among nodes where the above separation distance is greater than or equal to the above guaranteed distance and simultaneously the above placement angle is less than or equal to the above guaranteed angle, the node with the minimum above guaranteed angle is selected as the temporary transit node.
In Paragraph 3, The step of calculating the above placement angle The above placement angle is calculated based on the following mathematical formula <1>, and <Mathematical Formula 1> A cargo transfer method in which, here, v1 represents an arbitrary vector located in a reference direction set from the loading node, v2 represents a vector moving from the loading node to the candidate node, and θ represents the placement angle.
In Article 6, A cargo transfer method in which, in the step of calculating the above-mentioned placement angle, the head direction of the above-mentioned transfer trolley is set to the above-mentioned reference direction.

Description

Cargo Moving Method The present invention relates to a cargo transfer method, and more specifically, to a cargo transfer method that can resolve potential collision problems during inter-floor cargo transfer where the loading and unloading nodes are the same, by setting a temporary transit node to be traversed between loading and unloading operations when the loading node and unloading node of the work assigned to the transfer trolley are the same, and performing fork height adjustment for cargo unloading while the transfer trolley passes through the temporary transit node. In the industries of modern society, the technology to rapidly distribute manufactured goods has become a core competitive advantage for companies in the logistics sector. To enhance competitiveness, companies are introducing cargo transfer systems utilizing transport carts and expanding the use of autonomous transport carts in areas where manual labor is difficult, thereby saving labor costs and increasing operational efficiency and productivity. A cargo transfer system using transfer carts can be configured in various ways; for example, it may be configured to include multiple autonomous transfer carts and a server that assigns tasks to the transfer carts. In this case, the transfer carts and the server may each be equipped with wireless communication devices to exchange signals through mutual communication. Transfer carts can move by exchanging signals with transport paths painted with magnetic paint on driving surfaces, such as factory or warehouse floors, or with guiding wires installed beneath the driving surface. Recently, transfer carts that autonomously drive along a track on a virtual map constructed using ultrasonic sensors, stereo vision cameras, lasers, and GPS technology, without the need for a physical track, have also emerged. The server generates work information, including loading and unloading location information, based on input information provided by the administrator, and can assign a task to a specific transfer cart by transmitting the generated work information to the transfer cart via a wireless device in a standard communication format. The transfer cart to which the task has been assigned can perform the assigned task along a work path; while this work path can be generated by the server and transmitted to the transfer cart along with the work information, it can also be generated directly by the transfer cart based on the received work information. As an example of a transfer cart performing transfer operations while driving autonomously, a node map may be utilized, consisting of virtual nodes at various paths and destination locations where the transfer cart is required to travel, and links connecting the nodes with established directions of movement. In this case, the server generates work information including loading and unloading node information and transmits it to the transfer cart; upon receiving this information, the transfer cart generates a work path based on the node map, consisting of a movement path from the current node to the loading node and a movement path from the loading node to the unloading node, and can perform the work by moving along the generated work path. Figure 1 is a diagram illustrating an example of a cargo transfer operation in which the loading node and the unloading node are different in a conventional cargo transfer system. Taking Fig. 1 as an example, let us examine the process in which a transfer trolley assigned to a task in a conventional cargo transfer system performs a transfer task along a task path. First, the transfer trolley (C) that has arrived at the loading node (LN) loads cargo (G) from a multi-layer rack (R1) on the loading node. At this time, the transfer trolley (C) can load cargo on a target floor based on the loading height information included in the task information. After completing the cargo loading, the transfer trolley (C) moves toward the unloading node (UN) along the task path. Upon arrival at the unloading node (UN), it can unload cargo (G) onto a multi-layer rack (R2) on the unloading node. At this time, the transfer trolley (C) can unload cargo on a target floor based on the unloading height information included in the task information. The height adjustment of the forks for cargo unloading can be performed on the transit nodes (VN1, VN2) between the loading node (LN) and the unloading node (UN) before arriving at the unloading node (UN). However, during the transfer operation, there may be operations where cargo is transferred to a different floor from the same location. That is, during the transfer operation, there may be operations where the loading node and the unloading node are the same, but the loading height and the unloading height are different. When the loading node and the unloading node are the same, there is no intermediate node between the loading node and the unloading node in the work path, so there is a problem that a collisio