Warehousing system

Claim 1

A warehousing system for products in a warehouse, having at least one travelling crane (1,2), position sensing means for the crane and data processing means (H) for handling data relating to the locations of the products stored in the warehouse, the said travelling crane comprising a bridge (1,2) which moves longitudinally of the warehouse on bridge wheels running on two parallel spaced apart crane tracks and a trolley (kl,k2) which carries a hoist and moves transversely of the warehouse on trolley wheels running on a trolley track on said bridge, at least one said bridge wheel on each crane track being driven, characterized by: al) absolute reference points (A) for the crane bridge location spaced apart along one said crane track and relative reference points (R) for the crane bridge location spaced apart along the other said crane track, a2) at least two trolley reference points (3,4,5,6) for the trolley location spaced apart along said trolley track on said bridge, a3) first sensing means sensing the passage of the bridge past a said absolute reference point, second sensing means sensing the passage of the bridge past a said relative reference point and third sensing means sensing the passage of the trolley past a said trolley reference point, b) at least one first pulse emitter arranged to emit pulses in dependence on the rotation of the bridge wheels, c) at least one second pulse emitter arranged to emit pulses in dependence on the rotation of the trolley wheels, d) first data processing means (Cl,C2) mounted on- board said crane (1,2) and arranged to receive the output signals of said first, second and third sensing means and said first and second pulse emitters, and from said signals to calculate and correct for dl) wear of the driven bridge wheels on both crane tracks, d2) skew-running of the crane, d3) wear of the trolley wheels, d4) slipping and skidding of both trolley wheels and bridge wheels, e) second data-processing means (H) mounted away from said crane and arranged to store said data relating to the locations of the stored products and f) a data-transfer channel for communicating data relating to the crane position and product location between said first and second data processing means which data is thus available to be used to direct the crane to a desired location.