Multifunctional detection and control type compact shelving

Abstract

The present invention discloses a multifunctional detection control type compact shelving. It comprises a compact shelving array, a region detection unit arranged on the compact shelving array, a channel detection unit, and a multifunctional intelligent detection device, wherein the multifunctional intelligent detection device comprises a pulse / distance correction converter and a limit detector, wherein the region detection unit is a one-way dynamic light curtain unit, wherein the one-way dynamic light curtain unit comprises a follow-up light curtain frame respectively arranged on the upper or top sides or around the corresponding frames of the compact shelving array, and wherein the channel detection unit comprises a channel light curtain sensor connected to an intelligent controller. The multifunctional detection control type compact shelving optimizes the composition structure and operation control performance of the compact shelving detection control system, and improves the safety and reliability of the operation.

Description

Technical Field

[0001] The invention relates to a compact rack, in particular to a multifunctional detection and control type compact rack. Background Art

[0002] With the advancement of technology, the storage capacity of compact shelving tends to be larger, the centralized scale tends to be larger, the degree of automation is getting higher and higher, and the operation of the frame itself and the simplicity, convenience and safety of the operator's operation are also more valued. However, in order to meet its higher use and operation requirements, the existing compact shelving has a large and complex system structure, and the control system structure and corresponding control methods are not reasonable, making the operation more complicated and cumbersome, and the safety and reliability of the frame operation and personnel operation are reduced, and the energy consumption also increases accordingly. Summary of the invention

[0003] The purpose of the present invention is to provide a multifunctional detection control type compact shelving to address the deficiencies of the above-mentioned prior art. The multifunctional detection control type compact shelving optimizes the structure and operation control performance of the compact shelving detection control system, and improves the safety and reliability of the operation.

[0004] The multifunctional detection-controlled compact shelving of the present invention comprises a compact shelving column, an area detection unit arranged on the compact shelving column, a channel detection unit, and also comprises a multifunctional intelligent detection device, wherein the multifunctional intelligent detection device comprises a pulse / distance correction converter and a limit detector, the area detection unit is a one-way dynamic light curtain unit, and the one-way dynamic light curtain unit comprises follow-up light curtain frames respectively arranged on the corresponding sides or four sides of the top of each corresponding frame of the compact shelving column, and the channel detection unit comprises a channel light curtain sensor connected to the intelligent controller.

[0005] The present invention performs multi-factor and multi-means intelligent and safe operation control on the compact shelving through area and channel light curtain detection, and channel entry and exit detection settings. The detection and control system has a simple and reasonable structure, and the operation of the detection and control system is particularly stable and reliable. The operation is simple and user-friendly. At any time and in any state, the operation of the compact shelving can always fully consider the environmental changes in the area around the compact shelving body, people and objects in the shelving, etc. on the operational safety factors. It not only has highly automated and intelligent operation control, but also fundamentally improves the stability and reliability of the compact shelving operation and the safety of people, objects and shelves.

[0006] At the same time, through the multifunctional intelligent detection device, the limit detector of the mobile rack's operating boundary travel is intelligently combined with the real-time moving distance position boundary of the mobile rack, the mobile rack's operating position is memorized, and the safety boundary is collected to form a multi-parameter intelligent comprehensive guarantee for safe operation control, intuitive and vivid graphic display monitoring on-site, nearby and / or control room screen interface, timely support control, and effectively ensure the safe and reliable operation of the dense shelving; it can also prevent the limit detector of the corresponding multifunctional intelligent detection device from being damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a structural schematic diagram of an embodiment of the multifunctional detection and control type compact shelving of the present invention; Figure 2 A schematic diagram of the regional light curtain structure of an embodiment of the multifunctional detection and control type compact shelving of the present invention; Figure 3 It is a control principle structure block diagram of an embodiment of the multifunctional detection control type compact shelving of the present invention; Figure 4 It is a schematic diagram of the control principle block diagram of the intelligent memory monitor of the mobile rack of one embodiment of the multifunctional detection control type compact rack of the present invention; Figure 5 It is a real-time position diagram of the position memory control operation of the mobile rack of the multifunctional detection control type compact rack; Figure 6 It is a schematic diagram of the control principle block diagram of the intelligent memory monitor of the mobile rack of one embodiment of the multifunctional detection control type compact rack of the present invention; Figure 7 This is a schematic diagram of the structure of the area detection unit of another embodiment of the multifunctional detection control type compact shelving of the present invention; Figure 8 It is a structural schematic diagram of another embodiment of the area detection unit of the multifunctional detection control type compact shelving of the present invention. DETAILED DESCRIPTION

[0008] In order to further understand the technical solution of the present invention, the technical solution of the present invention is now clearly and completely described through embodiments in combination with the accompanying drawings.

[0009] like Figure 1-5As shown, the present invention includes a frame, an area detection unit, a channel detection unit, an entry and exit detection unit and an intelligent controller. The frame includes a mobile frame, a fixed frame 1b and a plurality of mobile frames 1, and the fixed frame and the plurality of mobile frames 1 form a dense frame array. A channel 2 is formed between two adjacent frames. The mobile frame is provided with a drive motor 18. It also includes a multifunctional intelligent detection device. The intelligent controller is provided with a comprehensive control module. In this embodiment, the drive motor 18 is a brushless drive motor. In this example, the comprehensive control module of the intelligent controller is a composite control module. The area detection unit includes an area light curtain sensor 22, the channel detection unit includes a channel light curtain sensor 7, and the entry and exit detection unit includes an entry and exit channel sensor 5. The channel light curtain sensor can be composed of a reflective infrared sensor, and a channel light curtain is formed by a plurality of reflective infrared sensors; the entry and exit channel sensor can be composed of a human body pyroelectric infrared sensor. The area light curtain sensor can be composed of a reflective infrared sensor, and a plurality of reflective infrared sensors thereof form a corresponding area light curtain. The side panel of the mobile frame can be provided with a corresponding operation touch screen, and the fixed frame central controller touch screen.

[0010] Among them, the area light curtain sensor covers are installed at both ends of the dense shelving array to detect whether there are people or others moving towards the dense shelving array, and the channel detection unit is used to sense whether there are people and / or objects in the dense shelving array, and transmit the sensed information to the intelligent controller. The intelligent controller decodes and analyzes the received information, and then issues control instructions to the dense shelving array to control the movement and locking of the frame, thereby reducing the possibility of the dense shelving array squeezing people and objects.

[0011] Its area detection unit is a one-way dynamic light curtain unit, which includes a follow-up light curtain frame 6 protruding from the outside, which is respectively arranged at the opposite ends of the top or top of each frame (mobile frame and fixed frame) of the dense shelving column, and the outer top edge of the edge of the dense shelving column-the mobile frame (the outermost mobile frame) 1a, and the corresponding area light curtain sensor. The area light curtain sensor is respectively composed of a reflective infrared sensor 21 fixed to the follow-up light curtain frame 6. The reflective infrared sensor emits reflective infrared light downward. The area light curtain sensor can also be a pyroelectric infrared sensor. The reflective infrared sensor or the human body pyroelectric infrared sensor is connected to the corresponding electric control input terminal of the main control machine. The area light curtain sensor forms three continuous side follow-up dynamic light curtain areas at both ends of all channels in the active area of ​​the dense shelving column, and the edge of the dense shelving column-the outer side of the mobile frame 1a. The reflective infrared sensor 21 corresponds to the outer side of the dense shelving column and is automatically formed in the operating range of the mobile frame.

[0012] The distribution density of each reflective infrared sensor 21 can be determined according to the coverage working range of the reflective infrared sensor. In this example, it is set on each mobile rack of the compact rack column. It has a particularly simple, convenient and reasonable setting structure, does not affect the habitual use, overall prototype and neatness of any compact rack, especially has no dead angle, works sensitively and reliably. It is also particularly easy to maintain.

[0013] The channel detection unit includes a channel light curtain sensor and an entry and exit channel sensor. The channel light curtain sensor includes a reflective infrared sensor 5 respectively distributed on a cantilever follow-up detection frame 4 at both ends of the channel. Several reflective infrared sensors 5 at both ends of the channel are mutually inclined downward at an angle to form a scissor-fork type complementary channel light curtain 7x. The cantilever follow-up detection frame 4 is fixedly connected to the frame body on the corresponding side of the channel from one end thereof. The cantilever follow-up detection frame 4 can extend into the channel along with the frame body (mobile frame), so that the reflective infrared sensor 5 thereon works. The free end of the cantilever follow-up detection frame 4 corresponds to the frame body on the other side of the channel, and a gap is set on the top wall of the mobile frame (or frame body) on the opposite side of the connection end. Avoid friction with the outer wall surface of the top wall of the frame body during operation. The reflective infrared sensors are respectively arranged on the opposite side walls of the cantilever follow-up detection frame at both ends facing each other. A plurality of reflective infrared sensors on the cantilever follow-up detection frame 4 can be arranged in a distributed manner along the height direction, and the downward tilt angles of the reflective infrared sensors arranged along the height direction are different from each other. In order to obtain a detection light curtain in all directions. A certain gap or height is formed between the cantilever follow-up detection frame and the top wall of the frame.

[0014] The length of the two cantilevered follow-up detection frames 4 is slightly less than or equal to the corresponding width of the channel. The two cantilevered follow-up detection frames 4 at opposite ends of the channel 2 are staggered and fixedly connected to the top walls of the two frames (or mobile frames) on both sides of the channel from one end. The cantilevered follow-up detection frames 4 of each two adjacent channels are mutually staggered in the length direction of the frame to avoid the two cantilevered follow-up detection frames at the same end of the two adjacent frames from abutting against each other when the two adjacent frames are closed because the cantilever length of the cantilevered follow-up detection frames is greater than the width of the frame, causing the frame to be unable to close.

[0015] The in-and-out channel sensor is provided with two functional groups, and the in-and-out channel sensors of the two functional groups are respectively located on the corresponding side of channel 2. Each functional group is composed of two human pyro-infrared sensors. The two human pyro-infrared sensors at each end of the channel are arranged in sequence from the outside to the inside along the direction of entering the channel. The channel light curtain sensor is used to detect whether there are people and / or objects in channel 2; the in-and-out channel sensor is used to detect the entry and exit of people in the channel and the corresponding number of people. The in-and-out channel sensor and the channel light curtain sensor simultaneously form a cross detection of people in the channel. The in-and-out channel sensor can be set in the middle and upper part of the frame. The intelligent controller calculates according to the detection signals of the in-and-out channel sensors of the two functional groups to obtain whether there are people in the channel. The two human pyro-infrared sensors of the two functional groups of the in-and-out channel sensor are respectively installed at the two ends of the corresponding frame. The human pyro-infrared sensor is set to detect along the horizontal or width direction of the channel.

[0016] The working mode of the channel entry and exit sensor detection of the intelligent controller is: the pyro-infrared sensor 3a for entering the human body on the outside and the pyro-infrared sensor 3b for exiting the human body on the inside detect the human body signal successively or successively through the two ends of the channel or any end of the two ends in the corresponding direction, and the intelligent controller receives the detection signal in the order of different directions (entry and exit directions) and the number of times (person-times) of the detection and identification mode. The main control machine detects and judges the entry and exit of the person in the channel in the following way: the outer and inner human pyro-infrared sensors of a functional group at the same end of the channel output the human body detection signal successively. If the outer sensor obtains the detection signal before the inner sensor, it means that the person enters the channel, and vice versa, it means that the person leaves the channel.

[0017] Each mutually facing wall of the plurality of mobile racks 1 is equipped with a corresponding limit detector 8, which may be a pressure sensor or an infrared detector, etc. The electric control output end of the reflective infrared sensor of the area detection unit, the electric control output end of the access channel sensor and the electric control output end of the limit detector 8 are all electrically connected to the corresponding electric control input end of the intelligent controller, and the electric control output end of the intelligent controller is electrically connected to the electric control input end of the drive motor 18. In specific implementation, the intelligent controller may be a single chip microcomputer, and those skilled in the art may select an appropriate type and model according to specific actual needs. The intelligent controller is used for receiving and processing signals, encoding and decoding data, and issuing control instructions.

[0018] A camera is provided in the mobile frame 1, and the signal output terminal of the camera is electrically connected to the signal input terminal of the intelligent controller. By adding a camera, the personnel in the channel 2 can be monitored and recorded, and the files can be retained for future reference;

[0019] A storage module and a face recognition module are set in the intelligent controller. A face data storage library is set in the storage module of the intelligent controller. The face image or video stream collected by the camera can be compared with the face data in the face data storage library, which is conducive to identifying the identity of the person.

[0020] See also Figure 3 and 4 . Its multifunctional intelligent detection device includes a traveling intelligent memory monitor 10 which is respectively arranged on the mobile frame and connected to the intelligent controller, a limit detector, a pulse / distance correction converter 12 which is arranged on the intelligent controller or its MCU processor 11, a distance / position converter 13, and a distance comparison lock 16 connected to the pulse / distance correction converter 12. The intelligent memory monitor includes a Hall sensor 18a of the driving motor of the mobile frame, and the output end of the distance comparison lock 16 is connected to the driving motor. The output ends of the pulse / distance correction converter 12 are respectively connected to the distance position converter 13 and the distance comparison lock 16, and the distance position converter is connected to the touch display screen 15 through the position graphic converter 14 of the intelligent controller. The intelligent controller or its MCU processor 11 is provided with an intelligent composite control module combining a static position with a dynamic (or moving) memory position.

[0021] The opening or closing limit detector of the mobile rack includes a limit detector 8 respectively arranged on one side or two sides of the channel, and the limit detector is connected to the corresponding output end of the intelligent controller. The limit detector includes a pressure sensor or an infrared detector.

[0022] The pulse / distance correction converter 12 calculates and converts the real-time pulse quantity of the operation (movement) process output by the Hall sensor of the driving motor of the mobile frame to obtain the real-time distance of the moving process of the mobile frame (i.e., the distance that the mobile frame has moved), and then the distance / position converter 13 corrects and converts the real-time distance with the channel working width (the normal working width of the channel of the mobile frame) to obtain the real-time position of the mobile frame (i.e., the specific position of the mobile frame at this time), and the intelligent controller converts the position signal into a graphic and sends it to the touch screen for real-time display; at the same time, when the mobile frame runs to open or close in place (i.e., the channel working width or distance is in place), at the same time, the limit detector is in place, and the intelligent controller outputs a control signal to control the driving motor to stop or lock according to the in-place distance or in-place position signal and the output detection signal of the limit detector in-place action. That is, the intelligent controller implements "and" locking control on the operation of the corresponding mobile frame through a composite control module combining the limit detector (static position) and the intelligent memory monitor (memory moving position).

[0023] When the mobile rack 1 moves, the intelligent controller or its MCU processor 11 performs pulse and distance correction conversion according to the corresponding output digital signal of the Hall sensor 18a, that is, obtains the real-time position 1nx signal of the mobile rack 1n during the movement process, and the real-time position signal is displayed and monitored by the touch screen 15 and / or the central control display of the corresponding mobile rack through graphics and other means; at the same time, the real-time position signal is sent to the setter of the intelligent controller, and compared with the set value of the maximum moving distance of the mobile rack (i.e., the channel safety width distance) pre-set by the setter. When the moving position of the mobile rack reaches the set value, the movement of the mobile rack triggers the limit detector at the same time, and the limit detector also outputs a detection signal. The intelligent controller outputs an operation control signal to control the stop of the driving motor to ensure that the mobile rack always runs within the safe distance of the channel 2, avoids the mobile rack from running out of the track or a squeeze safety accident, and can effectively prevent the limit detector 8 from being damaged, thereby improving the safety of the movement of the mobile rack 1. The channel safety distance of the compact rack can be slightly greater than or equal to the normal working distance of the channel in its normal operation.

[0024] Specific operation control method:

[0025] The personnel should pass through the light curtain area in the area detection unit and move toward the dense shelving column. The detection signal of the human body pyroelectric infrared sensor or reflective infrared sensor is transmitted to the intelligent controller. The intelligent controller outputs a control signal to the channel light curtain sensor and the entry and exit channel sensor according to the signal status it receives, thereby controlling the opening and closing of the channel light curtain sensor and the entry and exit channel sensor. When the personnel is in the area light curtain area, the human body pyroelectric infrared sensor or reflective infrared sensor transmits the corresponding information to the intelligent controller in the form of data. The intelligent controller decodes and encodes the received data, and then sends a control signal to the channel light curtain sensor and the entry and exit channel sensor to control the start of the channel light curtain sensor and the entry and exit channel sensor; it interacts with the channel light curtain sensor and the entry and exit channel sensor in the rack through the area detection unit, so that the operation response is timely, fast and sensitive, safe, stable and reliable, and has the effect of extending the service life of the sensor, helping to save energy and reduce the cost of use.

[0026] The operation is carried out by controlling the driving motor 18 to start, driving the movable rack 1 to the intelligent memory monitor and the limit detector of the multifunctional intelligent detection device to operate simultaneously, so that the movable rack is opened to the normal working width position, that is, the set channel width end point, and the channel 2 is opened and the corresponding movable rack is locked.

[0027] When a person enters the open channel 2, the channel entry and exit sensor 5 detects and counts the number of people entering the channel (entering the rack); the channel light curtain sensor detects whether there are people and / or objects in the channel, and outputs a corresponding signal to the intelligent controller after detecting the presence of people or objects in the channel. After decoding, analyzing and processing the received data information, the intelligent controller sends control information to the drive motor 18, controls the drive motor 18 and locks the mobile rack to prevent the mobile rack from accidentally slipping or malfunctioning.

[0028] When a person leaves the rack and the channel is closed through human-machine interaction through the touch screen of the mobile rack, fixed rack and its intelligent controller, the channel light curtain sensor detects whether there are people or objects in the channel (i.e., in the rack). At the same time, the entry and exit channel sensor detects the number of people (times) leaving the channel. When the channel light curtain sensor detects that there is no one in the channel and the entry and exit channel sensor detects that the number of people leaving the channel (out of the rack) is consistent with the number of people entering the rack, the intelligent controller outputs a control signal to start the drive motor 18 of the corresponding mobile rack based on the detection result signals of the people in the rack and the entry and exit channel sensors of the channel light curtain sensor and the entry and exit channel sensors, so that the mobile rack 1 moves relatively and closes. When the movement and closing of the mobile rack 1 are in place, the intelligent memory monitor and limit detector 8 of the corresponding multifunctional intelligent detection device are activated, which transmit the sensed information to the intelligent controller, and the intelligent controller controls the drive motor 18 to stop, and the mobile rack closing channel is closed in place.

[0029] That is, when a person passes through the light curtain area, the area detection unit can sense the information and transmit the sensed information to the intelligent controller in the form of data. The intelligent controller controls the channel light curtain sensor and the entry and exit channel sensor to start; when the operator performs human-machine interaction by operating the intelligent controller, the drive motor 18 is started to drive the mobile frame 1 to move and open the channel 2. On the one hand, when someone enters the channel 2, the multifunctional intelligent detection device of the frame moves into place and transmits its detection signal to the intelligent controller. The main controller outputs the drive motor operation control signal to control the drive motor 18 to stop. At the same time, its channel light curtain sensor and the entry and exit channel sensor transmit the channel occupancy detection signal to the intelligent controller. The controller can then output a locking control signal, lock the driving motor 18 through the driving motor phase lock, and then lock the mobile frame 1, thereby improving and ensuring the safety of people in the frame; on the other hand, when the driving motor 18 runs to the channel opening and stops, the main controller controls the driving motor to stop according to the detection signal of the multifunctional intelligent detection device, but no one enters the channel, and the channel light curtain sensor and the in-and-out channel sensor in the frame do not detect that there is anyone in the frame, the detection signal of the channel light curtain sensor and the in-and-out channel sensor is transmitted to the intelligent controller, and the main controller has no locking control signal output, the frame will not be pre-locked, and the driving motor is only in a stopped state, and can be on standby at any time or re-lock or close the frame according to subsequent operation instructions. It can make the mobile frame obtain very good action response sensitivity and operation reaction speed, which can save operation time and improve operation efficiency. The intelligent controller is respectively provided with the output ports of the driving motor locking control signal and the driving motor operation control signal.

[0030] The specific models and specifications of the drive motor, channel light curtain sensor, access channel sensor, such as human body pyroelectric infrared sensor or / and reflective infrared sensor, intelligent controller and limit detector of the present invention need to be selected and determined according to the actual requirements and specifications of the device, for example, MCU can use PIC18F46K22, etc. The selection calculation method of the body and other corresponding connection methods adopt the existing technology in the field, so they will not be described in detail.

[0031] In Example 2: The integrated control module of its intelligent controller is an intelligent one-choice control module, forming an "or" control mode. The intelligent controller controls the operation of the mobile rack through its intelligent one-choice control module according to any one of the detection signals of the in-place distance or in-place position signal of the intelligent memory monitor and the output detection signal of the in-place action of the limit detector of the limit detector. When the detection signal outputs of the intelligent memory monitor and the limit detector are sequential, the intelligent one-choice control module of the intelligent controller takes the detection signal received first as the priority control. It can avoid the problem of differences or incomplete synchronization between the two detections, and still maintain the normal, stable and safe operation of the compact rack, and when the limit detector is a stroke open switch, it can protect the stroke switch. The corresponding regional light curtain sensors of its regional detection unit are respectively connected to the outer wall of the cantilever follow-up detection frame 4 at a downward tilt angle. It has a particularly simple and very reasonable structural composition. It is extremely convenient to manufacture and install, and the cost is low. The remaining structures and corresponding detection and operation control methods of this example can be similar to the above-mentioned embodiments.

[0032] In Example 3 of the present invention, please refer to Figure 6 A moving rack 1a located at the edge of the dense shelving array or a corresponding channel 2 formed by it is provided with a safe boundary of the moving area of ​​the dense shelving array, and its multifunctional intelligent detection device also includes a boundary comparison lock 17, and the corresponding output end of the pulse / distance correction converter 12 is connected to the boundary (stroke) comparison lock 17 and the distance / position converter 13 of the intelligent controller, and the output end of the boundary comparison lock is connected to the driving motor of the moving rack of the dense shelving array.

[0033] On the one hand, during the operation of the compact shelving column, when a moving rack 1a appears at the edge of the compact shelving column, or when the moving rack 1a at the edge reaches the set safety boundary during the opening operation, the Hall sensor of the drive motor of the moving rack 1a at the edge will output a corresponding detection signal, and the intelligent controller will control all the currently running drive motors to stop and lock according to the intelligent memory monitor (or the intelligent memory monitor and the limit detector).

[0034] On the other hand, when a moving frame 1a on the edge exceeds the safety boundary due to unexpected braking inertia, other components and equipment problems, and abnormal external force impact, the intelligent controller or its integrated control module controls all currently running drive motors to stop and lock.

[0035] The specific control of the safety boundary is as follows: the output signal of the Hall sensor of the edge-one moving frame 1a is compared by the boundary comparison lock of the intelligent controller according to the output corresponding signal of the pulse / distance correction converter with the set safety boundary value, and the intelligent controller outputs a control signal to brake and lock the drive motor of the currently running moving frame. This prevents the moving frame from running off the track and causing safety accidents to the equipment personnel. The detection signal of the safety boundary is taken from the Hall sensor of the drive motor of the edge-one moving frame.

[0036] The intelligent memory monitor 10 of the compact shelving and its corresponding safety control detection sensors such as the compact shelving system limit detector 8 form a multi-factor constraint control, and the mobile rack operation work closing control and its corresponding operation position safety limit control implement multiple parallel controls, and the stability and reliability of the normal operation of the compact shelving will be doubled. The remaining structures and corresponding detection and operation control methods of this example can be similar to the above-mentioned embodiments, forming a unique similar redundant design.

[0037] In Example 4 of the present invention, please refer to Figure 7 The area detection unit includes a one-way static light curtain unit arranged on the dense shelving array, the one-way static light curtain unit includes a plurality of human pyro infrared sensors or reflective infrared sensors 21 connected in parallel to the corresponding input end of the intelligent controller, and a fixed cantilever light curtain frame 9 arranged on the top of the fixed frame or the corresponding two ends of the top plate of the dense shelving array (corresponding to the two ends of the channel), the free end of the fixed cantilever light curtain frame extends to the maximum travel of the mobile frame of the dense shelving array, and the human pyro infrared sensors 21 are distributed on the fixed cantilever light curtain frame. The human pyro infrared sensors 21 distributed on the two fixed cantilever frames form a corresponding light curtain wall on the opposite sides of the dense shelving array.

[0038] In this embodiment, a human body pyroelectric infrared sensor or a reflective infrared sensor forms a regional light curtain 22x at both ends of all channels in the dense shelving activity area, and the dense shelving is located at the two end regional light curtains (light curtain areas) 22x, which have no protection and no blind spots, and have a simple structure to reduce consumables and operating costs. The remaining structures and corresponding detection and operation control methods of this example can be similar to the above embodiments.

[0039] In Embodiment 5 of the present invention, the area detection unit includes an opposing follow-up light curtain frame 25 and an area light curtain sensor, etc. The opposing follow-up light curtain frames are respectively arranged at the outer corner edges of the two ends of the compact shelving column near the fixed frame 1b and the edge one mobile frame (i.e., the outer one mobile frame near the extension end of the track 23) 1a, and the opposing follow-up light curtain frames 25 are slightly protruded outwards respectively. The area light curtain sensor is composed of an infrared counter-radiation sensor, and the transmitter and the corresponding receiver of the infrared counter-radiation sensor are respectively arranged on the fixed frame and the opposing follow-up light curtain frame of the edge one mobile frame corresponding to each other. The transmitter and the corresponding receiver on the opposing follow-up light curtain frame form an opposing follow-up light curtain area that follows the movement of the mobile frame at the opposite ends of the compact shelving column (i.e., the opposite ends of the channel). The corresponding setting structure is simple, which is convenient for the overall layout of places such as compact shelving archives, and a mobile frame on the outer side of the corresponding one of the compact shelving column is a fixed mobile frame. The remaining structures and corresponding operation detection control methods of this example can be similar to the above-mentioned embodiments.

[0040] In Example 6 of the present invention, Figure 8 As shown. The area light curtain sensor of its area detection unit is composed of a reflective infrared sensor. The opposite follow-up light curtain frame 25 is only set at the opposite ends of a moving frame along the edge of the dense rack column, and a number of reflective infrared sensors are distributed along the height direction and arranged on the side of the opposite follow-up light curtain frame 25 close to the fixed frame. The reflective infrared sensors are tilted downward at different angles along the direction of the fixed frame. Its structure is particularly simple and its operation is particularly reliable. The remaining structures and corresponding operation detection control methods of this example can be similar to those of the above-mentioned embodiment 5.

Claims

1. A multifunctional detection and control type compact shelving, comprising a compact shelving array, an area detection unit, a channel detection unit, an entry and exit detection unit and an intelligent controller arranged on the compact shelving array, wherein the compact shelving array is composed of a fixed rack and a plurality of mobile racks, a channel is formed between two adjacent mobile racks, the channel detection unit comprises a channel light curtain sensor connected to the intelligent controller; the entry and exit detection unit comprises an entry and exit channel sensor; characterized in that It also includes a multifunctional intelligent detection device, which includes a pulse / distance correction converter, a limit detector, an intelligent memory monitor, a boundary comparison lock and a distance comparison lock. The corresponding output end of the pulse / distance correction converter is connected to the boundary comparison lock and the distance / position converter of the intelligent controller, and the output end of the boundary comparison lock is connected to the drive motor of the mobile rack of the dense rack column; the intelligent memory monitor includes a Hall sensor of the drive motor of the mobile rack, and the output ends of the distance comparison lock and the boundary comparison lock are connected to the drive motor; the output ends of the pulse / distance correction converter are respectively connected to the boundary comparison lock and the distance comparison lock; the electric control output end of the area light curtain sensor of the area detection unit, the electric control output end of the access channel sensor and the electric control output end of the limit detector are all electrically connected to the corresponding electric control input end of the intelligent controller, and the electric control output end of the intelligent controller is electrically connected to the electric control input end of the drive motor; The pulse / distance correction converter calculates and converts the real-time pulse quantity output by the Hall sensor of the driving motor of the moving frame during the operation process to obtain the real-time distance of the moving frame during the movement process; The distance comparison locker compares the corresponding signal output by the pulse / distance correction converter with the set value of the intelligent controller. When the moving position of the moving frame reaches the set value, the movement of the moving frame triggers the limit detector at the same time. The limit detector also outputs a detection signal to control the drive motor to stop rotating. The output signal of the Hall sensor is compared by the boundary comparison locker of the intelligent controller according to the output corresponding signal of the pulse / distance correction converter with the set safety boundary value, and the intelligent controller outputs a control signal to brake and lock the driving motor of the currently running mobile frame; The area detection unit is a one-way dynamic light curtain unit, and the one-way dynamic light curtain unit includes a follower light curtain frame, and the follower light curtain frame is respectively protruded from the outside and arranged at the opposite ends of the top of each frame body of the dense rack array, and the edge of the dense rack array and the outer top edge of the moving frame; The area light curtain sensors form three continuous side-following dynamic light curtain areas at both ends of all channels in the active area of ​​the compact shelving array, as well as at the edge of the compact shelving array and the outer side of the mobile rack; The operation of compact shelving always takes into full consideration the impact of environmental changes in the area surrounding the compact shelving on operational safety.

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