Bin positioning device and belt storage system

Abstract

The present invention provides a position positioning device, wherein a predetermined position acquisition unit can acquire the position serial number of a predetermined position hole, that is, the predetermined position; a reference position acquisition unit can acquire the position serial number at the reference position as the reference serial number when the system is started; a predetermined interval acquisition unit can obtain the predetermined position interval between the predetermined position hole and the predetermined hanging position or the predetermined taking-out position according to the predetermined position and the reference position; a moving position acquisition unit can sense and count the position holes passing through the predetermined detection position to obtain the number of moving positions; a reference position updating unit can update the reference position according to the number of moving positions; a current interval acquisition unit can obtain the current interval according to the predetermined position and the updated reference position; a predetermined position determination unit can determine whether the predetermined position hole has reached the predetermined hanging position or the predetermined taking-out position according to the current interval; and a reference position calibration unit can calibrate the reference position updated in real time, thereby ensuring the accuracy of positioning the predetermined position hole.

Description

Technical Field

[0001] The invention belongs to the technical field of cargo storage, and in particular relates to a storage location positioning device and a belt storage system. Background Art

[0002] In order to solve the problems of cumbersome shelf erection, high cost of shelves and transportation equipment, and large floor space in traditional shelf-type storage systems, the clothing industry and other industries with soft sheet-like goods have begun to adopt rail-type cargo storage systems, one of which uses steel belt tracks to store and transport hangers with clothing. The steel belt track includes a steel belt with multiple storage holes, and the hangers are hung in each storage hole for storage.

[0003] Although the existing steel belt storage system can realize the storage function and prevent wrinkles on clothes, it is difficult to accurately locate the designated storage hole due to the dense arrangement of the storage holes on the steel belt and the small distance between two adjacent storage holes. Inaccurate positioning further makes it difficult to achieve intelligent management of clothes: due to inaccurate positioning, hangers may be hung too densely when entering the warehouse, causing adjacent clothes to collide with each other during subsequent transportation, and the hangers and clothes to shake or even fall off; also due to inaccurate positioning, the clothes automatically taken out of the warehouse may not be the designated clothes. The staff needs to carefully check the clothes that are automatically taken out of the warehouse and re-operate when taking the wrong clothes, which is time-consuming and laborious.

[0004] Therefore, in order to realize intelligent management of clothing and improve the efficiency of warehousing and outbound storage, there is an urgent need for a positioning device that can accurately locate each storage hole on the steel belt. Summary of the invention

[0005] In order to solve the above problems, a position positioning device and a belt storage system are provided, which can accurately position each position hole on the storage belt by a small number of position codes. The present invention adopts the following technical solutions:

[0006] The present invention provides a position positioning device, which is arranged in a belt storage system having a storage belt and a storage belt driving mechanism for driving the storage belt to move, wherein the storage belt has a plurality of position holes for hanging a cargo carrier carrying cargo, and is characterized in that a position code is arranged every several position holes on the storage belt, and the position code includes a position serial number of the corresponding position hole, and the position positioning device comprises: a predetermined position acquisition unit, which is used to acquire the position serial number of the predetermined position hole as the predetermined position; a reference position acquisition unit, which acquires the position code at a predetermined reference position when the belt storage system is started, that is, obtains the corresponding position serial number as the reference position; and a predetermined interval acquisition unit, which acquires the position code at a predetermined reference position according to the predetermined position and the reference position. Acquire the predetermined bin interval between the predetermined bin hole and the predetermined hanging position or the predetermined taking-out position; a moving bin acquisition unit is arranged at a predetermined detection position beside the storage belt, and senses and counts the bin holes passing through the position, thereby acquiring the number of moving bins of the predetermined bin hole; a reference bin updating unit updates the reference bin in real time according to the number of moving bins; a current interval acquisition unit acquires the current interval between the predetermined bin hole and the predetermined hanging position or the predetermined taking-out position according to the predetermined bin and the real-time updated reference bin; a reference bin calibration unit calibrates the real-time updated reference bin; and a predetermined bin determination unit determines whether the predetermined bin hole has reached the predetermined hanging position or the predetermined taking-out position according to the current interval.

[0007] The position positioning device provided by the present invention may also have such technical features, wherein a plurality of calibration indication holes are provided on the storage belt, respectively corresponding to a plurality of position codes, and the reference position calibration part comprises: a calibration hole sensing unit, comprising a calibration sensor arranged at a predetermined calibration position beside the storage belt, for sensing the calibration indication hole passing through the position; and a reference position calibration unit, for calibrating the reference position updated in real time when the calibration hole sensing unit senses the calibration position hole.

[0008] The storage position positioning device provided by the present invention may also have such a technical feature, wherein the calibration sensor is an infrared photoelectric sensor.

[0009] The position positioning device provided by the present invention may also have such technical features, wherein the mobile position acquisition part includes: a position hole sensing unit, having at least two counting sensors, and a predetermined detection distance between the two counting sensors along the extension direction of the storage belt; and a position hole counting unit, which counts based on the sensing results of the two counting sensors.

[0010] The bin positioning device provided by the present invention may also have such technical features, wherein the storage belt also includes a steel belt portion, and the two counting sensors are both infrared photoelectric sensors, which generate a falling edge signal when sensing movement from the steel belt portion to the bin hole, and generate a rising edge signal when sensing movement from the bin hole to the steel belt portion, and the bin hole counting unit performs a count when the two counting sensors generate different signals.

[0011] The bin positioning device provided by the present invention may also have such a technical feature, wherein the detection interval is 13.5 mm.

[0012] The bin positioning device provided by the present invention may also have such a technical feature, wherein the detection interval is an integer multiple of 26.52 mm.

[0013] The bin positioning device provided by the present invention may also have a technical feature in which the two counting sensors have a predetermined height difference along the width direction of the storage belt.

[0014] The warehouse positioning device provided by the present invention may also have such technical features, wherein the reference warehouse acquisition unit includes a camera arranged at the reference position, which is used to shoot the warehouse code to obtain the reference warehouse, and the distance between the calibration indicator hole and the corresponding warehouse code is equal to the distance between the calibration position and the reference position, and the calibration indicator hole and the calibration sensor are also used to activate the camera so that the camera can take pictures.

[0015] The present invention provides a belt-type warehousing system, characterized in that it includes: a storage device for storing a cargo carrier carrying goods, comprising at least one storage belt with multiple storage holes and a storage belt driving mechanism for driving the storage belt to move; a warehousing device for hanging the cargo carrier into a storage hole located at a predetermined hanging position, thereby realizing the warehousing of the cargo carrier; a warehouse-out device for taking out the cargo carrier from the storage hole located at a predetermined taking-out position; a storage position positioning device for positioning a designated storage position hole; and a storage control device for controlling the storage belt driving mechanism to drive the storage belt to move according to the positioning result of the storage position positioning device, thereby moving the designated storage position hole to the predetermined hanging position or the predetermined taking-out position, wherein the storage position positioning device is the above-mentioned storage position positioning device.

[0016] Function and Effect of the Invention

[0017] According to the position positioning device of the present invention, since it has a predetermined position acquisition part, it can acquire the position number of the predetermined position hole, that is, the predetermined position; since it has a reference position acquisition part, it can acquire the position number at the reference position as the reference number when the belt storage system is started; since it has a predetermined interval acquisition part, it can calculate the predetermined position interval between the predetermined position hole and the predetermined hanging position or the predetermined taking-out position according to the predetermined position and the reference position, that is, the distance that the predetermined position hole needs to move; since it has a moving position acquisition part, it can sense and count the position holes passing through the predetermined detection position, so as to acquire the number of moving positions of the predetermined position hole, that is, the number of moving positions of the predetermined position hole. The device is provided with a reference position updating unit, so that the reference position can be updated in real time according to the number of moved positions; the device is provided with a current interval acquiring unit, so that the current interval between the predetermined position hole and the predetermined hanging position or the predetermined taking-out position can be calculated according to the predetermined position and the reference position updated in real time, that is, the distance that the predetermined position hole needs to continue to move; the device is provided with a predetermined position determining unit, so that it can determine whether the predetermined position hole has reached the predetermined hanging position or the predetermined taking-out position according to the current interval, so as to locate the predetermined position hole; and the device is provided with a reference position calibration unit, so that the reference position updated in real time can be calibrated, so as to ensure the accuracy of the positioning of the predetermined position hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a structural block diagram of a belt storage system in an embodiment of the present invention;

[0019] Figure 2 is a structural diagram of a belt storage system in an embodiment of the present invention;

[0020] Figure 3 is a schematic diagram of the structure of a hanger hung on a storage belt in an embodiment of the present invention;

[0021] Figure 4 is a structural diagram of a warehousing device in an embodiment of the present invention;

[0022] Figure 5 is a structural diagram of a tape storage device in an embodiment of the present invention;

[0023] Figure 6 is a structural diagram of a tape storage device at different angles in an embodiment of the present invention;

[0024] Figure 7 is an orthographic projection diagram of a tape storage device according to an embodiment of the present invention;

[0025] Figure 8 is a structural diagram of a storage tape in an embodiment of the present invention;

[0026] Fig. 9is a structural diagram of storage bands at different angles in an embodiment of the present invention;

[0027] Fig.10 is a structural diagram of a warehouse-out device in an embodiment of the present invention;

[0028] Fig.11 is a structural diagram of a bin-out device in an embodiment of the present invention;

[0029] Fig.12 It is a partial structural diagram of the bin-out device in an embodiment of the present invention;

[0030] Fig.13 is an orthographic projection diagram of a storage belt in an embodiment of the present invention;

[0031] Fig.14 yes Fig.13 An enlarged view of the portion within the middle frame A;

[0032] Fig.15 is a flowchart of calibrating the reference position in an embodiment of the present invention;

[0033] Fig.16 is a workflow diagram for positioning a predetermined bin hole in an embodiment of the present invention;

[0034] Fig.17 is a flowchart of hanging a hanger into a storage belt in an embodiment of the present invention;

[0035] Fig.18 It is a workflow diagram of taking out a hanger from a storage belt in an embodiment of the present invention.

[0036] Reference numerals:

[0037] Belt storage system 10; warehousing equipment 20; on-line device 21; shelf storage rail 211; elevator 212; lifting rail 213; sliding ramp 214; blocking device 22; warehouse entry device 23; hanging mechanism 231; receiving unit 2311; moving unit 2312; rotating unit 2313; opening mechanism 232; storage device 30; storage belt 31; warehouse hole 311; warehouse code 312; driving hole 313; calibration indication hole 314; belt storage device 32; Steel belt storage rail 321; mounting rail 3211; driving mechanism 322; driving motor 3221; driving gear 3222; load-bearing wheel 3223; limiting wheel 3224; outbound device 40; outbound device 41; guide transfer mechanism 411; curved rail member 4111; guide member 4112; lead-in end 4112a; lead-out end 4112b; guide motor 4113; lever mechanism 412; lever 4121; turntable 4122; turntable motor 4123; offline device 4 2; lifting mechanism 421; lifting rail 4211; outbound elevator 4212; outbound inclined rail 422; storage control equipment 50; general control device 51; information management device 52; cargo information storage unit 521; warehouse information storage unit 522; warehouse entry control device 53; warehouse location positioning device 54; scheduled warehouse location acquisition unit 541; reference warehouse location acquisition unit 542; scheduled interval acquisition unit 543; mobile warehouse location acquisition unit 544; warehouse location hole sensing unit 5441; warehouse location hole counting unit 5442; reference position updating unit 545; current interval acquiring unit 546; reference position calibration unit 547; calibration hole sensing unit 5471; storage belt pause unit 5472; calibration position acquiring unit 5473; reference position correction unit 5474; reserved position determination unit 548; storage control device 55; outbound control device 56; hanger 100; hook portion 101; hanging opening 101a; shoulder support portion 102; transition portion 103; hanger identification code 1031. DETAILED DESCRIPTION

[0038] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the warehouse positioning device and the belt storage system of the present invention are specifically described below in combination with the embodiments and drawings.

[0039] <Example>

[0040] Figure 1 It is a structural block diagram of the belt storage system in an embodiment of the present invention.

[0041] Figure 2 It is a structural diagram of the belt storage system in an embodiment of the present invention.

[0042] like Figure 1 and Figure 2As shown, the belt storage system 10 of this embodiment is a belt storage system that uses belt storage tracks to transport and store cargo carriers (hangers) carrying goods (clothing), and includes a warehousing device 20, a storage device 30, a warehousing device 40 and a warehousing control device 50.

[0043] The storage device 20 is used to store hangers carrying clothes into the storage device 30, the storage device 30 stores (or stores by category) the hangers through the storage belt, and the out-of-warehouse device 40 is used to take out the hangers in the storage device 30. The storage device 20, the storage device 30 and the out-of-warehouse device 40 are all installed at a predetermined position through a metal frame, wherein the storage device 20 and the out-of-warehouse device 40 are both arranged on the storage device 30. The storage control device 50 controls the operation of the storage device 20, the storage device 30 and the out-of-warehouse device 40.

[0044] Figure 3 2 is a schematic diagram of the structure of a clothes hanger hung on a storage belt in an embodiment of the present invention.

[0045] like Figure 3 As shown, the storage belt 31 is made of a steel belt and is provided with a plurality of storage holes 311. The hanger 100 includes a hook portion 101 at the top, a shoulder portion 102 at the bottom for hanging clothes, and a transition portion 103 between the hook portion 101 and the shoulder portion 102. The hook portion 101 has a hanging opening 101a, and the transition portion 103 is provided with a hanger identification code 1031. When the hanger 100 is hung in the storage hole 311, the inner top of the hook portion 101 just contacts the bottom of the storage hole 311.

[0046] Usually, the distance d1 between the center lines of two adjacent storage holes 311 is set to be slightly larger than the width formed by the front and rear sides when the clothes are hung on the hanger, so that each storage hole 311 can hang clothes. In this embodiment, d1 = 26.52mm. In addition, in this embodiment, the design load-bearing capacity of each storage hole 311 is about 2.5kg (the weight of the hanger + clothing). A storage code 312 is also provided above the storage hole 311 on the storage belt 31. In this embodiment, the storage code 312 is a two-dimensional code, and a storage code 312 is provided for every one hundred storage holes 311. The setting of the storage code 312 will be described in detail below in conjunction with the corresponding control.

[0047] Figure 4 It is a structural diagram of the warehousing equipment in an embodiment of the present invention.

[0048] like Figure 4 As shown, the warehousing equipment 20 includes an online device 21, a blocking device 22 and a warehouse entry device 23.

[0049] The clothing hanger 100 is put on the line by the device 21, and comprises a storage rail 211 for hanging the clothing hanger 100, a hoist 212 for lifting the clothing hanger 100, a lifting rail 213 and a sliding ramp 214. After the clothing hanger 100 is hung on the storage rail 211, it slides to the hoist 212 by gravity, enters the sliding ramp 214 after being lifted by the hoist 212, and slides down along the sliding ramp 214 by gravity. A stop device 22 is provided near the end of the sliding ramp 214.

[0050] The blocking device 22 releases the hangers 100 one by one. After being released, the hangers 100 arrive at the warehouse entering device 23 and are hooked by the warehouse entering device 23.

[0051] The storage device 23 hangs the hanger 100 into the corresponding predetermined storage hole. The storage device 23 has a hanging mechanism 231 for receiving the hanger 100 and hanging the hanger 100 on the storage belt 31 and a pushing mechanism 232 for pushing away the clothes on the storage belt 31.

[0052] The hanging mechanism 231 includes a receiving unit 2311, a moving unit 2312 and a rotating unit 2313. The receiving unit 2311 can receive the released hanger 100 and make it stationary, so that the rotating unit 2313 can hook the hanger 100. The rotating unit 2313 includes a mechanical arm that can rotate in the horizontal direction and a movable hook installed at the end of the mechanical arm, so that the rotating unit 2313 can hook the hanger 100 and drive the hanger 100 to rotate so that the hanging opening 101a faces the storage hole 311. The moving unit 2312 can drive the rotating unit 2313 to move horizontally, so that the rotating unit 2313 moves to the blocking device 22 to receive the hanger 100, and can move the rotating unit 2313 to the storage belt 31 to hang the hanger 100.

[0053] The pushing mechanism 232 has two movable paddles for pushing the garments located on both sides of the storage hole 311 toward both sides, so that the hanging mechanism 231 can be hung on the hanger 100 smoothly.

[0054] After the storage device 20 stores the hanger 100 in the storage device 30, the storage device 30 stores and manages the hanger 100. Figure 2 As shown, the storage device 30 includes three tape storage devices 31, namely a reservation tape storage device 31a, a storage tape storage device 31b and a general tape storage device 31c.

[0055] The pre-storage belt storage device 31a and the storage belt storage device 31b are both single-layer belt storage devices, and the two are stacked. The pre-storage belt storage device 31a is located at the lower layer and is used to store clothing that needs to be taken in the near future; the storage belt storage device 31b is located at the upper layer and is used to store clothing that does not need to be taken in the near future or special types. The universal belt storage device 31c is a spiral belt storage device, which can be used to store clothing that is not used for a long time, or to store a variety of clothing in a mixed manner.

[0056] The structures and working principles of the three belt storage devices 31 are similar. The spiral belt storage device is also wound by a single closed track. Therefore, in order to more clearly illustrate the structure and coordination of the warehousing equipment 20, the storage equipment 30 and the outbound equipment 40, the pre-storage belt storage device 31a will be used as an example for specific description. For the convenience of description, it will be referred to as the belt storage device 31 below.

[0057] Figure 5 4 is a structural diagram of a tape storage device in an embodiment of the present invention.

[0058] Figure 6 1 is a structural diagram of a tape storage device at different angles according to an embodiment of the present invention.

[0059] Figure 7 It is an orthographic projection diagram of a tape storage device in an embodiment of the present invention.

[0060] like Figure 5-7 As shown, the belt storage device 32 includes a steel belt storage rail 321 for reservation and a driving mechanism 322 for reservation. The mounting rail 3211 is fixedly mounted at a predetermined position by a metal bracket, and the storage belt 31 is movably mounted on the mounting rail 3211.

[0061] The driving mechanism 322 is used to drive the storage belt 31 to move.

[0062] Figure 8 4 is a structural diagram of a storage tape in an embodiment of the present invention.

[0063] Fig. 9 1 is a structural diagram of storage bands at different angles in an embodiment of the present invention.

[0064] like Figure 5-9As shown, the driving mechanism 322 includes a driving motor 3221, a driving gear 3222, a plurality of load-bearing wheels 3223 and a plurality of limiting wheels 3224. A plurality of driving holes 313 are provided on the storage belt 31, wherein the plurality of driving holes 313 located at the driving gear 3222 are respectively meshed with a plurality of teeth of the driving gear 3222, and the plurality of load-bearing wheels 3223 and the plurality of limiting wheels 3224 are installed on the storage belt 31 at intervals and their wheel bodies are movably engaged in the mounting rail 3211. The driving motor 3221 drives the driving gear 3222 to rotate, and drives the storage belt 311 to move along the extension direction of the mounting rail 3211 through meshing transmission, which is the prior art and will not be described in detail.

[0065] The outbound device 40 is used to outbound the hangers 100 .

[0066] Fig.10 It is a structural diagram of the outbound device in an embodiment of the present invention.

[0067] like Fig.10 As shown, the outbound device 40 includes an outbound device 41 and an offline device 42. The outbound device 41 is used to move the hangers 100 on the storage belt 31 out of the bin hole 311, and the offline device 42 is used to offline or store the hangers 100 from the outbound device 41.

[0068] The offline device 42 has a lifting mechanism 421 and a storage ramp 422. The lifting mechanism 421 includes a lifting track 4211 connecting the storage device 41 and the storage ramp 422, and a storage lift 4212 for transporting the hanger 100 along the lifting track 4211 to the storage ramp 422.

[0069] Fig.11 It is a structural diagram of the warehouse discharge device in an embodiment of the present invention.

[0070] Fig.12 It is a partial structural diagram of the warehouse discharge device in an embodiment of the present invention.

[0071] like Fig.11 and Fig.12 As shown, the outgoing device 41 includes a guide transfer mechanism 411 and a lever mechanism 412. The guide transfer mechanism 411 is used to guide and transfer the hangers 100 on the storage belt 31 to the lifting track 4211 of the offline device 42, and the lever mechanism 412 is used to push the hangers 100 guided out by the guide transfer mechanism 411.

[0072] The guide transfer mechanism 411 includes a curved rail member 4111, a guide member 4112, and a guide motor 4113. The guide member 4112 is used to transfer the hanger 100 located on the storage belt 31 to the curved rail member 4111, and the guide motor 4113 is used to drive the guide member 4112 to rotate. In addition, the position where the guide member 4112 is set is the predetermined removal position, that is, Figure 7 At the position shown in B2.

[0073] like Fig.12 As shown, the middle part of the guide member 4112 has a passage for the storage belt 31 to pass through, and the guide member 4112 also has an introduction end 4112a and an extraction end 4112b, the introduction end 4112a is used to introduce the hanger 100 from the storage belt 31 to the guide member 4112, and the extraction end 4112b is used to extract the hanger 100 from the guide member 4112 to the curved track member 4111. The position on the storage belt 31 corresponding to the guide member 411 is the predetermined out-of-warehouse extraction position.

[0074] In the initial state, the guide member 4112 is in a horizontal position relative to the storage belt 31, that is, the length direction of the guide member 4112 is roughly parallel to the extension direction of the storage belt 31; when the hanger 100 is to be taken out, the guide member 4112 is driven by the guide motor 4113 to rotate upward to a position matching with the curved rail member 4111, that is, Fig.11 At this time, the hanger 100 is lifted up obliquely, leaves the storage hole 311, and then enters the curved track member 4111 along the guide member 4112, and is then pushed and moved by the lever mechanism 412.

[0075] The lever mechanism 412 includes a plurality of levers 4121, a turntable 4122, and a turntable motor 4123. The plurality of levers 4121 are evenly spaced and installed on the side of the turntable 4122. Driven by the turntable motor 4123, the turntable 4122 rotates, driving the levers 4121 to move along an arc, thereby pushing the hanger 100 on the curved track member 4111 to move along the extension direction of the curved track member 4111 to the offline device 42, and then the offline device 42 moves the hanger 100 to the end of the outgoing ramp 422 for temporary storage.

[0076] The storage control device 50 controls the operation of the above-mentioned storage device 20, storage device 30 and storage device 40. Figure 1 As shown, the warehouse control equipment 50 includes a general control device 51, an information management device 52, a warehouse entry control device 53, a warehouse location positioning device 54 and a warehouse exit control device 55.

[0077] The general control device 51 coordinates and controls the operations of the information management device 52 , the warehousing control device 53 , the bin positioning device 54 and the outbound control device 55 .

[0078] The information management device 52 is used to store and manage various warehouse information. The information management device 52 includes a cargo information storage unit 521 and a warehouse location information storage unit 522 .

[0079] The cargo information storage unit 521 stores a cargo information table.

[0080] Table 1 Cargo Information

[0081]

[0082] As shown in Table 1, the cargo information table stores the carrier identification code of each hanger 100, the cargo identification code of the clothing placed on the hanger 100, and various attribute information of the service.

[0083] Table 2 Position information table

[0084]

[0085] As shown in Table 2, the bin information table stores the bin serial number (i.e., information contained in the bin code 312) of each bin hole 311 on the storage belt 31 and the carrier identification code of the hanger 100 hung in (or scheduled to be hung in) the bin hole 311. The bin serial number indicates the position of the bin hole 311 on the storage belt 31, and the bin serial numbers are arranged in sequence along the extension direction of the storage belt 31. In addition, the bin hole 311 can be hung with a hanger 100 or be empty, as shown in the bin serial number 2 in Table 2.

[0086] In addition, the information management device 52 also processes the storage information, including assigning corresponding storage holes 311 to the hangers 100 according to the attribute information of the clothes when the hangers 100 carrying the clothes are put into storage. Before the hangers 100 carrying the clothes are put into storage, the operator uses a handheld barcode scanner to read the hanger identification code 103 on each hanger 100 to obtain the carrier identification code, and uses the barcode scanner to read the clothing label on the clothes on the hangers 100 to obtain the goods identification code. The information management device 52 stores the read carrier identification code and the goods identification code in the goods information table, thereby binding the hangers 100 and the clothes. Further, the information management device 52 assigns the corresponding storage holes 311 in the storage device 30 to the hangers 100 according to the goods attribute information in the goods information table and the predetermined goods storage rules, that is, the carrier identification code of the hanger 100 and the storage number of the assigned storage hole 311 (i.e., the predetermined storage x) are stored in the storage information table. Subsequently, upon receiving a storage entry instruction or a storage exit instruction, the information management device 52 sends the predetermined storage location x corresponding to the designated hanger 100 to the storage location positioning device 54 .

[0087] The storage control device 53 controls the process of goods storage, and controls the storage device 20 to hang the hanger 100 into the storage hole 311 located at the predetermined hanging position.

[0088] The position positioning device 54 is used to position the predetermined position hole, and includes a predetermined position acquisition unit 541, a reference position acquisition unit 542, a predetermined interval acquisition unit 543, a mobile position acquisition unit 544, a reference position update unit 545, a current interval acquisition unit 546, a reference position calibration unit 547 and a predetermined position determination unit 548.

[0089] The scheduled storage location acquisition unit 541 obtains the corresponding storage location serial number from the storage location information table according to the carrier identification code, and uses it as the scheduled storage location number of the scheduled storage location hole, wherein the carrier identification code is read by the staff through the handheld barcode scanner when the hanger 100 is put into the warehouse, or is input by the staff through the operation terminal when the hanger 100 is to be taken out of the warehouse. In this embodiment, for the convenience of description, it is assumed that the scheduled storage location hole 311b is located at Figure 7 At the position shown in B3, it is assumed that its position number (recorded as the scheduled position x) is 20.

[0090] The reference position acquisition unit 542 includes a camera disposed at a predetermined reference position beside the storage belt 31, that is, disposed at Figure 7 At the position shown in B4, when the belt storage system 10 is started or when the storage belt 31 is in a stationary state, the reference position acquisition unit 542 uses a camera to shoot the position code 312 at the reference position, obtains an image containing the position code 312, and then decodes the image to obtain the position number contained in the position code 312, which is recorded as the reference position i.

[0091] After the staff starts the belt storage system 10, they control the storage belt drive mechanism 322 through the operating terminal to drive the storage belt 31 to move, and move a storage position code 312 to a predetermined reference position, so that the reference position acquisition unit 542 acquires the reference position i.

[0092] The predetermined interval acquisition unit 543 acquires the predetermined position interval d between the predetermined position hole 311 and the predetermined hanging position or the predetermined taking-out position according to the predetermined position x and the reference position i, that is, the distance of the number of position holes 311 between the two.

[0093] In this embodiment, the predetermined hooking position corresponds to the setting of the hooking mechanism 231, that is, Figure 7 The predetermined removal position corresponds to the setting of the guide transfer device 41, that is, Figure 7 At the position shown in B2.

[0094] Specifically, taking the predetermined hanging position as an example, the position information storage unit 522 also stores the distance between the reference position and the predetermined hanging position, which is recorded as the reference hanging interval D. The position sequence number of the position hole 311 currently located at the predetermined hanging position is recorded as the hanging position a, and the total number of the position holes 311 on the storage belt 31 is recorded as the total number S. Then, the predetermined position interval d can be obtained according to the following formula:

[0095] The pending position a = the base position i + the base pending interval D;

[0096] The scheduled position interval d = pending position a - scheduled position x.

[0097] In the formula, the predetermined bin spacing d can be a positive number or a negative number. When it is a positive number, the storage belt 31 moves toward the predetermined conveying direction, and when it is a negative number, the storage belt 31 moves toward the opposite direction.

[0098] Taking the predetermined hanging position as an example, in this embodiment, it is assumed that the reference hanging interval D is 60. At the same time, serial number 0 in Table 2 is used as the reference bin hole 311a, that is, the reference bin i=0, and serial number 20 is used as the predetermined bin hole 311b, that is, the predetermined bin x=20. Therefore, the predetermined bin interval d=20-0+60=80, that is, in order to make the predetermined bin hole 311b reach the predetermined hanging position, the storage belt 31 needs to move a distance of 80 bin holes 311 in the predetermined conveying direction.

[0099] In addition, in the actual control procedure, in order to achieve a more accurate control effect, the predetermined position interval d is actually calculated according to the following formula:

[0100] Hanging position a'=(benchmark position i+benchmark hanging interval D+total number S) mod total number S;

[0101] The scheduled position interval d = pending position a - scheduled position x.

[0102] That is, add the calculated pending position a to the total number S, divide it by the total number S, and take the remainder as the actual pending position a', so as to avoid some edge cases.

[0103] In addition, since there are many bin holes 311 on the storage belt 31, it takes a long time to rotate one circle. Therefore, in order to save the conveying time, in the actual control program, the predetermined bin interval d is further processed and calculated:

[0104] When the predetermined position interval d>0:

[0105] It is further determined whether d>S / 2. If it is not, the predetermined bin spacing d remains unchanged. If it is yes, that is, along the predetermined conveying direction (forward direction), the predetermined bin hole 311b is far from the predetermined hanging position or the predetermined taking-out position, and the reverse direction can reach it faster. Therefore:

[0106] Predetermined bin interval d'=predetermined bin interval d−total number S.

[0107] Similarly, when the predetermined position interval d<0:

[0108] It is further determined whether d<-S / 2. If it is not, the predetermined bin spacing d remains unchanged. If it is yes, that is, in the opposite direction (reverse direction) of the predetermined conveying direction, the predetermined bin hole 311b is far away from the predetermined hanging position or the predetermined taking-out position, and the forward rotation can reach it faster. Therefore:

[0109] The scheduled storage interval d'=scheduled storage interval d+the total number S.

[0110] Through the above-mentioned further processing and calculation, the predetermined storage hole 311b can reach the predetermined hanging position or the predetermined taking-out position more quickly, and some boundary conditions that may cause program errors can be avoided.

[0111] The moving position acquisition unit 544 is used to sense and count the position holes 311 passing through the predetermined detection position, so as to obtain the moving position number k of the predetermined position hole 311b, that is, the distance of the predetermined position hole 311b having moved by how many position holes 311. The moving position acquisition unit 544 includes a position hole sensing unit 5441 and a position hole counting unit 5442.

[0112] The bin hole sensing unit 5441 is used to sense the bin hole 311. In this embodiment, the bin hole sensing module 5441 includes two counting sensors, which are respectively arranged at different detection positions beside the storage belt 31.

[0113] Fig.13 It is an orthographic projection diagram of the storage belt in the embodiment of the present invention.

[0114] Fig.14 yes Fig.13 An enlarged view of the portion within frame A.

[0115] like Fig.13 and Fig.14 As shown, in this embodiment, a bin code 312 is set every one hundred bin holes 311 on the storage belt 31.

[0116] The first counting sensor is arranged at the first detection position, that is, Fig.14 The second counting sensor is arranged at the second detection position, that is, Fig.14 The first counting sensor and the second counting sensor are arranged at different heights on the storage belt 31, that is, they have a predetermined distance along the width direction of the storage belt 31. At the same time, the first counting sensor and the second counting sensor also have a predetermined distance along the extension direction of the storage belt 31, which is recorded as the detection spacing p. In this embodiment, the detection spacing p = 13.5 mm.

[0117] In addition, the first counting sensor and the second counting sensor are both infrared photoelectric sensors with a sensing diameter of 0.5mm-2mm. The infrared photoelectric sensor generates different levels when sensing the steel strip portion and the storage hole 311. Therefore, once a storage hole 311 passes through the detection position, the infrared photoelectric sensor undergoes a level jump and generates a corresponding electrical signal.

[0118] Specifically, the infrared photoelectric sensor generates a falling edge signal that jumps from a high level to a low level when sensing movement from the steel strip part to the storage hole part, and generates a rising edge signal that jumps from a low level to a high level when sensing movement from the storage hole part to the steel strip part.

[0119] The position hole counting unit 5442 performs a count only when it receives the electrical signals generated by two counting sensors, and the electrical signals of the two counting sensors are different (ie, one is a rising edge signal and the other is a falling edge signal), thereby obtaining the above-mentioned number of moving positions k.

[0120] Specifically, in this embodiment, the first counting sensor is mainly used and the second counting sensor is auxiliary. The position hole counting unit 5442 triggers the counting judgment when the first counting sensor senses a falling edge signal, and judges whether the second counting sensor senses a rising edge signal. When the judgment is yes, that is, when the two counting sensors sense different electrical signals, the position hole counting unit 5442 counts once and updates the number of moving positions k accordingly. When the storage belt 31 moves along the predetermined conveying direction, the number of moving positions k+1 is moved, and when the storage belt 31 moves in the opposite direction, the number of moving positions k-1 is moved.

[0121] In addition, in the actual program implementation, in order to prevent miscounting, further detection and judgment are performed:

[0122] Every 3ms, it is judged whether the received electrical signal is a falling edge signal and a rising edge signal, and the judgment is performed three times. Only when all three judgments are yes, a count is performed.

[0123] In addition, after one count, the time t required for the storage belt 31 to move through the interval l between two adjacent storage holes 311 is calculated according to the current moving speed v of the storage belt 31, that is:

[0124] Time t = interval between adjacent slots l / current moving speed v.

[0125] Subsequently, within the time t, even if the two counting sensors sense the rising edge signal and the falling edge signal, no counting is performed.

[0126] Through the counting method in this embodiment, it is possible to avoid miscounting in various interference situations, thereby obtaining an accurate counting result, that is, obtaining an accurate number k of mobile bins.

[0127] Interference situations generally include:

[0128] The bin holes 311 on the storage belt 31 vibrate due to external forces such as wind;

[0129] The garments stored on the storage belt 31 have hats, and the hats cover part of the storage holes 311 during the transportation process;

[0130] The passing of operators, conveying equipment, etc. causes the illumination of some positions on the storage belt 31 to change.

[0131] The reference position updating unit 545 updates the reference position i in real time according to the number of mobile position k detected and acquired by the mobile position acquiring unit 544, that is:

[0132] Base position i'=base position i+number of moving positions k.

[0133] The current interval acquisition unit 546 calculates and acquires the current interval b of the predetermined position hole 311b according to the real-time updated reference position i', that is, the number of positions that the predetermined position hole 311b needs to move further, taking the predetermined hanging position as an example, namely:

[0134] The pending position a'=base position i'+base pending interval D;

[0135] Current interval b = pending position a' - scheduled position x.

[0136] The current interval b=0, that is, the predetermined storage position hole 311b reaches the predetermined hanging position or the predetermined taking-out position.

[0137] The reference position calibration unit 547 calibrates the reference position i′ updated in real time, so as to make the positioning result more accurate. The reference position calibration unit 547 includes a calibration hole sensing unit 5471 and a reference position calibration unit 5472 .

[0138] like Fig.13 and Fig.14 As shown, a plurality of calibration indication holes 314 are spaced apart above the driving hole 313 on the storage belt 31. The calibration indication holes 314 correspond one-to-one to the position codes 312, and the calibration indication holes 314 and the corresponding position codes 312 are spaced apart by the distance of ten position holes 311, that is, the distance between the calibration indication holes 314 and the corresponding position codes 312 along the extension direction of the storage belt 31 is 265.2 mm.

[0139] The calibration hole sensing unit 5471 includes a calibration sensor, which is arranged at a predetermined calibration position beside the storage belt 31, and the calibration position is located at a height corresponding to the calibration indication hole 314, and the horizontal distance between the calibration position and the reference position is about ten bin holes 311. In this embodiment, the calibration sensor is also an infrared photoelectric sensor, and once the calibration indication hole 314 passes the calibration position, the infrared photoelectric sensor generates a corresponding electrical signal.

[0140] When the calibration hole sensing unit 5471 senses the calibration indicating hole 314, the reference position correction unit 5472 calibrates the real-time reference position i'. In this embodiment, the calibration of the reference position i' is performed according to the following method:

[0141] Clear the ones and tens digits of the base position i' to zero, thereby obtaining the base position i";

[0142] Determine whether the reference position i'=reference position i", if it is yes, it means that the current reference position i' is accurate and does not need to be calibrated, if it is no, continue to make further judgments;

[0143] Determine whether base position i'>base position i", if it is yes, it means there is over-counting, in which case base position i'=base position i", if it is no, it means there is under-counting, in which case base position i'=base position i"+100 is set.

[0144] For example, when the calibration hole sensing unit 5471 senses the calibration indication hole 314, assuming that the reference position i' should be 100 at this time, due to the miscounting, the actual reference position i'=102 at this time, according to the above steps, the ones and tens digits are cleared to obtain the reference position i"=100, and the first judgment is performed. Obviously, the reference position i'≠reference position i", and the judgment is no. The second judgment is performed. The reference position i'>reference position i", and the judgment is yes. Then the reference position i'=reference position i", that is, the reference position i'=100 is set, and the correct position serial number is obtained, and the reference position i' is calibrated.

[0145] For another example, when the calibration hole sensing unit 5471 senses the calibration indication hole 314, assuming that the reference position i' should be 100 at this time, due to the missed counting situation, the actual reference position i'=99 at this time, according to the above steps, the ones and tens digits are cleared to zero, and the reference position i"=0 is obtained. The first judgment is performed. Obviously, the reference position i'≠reference position i", and the judgment is no. The second judgment is performed. The reference position i'>reference position i", and the judgment is no. Then the reference position i'=reference position i"+100 is set, that is, the reference position i'=100, and the correct position serial number is obtained, and the reference position i' is calibrated.

[0146] In addition, when the calibration hole sensing unit 5471 senses the calibration indication hole 314, if the reference position i' is a value near 0 at this time, special processing is also performed:

[0147] After setting the reference bin i′=reference bin i″+100, if the reference bin i′≥the total number S, the reference bin i′=0 is reset, wherein the total number S is the total number of bin holes 311 on the storage belt 31 .

[0148] For example, when the calibration hole sensing unit 5471 senses the calibration indication hole 314, assuming that the total number S=1000, the position number on the storage tape 31 is 0-999, and assuming that the reference position i' should be 0 at this time. Due to the missed count, the actual reference position i'=998 at this time. The ones and tens digits are cleared to zero, and the reference position i"=900 is obtained. Obviously, the reference position i'≠reference position i", and the judgment is no. A second judgment is made, and the reference position i'>reference position i", and the judgment is yes. The reference position i'=reference position i"+100=1000 is set. A third judgment is made, and the reference position i'=total number S. The judgment is yes, and the reference position i'=0 is reset to obtain the correct position number.

[0149] According to the configuration of this embodiment, every time the storage belt 31 moves a distance of one hundred bin holes 311 , the reference bin i′ is automatically calibrated.

[0150] In addition, in this embodiment, the distance between the calibration indicator hole 314 and the corresponding bin code 312 is the same as the distance between the calibration sensor and the camera. When the calibration sensor senses the calibration indicator hole 314, the bin code 312 is also located exactly at the camera. Therefore, the calibration indicator hole 314 and the calibration sensor are also used to activate the camera. When the calibration sensor senses the calibration indicator hole 314, the camera takes a picture. Therefore, when obtaining the reference bin i, the operator only needs to make the calibration indicator hole 314 pass through the calibration sensor, and there is no need to spend a lot of time aligning the camera and the bin code 312.

[0151] The reserved storage position determination unit 548 determines whether the reserved storage position hole 311b has reached the reserved hanging position or the reserved removal position according to the current interval b obtained by the current interval acquisition unit 546 and the warehousing or outbound instruction. If the received instruction is a warehousing instruction and the current interval b=0, it has reached the reserved hanging position; if the received instruction is a outbound instruction and the current interval b=0, it has reached the reserved removal position.

[0152] The storage control device 55 controls the storage belt driving mechanism 322 according to the positioning result of the bin positioning device 54, drives the storage belt 31 to move, decelerate or stop, so as to accurately move the predetermined bin hole 311b to the predetermined hanging position or the predetermined taking-out position. Specifically, for the predetermined hanging position:

[0153] When the predetermined position determination unit 548 determines that the position has not been reached and the current interval b ≥ 20 position holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined high speed. In this embodiment, the predetermined high speed is 18m / min-28m / min.

[0154] When the predetermined position determination unit 548 determines that the position has not been reached, and 5 position holes 311 ≤ current interval b < 20 position holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined medium speed. In this embodiment, the predetermined medium speed is 12 m / min.

[0155] When the predetermined position determination unit 548 determines that the position has not been reached and the current interval b is less than 5 position holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined low speed. In this embodiment, the predetermined low speed is 6 m / min.

[0156] When the predetermined storage position determination unit 548 determines that the predetermined hanging position has been reached, the storage control device 55 controls the storage belt driving mechanism 322 to stop working, so that the storage belt 31 is stationary. At this time, the hanging mechanism 231 can hang the hanger 100 into the storage position hole 311 located at the predetermined hanging position.

[0157] Likewise, for the scheduled take-out location:

[0158] When the predetermined storage position determination unit 548 determines that it has not been reached, and the current interval b ≥ 20 storage position holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined high speed;

[0159] When the predetermined position determination unit 548 determines that it has not arrived, and 5 position holes 311 ≤ current interval b < 20 position holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined medium speed;

[0160] When the predetermined position determination unit 548 determines that it has not been reached, and the current interval b is less than 5 position holes 311, the storage control device 55 drives the storage belt 31 to move at a predetermined low speed;

[0161] When the predetermined bin position determination unit 548 determines that the predetermined removal position has been reached, the storage control device 55 drives the storage belt 31 to maintain a predetermined low-speed movement. At this time, the bin exit device 41 can pick out the hanger 100 from the bin hole 311 located at the predetermined removal position.

[0162] The outbound control device 56 controls the process of clothing outbound, and issues a clothing picking instruction when the designated hanger 100 reaches the predetermined retrieval position, that is, controls the outbound device 41 to pick the hanger 100 from the storage hole 311 located at the predetermined retrieval position, and then controls the offline device 42 to transfer the hanger 100 out of the warehouse.

[0163] In addition, in this embodiment, the above-mentioned information management device 52 is a management end device (such as a local server or a cloud server) or a part thereof, and the warehousing control device 53, the warehouse positioning device 54 and the outbound control device 56 are control end devices (such as an industrial computer).

[0164] Fig.15 It is a workflow diagram for positioning a predetermined bin hole in an embodiment of the present invention.

[0165] like Fig.15 As shown, based on the above-mentioned bin location positioning device 54 and belt storage system 10, in this embodiment, after inputting the carrier identification code of the designated hanger 100, the workflow for positioning the predetermined bin hole 311b specifically includes the following steps:

[0166] Step S1-1, the scheduled storage location acquisition unit 541 searches the storage location information table according to the vehicle identification code, obtains the corresponding scheduled storage location x, and then proceeds to step S1-2;

[0167] Step S1-2, the scheduled interval acquisition unit 543 acquires the scheduled bin interval d according to the reference bin i and the scheduled bin x, and then proceeds to step S1-3;

[0168] Step S1-3, the storage control device 55 controls the storage belt driving mechanism 322 according to the predetermined bin spacing d, drives the storage belt 31 to move at a predetermined speed, and then enters step S1-4;

[0169] Step S1-4, the mobile position acquisition unit 544 acquires the number k of mobile positions of the predetermined position hole 311b, and then proceeds to step S1-5;

[0170] Step S1-5, the reference position updating unit 545 updates the reference position i according to the number of moving positions k to obtain the reference position i', and then proceeds to step S1-6;

[0171] Step S1-6, the current interval acquisition unit 546 calculates the current interval b according to the updated reference position i' and the scheduled position x, and then proceeds to step S1-7;

[0172] Step S1-7, the scheduled storage position determination unit 548 determines whether the scheduled insertion position or the scheduled removal position has been reached according to the current interval b, that is, whether the current interval b=0. If it is judged as no, it returns to step S1-4. If it is judged as reaching the scheduled insertion position, it goes to step S1-8. If it is judged as reaching the scheduled removal position, it goes to step S1-9.

[0173] Step S1-8, the storage control device 55 controls the storage belt driving mechanism 322 to stop working, so that the storage belt 31 is stationary, and then enters the end state;

[0174] In step S1-9, the storage control device 55 controls the storage belt driving mechanism 322 to drive the storage belt 31 to move at a predetermined low speed, and then enters the end state.

[0175] Fig.16 It is a workflow diagram for calibrating the reference bin in an embodiment of the present invention.

[0176] like Fig.16 As shown, in this embodiment, the workflow of calibrating the reference bin i' during the positioning process specifically includes the following steps:

[0177] Step S2-1, the calibration hole sensing unit 5471 determines whether the calibration indication hole 314 is sensed, and if the determination is no, step S2-1 is repeated, and if the determination is yes, step S2-2 is entered;

[0178] Step S2-2, the reference position calibration unit 5472 clears the ones and tens of the reference position i' to zero, obtains the reference position i", and then proceeds to step S2-3;

[0179] Step S2-3, the reference position calibration unit 5472 determines whether the reference position i'=reference position i", and if so, enters the end state, and if not, enters step S2-4;

[0180] Step S2-4, the reference position calibration unit 5472 determines whether the reference position i'>reference position i", and if so, proceeds to step S2-5, and if not, proceeds to step S2-6;

[0181] Step S2-5, the reference position calibration unit 5472 sets the reference position i'=reference position i", and then enters the end state;

[0182] Step S2-6, the reference position calibration unit 5472 sets the reference position i'=reference position i"+100, and then proceeds to step S2-7;

[0183] Step S2-7, the reference position calibration unit 5472 determines whether the reference position i'> the total number S, and if so, proceeds to step S2-8, and if not, proceeds to the end state;

[0184] Step S2-8, the reference position calibration unit 5472 sets the reference position i'=0, and then enters the end state.

[0185] In the above steps, the storage belt 31 moves at the above-mentioned high speed, medium speed or low speed.

[0186] According to the configuration of this embodiment, the above steps are performed once every time a distance of one hundred bin holes 311 is moved, and the reference bin i' is calibrated once.

[0187] Fig.17 It is a workflow diagram of clothes hanger storage in an embodiment of the present invention.

[0188] like Fig.17As shown, in this embodiment, the workflow of warehousing a hanger 100 loaded with clothing specifically includes the following steps:

[0189] Step S3-1, the staff holds a barcode scanner to read the carrier identification code of the hanger 100 to be stored and the cargo identification code of the clothing, and then proceeds to step S3-2;

[0190] Step S3-2, the staff hangs the hanger 100 on the upper shelf storage track 211, and the hanger 100 slides to the blocking device 22, and then enters step S3-3;

[0191] Step S3-3, the information management device 52 allocates the predetermined storage hole 311b to the hanger 100 according to the attribute information of the clothing and the predetermined storage rule, that is, sets the corresponding predetermined storage position x for the hanger 100, and sends the predetermined storage position x to the storage position positioning device 54, and then enters step S3-4;

[0192] Step S3-4, the storage control device 55 moves the predetermined position hole 311b to the predetermined hanging position according to the positioning result of the position positioning device 54, and makes the storage belt 31 still, and then enters step S3-5;

[0193] Step S3-5, the storage control device 53 controls the blocking device 22 to release the hanger 100, the hanger 100 slides to the hanging mechanism 231 and is hooked by the hanging mechanism 231, and then enters step S3-6;

[0194] Step S3-6, the storage control device 53 controls the hanging mechanism 231 to move the hanger 100 to the predetermined hanging position, and then enters step S3-7;

[0195] Step S3-7, the warehousing control device 53 controls the hanging mechanism 231 to hang the hanger 100 into the predetermined storage hole 311b, and then enters the end state.

[0196] In the above steps, for the sake of clarity and convenience, steps S3-5 and S3-6 are executed to release and transfer the hanger 100 only after the predetermined storage hole 311b reaches the predetermined hanging position in step S3-4. In fact, step S3-4 and steps S3-5 to S3-6 can be performed simultaneously, thereby saving the time for warehousing the hanger 100.

[0197] Fig.18 It is a workflow diagram of clothes hanger out of the warehouse in an embodiment of the present invention.

[0198] like Fig.18 As shown, in this embodiment, the workflow of taking the hanger 100 carrying the designated clothing out of the warehouse specifically includes the following steps:

[0199] Step S4-1, the staff inputs the cargo identification code of the clothing to be taken out through the operation terminal, and then proceeds to step S4-2;

[0200] Step S4-2, the information management device 52 obtains the corresponding carrier identification code of the hanger 100 according to the cargo identification code, and then obtains the corresponding predetermined bin x of the predetermined bin hole 311b according to the carrier identification code, and sends the predetermined bin x to the bin positioning device 54, and then enters step S4-3;

[0201] Step 4-3, the storage control device 55 moves the predetermined position hole 311b to the predetermined removal position according to the positioning result of the position positioning device 54, and makes the storage belt 31 keep moving at a predetermined low speed, and then enters step S4-4;

[0202] Step S4-4, the outbound control device 56 controls the outbound device 41 to pick out the hanger 100 from the predetermined storage hole 311b, and then enters step S4-5;

[0203] Step S4-5, the outbound control device 56 controls the offline device 42 to transfer the hanger 100 to the outbound inclined rail 422, and the hanger 100 is temporarily stored at the end of the outbound inclined rail 422, and then enters the end state.

[0204] As described above, through the bin positioning device 54 and the belt storage system 10 of this embodiment, it is possible to accurately position each bin hole 311 on the storage belt 31 with only a few bin codes 312 .

[0205] <Modification>

[0206] This variation provides a belt storage system 10. Compared with the first embodiment, the difference is that the information management device 52 is also integrated in the control terminal device (such as an industrial computer), so that the storage control device 50 is an integrated device.

[0207] In this variation, other structures and working principles are the same as those in the first embodiment, and thus will not be described again.

[0208] Example Function and Effect

[0209] According to the position positioning device 54 and the belt storage system 10 provided in this embodiment, since the position positioning device 54 has a predetermined position acquisition unit 541, it is possible to acquire the position number of the predetermined position hole 311b, that is, the predetermined position x; since it has a reference position acquisition unit 542, it is possible to acquire the position number at the reference position as the reference number i when the belt storage system 10 is started; since it has a predetermined interval acquisition unit 543, it is possible to calculate the predetermined position interval between the predetermined position hole 311b and the predetermined hanging position or the predetermined taking-out position according to the predetermined position x and the reference position i, that is, the distance that the predetermined position hole 311b needs to move; since it has a moving position acquisition unit 544, it is possible to sense and count the position holes 311 passing through the predetermined detection position, thereby acquiring the number of moving positions k of the predetermined position hole 311b, that is, the predetermined position. The distance that the predetermined position hole 311b has moved; since it has a reference position updating unit 545, it can update the reference position i in real time according to the number of moving positions k to obtain the reference position i'; since it has a current interval acquiring unit 546, it can calculate the current interval b between the predetermined position hole 311b and the predetermined hanging position or the predetermined taking-out position according to the predetermined position x and the real-time updated reference position i', that is, the distance that the predetermined position hole 311b needs to continue to move; since it has a predetermined position determining unit 548, it can determine whether the predetermined position hole 311b has reached the predetermined hanging position or the predetermined taking-out position according to the current interval b, thereby positioning the predetermined position hole 311b; and since it has a reference position calibration unit 547, it can calibrate the real-time updated reference position i', thereby ensuring the accuracy of the positioning of the predetermined position hole 311b.

[0210] Specifically, the reference position calibration unit 547 includes a calibration hole sensing unit 5471, a storage tape pause unit 5472, a calibration position acquisition unit 5473 and a reference position correction unit 5474, wherein the calibration hole sensing unit 5471 includes a calibration sensor set at a predetermined calibration position. In the embodiment, a position code 312 is provided on the storage belt 31 for every one hundred position holes 311, and the position code 312 stores the position serial number of the corresponding position hole 311. At the same time, a plurality of calibration indication holes 314 are provided on the storage belt 31, which correspond to each position code 312 respectively and are located at a distance of ten position holes 311 from the position code 312. The predetermined calibration position and the predetermined reference position are also spaced at a distance of ten position holes 311. Therefore, when the calibration sensor senses the calibration indication hole 314, the corresponding position code 312 is exactly located at the camera. At this time, the storage belt pause unit 5472 makes the storage belt 31 pause for 20ms to facilitate the camera to shoot, that is, the calibration position acquisition unit 5473 can acquire the calibration position j, and then the reference position correction unit 5474 can correct the reference position i' according to the calibration position j. According to the arrangement of this embodiment, the reference position i' is calibrated once every time the storage belt 31 moves a distance of one hundred position holes 311. When the distance moved is within one hundred position holes 311, the probability of counting errors is very low due to the short moving distance and the small number of counts. Therefore, calibration is performed once every one hundred position holes 311 to ensure the accuracy of the positioning result.

[0211] In addition, in the embodiment, a bin code 312 is set for every one hundred bin holes 311, and a corresponding calibration indicator hole 314 is set. Therefore, the bin positioning device 54 of this embodiment can achieve accurate positioning through a small number of bin codes 312 and calibration indicator holes 314, and is therefore easy to deploy.

[0212] In addition, the above-mentioned calibration sensors and counting sensors are both infrared photoelectric sensors, and the location code 312 is photographed by a camera, that is, in this embodiment, obtaining the location code and sensing the location hole and the calibration indicator hole are all contactless, so it does not affect the movement of the storage belt 31 and the transportation of the hanger 100. At the same time, the contactless camera and sensor have a longer service life than contact equipment, thereby reducing the time and cost of maintaining and replacing related equipment.

[0213] Further, the storage control device 55 can control the storage belt driving mechanism 322 according to the positioning result of the bin positioning device 54, and drive the storage belt 31 to move, slow down or stop, so as to accurately move the predetermined bin hole 311b to the predetermined hanging position or the predetermined removal position, and then the warehousing control device 53 can control the warehousing control device 20 to hang the hanger 100 into the predetermined bin hole 311b located at the predetermined hanging position, so as to realize warehousing, or the out-of-warehouse control device 56 can control the out-of-warehouse control device 40 to pick the hanger 100 from the predetermined bin hole 311b located at the predetermined removal position, and further transport it out of the warehouse.

[0214] Specifically, the storage control device 55 drives the storage belt 31 to move at different predetermined speeds according to the current interval b, and moves at a predetermined high speed when the predetermined position hole 311b is still far from the target position, moves at a predetermined medium speed when it is close to the target position, and moves at a predetermined low speed when it is very close to the target position and is about to reach it, so that the predetermined position hole 311b can be more accurately positioned at the predetermined hanging position or the predetermined removal position. When the predetermined position hole 311b reaches the predetermined hanging position, the storage control device 55 controls the storage belt 31 to be stationary, so that the hanging mechanism 231 can accurately hang the hanger 100 into the predetermined position hole 311b; when the predetermined position hole 311b reaches the predetermined removal position, the storage control device 55 drives the storage belt 31 to keep moving at a predetermined low speed, so that the warehouse removal device 41 can pick out the hanger 100 from the predetermined position hole 311b.

[0215] The above embodiments are only used to illustrate specific implementation modes of the present invention, and the present invention is not limited to the description scope of the above embodiments.

[0216] In the above embodiment, the spacing between two adjacent storage holes 311 is 26.52 mm. In practical applications, the spacing between two adjacent storage holes 311 can also be set to 15 mm-30 mm according to the actual style and thickness of the stored clothing.

[0217] In the above embodiment, the bin code 312 is a QR code, and the information contained in the QR code is the bin serial number of the corresponding bin hole 311. In other schemes of the present invention, the bin code 312 can also adopt other machine-recognizable graphics, and the recognizable graphics contain the bin serial number of the corresponding bin hole 311.

[0218] In the above embodiment, there are ten position holes 311 between the position code 312 and the corresponding calibration indication hole 314, and the camera and the calibration sensor are also spaced at the same distance. In other schemes of the present invention, there may be fewer or more position holes 311 between the position code 312 and the corresponding calibration indication hole 314, and the camera and the calibration sensor are set to be at the same distance.

[0219] In the above embodiment, the first counting sensor and the second counting sensor have a predetermined detection spacing along the extension direction of the storage belt, and the detection spacing p=13.5mm is slightly smaller than the width of a storage hole 311, so as to avoid miscounting when fine-tuning the storage belt 31. At the same time, the first counting sensor and the second counting sensor also have a certain spacing along the width direction of the storage belt 31, that is, they are located at different heights. In other schemes of the present invention, the detection spacing p can also be an integer multiple of 26.52mm, that is, the first counting sensor and the second counting sensor are separated by the spacing of several storage holes 311, which can also achieve the technical effect of the present invention. At the same time, when adopting this scheme, the first counting sensor and the second counting sensor can also be arranged flush along the width direction of the storage belt 31, that is, they are located at the same height.

[0220] In the above embodiment, the reference bin location acquisition unit 542 photographs the bin location code 312 at the predetermined reference position when the system starts or when the storage belt 31 is stationary, thereby acquiring the reference bin location i. In other schemes of the present invention, the reference bin location acquisition unit 542 may also photograph the bin location code 312 at the reference position multiple times when the system starts or when the storage belt 31 is stationary, and when the bin location serial numbers obtained by multiple photographs are consistent, the bin location serial number is used as the reference bin location i, thereby improving the accuracy of the reference bin location i.

[0221] In the above embodiment, when the current interval b ≥ 20 storage holes 311, the storage belt 31 moves at a predetermined high speed; when 5 storage holes 311 ≤ the current interval b < 20 storage holes 311, the storage belt 31 moves at a predetermined medium speed; when the current interval b < 5 storage holes 311, the storage belt 31 moves at a predetermined low speed. In other schemes of the present invention, the above thresholds can also be set to other values ​​according to actual conditions.

Claims

1. A bin location positioning device is provided in a belt storage system having a storage belt and a storage belt driving mechanism for driving the storage belt to move, wherein the storage belt has a plurality of bin holes for hanging a cargo carrier loaded with cargo, characterized in that: A bin code is set every several bin holes on the storage belt, and the bin code includes the bin serial number of the corresponding bin hole. The bin positioning device includes: A scheduled bin acquisition unit, used to acquire the bin sequence number of the scheduled bin hole as the scheduled bin; A reference location acquisition unit, which acquires the location code at a predetermined reference location when the belt storage system is started, that is, obtains the corresponding location serial number as the reference location; A predetermined interval acquisition unit, which acquires a predetermined position interval between a predetermined position hole and a predetermined hanging position or a predetermined taking-out position according to the predetermined position and the reference position; A mobile position acquisition unit is arranged at a predetermined detection position beside the storage belt, and senses and counts the position holes passing through the position, thereby acquiring the number of mobile position holes of the predetermined position holes; A reference position updating unit, which updates the reference position in real time according to the number of mobile positions; A current interval acquisition unit, which acquires a current interval between the predetermined position hole and the predetermined hanging position or the predetermined taking-out position according to the predetermined position and the reference position updated in real time; A reference position calibration unit calibrates the reference position updated in real time; and The predetermined position determination unit determines whether the predetermined position hole reaches the predetermined hanging position or the predetermined taking-out position according to the current interval.

2. The bin positioning device according to claim 1, Features: The storage belt is also provided with a plurality of calibration indication holes, which correspond to the plurality of the storage location codes respectively. The reference position calibration unit comprises: a calibration hole sensing unit, comprising a calibration sensor disposed at a predetermined calibration position beside the storage belt, for sensing the calibration indication hole passing through the position; and The reference position calibration unit calibrates the reference position updated in real time when the calibration hole sensing unit senses the calibration indicating hole.

3. The bin location positioning device according to claim 2, characterized in that: in, The calibration sensor is an infrared photoelectric sensor.

4. The bin positioning device according to claim 1, Features: Wherein, the mobile position acquisition unit includes: A bin hole sensing unit having at least two counting sensors, wherein a predetermined detection distance is provided between the two counting sensors along the extending direction of the storage belt; and The bin hole counting unit counts based on the sensing results of the two counting sensors.

5. The bin location positioning device according to claim 4, characterized in that: in, The storage belt also includes a steel belt portion, The two counting sensors are infrared photoelectric sensors, which generate a falling edge signal when sensing the movement from the steel belt portion to the storage hole, and generate a rising edge signal when sensing the movement from the storage hole to the steel belt portion. The bin hole counting unit performs a count when the two counting sensors generate different signals.

6. The bin location positioning device according to claim 4, characterized in that: in, The detection interval is 13.5 mm.

7. The bin location positioning device according to claim 4, characterized in that: in, The detection interval is an integer multiple of 26.52 mm.

8. The bin location positioning device according to claim 4, characterized in that: in, The two counting sensors have a predetermined height difference along the width direction of the storage tape.

9. The bin location positioning device according to claim 2, characterized in that: in, The reference location acquisition unit includes a camera disposed at the reference position, for photographing the location code, thereby acquiring the reference location. The distance between the calibration indication hole and the corresponding bin code is equal to the distance between the calibration position and the reference position. The calibration indication hole and the calibration sensor are also used to activate the camera so that the camera can take pictures.

10. A belt storage system, characterized in that: include: A storage device for storing a cargo carrier carrying cargo, comprising at least one storage belt having a plurality of bin holes and a storage belt driving mechanism for driving the storage belt to move; A storage device is used to hang the cargo carrier into the storage hole located at a predetermined hanging position, thereby realizing the storage of the cargo carrier; Outbound equipment, used for taking out the cargo carrier from the bin hole located at a predetermined take-out position; A bin positioning device, used for positioning the designated bin hole; as well as The storage control device controls the storage belt driving mechanism to drive the storage belt to move according to the positioning result of the bin positioning device, so as to move the designated bin hole to the predetermined hanging position or the predetermined taking-out position. Wherein, the warehouse positioning device is the warehouse positioning device described in any one of claims 1-9.

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