Safety interlocking system of formula warehouse stacking machine and using method of safety interlocking system

Abstract

The invention discloses a safety interlocking system of a formula warehouse stocker and a use method thereof, and belongs to the technical field of warehouse equipment safety, and the safety interlocking system comprises a safety state monitoring module which is used for monitoring safety state information in a stocker roadway in real time; the control module is in communication connection with the safety state monitoring module and is used for receiving and processing the safety state information and generating a control instruction according to preset safety logic; the brake execution module is arranged on the stacking machine, is in signal connection with the control module and is used for receiving the control instruction and executing corresponding speed reduction or brake operation on the stacking machine; and the man-machine interaction and alarm module is in communication connection with the control module and is used for displaying the system state, giving an alarm prompt and receiving a manual instruction. According to the invention, the risk of mechanical injury when personnel enter the roadway is effectively avoided, and the automatic safety level and the overall reliability of the operation of the stacker in the formula warehouse are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of warehouse equipment safety technology, specifically to a safety interlock system for a formula warehouse stacker crane and its usage method. Background Technology

[0002] In tobacco industry production, the formula warehouse in the tobacco processing workshop is the core area for the storage and circulation of tobacco packages. Its function is to realize the automated storage and retrieval of tobacco packages and the feeding of tobacco processing lines according to the formula direction. The tobacco package storage area of ​​the formula warehouse is generally equipped with multiple aisles, and each aisle is equipped with a stacker crane, which is responsible for reciprocating within the aisle to complete the positioning and transportation of tobacco packages.

[0003] In actual operation, stacker cranes inevitably experience malfunctions, such as shutdowns due to equipment abnormalities or obstructions caused by detached tobacco packages or boxes. In these situations, maintenance or operating personnel must enter the aisle where the stacker crane is located to troubleshoot, repair, or clean up the problem. However, the existing safety protection mechanisms for personnel entering the aisle in the formula storage area are inadequate, posing significant safety hazards. First, stacker cranes may automatically reset in a malfunctioning state, or, while handling detached cigarette packs, the continued operation of the equipment may penetrate obstacles, causing the stacker crane to suddenly start before personnel have evacuated. If personnel do not notice or react in time, this can easily lead to mechanical injury accidents, seriously threatening the personal safety of workers. Currently, there are two main emergency response methods commonly used on-site: one is for the operator to quickly trigger the emergency stop switch on the stacker crane itself; the other is to click the stop command through the InTouch monitoring screen in the central control room or on-site operating terminal. However, both methods have significant drawbacks: the first method requires personnel to be close to the stacker crane to operate, which is difficult to do quickly in an emergency and puts the operator in a dangerous area; the second method relies on the operator's real-time monitoring and timely response, and if an anomaly is not detected in time or there is a delay in operation, it will be unable to effectively stop the equipment from running.

[0004] In addition, the existing system lacks an active detection and interlocking control mechanism for personnel entering the roadway, and cannot automatically prevent the stacker crane from starting or force it to stop when personnel enter. The entire safety protection system is still mainly based on manual operation, with insufficient automation and intelligence, making it difficult to guarantee production safety. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a safety interlock system for a formula warehouse stacker crane and its usage method. Through the organic cooperation and interlocking control of a safety status monitoring module, a control module, an execution braking module, and a human-machine interaction and alarm module, an active, intelligent, and interlocking safety protection system is constructed, which effectively avoids the risk of mechanical injury when personnel enter the aisle and significantly improves the automation safety level and overall reliability of the formula warehouse stacker crane.

[0006] The technical solution of the present invention is as follows: In a first aspect of the invention, a safety interlock system for a recipe warehouse stacker crane is provided, comprising: The safety status monitoring module is used to monitor the safety status information in the stacker crane aisle in real time; The control module is communicatively connected to the safety status monitoring module, and is used to receive and process the safety status information, and generate control commands according to preset safety logic; An execution braking module is installed on the stacker crane and is signal-connected to the control module. It is used to receive the control commands and perform corresponding deceleration or braking operations on the stacker crane. The human-machine interaction and alarm module is communicatively connected to the control module and is used to display system status, alarm prompts, and receive manual commands. In some embodiments of the present invention, the safety status monitoring module includes: The access control detection unit is installed on the observation door of the stacker crane aisle to detect the opening and closing status information of the observation door and send the opening and closing status information to the control module. An area intrusion detection unit is installed within the operating area of ​​the stacker crane. It is used to detect obstacles within the operating area of ​​the stacker crane, obtain obstacle detection signals, and send the obstacle detection signals to the control module. A manual emergency stop triggering unit is installed on the stacker crane to receive emergency stop command signals and send them to the control module. In some embodiments of the present invention, the access control detection unit is configured as a safety switch, which is communicatively connected to the substation box in the formula warehouse entry area, and establishes a signal connection with the control module through the digital input module in the substation box. In some embodiments of the present invention, the area intrusion detection unit includes: The photoelectric detection subunit is configured with a number of photoelectric sensors spaced at intervals along the stacker crane track, used to detect the boundary of the stacker crane's operating area. The photoelectric detection subunit is communicatively connected to the control module. In some embodiments of the present invention, the area intrusion detection unit includes: The pressure sensing subunit is configured as a pressure sensing mat laid on both sides of the stacker crane track. The pressure sensing mat generates a trigger signal when stepped on and transmits it to the control module. In some embodiments of the present invention, the area intrusion detection unit includes: The laser scanning subunit is configured as a lidar installed on the top of the stacker crane, used to dynamically scan the stacker crane's running path and generate path data, and transmit the path data to the control module. In some embodiments of the present invention, the control module is configured as a programmable logic controller. In some embodiments of the present invention, the braking execution module includes: A control signal receiving unit is used to receive control commands from the control module. Electromagnetic brakes and hydraulic brakes are used to perform corresponding deceleration or braking operations on the stacker crane after receiving control commands. In some embodiments of the present invention, the human-computer interaction and alarm module includes: The host computer monitoring unit is communicatively connected to the control module and is used to display system status and fault codes; An audible and visual alarm is communicatively connected to the control module and is used to issue warning signals based on alarm conditions.

[0007] In a second aspect of the invention, a method of using a safety interlock system for a recipe warehouse stacker crane is provided, comprising: Before starting the stacker crane, a safety check is performed. The control module closes the observation door based on the opening and closing status information obtained from the access control unit. If the area intrusion detection unit detects no obstacle, the stacker crane starts. When the control module opens the observation door based on the opening and closing status information obtained from the access control unit, and the area intrusion detection unit detects an obstacle, the human-machine interaction and alarm module is triggered to sound an alarm and lock the stacker crane. During the operation of the stacker crane, the control module processes the data from the area intrusion detection unit in real time. If the laser scanning subunit detects an obstacle in the path data and the distance is less than the first threshold, it controls the stacker crane to slow down and triggers a primary alarm. If the obstacle distance is less than the second threshold, or the photoelectric detection subunit or pressure sensing subunit is triggered, or a manual emergency stop signal is received, the stacker crane emergency stop procedure is immediately triggered. At the same time, the fault information is reported to the alarm module through human-machine interaction and the stacker crane status is locked. After troubleshooting, a reset operation is performed. Once the control module performs a self-test and confirms that everything is normal, the stacker crane resumes operation or returns to the standby position.

[0008] One or more technical solutions of the present invention have the following beneficial effects: The present invention provides a safety interlock system for a recipe warehouse stacker crane and its usage method. A safety status monitoring module monitors the safety status within the aisle in real time; an access control detection unit is installed on the observation door to detect its opening and closing status; an area intrusion detection unit uses multiple sensing methods, including photoelectric detection subunits, pressure sensing subunits, and laser scanning subunits, to perform multi-dimensional obstacle detection in the stacker crane's operating area; and a manual emergency stop trigger unit provides an emergency manual intervention channel. All monitoring information is transmitted to the control module in real time, which makes judgments based on preset safety logic, effectively preventing the stacker crane from accidentally starting or continuing to operate before personnel have evacuated. Secondly, this invention achieves status visualization and timely alarm through human-computer interaction and alarm modules. The host computer monitoring unit displays the system status and fault codes in real time, and the audible and visual alarm issues a warning when there is an abnormality, so that operators can grasp the situation and intervene remotely without approaching the danger zone. At the same time, the control module processes the data of the area intrusion detection unit in real time. Once personnel intrusion or obstacles are detected, the braking module is immediately triggered to decelerate or stop suddenly, cut off the power and brake, which greatly improves the automation and reliability of emergency response. Finally, the present invention performs a safety check before the stacker crane is started: the stacker crane is only allowed to start when the access control detection unit confirms that the observation door is closed and the area intrusion detection unit has no abnormal signal; otherwise, the system alarms and locks. During operation, the laser scanning subunit dynamically monitors the distance to obstacles, triggers graded responses, and combines the trigger signals of the photoelectric detection subunit and the pressure sensing subunit or the manual emergency stop signal to achieve multiple safety guarantees. After the fault is cleared, the system ensures safe recovery through reset operation and system self-test, realizing multi-level active detection and interlocking control.

[0009] This invention constructs an active, intelligent, and interconnected safety protection system through the organic coordination and interlocking control of a safety status monitoring module, a control module, an execution braking module, and a human-machine interaction and alarm module. This effectively avoids the risk of mechanical injury when personnel enter the roadway and significantly improves the automation safety level and overall reliability of the formula warehouse stacker crane. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the overall structure of a safety interlocking system for a formula warehouse stacker crane provided in Embodiment 1 of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of a safety interlocking system for a formula warehouse stacker crane provided in Embodiment 1 of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the forklift and stacker provided in Embodiment 1 of the present invention; Figure 4This is a schematic diagram of the structure of the stacker crane equipped with a lidar according to Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the structure of the observation door with a safety switch provided in Embodiment 1 of the present invention.

[0011] Figure 6 This is a flowchart illustrating the operation of a safety interlocking system for a formula warehouse stacker crane, as provided in Embodiment 1 of the present invention.

[0012] In the diagram: 1. Formula warehouse shelf; 2. Stacker crane; 201. LiDAR; 3. Photoelectric sensor; 4. Pressure-sensitive floor mat; 5. Stacker crane track; 6. Forklift; 7. Observation platform; 8. Observation door; 9. Safety switch. Detailed Implementation

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] Example 1 In a typical embodiment of the present invention, a safety interlock system for a formula warehouse stacker crane is provided, comprising: The safety status monitoring module is used to monitor the safety status information in the stacker crane aisle in real time; The control module, which communicates with the safety status monitoring module, is used to receive and process safety status information and generate control commands according to preset safety logic. The braking module is installed on the stacker crane 2 and is connected to the control module. It is used to receive control commands and perform corresponding deceleration or braking operations on the stacker crane 2. The human-machine interaction and alarm module communicates with the control module and is used to display system status, alarm prompts, and receive manual commands. This embodiment achieves comprehensive and automated management of the safe operation of the stacker crane 2 by constructing a complete closed loop consisting of a safety status monitoring module, a control module, an execution braking module, and a human-machine interaction and alarm module. The safety status monitoring module continuously collects various safety status information within the stacker crane aisle, providing a real-time data foundation for subsequent decision-making; The control module is responsible for processing this information and making judgments based on preset security logic, generating precise control commands to ensure the intelligence and reliability of the security response; The braking module, as the system's execution terminal, can quickly respond to control commands and implement effective deceleration or braking operations on the stacker crane 2, directly intervening in the equipment's operating status to avoid potential dangers. The human-machine interaction and alarm module can clearly and intuitively display the current status and fault information of the system, issue alarm prompts in a timely manner, and receive manual intervention commands, thereby improving the operability of the system and the safety awareness of personnel. The four modules work together to form a comprehensive safety protection system with proactive prevention, real-time monitoring, rapid response, and user-friendly interaction, which significantly reduces the risk of accidents caused by accidental equipment startup or personnel entering dangerous areas.

[0015] Among them, such as Figures 1 to 5 As shown, the safety interlocking system provided in this embodiment specifically includes a stacker crane 2 installed between the formula warehouse shelves 1. A forklift 6 is provided on one side of the stacker crane 2, and a stacker crane track 5 is provided at the bottom of the stacker crane 2. The stacker crane 2 can slide on the stacker crane track 5. A lidar 201 is provided on the stacker crane 2. Pressure-sensitive mats 4 and several photoelectric sensors 3 are provided on both sides of the stacker crane track 5. The several photoelectric sensors 3 are evenly distributed at a set distance along the running direction of the stacker crane 2. An observation platform 7 is provided on one side of the formula warehouse shelves 1. An observation door 8 is provided on the observation platform 7. A safety switch 9 is provided on the observation door 8.

[0016] In this embodiment, the safety status monitoring module includes: The access control detection unit is installed on the observation door 8 in the stacker crane aisle. It is used to detect the opening and closing status information of the observation door 8 and send the opening and closing status information to the control module. The area intrusion detection unit is set in the operating area of ​​the stacker crane 2. It is used to detect obstacles in the operating area of ​​the stacker crane 2, obtain obstacle detection signals, and send the obstacle detection signals to the control module. The manual emergency stop triggering unit is installed on stacker crane 2 and is used to receive emergency stop command signals and send them to the control module. By introducing a triple detection system—access control unit, area intrusion detection unit, and manual emergency stop triggering unit—multi-dimensional and comprehensive perception of the safety status of stacker crane 2 is achieved. The access control unit directly monitors the physical passageway for personnel entering the aisle, observing the opening and closing status of door 8 to determine the possibility of authorized personnel entering from the source. The area intrusion detection unit directly scans and monitors the operating area of ​​stacker crane 2, proactively detecting any obstacles within the area, including unauthorized personnel. The manual emergency stop triggering unit retains the ability for proactive intervention in emergencies, providing a final layer of safety. This combined monitoring strategy organically integrates passageway status monitoring, proactive area monitoring, and manual emergency intervention, significantly improving the coverage and reliability of status monitoring. It avoids blind spots or failure risks that may exist with single detection methods, providing the control module with a more comprehensive and accurate basis for safety situation assessment.

[0017] In this embodiment, the access control detection unit is set as a safety switch 9. The safety switch 9 is communicatively connected to the substation box in the formula warehouse entry area, and establishes a signal connection with the control module through the digital input module in the substation box.

[0018] This setup offers advantages such as standardized wiring and stable, reliable signal transmission. The safety switch 9, as a mature and reliable detection element, can accurately sense the mechanical position of the observation door 8. The signal is aggregated and forwarded through the substation box, making the on-site wiring neater and more organized, facilitating construction and maintenance. The digital input module ensures that the switch status signal can be accurately and without distortion acquired by the control module, improving the anti-interference capability and reliability of the entire signal link, and enhancing the stability and maintainability of the system.

[0019] In this embodiment, the area intrusion detection unit includes: The photoelectric detection subunit is configured with several photoelectric sensors 3 spaced apart along the stacker crane track 5, used to detect the boundary of the stacker crane 2's operating area. The photoelectric detection subunit is communicatively connected to the control module. This setup enables reliable and sensitive non-contact detection of the stacker crane 2's operating area boundary. The background suppression function allows the sensors to effectively distinguish between real obstacles and distant background interference, greatly reducing the possibility of false alarms. The arrangement along the track at intervals can form one or more invisible detection zones, effectively covering the critical operating area boundary. Once personnel or objects cross this boundary, they can be quickly detected, thereby triggering early warning or braking in a timely manner to prevent them from further entering the danger zone. The response speed is fast, the coverage range can be flexibly configured, and maintenance is relatively simple.

[0020] In this embodiment, the area intrusion detection unit includes: The pressure sensing subunit is configured as a pressure sensing mat 4 laid on both sides of the stacker crane track 5. The pressure sensing mat 4 generates a trigger signal when stepped on and transmits it to the control module.

[0021] This setup provides a direct and reliable contact-based intrusion detection method. When a person steps on the pressure-sensitive mat 4, the mat generates a trigger signal. This method is not affected by environmental factors such as light and dust, and the detection results are direct and clear. It can effectively compensate for the shortcomings of photoelectric detection in certain specific working conditions. The installation of the pressure-sensitive mat 4 can accurately cover dangerous areas where people may walk, achieving ground-level security protection. It effectively complements other detection methods and constructs a three-dimensional intrusion detection network.

[0022] In this embodiment, the area intrusion detection unit includes: The laser scanning subunit is configured as a lidar 201 installed on the top of the stacker crane 2, used to dynamically scan the running path of the stacker crane 2 and generate path data, and transmit the path data to the control module.

[0023] This configuration enables dynamic, high-precision scanning and modeling of the stacker crane 2's operating path. The LiDAR 201 continuously acquires detailed contour data of the environment in front of and around the stacker crane 2, detecting not only static obstacles but also dynamically moving objects. By analyzing the generated path data, the system can more accurately determine the position, size, and even movement trend of obstacles, providing rich data support for implementing higher-level safety strategies, such as graded deceleration warnings. This dynamic scanning capability allows safety protection to move beyond fixed boundaries, enabling proactive and predictive protection that follows the movement of the stacker crane 2.

[0024] In this embodiment, the control module is configured as a programmable logic controller.

[0025] With this configuration, the programmable logic controller (PLC) can quickly respond to input signals from various monitoring modules, accurately execute preset safety logic programs, and rapidly output control commands. Using a PLC as the control module ensures the real-time performance and determinism of the system when handling complex safety logic, while also facilitating future functional expansion and maintenance.

[0026] In this embodiment, the braking module includes: The control signal receiving unit is used to receive control commands from the control module. Electromagnetic brakes and hydraulic brakes are used to brake the stacker crane 2 after receiving control commands.

[0027] This configuration ensures that braking commands in the control instructions can be reliably received and converted into powerful braking actions. The control signal receiving unit guarantees that commands from the control module can be accurately transmitted to the braking actuator. The combination of electromagnetic and hydraulic brakes provides rapid response and high braking torque. Electromagnetic brakes typically have extremely fast response and can be used to achieve rapid braking; hydraulic brakes provide smooth and powerful braking force. The combination of the two can meet the emergency braking or smooth deceleration needs of the stacker crane 2 under different operating conditions, ensuring that the equipment can be stopped quickly and effectively in the event of a hazard, fundamentally eliminating mechanical danger.

[0028] In this embodiment, the human-computer interaction and alarm module includes: The host computer monitoring unit communicates with the control module and is used to display system status and fault codes; The audible and visual alarm is connected to the control module and is used to issue warning signals according to alarm conditions.

[0029] The host computer monitoring unit provides operators with a global, graphical monitoring interface that clearly displays the system status of stacker crane 2, the working status of each module, and specific fault codes, greatly facilitating system status monitoring and rapid fault location. The audible and visual alarm uses sound and flashing lights—two highly intuitive methods—to immediately alert on-site personnel when alarm conditions are met. This effective alert ensures timely and effective alarm information transmission, regardless of whether the operator is looking at the monitoring screen, prompting personnel to take swift action.

[0030] In a second aspect of the invention, a method for using a safety interlock system for a recipe warehouse stacker crane 2 is provided, such as... Figure 6 As shown, it includes: Before starting the stacker crane 2, a safety check is performed. The control module closes the observation door 8 based on the opening and closing status information obtained from the access control unit. If the area intrusion detection unit detects no obstacle, the stacker crane 2 starts. When the control module opens the observation door 8 based on the opening and closing status information obtained from the access control unit, and the area intrusion detection unit detects an obstacle, the human-machine interaction and alarm module is triggered to sound an alarm and lock the stacker crane 2. During the operation of stacker crane 2, the control module processes the data from the area intrusion detection unit in real time. If the laser scanning subunit detects an obstacle in the path data and the distance is less than the first threshold, it controls the stacker crane 2 to reduce its speed and triggers a primary alarm. If the obstacle distance is less than the second threshold, or the photoelectric detection subunit or pressure sensing subunit is triggered, or a manual emergency stop signal is received, the stacker crane 2 emergency stop procedure is immediately triggered. At the same time, the fault information is reported to the alarm module through human-machine interaction and the status of stacker crane 2 is locked. After troubleshooting, a reset operation is performed. Once the control module performs a self-check and confirms normal operation, the stacker crane 2 resumes operation or returns to the standby position. The pre-start safety verification process, through mandatory checks of the status of observation door 8 and the condition of obstacles in the area, eliminates the risk of starting the stacker crane 2 in an unsafe state, achieving a hard constraint for safe start-up. Real-time data processing and a multi-level response mechanism during operation ensure safety monitoring throughout the entire process. In particular, distance judgment based on laser scanning enables graded responses for early warning and emergency stop. This allows for both early warning and speed reduction when potential risks arise, avoiding equipment impact and production interruptions caused by sudden stops, and decisive emergency stops when danger is imminent, ensuring personal safety.

[0031] When higher priority signals such as photoelectric, pressure, or manual emergency stop are triggered, the system immediately enters the emergency stop procedure, reflecting the principle of safety first. The power cut-off, braking implementation, status locking, and information reporting after the emergency stop is triggered form a standard and reliable emergency event handling procedure, ensuring that the situation does not escalate and the danger is controlled.

[0032] The reset and self-test procedures after troubleshooting ensure that the system is in a known safe state before resuming operation, avoiding operation with defects. The entire usage method is logically clear, organically linking the functions of each module to jointly achieve multi-level, intelligent safety interlocking protection throughout the entire operation of the stacker crane 2.

[0033] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A safety interlock system for a formula library stacker, characterized by, The application relates to a safety state monitoring system for a stacker, which comprises the following parts: a safety state monitoring module for monitoring the safety state information in the stacker lane in real time; a control module in signal connection with the safety state monitoring module, for receiving and processing the safety state information and generating control instructions according to preset safety logic; an execution braking module arranged on the stacker and in signal connection with the control module, for receiving the control instructions and executing corresponding deceleration or braking operation on the stacker; a man-machine interaction and alarm module in signal connection with the control module, for displaying system state, alarm prompt and receiving manual instructions.

2. A safety interlock system for a recipe library stacker as defined in claim 1, characterized in that The safety state monitoring module comprises: an access detection unit arranged on the observation door of the stacker lane, for detecting the opening and closing state information of the observation door and sending the opening and closing state information to the control module; a regional intrusion detection unit arranged in the stacker operation area, for detecting obstacles in the stacker operation area to obtain an obstacle detection signal and sending the obstacle detection signal to the control module; a manual emergency stop triggering unit arranged on the stacker, for receiving an emergency stop instruction signal and sending the emergency stop instruction signal to the control module.

3. A safety interlock system for a recipe library stacker as defined in claim 2, characterized in that The access detection unit is arranged as a safety switch, which is in signal connection with a substation box in the formula library storage area and is in signal connection with the control module through a digital input module in the substation box.

4. A safety interlock system for a recipe library stacker as defined in claim 2, wherein The regional intrusion detection unit comprises: a photoelectric detection subunit arranged as a plurality of photoelectric sensors arranged at intervals along the stacker track, for detecting the boundary of the stacker operation area, and the photoelectric detection subunit is in signal connection with the control module.

5. A safety interlock system for a recipe library stacker as defined in claim 2, wherein The regional intrusion detection unit comprises: a pressure sensing subunit arranged as pressure sensing floor mats laid on both sides of the stacker track, which generate a trigger signal under the pressure of stepping and transmit the trigger signal to the control module.

6. A safety interlock system for a recipe library stacker as defined in claim 2, wherein The regional intrusion detection unit comprises: a laser scanning subunit arranged as a laser radar installed on the top of the stacker, for dynamically scanning the stacker operation path and generating path data, and transmitting the path data to the control module.

7. A safety interlock system for a recipe library stacker as defined in claim 1, wherein The control module is arranged as a programmable logic controller.

8. A safety interlock system for a recipe library stacker as defined in claim 1, wherein, The execution braking module comprises: a control signal receiving unit for receiving the control instructions of the control module; an electromagnetic brake and a hydraulic brake for executing corresponding deceleration or braking operation on the stacker after receiving the control instructions.

9. A safety interlock system for a recipe library stacker as defined in claim 1, wherein, The man-machine interaction and alarm module comprises: a host computer monitoring unit in signal connection with the control module, for displaying system state and fault codes; an audible and visual alarm in signal connection with the control module, for issuing a warning signal according to the alarm condition.

10. A method of using a safety interlock system for a recipe library stacker as claimed in any one of claims 1 to 9, wherein, The application relates to a safety state monitoring system for a stacker, which comprises the following parts: Before the stacker starts, a safety check is performed. When the control module obtains the observation door closing state information from the access detection unit and the obstacle detection signal from the area intrusion detection unit is no obstacle signal, the stacker starts. When the control module obtains the observation door opening state information from the access detection unit and the obstacle detection signal from the area intrusion detection unit is an obstacle signal, the man-machine interaction and alarm module is triggered to alarm and lock the stacker. During the operation of the stacker, the control module processes the data of the area intrusion detection unit in real time. If the laser scanning subunit detects an obstacle in the path data and the distance is less than the first threshold value, the stacker is controlled to run at a reduced speed and a preliminary alarm is triggered. If the distance of the obstacle is less than the second threshold value, or the photoelectric detection subunit or the pressure sensing subunit is triggered, or a manual emergency stop signal is received, the stacker emergency stop process is immediately triggered, and the control module reports the fault information and locks the stacker state through the man-machine interaction and alarm module. After troubleshooting, a reset operation is performed. After the control module performs self-checking and confirms that it is normal, the stacker resumes operation or returns to the standby position.

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