Mobile warehousing RFID reading robot and RFID reading system

Abstract

The utility model discloses a mobile warehouse RFID reading robot and an RFID reading system, the RFID reading system comprises a guide rail laid in a warehouse space, the reading robot comprises a movable base, a carrier arranged on the movable base and a plurality of RFID readers arranged on the carrier, and the RFID readers are arranged on the movable base. The RFID reader is characterized in that the carrier comprises a connecting seat fixed on the movable base and a supporting column vertically arranged on the connecting seat, the supporting column is in running fit with the connecting seat, a steering driver used for driving the supporting column to rotate is arranged on the connecting seat, the RFID readers are connected with the supporting column through branch rods of the RFID readers, and the supporting column is connected with the RFID readers through branch rods of the RFID readers. All the RFID readers are divided into a plurality of groups along the axial direction of the supporting column, and the movable base is in sliding fit with the guide rail. The utility model provides a mobile warehousing RFID reading robot and an RFID reading system, which can realize information reading of articles in a warehousing space by adopting a small number of RFID readers, improve reading efficiency and reduce the probability of missing scanning.

Description

Technical Field

[0001] The utility model relates to the technical field of warehouse RFID reading equipment, in particular to a mobile warehouse RFID reading robot and an RFID reading system. Background Art

[0002] In modern logistics and warehousing management, radio frequency identification (RFID) technology is widely used for the automatic identification and tracking of items. RFID technology automatically identifies objects and captures relevant data through radio frequency signals. Its advantages include non-contact, long-range, and rapid scanning, significantly improving the efficiency and accuracy of warehousing and logistics. However, traditional RFID readers are typically limited to reading within a fixed angle and range. When items are placed at an inappropriate angle or position, they can easily miss items, leading to missing item information and management vulnerabilities.

[0003] Existing solutions primarily rely on deploying multiple fixed-position RFID readers throughout a warehouse environment to cover the largest possible spatial area. While this approach can reduce missed scans to a certain extent, the fixed angle and position of the RFID reader limits its reading range. When items are placed at an angle or position outside of their reading range, missed scans are still common, leading to missing item information and management vulnerabilities. Existing solutions also require a large number of RFID readers, resulting in high installation and maintenance costs. Furthermore, traditional RFID readers typically only read within a fixed angle and range, failing to achieve multi-angle, high-frequency reading. This poses challenges in improving reading efficiency and accuracy. Utility Model Content

[0004] The present invention aims to solve, at least to a certain extent, one of the technical problems in the related art: to provide a mobile warehouse RFID reading robot and an RFID reading system, which can use a small number of RFID readers to read the information of items in the storage space, improve reading efficiency, and reduce the chance of missed scans.

[0005] To this end, a first objective of the present invention is to provide a mobile warehouse RFID reading robot comprising a movable base, a carrier disposed on the movable base, and a plurality of RFID readers mounted on the carrier. The robot is characterized in that the carrier comprises a connecting base fixed to the movable base and a pillar erected on the connecting base, the pillar rotatably engaging with the connecting base, the connecting base being provided with a steering actuator for driving the pillar to rotate, the plurality of RFID readers being connected to the pillar via respective branch rods, and all of the RFID readers being divided into multiple groups along the axial direction of the pillar. The movable base can drive the RFID readers to move within the storage space, thereby reducing or even eliminating the need for fixed RFID readers within the storage space. Furthermore, the rotation of the pillar can drive the multiple groups of RFID readers to rotate, thereby increasing the scanning range of the RFID readers.

[0006] According to an example of the present invention, all RFID readers are divided into three groups along the axial direction of the pillar.

[0007] According to one embodiment of the present invention, a group of at least two RFID readers is configured, with the multiple RFID readers within the group arranged circumferentially. By installing multiple RFID readers in each direction, the reading pressure on a single RFID reader is reduced, improving reading efficiency and accuracy. This ensures that the RFID readers can read at multiple angles and high frequency during rotation, improving reading efficiency and accuracy.

[0008] According to an example of the present invention, a group of RFID readers is two RFID readers.

[0009] According to one embodiment of the present invention, the support is an automatically retractable rod with adjustable length. The rod comprises a fixed section and a retractable section. The fixed section rotates with a connecting base, and the retractable section is connected to the fixed section. Part or all of the RFID reader is positioned on the retractable section. The automatically retractable rod allows the RFID reader to be adjusted in height, thereby varying the scanning height of the RFID reader as needed.

[0010] According to one embodiment of the present invention, the telescopic section is composed of multiple interconnected connecting rods, with each group of RFID readers arranged on its corresponding connecting rod. The telescopic section not only enables all RFID readers to adjust their heights simultaneously, but also allows the spacing between adjacent groups of RFID readers to be adjusted by extending and retracting the connecting rods within the telescopic section.

[0011] According to one example of the present invention, the RFID reader is mounted on the end of the corresponding branch rod via a movable joint. The movable joint is configured to allow the RFID reader's orientation to be adjusted. This movable joint allows the RFID reader's orientation to be adjusted to suit the placement and height of shelves within different storage spaces, resulting in higher reading efficiency.

[0012] To this end, a second object of the present invention is to provide an RFID reading system comprising the aforementioned reading robot and a guide rail disposed within a storage space. The reading robot's travel mechanism comprises a sliding base that slidably engages the guide rail and a displacement actuator for driving the sliding base along the guide rail. The guide rail is pre-placed according to the shape of the storage space, enabling the reading robot to move along the guide rail, scanning and reading information about items at various locations within the storage space as it passes through.

[0013] According to an example of the present invention, the guide rail is arranged at the top of the storage space along the height direction, and the reading robot is suspended inverted below the guide rail through a sliding base.

[0014] The above technical solution has the following advantages or beneficial effects: first, the movable base can drive the RFID reader to move, so that the RFID reader can scan and read items in the entire storage space in a mobile manner, thereby reducing or even eliminating the arrangement of fixed RFID readers, saving the cost of arranging more fixed RFID readers, and because the RFID reader can rotate with the pillar, the scanning range of the RFID reader is increased; secondly, the pillar is set as an automatic telescopic rod that can be extended and retracted along its own length direction, so that the height of the RFID reader is adjustable; thirdly, the RFID readers in the same group are multiple RFID readers arranged along the circumferential direction, so that the reading frequency can be increased, the missed detection situation can be further reduced, and the service life of the RFID reader can be extended; finally, the adjustable direction of the RFID reader is achieved through the movable joint, so that multiple RFID readers on the pillar in different storage spaces can automatically change their direction to the optimal scanning position.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the mobile storage RFID reading robot of the present utility model.

[0017] Figure 2 This is a front view schematic diagram of a mobile warehouse RFID reading robot.

[0018] Figure 3 This is a schematic diagram of the internal structure of a mobile warehouse RFID reading robot.

[0019] Figure 4 for Figure 3 The middle pillar is a structural diagram of an automatic telescopic rod.

[0020] Figure 5 This is a schematic diagram of the arrangement of guide rails in the storage space.

[0021] Figure 6 This is a schematic diagram of the arrangement of induction magnetic strips in the storage space.

[0022] Among them, 1. Movable base; 1.1. Sliding base; 2. Connecting seat; 3. Pillar; 3.1. Fixed section; 3.2. Telescopic section; 3.2.1. Connecting rod; 4. RFID reader; 5. Branch rod; 6. Control host; 7. Guide rail; 8. Induction magnetic strip; 8.1. Main magnetic strip; 8.2. Spare magnetic strip. DETAILED DESCRIPTION

[0023] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] The mobile warehouse RFID reading robot and RFID reading system according to the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0025] The utility model provides a mobile storage RFID reading robot, such as Figure 1-3 As shown, it includes a movable base 1, a carrier is provided on the movable base 1, and multiple RFID readers 4 are installed on the carrier, the carrier includes a connecting base 2 fixed on the movable base 1 and a pillar 3 erected on the connecting base 2, the pillar 3 is rotatably matched with the connecting base 2, and the connecting base 2 is provided with a steering driver (not shown in the figure) for driving the pillar 3 to rotate, the multiple RFID readers 4 are connected to the pillar 3 through their respective branch rods 5, and all the RFID readers 4 are divided into multiple groups along the axial direction of the pillar.

[0026] The steering drive is preferably a rotary motor, which engages with a rack on the pillar 3 via a transmission tooth, thereby driving the pillar 3 to rotate.

[0027] Based on the above preferred embodiment, Figure 1 As shown, the multiple RFID readers 4 are divided into multiple groups along the vertical direction.

[0028] Preferably, the plurality of RFID readers 4 are divided into three groups vertically.

[0029] Specifically, each group of RFID readers 4 includes two RFID readers 4, for a total of six RFID readers 4. In this embodiment, the support pillars 3 drive all RFID readers 4 to rotate, enabling multi-angle and three-dimensional reading. This design effectively solves the problem of fixed angles and positions of RFID readers in the prior art, resulting in a limited reading range. This significantly reduces costs, increases the reading range, and reduces missed scans. Furthermore, since multiple groups of RFID readers 4 are provided on the support pillars 3, the reading pressure on a single RFID reader is reduced, improving reading efficiency and accuracy. This ensures that the RFID readers can read at multiple angles and high frequency during rotation, improving reading efficiency and accuracy.

[0030] Based on the specific embodiments of the above multiple RFID readers 4, as shown in FIG. Figure 1-3 As shown, the pillar 3 is provided with six branch rods 5, and the six branch rods 5 are divided into three groups, upper, middle and lower. Figure 3 As shown, the upper branch rods 5.1 are angled upward by 30 to 60 degrees, the middle branch rods 5.2 are angled upward by 15 to 15 degrees downward, preferably horizontally, and the lower branch rods 5.3 are tilted downward by 30 to 60 degrees. Each branch rod 5 is terminated with an RFID reader 4. As the six RFID readers 4 rotate with the support 3, the fan-shaped reading area of ​​a single RFID reader 4 is transformed into a spherical or ellipsoidal reading range. This structural design allows the frequency emitted by the RFID reader to diffuse outward, forming a three-dimensional spherical or ellipsoidal range, thereby expanding the RFID reader's reading range. The reading ranges formed by the rotation of two RFID readers 4 within the same group overlap, thereby reducing the reading pressure on a single RFID reader and improving reading efficiency and accuracy. This ensures that the RFID reader can read at multiple angles and high frequency during rotation, improving reading efficiency and accuracy.

[0031] Since the heights of items placed in different storage spaces are different, some are placed directly on the ground, some are placed on shelves, and some are located at different heights of multi-layer shelves. Therefore, due to the different placement habits of items in different storage spaces, the reading robot in the above embodiment needs to adjust the position of the RFID reader according to the actual height of the items when used in different storage spaces. In order to make this height adjustment more convenient and thus make this embodiment more versatile, based on the above embodiment, the support 3 is an automatic telescopic rod with adjustable length. This automatic telescopic rod is an existing commercially available product. Therefore, the internal structure of how the automatic telescopic rod achieves telescopic extension will not be described in detail. It should be understood that the automatic telescopic rod described in this embodiment is a rod-shaped device that can receive a control signal to adjust its own length direction. Based on the common knowledge of automatic telescopic rods, it includes but is not limited to an electric telescopic rod, an electrically controlled pneumatic telescopic rod, and an electrically controlled hydraulic telescopic rod.

[0032] Specifically, if Figure 4 As shown, the automatic telescopic rod comprises a fixed section 3.1 and a telescopic section 3.2. One end of the fixed section 3.1 is rotatably engaged with the connecting base 2. A steering actuator acts on the fixed section 3.1, enabling rotation of the fixed section 3.1 relative to the connecting base 2. The telescopic section 3.2 is connected to the other end of the fixed section 3.1, thereby enabling longitudinal movement of the telescopic section 3.2. Some or all of the aforementioned multiple RFID readers 4 are positioned on the telescopic section 3.2. When all RFID readers 4 are positioned on the telescopic section 3.2, the vertical position of all RFID readers 4 can be adjusted by the telescopic section 3.2. When some RFID readers 4 are positioned on the telescopic section 3.2, the portion positioned on the telescopic section 3.2 is vertically adjustable, while the portion not positioned on the telescopic section 3.2 is mounted on the fixed section 3.1 and fixed in vertical position. In this embodiment, each RFID reader 4 is connected to the automatic telescopic rod via a corresponding branch rod 5.

[0033] Based on the preferred embodiment of the automatic telescopic rod, the telescopic section 3.2 is composed of multiple interconnected connecting rods 3.2.1, and each group of RFID readers 4 is arranged on its corresponding connecting rod 3.2.1. Specifically, the connecting rod 3.2.1 is divided into three sections: upper, middle, and lower. The upper end of the upper connecting rod 3.2.1 is sleeved outside the fixed section 3.1, the upper end of the middle connecting rod 3.2.1 is sleeved outside the lower end of the upper connecting rod 3.2.1, and the upper end of the lower connecting rod 3.2.1 is sleeved outside the upper end of the middle connecting rod 3.2.1. A driver is provided between the upper connecting rod 3.2.1 and the fixed section 3.1, as well as between any two adjacent connecting rods 3.2.1, for driving the corresponding connecting rod 3.2.1 upward or downward. This driver is a conventional power component of existing automatic telescopic rods. Therefore, the structure of this driver in various types of automatic telescopic rods will not be detailed in this embodiment. Preferably, the driver is a cylinder, and the cylinder body and telescopic rod of the cylinder are respectively connected to two adjacent connecting rods 3.2.1, or connected to the corresponding fixed section 3.1 and the upper connecting rod 3.2.1.

[0034] Since existing RFID readers themselves have a certain scanning angle and range, the setting of their orientation is also relatively important. If the orientation is not good, there is a risk of missing the object even if it is at the scanning height. Therefore, the improvement of this embodiment is that: the RFID reader 4 is connected to the support 3 through a movable joint, and the movable joint is configured to allow the orientation of the RFID reader 4 to be adjustable.

[0035] Preferably, the movable joint is an electrically controlled robotic arm, or the movable joint and branch rod 5 form an electrically controlled robotic arm, which is communicatively connected to an external control host 6. In this embodiment, the mobile warehouse RFID reading robot can automatically adjust the position and orientation of the RFID reader 4 on the support 3 in advance based on information such as the typical height of items placed in different storage spaces 100, thereby enabling the mobile warehouse RFID reading robot to adapt to different storage spaces 100. The RFID reader 4 can be adjusted by manually swinging the RFID reader 4, so that the RFID reader 4 maintains the desired orientation after the position is adjusted. Specifically, the electrically controlled robotic arm can be a multi-jointed robotic arm structure, with adjacent arms connected by movable joints, each of which is provided with a locking member for locking the corresponding movable joint. An operator only needs to remotely change the position and orientation of the RFID reader 4 through the control host 6. It should be understood that the electrically controlled robotic arm refers to an automatic robotic arm that can be controlled by electrical signals. This type of robotic arm is extremely common in modern industry as an auxiliary robot, and the structure of the electrically controlled robotic arm will not be described in detail here.

[0036] Based on the specific application of the above mobile warehouse RFID reading robot embodiment, the utility model provides an RFID reading system, such as Figure 1 and 5 As shown, the mobile warehouse RFID reading robot 200 described above and the guide rails 7 pre-installed within the storage space 100 are included. The movable base 1 within the reading robot includes a sliding base 1.1 that slidably engages with the guide rails 7 and a displacement actuator for driving the sliding base 1.1 along the guide rails 7. In this embodiment, the installation personnel install the guide rails 7 based on the performance of the RFID reader 4 within the mobile warehouse RFID reading robot 200 and the shape and area of ​​the corresponding storage space 100. Preferably, the guide rails 7 are arranged circumferentially around the storage space 100.

[0037] Specifically, the movement between the sliding base 1.1 and the guide rail 7 is driven by electromagnetic track technology, which uses electromagnetic force to drive a mobile carrier along a predetermined track. This technology features high precision, fast response, and strong controllability, and is commonly used in fields requiring precise position control, such as automated production lines and logistics sorting systems. In this embodiment, the displacement driver refers to a general term for all devices that use electromagnetic track technology to drive the sliding base 1.1 to slide on the guide rail 7, where the guide rail 7 is an electromagnetic track. Electromagnetic track technology is a conventional technology, and therefore the structure of the displacement driver will not be described in detail in this embodiment. It should be understood that the power required to make the sliding base 1.1 slide on the guide rail 7 is not limited to the aforementioned electromagnetic track technology. Existing motor-driven drive rack and toothed rack drive methods, motor-driven rollers that move along the sliding base 1.1 under the action of friction, or motor-driven cables that pull the sliding base 1.1 are all conventional drive methods used in the prior art to achieve movement of sliding components on the guide rail 7.

[0038] Furthermore, since the floor of the storage space generally needs to be used for vehicles and personnel to enter and exit, laying guide rails 7 on the floor will destroy the flatness of the floor, causing interference to the movement of vehicles and personnel. Therefore, based on the above embodiment, preferably, the guide rails 7 are arranged at the top of the storage space 100 in the height direction, and the reading robot is suspended inverted below the guide rails 7 through the sliding base 1.1. Specifically, Figure 4 As shown, both sides of the sliding base 1.1 have flange structures extending inward in the horizontal direction, thereby enabling the sliding base 1.1 to be suspended on the guide rail 7 and to slide along the length direction of the guide rail 7.

[0039] Based on the specific application of the above-mentioned mobile warehouse RFID reading robot embodiment, the present invention provides an RFID reading system, including the above-mentioned mobile warehouse RFID reading robot 200, and an inductive magnetic strip 8 laid in the storage space 100. The movable base 1 in the mobile warehouse RFID reading robot 200 includes a load-bearing base plate, running wheels arranged below the load-bearing base plate, a driving drive for driving the running wheels, and a sensor mounted on the load-bearing base plate for identifying the inductive magnetic strip 8. In this embodiment, the movable base 1 is also called a wheeled trolley, which can move on its own on a flat ground. By pre-setting the inductive magnetic strip 8 on the ground of the storage space 100, the movable base 1 is provided with a sensor for identifying the inductive magnetic strip 8. The electromagnetic induction between the sensor and the inductive magnetic strip 8 enables the movable base 1 to move along the inductive magnetic strip 8.

[0040] Preferably, if Figure 6 As shown, the sensing magnetic stripe 8 includes a main magnetic stripe 8.1 extending along the outer edge of the storage space 100, and a backup magnetic stripe 8.2 extending across the storage space 100. Each backup magnetic stripe 8.2 is connected to the main magnetic stripe 8.1 at both ends. The travel drive on the mobile storage RFID reading robot 200 is in communication with an external control host 6, which allows the control host 6 to control the travel drive to cyclically move along the main magnetic stripe 8.1, thereby periodically scanning the items within the storage space 100 over a full range. After multiple full-range scans, the reading robot can be controlled to move along the backup magnetic stripe 8.2. During this process, the reading robot can get closer to items in the middle of the storage space 100, read the item information, and compare it with the item information in the original database. This verifies whether any item information was missed during the full-range scanning process of the reading robot along the main magnetic stripe 8.1, thereby verifying the reliability of the original layout of the main magnetic stripe 8.1.

[0041] It should be noted here that, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means more than two, unless otherwise specifically defined.

[0043] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0044] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0046] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

[0047] Various changes and modifications will undoubtedly become apparent to those skilled in the art after reading the above description. Therefore, the appended claims should be construed to encompass all changes and modifications within the true intent and scope of the present invention. Any and all equivalents within the scope of the claims should be considered to be within the intent and scope of the present invention.

Claims

1. A mobile warehouse RFID reading robot, comprising a movable base (1), a carrier provided on the movable base (1), and a plurality of RFID readers (4) mounted on the carrier, characterized in that: The carrier comprises a connecting base (2) fixed on a movable base (1) and a pillar (3) erected on the connecting base (2); the pillar (3) and the connecting base (2) are rotatably matched; a steering driver for driving the pillar (3) to rotate is provided on the connecting base (2); the plurality of RFID readers (4) are connected to the pillar (3) via respective branch rods (5), and all the RFID readers (4) are divided into a plurality of groups along the axial direction of the pillar (3).

2. The mobile warehouse RFID reading robot according to claim 1, characterized in that: All RFID readers (4) are divided into three groups along the axial direction of the pillar (3).

3. The mobile warehouse RFID reading robot according to claim 2, characterized in that: A group of RFID readers (4) comprises at least two RFID readers (4), and the multiple RFID readers (4) in the same group are arranged along the circumferential direction.

4. The mobile warehouse RFID reading robot according to claim 3, characterized in that: A group of RFID readers (4) is two RFID readers (4).

5. The mobile warehouse RFID reading robot according to claim 1, characterized in that: The support (3) is an automatically telescopic rod with adjustable length. The automatically telescopic rod comprises a fixed section (3.1) and a telescopic section (3.2). The fixed section (3.1) is rotatably engaged with the connecting seat (2). The telescopic section (3.2) is connected to the fixed section (3.1). Part or all of the RFID reader (4) is arranged on the telescopic section (3.2).

6. The mobile warehouse RFID reading robot according to claim 5, characterized in that: The telescopic section (3.2) is composed of a plurality of connecting rods (3.2.1) that are sleeved together, and each group of RFID readers (4) is arranged on a corresponding connecting rod (3.2.1).

7. The mobile warehouse RFID reading robot according to claim 1, characterized in that: The RFID reader (4) is mounted on the end of the corresponding branch rod (5) via a movable joint, and the movable joint is configured to allow the orientation of the RFID reader (4) to be adjustable.

8. An RFID reading system, characterized in that: The invention comprises a reading robot as described in any one of claims 1 to 7 above, and a guide rail (7) laid in a storage space (100), wherein the movable base (1) in the reading robot comprises a sliding base (1.1) that slides with the guide rail (7) and a displacement driver for driving the sliding base (1.1) to slide along the guide rail (7).

9. The RFID reading system according to claim 8, wherein: The guide rail (7) is arranged at the top of the storage space (100) along the height direction, and the reading robot is suspended upside down below the guide rail (7) via a sliding base (1.1).

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