TECHNICAL FIELD

The present invention relates to apparatus for handling items such as garments, uniforms, storage bags, and the like, comprising a plurality of storage positions in which items may be stored, and conveying means operable to convey items from the storage positions to a collect location, and to corresponding methods.

BACKGROUND TO THE INVENTION

Automated garment retrieval systems are known. For example, GB2080264 discloses an automated garment handling system. Garments are retrieved by a picker mounted on the moveable gantry. The gantry moves along a rail which has a plurality or slots fom ed therein. A light source and corresponding photo-detector are provided on the movable gantry and are positioned such that the light from the light source passes through the slot and reaches the photo-detector each time the gantry moves past one slot in the rail. By observing when light is detected, it is intended that the position of the moveable gantry can be determined and an appropriate garment stored in a particular position can be retrieved automatically. However, there are significant limitations of this arrangement. It is prone to counting and positional error when there are changes in direction of the gantry. These errors limit the overall functionality of the equipment, and limit its application use.

Other garment retrieval systems are disclosed in GB2155451 and GB2260974. Such existing counting systems use a simple slot to designate each hanging position, as shown in Figure 13A. An opto-sensor is used to detect the slot 200 in the rail 202 and register this as a 'count'. The problem with this method is that each slot 'looks' the same, and it is not possible for the controls to determine which way the gantry was moving when the opto-signal was generated; if the gantry moves left the signal seen is exactly the same as that seen when the gantry moves right. I.e. both left and right movement generates the same phase pulse, as the opto sensor passes from a blocked light position to an open light position.

This is a particular problem for the following reasons: when the gantry is stopped at a hanging location, and the opto sensor is sitting on the cusp of the slot, it is possible that an erroneous pulse is generated (by vibration and slight movements due to pickoff of an item) that can signal a change of count when in fact the gantry has not intentionally moving. Again, if the opto sensor is sitting on a cusp of a slot when the gantry starts up, a pulse generated cannot be relied on to have signalled a correct forward or backward pulse even if the direction of the gantry is known to the control software, as the gantry does not always cleanly move and some wobble causes the gantry to rock in its position before moving (and stopping). Thus, due to the fact that a left movement pulse is the same as a right movement pulse, counting and tracking with this method of sensing is known and proven to be unreliable.

Figure 1 3B shows typical pulse stream seen by control software. These pulses contain no direction information.

It is an object of the present invention to provide an improved garment retrieval apparatus.

SUMMARY OF THE INVENTION

According to a first aspect of the invention, there is provided apparatus for handling items such as garments, uniforms, storage bags and the like, comprising:

a plurality of storage locations (e.g. slots) at which items may be stored, the position of each of which is marked (e.g. with part of a quadrature marking scheme), conveying means operable to convey items from the storage positions to a collect location, the conveying means having a item picking device for loading and unloading a item from a storage location, which picking device is moveable by said conveying means in a first and second direction (e.g. opposite directions) to enable access to said plurality of storage locations, and

position detection means for detecting the position of the picking device relative to the storage locations such that the position of the picking device relative to the storage locations is known irrespective of any change in direction of movement of the garment picking device between the first and second directions.

The items may be personal items such as garments, storage bags (e.g. garment storage bags), luggage and similar items.

The positions may be marked with a marking scheme that enables the position detection means to detect the direction of movement of the picking device. The positions may be marked by an edge of a marker, and the position detection means is operable to detect the presence or absence of the marker at a location to detect passage of the edge of the marker. A photo detector (or other radiation detector) may be used to sense the marker. Light (or other radiation) may be detected when the marker is in the area sensed by the sensor, and may not be detected when the marker is in the area sensed by the sensor. Thus, when the picking device moves relative to the storage locations, as a marker moves into the area sensed by the sensor, the sensor output will change from a first value to a second value as the edge of the marker passes the area sensed by the sensor. Similarly, as a marker moves out of the area sensed by the sensor, the sensor output will change from the second value to the first value as the edge of the marker passes the area sensed by the sensor.

The positions may be marked with a marking scheme comprising a first region and a second region, both of which extend over a plurality of positions and which identify every alternate position, the first region and the second region being offset from and distinguishable from each other such that, when the first region identifies a first position, the second region identifies the positions adjacent to (immediately either side of) the first position. The alternate positions may be identified by opposite edges of the same marker. The first region and the second region may be distinguishable from each other by virtue of their position - they may be positioned such that they are aligned with respective sensors - so a first sensor detects the first region (only) and a second sensor detects the second region (only).

The positions are preferably marked by a patterned aperture spanning a plurality of the positions, the pattern being such that the position of the picking device can be determined by obtaining an indication of the aperture shape at any one of those positions.

The picking device may advantageously be able to pick a plurality of items and carry those items at the same time.

In the embodiment to be described there are two of said plurality of storage locations extending along opposite sides of a location in which the conveying means is located, wherein the conveying means includes two of said picking devices, one for each of said opposite plurality of storage locations, and wherein the position detection means is operable to detect the position of the picking devices relative to the storage locations on both of said plurality of storage locations.

Means for collecting and recycling escort-clips used to couple the items to the storage locations after use so that they are not simply dropped on the floor.

According to second aspect of the invention, there is provided apparatus for handling items such as garments and the like, comprising:

a plurality of storage locations in which items may be stored, the position of each of which is marked, conveying means operable to convey items from the storage positions to a collect location, the conveying means having a picking device for loading and unloading an item from a storage location, which picking device is moveable by said conveying means in a first and second direction (e.g. opposite directions) to enable access to said plurality of storage locations, and

wherein the items are carried by a carrying device and the picking device is operable to load or unload a carrying device by gently latching or gripping that carrying device. The picking device may include an actuator or a resiliently deformable means.

According to a third aspect of the invention, there is provided a method of handling items such as garments and the like, in which:

a plurality of storage locations are provided in which items may be stored, the position of each of which is marked,

conveying means is provided to convey items from the storage positions to a collect location, the conveying means having a picking device for loading and unloading an item from a storage location, which (e.g. opposite directions) picking device is moveable by said conveying means in a first and second direction to enable access to said plurality of storage locations, and

the method including using position detection means to detect the position of the picking device relative to the storage locations such that the position of the picking device relative to the storage locations is known irrespective of any change in direction of movement of the picking device between the first and second directions.

According to a fourth aspect of the invention, there is provided a method of handling items such as garments and the like, in which:

a plurality of storage locations are provided in which items may be stored, the position of each of which is marked,

conveying means are provided to convey items from the storage positions to a collect location, the conveying means having a item picking device for loading and unloading an item from a storage location, which item picking device is moveable by said conveying means in a first and second direction to enable access to said plurality of storage locations, and

the method including carrying the items by a carrying device and the picking device loading or unloading a carrying device by gently latching or gripping that carrying device. The invention further provides apparatus for handling items such as garments and the like, comprising:

a plurality of storage locations in which items may be stored, the position of each of which is marked,

conveying means operable to convey items from the storage positions to a collect location, the conveying means having a picking device for loading and unloading an item from a storage location, which picking device is moveable by said conveying means along a first (e.g. horizontal) axis to enable access to said plurality of storage locations, and

wherein the garment picking device is moveable along a second (e.g. vertical) axis to load and unload an item from a storage location by raising or lowering the item relative to the storage location.

The invention additionally provides a method of handling items such as garments and the like, in which:

a plurality of storage locations are provided in which items may be stored, the position of each of which is marked,

conveying means are provided to convey items from the storage positions to a collect location, the conveying means having a picking device for loading and unloading an item from a storage location, which picking device is moveable by said conveying means along a axis to enable access to said plurality of storage locations, and

the method including moving the picking device along a second axis to load and unload an item from a storage location by raising or lowering the item relative to the storage location.

In the embodiments, a gantry is driven along and runs on two parallel runner rails and moves backwards and forwards. A carriage assembly on the gantry is driven from side to side and is also driven up and down to pickoff items. Each runner rail has a sensor rail attached to either side. The sensor rails are aligned with item hanging positions underneath. The gantry has an opto sensor assembly mounted on either side that slides along the sensor rails, and counts positions independently on both sides; thus it tracks what slot it has counted on both sides. The sensor rails can have differing slot density, thus the machine can have different hanging densities on each side. When the gantry has reached the target slot (on whatever side) it stops. The carriage is then driven left or right (depending on what side it has to pick from). The carnage has a latched beak on either side that can pass through and latch over a 'dogbone' clip. The dogbone clip sits in the hanging rail using the top loop, and a coat hanger (or hangers) are hung from the bottom loop. The carriage is driven upwards to lift up the clip (and hanger), whereby the carriage can then be driven back to centre removing the hanging item. Due to the fact the gantry knows the exact position in relation to both sides it can count to another hanging position on the other side to pick off another item . Depending if one or two items are picked-off the gantry will then be driven home to the waiting user at the front (or rear if required) position. The dogbone clips are dropped into and recycled using side mounted collection boxes (or like) mounted at the front of the machine (to prevent the clips dropping to the floor).

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the present invention an embodiment will now be described by way of example, with reference lo the accompanying drawings, in which:

Figure 1 is a front elevational view of the exterior of the garment dispensing apparatus according to an embodiment of the invention, show ing the front panel of the apparatus including a user interface and an aperture through which garments can be passed;

Figure 2 shows a front elevational view of the apparatus according to a first embodiment of the invention as it appears behind the front panel shown in Figure 1 ;

Figure 3 is a front elevational view showing side elevational views of a sensor-rail and hanging-rail apparatus, a gantry front face, and a picker apparatus according to a first embodiment of the invention;

Figures 4A and 4B are a front elevational view and a side elevational view, respectively, of a sensor-rail according to a first embodiment of the invention;

Figures 5A and 5B are a front elevational and a side elevational view, respectively, of a garment hanging-rail according to a first embodiment of the invention:

Figure 6 is a front elevational view of a garment picker head according to the first embodiment;

Figure 7 shows the aperture slot edges;

Figure 8 is a schematic diagram of the control and processing functions according to the first embodiment of the invention;

Figures 9A to 9D are a flow chart showing the processing of signals from opto-sensors;

Figure 10 is a flow chart for a subroutine showing the generation of position indication direction and pulses;

Figures 1 1 A and 1 1 B are a table showing values of various variables used m the flowcharts of Figures 9 and 10;

Figures 12A and 12B are front elcvational view and a side elevational view of a sensor- rail and hanging-rail assembly according to a second embodiment of the invention;

Figure 12C is a detailed view of a picker according to the second embodiment; and

Figures 13A and 13B show a known arrangement.

In the drawings like elements are generally designated with the same reference signs. DETAILED DESCRIPTION OF EMBODIMENT OF THE INVENTION

Figure 1 shows the front panel 1 of the garment handling apparatus. The front panel includes a central aperture 3 that is an appropriate size to allow the passage of garments and other similar items therethrough, an example of which is a garment in the garment bag shown at 5. The garment and garment bag 5 are mounted on a convention of hanger 7. An escort (or "dog bone") clip 9 couples the hanger 7 (and garment/garment bag 5) to a picker apparatus to be described in more detail below but which cannot be seen in Figure 1 as this is positioned behind the front panel 1 . The front panel 1 also has mounted thereon a preferred visual display (e.g. touch sensitive screen) 1 1 , a card, PIN or biometric reader 13 and an optional keypad 15, which are linked to a processing apparatus.

Figure 2 shows the front view of the picker apparatus that is generally hidden from view behind the front panel 1 of Figure 1 .

The picker apparatus comprises a frame having a left upright 20, a right upright 22 between which an upper cross member 24 extends. The frame may comprise a series of interconnected uprights and cross members in addition to those shown in Figure 2 to extended the hanging capacity of the overall apparatus.

A linear (straight) left garment hanging-rail 26 is attached to the left upright 20 and a linear (straight) right garment hanging-rail 28 is attached to the right upright 22. The garment hanging-rails 26, 28 are configured to support a plurality of garments/garment bags 5 at a series of spaced apart locations along their longitudinal length (extending in the x direction into and out of the page in Figure 2), when those garments/garment bags 5 are mounted to the garment hanging-rails 26, 28 by a conventional hanger 7 and a escort- clip 9.

A gantry 30 extends between the left upright 20 and the right upright 22 in a direction generally parallel to the cross member 24. The main gantry body 30 includes an slide mechanism 32 across its width onto w hich a picker apparatus 34 is mounted which allows picker apparatus 34 to move in a y direction left and right across the gantry body 30. The movement of the picker apparatus 34 in the y direction may be performed by any suitable mechanism. The picker apparatus 34 includes a picker bar 36 to which a left hand picker head 38 and a right hand picker head 40 are attached.

The main body of the gantry 30 has fixed to its left end a left coupling member 42. and has a corresponding right coupling member 44 fixed to its right end. Each of the coupling members 42, 44 includes an inverted U-shaped recess 46 which is configured to fit over a L-shaped member 48 which is part of a left gantry sensor-rail 48 and a right gantry sensor-rail 48, respectively. Left and right sensor-rails 48 are fixed to the respective gantry left and right runner-rails 50. The main body of the gantry 30 has fixed to its left hand side and right hand side rolling guide wheels (not shown) which locate the gantry 30 in the transverse direction (y) but allows relative movement between the gantry and the frame in the longitudinal direction (x). The main body of the gantry 30 has fixed to its left hand side and right hand (not shown) side roller wheels which allow the gantry to roll along the runner-rails 50, whilst also fixing the height (z dimension) of the gantry 30 relative to the sensor-rails 48 and hanging-rails 26, 28. The movement of the gantry in the x direction may be performed by any suitable drive mechanism. Figure 2 depicts the gantry 30 being motor driven by sprockets 16, which engage within chain fixed along the top surface of both runner-rails 50, which span the longitudinal length of the apparatus. The left runner-rail 50 is fixed to the left upright 20, and the right runner-rail 50 is fixed to the right upright 22.

Figure 3 shows in more detail the arrangement of the left garment hanging-rail 26, left gantry sensor-rail 48, left coupling member 42, gantry slide mechanism 32, picker carriage apparatus 34, carriage fixed plate 37, carriage slide plate 35, picker bar 36, left picker head 38 and right picker head 40.

The picker carriage apparatus 34 is mounted to the gantry slide mechanism 32 so that carriage fixed plate 37 position relative thereto is fixed in the x and z directions but so that the carriage 34 can slide relative to the main gantry body 30 in the transverse y direction. The carriage 34 is mounted to a lead-screw arrangement (not shown) that is mounted parallel to the gantry main body 30 in order to provide controlled movement of the carriage 34 in the transverse direction y.

The carriage fixed plate 37 includes four pins 51 extending from the face thereof that lies parallel to the transverse direction y. The carriage slide plate 35 comprises a plate having four slots 52 formed therein which are elongated in the z direction. The width of the slots 52 corresponds to the diameter of the pins 51 , such that when the carriage slide plate 35 is mounted to the carriage fixed plate 37 the pins 51 extend through the slots 52. The arrangement of the pins 51 and the slots 52 allows for limited movement in the z direction of the carriage slide plate 35 relative to the carriage fixed plate 37. This movement is controlled by a rack and pinion motor drive 53. or other suitable actuator that is connected between the carriage fixed plate 37 and the carriage slide plate 35 such that it is able to lift or lower the picker body 35 relative to the picker carriage 37 in a controlled manner. This lifting/lowering results in the pins 51 moving within the slots 52. A sensor device 54 fitted between the carriage fixed plate 37 and the carriage slide plate 35 is able to signal the exact z position of the movable picker body 35 in relation to the carnage fixed plate 37 to the gantry controls 1 16.

The carriage slide plate 35 is fixed to the picker bar 36 by a coupling plate 56. As mentioned above, the picker bar 36 has the left picker head 38 mounted at one end thereof and the right picker head 40 mounted at the opposite end thereof. The left end of the picker bar 38 includes a left pointed part 58 and a right pointed part 60 that form opposite distal ends of the picker bar 36.

The left picker head 38 has fixed thereto a left latched member 62 that has an engagement surface 64 which is arranged to abut an upper surface 65 of the pointed part 58 when the latched member 62 is in a closed position (as shown in Figure 3). When in the closed position, the latched member 62 and the pointed part 58 define an enclosed capture space 66.

The left picker head 38, including the latched member 62 fixed thereto, is coupled to the picker bar 36 by a coupling pin 68. The coupling between the left picker head 38 and the picker bar 36 is such that rotation about the coupling pin 68 is possible. The latched member 62 is biased closed in the position shown in Figure 3 by means of a suitable spring arrangement 43. Rotation of the left picker head 38 (and the latched member 62 fixed thereto) may be performed by an actuator 70 which is connected to the left picker head 38. Linear movement of the picker carriage 34 in the direction y causes controlled rotation of the left picker head 38 about the coupling pin 68 in two scenarios dependant on the carriage slide plate 35 being located at the correct z height position. Scenario 1 ) when the front leading edge of latched member 62 strikes the top edge of an escort-clip 9 upper loop 80, causing latched member 62 to rotate open, whereby further linear movement allows latched member 62 to close behind the escort-clip 9 upper loop 80, capturing it within the capture space 66. Scenario 2) when actuator roller 47, 47A attached to actuator 70, 70A strikes the bumber arrangement 45 (right side not shown) fixed to the underside of the gantry body 30. By such linear movements the latched member 62 may be moved from the closed position shown in Figure 3 to an open position in which the abutment surface 64 is spaced apart from the upper surface 65 of the pointed part 58, thereby in scenario 1 allowing an escort-clip upper loop 80 to enter the capture space 66 formed between the abutment surface 64 and the upper surface 65 of the pointed part 58, or alternatively in scenario 2 allowing an ejection of an escort-clip falling from the capture space 66 under gravity when the latched member is rotated open.

The left hand bumper arrangement 45 and that of a similar right hand bumper (not shown) on the gantry body 30 are positioned to allow escort-clips to be released from the capture space 66, 66A such that the escort-clips 9 can fall into a suitable collection container (not shown) mounted on the respective upright 20, 22 positioned underneath picker assembly 34, in order to facilitate the collection and recycling of escort-clips 9 saving them from falling to the floor. When the carriage assembly 34 is moved into the correct left or right position such that actuator 70 or 70A with roller 47 or 47A is positioned under bumper 47, the latched member 62 or 62A can be opened by raising the carriage slide plate 35 upwards such that the roller 47 is depressed by the bumper 45, rotating latched member 62 or 62A open.

The right picker head 40 includes elements corresponding to the left picker head 38, and is coupled to the picker bar 36 in a manner similar to that of the left picker head 38, and this will not be described in detailed for the sake of brevity. Corresponding elements of the right picker head are designated with the same reference signs as corresponding parts of the left picker head 38 but with the suffix A. Figures 4A (side view) and 4B (front view) show in more detail the gantry sensor-rail 48. The gantry sensor-rail 48 being U-shaped includes an inner wall which allows fixing to the gantry runner-rail 50 and an outer wall 69. For example, the outer wall surface 72 may have a light absorbing finish (such as a matt black finish) to improve operational reliability of the opto-sensors 82, 84, 86, 88. The outer wall 69 has a series of spaced apart apertures 74 formed there through when viewed from the front (as in Figure 4B). As shown in Figure 3. the left coupling member 42 includes an upper light (or other radiation) source 82 and a corresponding upper photo-detector transducer 84 mounted at corresponding positions on opposite sides of the recess 46. The upper light source 82 and photo-detector 84 are aligned with the upper region 76 of the outer wall 69 (Figure 4B), When the aperture 74 lies between the upper light source 82 and photo-detector 84, the light from a light source 82 passes through the aperture 74 and is detected by the photo- detector 84. In contrast, when the gantry body 30 is in a position such that the solid part of the outer wall 69 that lies between each aperture 74 is positioned between the upper light source 82 and the photo-detector 84. this blocks the light from the light source, and the light is not received by the photo-detector 84.

The coupling member 42 further includes a lower light (or other radiation) source 86 and a corresponding lower photo-detector 88. These are located so that they correspond to lower portion 77 of inner wall 69 and function in a similar manner to the upper light source 82 and photo-detector 84. The lower light source 86 and photo-detector 88 are aligned with the lower region 77 of the inner wall 69. When the aperture 74 lies between the lower light source 86 and photo-detector 88, the light from a light source 86 passes through the aperture 74 and is detected by the photo-detector 88. In contrast, when the gantry body 30 is in a position such that the solid part of the outer wall 69 that lies between each aperture 74 is positioned between the lower light source 88 and the photo- detector 88, this blocks the light from the light source, and the light is not received by the photo-detector 88.

The apertures 74 have a form corresponding to a first square wave at upper region 76 positioned immediately above a second square wave at lower region 77, where the first square wave is in quadrature with the second square wave (i.e. separated in phase by 90°, π/2 or λ/4). As shown in Figure 4B, each aperture defines four states: J_. 2, 3 and 4. The transition between each of these states is aligned in the x direction with a garment hanging position 96, 98 (the gantry sensor-rail 48 of Figure 4B and the garment hanging- rail 26 of Figure 5B, although in separate figures, are aligned in the apparatus as shown on the drawing sheet). The aperture spans a plurality of (four) slot positions wherein the positions. The pattern of the aperture is such that the position of the garment picking device and gantry body 30 can be determined by obtaining an indication of the aperture shape at any one of those positions - using the photo-sensors 84, 88. The right gantry sensor-rail 48 and right coupling member 44 have a similar arrangement to the left gantry rail 48 and left coupling member 42 described above, including light sources and photo-detectors. The aperture 74 slot edges correspond to the hanging positions underneath. Figure 7 shows the aperture slot edges.

A pulse stream is provided by both opto sensors 84 and 88 that are fed to a control system.

Stream A, B is provided from the top opto sensor 84, and stream 1 and 2 from bottom opto sensor 88.

When the gantry 30 moves forward or backward (in the x direction) the opto information also contains direction information. The control system can rely on the opto pulse stream to pass both count and direction information. The gantry 30 cannot lose count regardless of which pulse is generated next, or even if unexpected pulses are generated when the gantry rocks or vibrates when stopping or starting. For example, if edge 2 is 'seen' the control system knows whether the gantry 30 has moved forward or backward (in the x direction) depending on whether the last state was a B or an A, and counts up/down accordingly.

The shaped apertures effectively generate a quadrature pattern which provides count and direction information. In accordance with an advantageous aspect of the embodiment, the processing of signals from the opto sensors is such that if the same edge is seen again, maybe due to wobble of the gantry, this will not create a change in count as the state has not changed. E.g. a wobble back/forth on edge T does not matter (it is not counted) as the control system would expect to see 'B' or 'A' next in order to signal a new count up or down. The gantry moving away from edge T and then moving back to edge T (but not reaching A or B) will actually not change the count as the same edge seen again does not change the count.

This method of counting is performed on both sides independently such that the control system can count and track position for both sides at the same time.

Figures 5A and 5B show the left garment hanging-rail 26 in more detail. The garment hanging-rail 26 is configured to support escort-clips 9, such that the escort-clips 9 (to which a garment/garment holder 5 will be attached by a hanger) can be stored on the garment hanging-rail 26 and removed from the garment hanging-rail 26 by operation of the picker head 38 or 40. The escort-clip 9 includes an upper loop 80 and a lower loop 81 between which a linear bar 79 extends. The lower loop 81 is for receiving the hook- shaped part of a hanger 7. The upper loop 80 is for cooperation with the pointed part 58, 60 of the picker bar 36 such that the when the picker carriage assembly 34 is moving, pointed part 58, 60 will pass through the upper loop 80 when the latched member 62, 62A is raised up in the open position, and the upper loop 80 will pass into the capture space 66, 66A. By further movement of the picker carriage assembly 34 the upper loop 80 will then be captured within the capture space 66, 66A by operation of the latched member 62, 62A moving into the closed position (Figure 3. Figure 6) in which the abutment surface 64 abuts the upper surface 65, 65 A of the pointed part 58, 60.

The garment hanging-rail 26 includes a base part 90, an upper part 92 extending generally parallel thereto, which parts are linked by a coupling part 94 which extends generally perpendicular to the base part 90 and the upper part 92 but parallel to the left frame upright 20 (to which it is affixed). The distal edge of the base part 90 has a slot 98 formed therein, and the distal edge of the upper part 92 has a slot 96 formed therein. The slots 96 and 98 are aligned in the vertical (z) direction and are for receiving the bar 79 of an escort-clip 9, as shown in Figure 5B. The distal edge of the upper part 92 terminates in a vertical wall 100. A parallel inner wall 102 extends from the upper part 92 but spaced inwardly from the distal wall 100, such that the upper loop 80 of the escort-clip 9 may be accommodated between the walls 100 and 102, as shown in Figure 5B.

When the escort-clip 9 is located in the slots 96 and 98 and between walls 100 and 102, as shown in Figures 5A and 5B, the escort-clip is securely located in position but yet is easily removed by appropriate vertical lifting operation of the picker head 38, 40. Each edge of the aperture 74 is vertically aligned in the z direction with the slots 96, 98 below, and therefore the garment position. As the aperture makes it possible to detect the position of the slots, the position of the garments can be detected. After a garment has been dispensed by the picker head 38, 40, an escort-clip 9 eject procedure allows the collection of recycled escort-clips 9 in to a suitable container. This stops escort-clips 9 simply falling to the floor causing damage to floor and the escort- clips 9 themselves, and it saves time for attendants and operators who would otherwise have to collect them up and place them back on the machine.

The right garment hanging-rail 28 has a corresponding configuration to the left garment hanging-rail 26 but is oppositely oriented.

The gantry runner-rails 50 and coupling parts 42, 44 (and sensor units) allow the robotic gantry body 30 to move back and forth along the L-shaped members runner-rail 50 keeping an exact synchronized count of the relative position for both sides (to be described in more detail below). Different hanging-rails 26, 28 and sensor-rails 48 can be utilised having different slot 96, 98 adjacent spacings within the machine as appropriate to arrange for different densities of slots to increase or decrease the hanging capacity of the apparatus. The sensor-rails 48 are designed to compliment the hanging-rails 26,28 such that the apertures 74 are in the correct spacing alignment to the slot spacing 96,98 where each edge of the aperture in the sensor-rail aligns vertically with slots 96, 98 in the hanging- rail.

When the system resets (after a power up) the gantry 30 goes through a reset procedure to first position the carriage slide plate 35 at the correct height (z direction), and then secondly to drive the picker carnage assembly 34 into the centre of the gantry 30 (y direction). Then thirdly, the gantry 30 drives to the front home position (position 1 ) (x direction), where it waits for a user operation instruction.

Figure 8 is of the system overview. When an instruction to retrieve a garment 5 is received at HMI interface 108 either from a user PIN number entered on keypad 15 or touch-screen 1 1 , ID access card read by card reader 13, biometric read, or a remote instruction from another networked controller or PC, etc. 1 10, 1 12 the control software 108 and 1 16 calculates the number of slots 98 to the target slot in which the garment is hanging (depending on what side the uniform/garment is hanging). The gantry 30 starts to drive off. The gantry 30 starts in slow speed and ramps up to a higher speed to help reduce wear and tear on the mechanics. The final target speed is determined by how far the gantry 30 has to travel. The further away the target slot 98, the faster the gantry will travel to get there.

Once travelling, the gantry control software 1 16 counts and tracks the exact relative positions (on both sides) by counting signals ("count" pulses) from both left hand side and right hand side sensors 42, 44 received from opto-sensor processor 1 17. The control software 1 16 keeps an independent count for both left and right sides of the gantry 30. so that it can pickoff from either side without having to return to any index (or home) position as in previous systems. As the gantry 30 approaches the target slot 98 it starts to ramp down in speed (again saving wear and tear), until the appropriate (left hand side or right hand side) opto-sensor processor 1 17 generates the correct number of count pulses to the main control software 1 16, such that the gantry body 30, and picker head 38, 40 stop at the correct pick-off slot 98.

The software and sensors allow the gantry 30 to move from one position to another by calculating the target count regardless of where the gantry 30 is positioned within the apparatus. This type of relative synchronized positioning allows the gantry 30 to pick multiple items 5 by moving from one slot 98 position to another. This operation saves time, and allows more than one item to be picked and delivered to the waiting user in one operation. Additionally, if nothing is hanging on the particular slot 98 (for a particular person) the gantry 30 does not need to return home, and can remain in position for the next instruction. This saves time, and wear and tear, by not returning home every time. Also, keeping a relative position allows the gantry 30 (when idle, and a ter a timeout period), to move to a suitable and move effective second home position (position 2). If this second home position is designated to be the middle of the machine, then the gantry 30 - after the last cycle - can move to this second home position, so it is better placed to serve the next user quicker, as having the gantry 30 in standby waiting within the middle of the machine should reduce the average garment delivery time. Once the gantry arrives at the target slot 98 (x direction) it stops. The carriage slide plate 35 is then positioned by means of actuator 53 such that the picker head 38, 40 is at the correct height so that pointed section 58, 60 will be able to pass through the upper loop 80 of the target escort-clip 9. Sensor 54 provides a signal to the control software 1 16 such that the picker slide plate 35 can be positioned at any required height.

Once the carriage slide plate 35 is at the correct escort-clip 9 pickoff height (z direction) the carnage assembly 34 then drives left or right (y direction) to position the picker head 38, 40. As the carriage 34 drives sideways (y direction) the latched member 62, 62A eventually strikes the top edge of the escort-clip 9 upper loop 80, carrying the uniform/ garment 5. As the carriage 34 continues to move sideways (y direction), the latched member 62, 62A passes over the upper loop 80 of the escort-clip 9 and pointed section 58, 60 passes through the upper loop 80, capturing the upper loop 80 within the capture space 66, 66A. The carnage assembly 34 stops moving once the latched member 62, 62A has captured the escort-clip 9 upper loop 80. The latched member 62, 62A may be rotated open by mechanical interaction either with the upper loop 80 of the escort-clip 9, or rotation may be performed by actuator 70, 70A being depressed Once the escort- clip 9 has been captured, the picker slide plate 35 then drives upwards by means of actuator 53, lifting the escort-clip 9, and uniform/garments 5 upwards, clearing the holding walls 100, 102 of the garment hanging-rail 26, 28.

Once the carriage slide plate 35 has lifted the escort-clip 9 and garment 5 sufficiently upwards to clear holding walls 100, 102 the carriage slide plate 35 comes to a rest at the required escort-clip lift height. Then the carriage assembly 34 moves transversely, in the reverse direction, to withdraw the escort-clip 9 and garment 5. The carriage assembly 34 continues driving until it comes to rest in the centre gantry 30 position. As the carriage assembly 34 is withdrawn to the gantry 30 centre position, the escort-clip 9 passes, and activates, a sprung switch 1 8 which instructs to the control software 1 16 whether an item 5 was indeed picked-off or not. If the switch 1 8 signal is positive and an item 5 is retrieved the gantry 30 will deliver the item(s) 5 to the requested delivery location. If no item 5 is retrieved the gantry 30 can remain in the current location to await a new instruction cycle.

If there are any other required items/garments 5 as part of the same collection instruction cycle, the gantry 30 will drive backwards or forwards longitudinally (x direction) (once the target slot on the respective side has been calculated by the control software 1 16) and begin a new collection cycle for the next item 5. Once all the items 5 for the user have been collected and there hav e actually been some pickoffs the gantry 30 will return to required delivery location to deliver the items to the waiting user or operator.

Having delivered the items 5, the gantry 30 waits for sufficient time for the user to remove his items 5. After a programmable timeout period the gantry 30 (if programmed to do so) drives to the second home position (position 2) nominated within the apparatus, usually the middle. However, before the gantry 30 moves, the carriage assembly 34 drives transversely (y direction) to the left, right or both sides in order to commence an escort-clip eject and collect procedure. As part of this cycle the carriage assembly 34 moves to a defined position (at the left or right, y direction) such that the appropriate (left or right) actuator 70, 70A, specifically roller 47 or 47A, is positioned under the bumper 45 on the left or right hand (not shown) underside of the gantry body 30. Once the appropriate roller 47, 47A is positioned under the bumper 45 the carriage slide plate body 35 drives upwards, whereby the attached roller 47, 47A is pushed downwards, causing actuator 70, 70A to rotate open the latched member 62, 62A. Once at the correct escort- clip eject height, the carriage slide plate 35 stops moving, and the latched member 62, 62A becomes fully open, and the once captured escort-clip 9, falls downwards under gravity into a suitable collection container (not shown) mounted on the left and right hand side of the apparatus framework upright 20, 22. If a dual eject cycle is required, because the gantry has collected a garment from the left and right hand hanging-rails 26, 28, the carriage 34 drives across to the opposite side bumper 45 position, whereby the actuator 70, 70A release roller 47, 47A passes under the opposite bumper 45, again rotating open the latched member 62, 62A, again dropping the escort-clip 9 into the respective left or right container.

The pickoff mechanism (including the picker bar 36 and the left/right latched member 62, 62 A, and actuator 70, 70 A) is attached to the carriage plate 35 that slides physically up and down under control of the motor or actuator 53. The position of this plate 35 (and thus the picker head 38, 40) is under direct control of the gantry controls and software

1 16. The relative up/down position (z) of the carriage slide plate 35 is measured with a suitable sensor 54 (or suitable switches) that provide a signal to the gantry control software 1 16 such that the carriage slide plate 35 can be positioned in any up/down position (z). This method of up/down (z) movement, and the sensor 54 feedback of relative/absolute height, provide a flexible way to designate the various heights required to perform the various actions of the pickoff. Essentially there are three relev ant (z) heights, 1 ) the escort-clip 9 pick height, 2) the escort-clip 9 lift height, and 3) the escort-clip 9 eject height. These heights (thus, carriage plate 35 z positions) can be configured by the overall system control software 108, and are stored in the system configuration database 1 18, so they can be tweaked and adjusted to suit each individual apparatus (as mechanical tolerances differ from apparatus to apparatus). The carriage assembly 34 is driven by a carriage motor (not shown) causing it to travel left or right (y direction). The carriage motor drives a lead-screw (not shown) arrangement that causes the carriage assembly 34 to move left or right. The carnage motor is fitted with a suitable position encoder that signals to the controls and software 1 16 the exact y position of the carriage assembly 34 position. Again, the normal designated programmed operating positions for the carriage, e.g. 1 ) left pick, 2) right pick, 3) centre, 4) escort-clip eject left, and 5) escort-clip eject right, are all recorded within the configuration database 1 1 8, and can be adjustable as necessary to allow for any mechanical tolerances. A 'home ^' sensor 19 is used during the reset sequence to ensure the carriage assembly 34 can be driven to a known position before the carnage motor encoder indexing becomes known and accurate.

The left and right drive (y direction) for the carriage assembly 34 could be handled in other ways, e.g. a wire drive instead of lead-screw, and the use of sensors instead of an motor encoder to nominate the required y ( 1 through 5) positions.

The power and communication signals to the gantry 30 are sent through a suitable cable arrangement 1 7 utilising a mobile plastic track and support arrangement. The gantry uses a low voltage AC or DC supply from the power control unit 1 14. The communication could be wired or via an RF link.

Sensor or switch arrangements are fitted to the gantry body (not shown) which indicate to the control software 1 16 when the gantry 30 has reached the home (position 1 ) location at the front kiosk position. Previous dispensing systems have only allowed one escort-clip (i.e. one garment item 5) collection. With the apparatus described here an escort-clip 9 (and item 5) can be picked from both sides 26 and 28 of the apparatus as necessary, allowing two items to be collected in one instruction cycle. This improves speed for users wishing to collect two items, as normally they would have to instigate two separate collection cycles.

The configuration of the machine and its operational parameters are typically stored in a suitable system database 1 1 8. Access to this database 1 1 8 can be through any suitable direct or web-based application 1 10, 1 12. Once configured the system is ready for use. Once a card is swiped (or PIN number, or biometric read etc.) the configuration software decides how to handle the user request. Normally and depending on the configuration of the machine, the HMI kiosk touch-screen 1 08 will show the appropriate options to the user relevant to their card number and programmed options stored within the database 1 1 8. The user can then select the item 5. or items 5 they require, and while they wait, the gantry 30 begins a collection cycle.

The software is also flexible in that any type of item can be hung within the machine, e.g. scrub wear, dry-cleaned uniforms or garments, flat-items, personal coats, locker bags or other such items. The software can be configured to allocate fixed slots, or dynamic slots, or a mix of both. In this regard, a user or item can be designated to hang at a fixed slot number, say #100. The same item and same user will then be hung at that same location. Although this method of issuing slots is easier for attendants to load and unload items, it is not the best effective use of the available hanging space. Dynamic slot allocation allows the software to designate a particular slot to an item, or user, each time they are assigned onto the machine. The software (through its configuration) will allocate a new empty slot for the item or user. Also, and depending on the configuration, like items can be grouped on certain slots, or a set of slots can be allocated to associated items or a user. In this way, the control software is able to more effectively manage the usage of slots so a much larger number of users or items can be allocated within an individual apparatus.

The operation of the opto-sensor processing software 1 17 that receives signals from the photo detectors 84 and 88 and which provides an output pulse ("COUNT" pulse) and direction ("DIR") indicator for indicating the position of the gantry body and thus picker head 38 will now be described with reference to the flowchart of Figures 9 A, 9B, 9C and 9D, the flowchart of Figure 10 and the table of Figures 1 1 A and 1 I B. The table shows the values of parameters TsVal. BsVal, OldT, OldB, State, ChgState, OldDir, DIR and COUNT referred to in the flow charts at various steps of the flow charts. The value of the parameter is only shown in the table at the step where it changes.

After reset, when the gantry is located at the front home position in this embodiment, the gantry body and thus picker head 38 is positioned initially in the state designated LA in Figure 4B. In this state no part of sensor-rail 48 is present between photo emitters 82, 88 and photo detectors 84, 88 so that the light from the light source 82 and 86 passes to the detectors 84 and 88.

At step S I (Figure 9A) after reset, variables used are initialised to the values shown, i.e.:

OldT - H

OldB ^~ H

State - 1

ChgState = 0

01dDir = 2

At step S2 the upper photo detector 84 is read and the input level TLevel is obtained.

At step S3 the variable TsVal is bit-shifted left so as to obtain a majority value of TLevel.

At step S4 the lower photo detector 88 is read to obtain its value BLevel.

At step S5 the variable BsVal is bit-shifted left so as to obtain a majority value of BLevel. As will be understood, when light from the light sources 82 and 86 is blocked by the outer wall 69. little or no light is received by the photo detectors 84 and 88. in contrast, when one or both of the light sources 82 and 86 are aligned with the aperture 74, the light is transmitted through the aperture and is received by (only) the associated photo detector 84 or 88. The photo detectors will generate an electrical signal proportional to the light received, and their output can therefore be used to determine alignment or otherwise of the aperture 74 with one or both of the photo detectors 84 and 88. The value of the signal from the photo detectors 84 and 88 when the light from their associated light detector is blocked is set to a value "B". The signal from the photo detectors 84 and 88 when the light from their associated light source is not blocked is set to a value "H".

At step S6 it is determined whether the variable TsVal has a value of "H" or "B".

If the decision at step S6 is positive (which it will be as the current value is "H"), then at step S7 it is determined whether the value OldT equals the value TsVal. In this example, the picker head 38 has not moved, and so the variable TsVal and BsVal both have the value "H".

As both OldT and TsVal both have the value "H", the decision at step S7 is positive, so step S9 is performed.

If, on the other hand, at step S7 the decision is negative, then step 8 would be performed, at which point the value OldT would be set to the variable TsVal, and the value "ChgState" would be set to one.

At step S9 it is determined whether the variable BsVal has the value of "H" or "B".

If the result of the decision at step S9 is positive (which it will be as the current value is "H"), then at step S 10 it is determined whether the value OldB equals BsVal. As both these values currently have the value "H", the decision at step S 10 is positive, and step SI 2 is then performed.

If, on the other hand, at step S 10 the decision is negative, then step S l l would be performed, at which point the value OldB would be set to the variable BsVal, and the value "ChgState" would be set to one.

At step S 12 it is determined whether the value "ChgState" equals one. If the decision at step S 12 is negative, then the process returns to step S2. If, on the other hand, the decision at step S I 2 is positive, then the process proceeds to step S I 3.

In the present example, because value "ChgState" is zero, the decision at step SI 2 is negative. The procedure therefore does return to step S2.

In this example, the picker head 38 now moves in the forward direction (that is, in the x direction towards the right in Figure 4B, so that it is in the position designated 2 in Figure 4B). At steps S2, S3, S4 and S5, the variables TsVal and BsVal are read from the photo detectors 84 and 86. Now, the upper photo detector 84 becomes blocked in this position and so the value "B" will be assigned to the variable TsVal. Aperture 74 is now positioned between the lower light source 86 and the lower photo detector 88, such that the lower photo detector 88 will receive light, and the variable BsVal will still have the value "H".

At step S6 it is determined whether the variable TsVal has a value of "H" or "B". As the decision at step S6 is positive, at step S7 it is determined whether the value OldT equals the valuable TsVal. As OldT is Ή' and TsVal now has the value "B", the decision at step S7 is negative, so step S8 is performed, where "ChgState" becomes 1 and OldT now becomes 'B'.

At step S9 it is determined whether the variable BsVal has the value of "H" or "B".

If the result of the decision at step S9 is positive (which it will be as the current value is 'Ή"), then step S 10 is performed.

At step S 10, as before, the value OldB is compared to the variable BsVal. The value of variable BsVal is still "FT, equal to the value OldB, so the decision at step S 10 is positive, so step S 12 is then performed. At step S 12 it is determined whether the value "ChgState" equals one. In the present example, because value "ChgState" is one, the decision at step SI 2 is positive.

Because the decision of step S 12 is positive, step S I 3 is performed, at which the value "ChgState" is reset back to zero.

At step S 14 it is determined whether the value "State" is equal to one. If the value "State" is not equal to one, the decision at step S 14 is negative, and step S I 9 is performed. However, because in this example, the value "State" is one (it was set to one in step S 1 ), the decision of step S 14 is positive, and step S 15 is then performed.

At step S 15 it is determined whether variable TsVal equals "B" and whether the variable BsVal is "H". The variables do have these values at the current position 2 of the picker head 38. The decision at step S I 5 is therefore positive, and step S I 6 is then performed. If the decision at step S I 5 was negative, then step S I 7 would be performed.

However, as the decision at step S I 5 is positive, at step S I 6 the value "State" is set to 2 and value DIR is set to "I P ^" 1 . The subroutine of Figure 10 is then performed.

According to the subroutine of Figure 10, at step A the value "Direction" is set to the current value of DIR. This value forms one of the outputs of the subroutine of Figure 10. Because the value DIR is currently "UP", the direction output is therefore "UP". This may be a binary output, with the value 1.

At step B it is determined whether the value OldDir equals the value "Direction". If the values were equal, then step C would be performed. However, because, in this example, the value of OldDir has the value 2 (set at step S I ), and the value "Direction" has the value "UP'Vl , the decision at step B is negative, and step D is performed, At step D it is determined whether the value OldDir is 2. If the decision at step D was negative, then step E would be performed next. However, because in this example the decision at step D is positive (OldDir was set to 2 in step S I ), then step C is performed.

At step C subroutine outputs a "COUNT" pulse. Step E is performed subsequently. The "COUNT" pulse will in practice be generated immediately there is a transition from state I to state 2. The DIR and COUNT outputs immediately instruct the control software 1 16 that the gantry 30, thus picker head 38, have moved forward one slot position in the UP direction, and essentially the slot counter now becomes 0001 .

At step E the value of OldDir is set to the current value of "Direction" (i.e. "UP"/! ) and the value of "State" is now set to "NewState", in this case 2, the value passed to the subroutine. New state is the value sent to the subroutine.

When the subroutine of Figure 10 has been executed, the process of the flowchart of Figure 9 continues. After step S 16 the process returns to step S2.

Now, in this example, the picker head 38 moves forward (right) to the position designated 3 in Figure 4B. At steps S2, S3, S4 and S5, the variables TsVal and BsVal of the upper and lower photo detectors 84 and 86 are read. TsVal will retain the value 'B' as the top photo detector 84 is still blocked, but BsVal will now also have the value 'Β' as the bottom detector 86 becomes blocked.

At step S6 it is determined whether the variable TsVal has a value of "H" or "B". The decision at step S6 is positive. The decision at step S7 is then taken. The value OldT has value "B" set from the previous step S8, and variable TsVal still has the value "B". The decision at step S7 is therefore positive, and so step S9 is performed.

At step S9 it is determined whether the variable BsVal has the value of "H" or "B".

If the result of the decision at step S9 is positive (which it will be as the current value is "B"), then at step S 10 it is determined whether the value OldB equals BsVal. OldB has the value Ή' from the previous step S l l and is not equal to the current value of BsVal which is now 'B'. The decision at step S 10 is negative, and so step S l l is then performed.

At step S 1 1 value OldB is set to ' B' and "ChgState" is set to 1 . At step S 12 it is determined whether the value "ChgState" equals one. In the present example, because value "ChgState" is one, the decision at step SI 2 is positive.

Because the decision of step S 12 is positive, step S I 3 is performed, at which the value "ChgState" is reset back to zero.

At step S 14 it is determined whether the value "State" is equal to one. As the value "State" is not equal to one (it is 2), the decision at step S 14 is negative, and step S 19 is performed. At step S I 9 it is determined whether the value "State" is equal to 2. The value "State" is currently equal to 2 (it was set to 2 in step S I 6 performed previously). The decision at step S 19 is therefore positive, and step S20 is performed. However, if the decision at step S 19 was negative, then step S24 will be performed. Because the decision at step S I 9 was positive, step S20 is then performed.

At step S20 it is determined whether the variables TsVal and BsVal are both equal to "B". Since TsVal is 'B' and BsVal is 'Β' the result of step S20 is positive, and step S21 is performed. The value "State" is set to 3 and value DIR is set to "UP'Vl . The subroutine of Figure 10 is then performed.

If the decision at step S20 is negative, then step S22 is performed.

However, because both the variables have the value "B" the decision is positive, and the subroutine of Figure 10 is then performed.

At step A the value "Direction" is set to the current value of DIR. Because the value DIR is currently "UP", the direction output is therefore "UP" (or 1 ). At step B it is determined whether the value OldDir equals the value "Direction". In this example, the value of OldDir has the value "UP'Vl (set at step E performed previously), and the value "Direction" has the value "UP'Vl , the decision at step B is positive, and step C is performed. At step C subroutine outputs a "COUNT" pulse. The DIR and COUNT outputs immediately instruct the control software 1 16 that the gantry 30, thus picker head 38, have moved forward a slot position in the UP direction, and essentially the slot counter now becomes 0002.

Step E is then performed. At step E the value of OldDir is set to the current value of "Direction" (i.e. "UP'71 ) and the value of "State" is set to "New State ^" , the value 3 passed to the subroutine. The process of the flowchart at Figure 9 then continues and returns to step S2.

In this example, assume the picker head 38 now moves backwards towards the position designated 2 in Figure 4B. The picker head has therefore changed its direction of movement, and is now moving backwards (in the x direction to the left in Figure 4B). As before, in steps S2, S3, S4 and S5, the variables TsVal and BsVal are set according to the values accorded by the photo detectors 84 and 86. Since the picker head has to first pass back through the position designated 3 variable TsVal will still have the value "B", but the variable "BsVal" will now have the value "I I ^" . At step S6 it is determined whether the variable TsVal has a value of "H" or "B". The decision at step S6 is positive, so step S7 is performed.

At decision at step 7 is performed. Because the current value of OldT is "B" (as set in previous step S8), and the current value of TsVal is "B" the decision at step S7 is positive. Step S9 is then performed.

At step S9 it is determined whether the variable BsVal has the value of "H" or "B".

If the result of the decision at step S9 is positive (which it will be as the current BsVal value is "Π"), then at step S10 it is determined whether the value OldB equals BsVal. As OldB is 'B' and BsVal is now Ή' the decision at step S 10 is negative, and step S I 1 is then performed.

At step Sl l the value OldB is set to the value of variable BsVal "H" and the value "ChgState" is set to 1 .

At step S 12 it is determined whether the value "ChgState" equals one. In the present example, because value "ChgState" is one, the decision at step SI 2 is positive. Because the decision of step SI 2 is positive, step S 13 is performed, at which the value "ChgState" is set to zero.

At step S 14 is determined whether the value '"State" is equal to 1 . If the value "State" is not equal to 1. the decision at step S 14 is negativ e, and step S 19 is perfonned. Since "State" is equal to 3 step S 19 is performed."

At step S19 it is determined whether the value "State" is equal to 2, If the value "State" is not equal to 2, the decision at step S24 is performed. Because the value "State ^" is 3 (as set by step S2 1 performed previously), the decision at step S 19 is negative, and step S24 is performed. However, if the decision at step S 1 9 was positive, then step S20 would be perfonned.

However, because the decision at step S 19 was negative, step S24 is performed.

At step S24 it is determined whether the value "State" is equal to 3. If the value "State" is not equal to 3, the decision at step S29 is perfonned. Because the value "State" is 3 (as set by step S21 performed previously), the decision at step S24 is positive, and step S25 is performed.

At step S25 it is determined whether variable TsVal equals "H" and whether the variable BsVal is "B". The current values of the variables TsVal is "B" and the value of variable BsVal is 'Ή". The decision at step S25 is therefore negative, and step S27 is perfonned. However, if the decision at step S25 was positive, then step S26 would be perfonned.

At step S27 it is determined whether variable TsVal equals "B" and whether the variable BsVal is "H". The current values of the variables TsVal is "B" and the value of variable BsVal is "H". The decision at step S27 is therefore positive, and step S28 is performed. If the decision at step S27 was negative, then the process would return to step S2. However, because the decision at step S27 is positive, step S28 is performed.

At step S28. the value "State" is set to 2 and the value DIR is set to "DOWN'70. Subroutine of Figure 10 is then performed.

At step A the value "Direction" is set to the current value of DIR. Because the value DIR is currently "DOWN'70, the direction output is therefore "DOWN'70.

At step B it is determined whether the value OldDir equals the value "Direction". Because the value OldDir is "UP'Vl and the value "Direction" is "DOWN ^' VO. the decision at step B is negative.

The decision at step D is then performed. Because the value OldDir is "DOWN'VO, the decision at step D is negative. Step E is then performed.

At step E the value of OldDir is set to the current value of "Direction" (i.e. "DOWN'VO) and the value of "State" is set to "NewState", now being 2 . It should be noted that due to the decisions described, as a result of the change in direction of the gantry body 30, and thus picker head 38, step C is omitted in its execution of the subroutine of Figure 10 so that no "COUNT" pulse is output. Since there is no COUNT output essentially the slot counter remains at 0002. The effect of this is to ignore the first transition between states (in this example from state "3" to state "2" in Figure 4B) immediately after a change in direction of the gantry body 30 and picker head 38 occurs. In this way, the linear count is corrected to reflect the true physical location of the picker head 38 by not producing the "COUNT" pulse when the first state transition occurs after a change of direction. This should be contrasted with known quadrature encoding arrangement in which the linear count would not be corrected (causing the slot counter to return to 0001 ), and so the position of the picker head 38 would be incorrectly recorded after each change of direction. The opto-sensor count processing described here is an advancement and enhancement over known quadrature specifically for the linear positioning required for this apparatus application. After execution of the subroutine of Figure 10, the process returns to step S2 of Figure 9. As the picker head 38 moves backwards and forwards, the values of the photo detectors 84 and 86 will be monitored in the manner described above. The process performed by flowcharts 9 and 10 will be performed repeatedly according to the flow charts. By the "DIR" output and "COUNT" pulse generated by the subroutine 10, the position of the gantry body 30 and picker head 38 can be determined correctly and accurately.

For the sake of brevity, the process performed by the flowchart at each of the stage transition will not be explained, but this will be clear from the description given thus far and from the flowcharts.

According to the flowcharts of Figures 9 and 10, the outputs are two signals, 1 ) indicating the direction of movement, which could be a binary output with a value of one for UP and zero for DOWN, and 2) a "COUNT" pulse. The generation of the pulse indicates that left picker head 38 is aligned with a slot 96, 98 because the "COUNT" pulse is generated immediately that there is a transition between one state and another. The main software processing 1 16 can then accurately determine the location of the left picker head 38. A pulse is always generated for the very first transition, and between one state and another state when the picker head is travelling in the same direction. A pulse is never generated for the first state transition detected after a change in direction (this would give an incorrect position count within the main gantry control software 1 16).

The flowchart describes the processing of signals from the left hand photo detectors 84 and 88. For the right hand side photo detectors similar procedure will be performed. If orientation of the right sensor-rail assembly is the opposite of that of the left sensor-rail assembly (with the position of the apertures 74 reversed - which may be the case if the same rail profiles are used on the left hand side and the right hand side for ease of manufacture and assembly), this procedure as described in relation to Figures 9 and 1 0 could be used. However. "'Direction" output generated by the subroutine of Figure 10 would be the reverse. In the case of a binary output as mentioned above, an output of one would indicate a "DOWN" direction, and an output of zero would indicate a "UP" direction. The main gantry control software 1 16 is programmed to process and handle the respective "Direction" and "COUNT" outputs from the left and right opto-sensor processor 1 1 7 correctly to take this into account.

The main software keeps an independent count of both left hand side and right hand side sensor-rail (LHS & RHS) positions. This allows dual and multi pick, as the gantry 30 can move from one location to another without any indexing (returning to a known position). The gantry control software 1 16 can even process position if the gantry body 30 is bumped or jogged while waiting in standby as the sensor processing 1 17 is constantly monitoring the (LHS & RHS) sensor-rail signals and updating the left and right counter positions. This advanced sensing of position and counting allows for multiple delivery or home locations, as the gantry 30 can track position to any slot 96 location within the machine. Also, by keeping relative counts, the gantry does not need to return home if a non-pick occurred, thus saving the time of the gantry 30 returning home. When the gantry 30 becomes idle after a cycle, it can (after a programmable timeout) choose to move to a designated position 2 waiting location, which preferably would be the centre position of the apparatus (where the average time to collect a new item 5 is less), or of course any other programmed location.

Whilst the opto-sensor processing has been described separately for the ease of explanation here, the opto-sensor processing software described by way of the flowcharts 9A, 9B, 9C and 9D could equally be incorporated into the main gantry software processing 1 16, such that the opto-sensor processing is not a separate software process. Figures 12 A, 12B and 12C show a second embodiment of the invention - multi-pick (for hangers). The respective left (and/or right) picker head mechanisms 38. 40 can be replaced with a 'clothes peg' type of gripper arrangement 1 58. In this embodiment garment escort-clips 9 are not required, but a hanger 7 is coupled directly to the garment hanging-rail 144.

The left sensor-rail and hanging-rail apparatus of the second embodiment is fixed to the left wall upright 20 in a similar way to the left sensor-rail and hanging-rail apparatus of the first embodiment. However, the arrangement of the hanging-rail apparatus of the second embodiment is different. In the second embodiment for ease of manufacture the garment sensor-rail and garment hanging-rail could be combined so as to facilitate a hanging-slot channel that hangers 7 can be readily accommodated in to.. The rail assembly of the second embodiment includes a first part 130 and a second part 132. The first part 130 is coupled to the left frame upright 20 by a coupling part 134, and the second frame part 132 is coupled to the left frame upright 20 by a coupling part 136. An upper wall 138 extends perpendicularly from the upper portion of the coupling part 134 of the first rail part 130. A lower part 140 extends from the lower end of the coupling part 136 of the second rail part 1 32. The parts 138 and 140 include a region where they extend parallel to one another, and they are joined together at this region. Each of the parts 138 and 140 include a perpendicular distal wall, 142 and 144 respectively. These walls 142 and 144 have respective, longitudinal aligned recesses 146 and 148 formed in their upper edges for receiving the hook of a hanger 7. The second part of the rail assembly includes a L-shaped portion 150 which extends from the upper portion of the coupling part 136 and which corresponds to the L-shaped part 48 of the Figure 1 embodiment. The L-shaped part 150 of the second embodiment receives the coupling member 42 of the gantry 30. The L-shaped part 150 includes a series of apertures 74, like those of the first embodiment.

Although not shown in the second embodiment, a gantry 30 and picker apparatus 34 is provided which is similar to the first embodiment. However, the picker bar 36 is replaced with picker bar 156 shown in Figure 12A. Instead of carrying a picker head 38 at its left hand side, the picker bar 1 56 carries a latching device 158 comprising oppositely facing generally L-shaped latching bars 160 and 162. Each of the latching bars includes a lower flange 1 64, 166. The flanges are movable between a picking position at which the flanges 164 and 166 abut each other and a releasing position in which there is a space 168 between the flanges 164 and 166. In order to pick up a hanger 7 that is mounted on the rail assembly, the flanges 164 and 166 are moved to their spaced apart position. The picker arm 156 is moved downwardly by operation of the actuator 53 (referred to in the Figure 1 embodiment) until the flanges 164 and 166 are positioned either side of the hook of the hanger 7. The flanges 164 and 166 are then moved into their closed position so that they pass beneath the hook of the hanger 7 and abut one another. The hanger 7 then lies in the space 168 between the bars 160 and 162. By upward movement of the picker arm 156 (again using the actuator 53), the hanger 7 may be lifted free of the rail assembly.

The bars 160, 162 may be driven downward so that the latching device 158 springs over the coat hanger loop 7. Once it pushes down far enough, the motion stops, and the picker mechanism is driven upwards to lift the hanger 7 clear of the hanging rail. Once the hanger 7 is clear of the hanging rail, the carriage assembly is driven (left or right) back to the gantry 30 centre. The latching device 158, and physical slot 146, 148 dimensions of the hanging rail should allow multiple coat hangers (maybe up to 5) to be placed in the one slot, allowing for more than one hanger 7 to be picked off as necessary. Once the carriage assembly is driven back to the centre of the gantry, a suitable release device (a solenoid, actuator, or a 'squeeze' arrangement) would cause the latching device 158 to be forced open, thus dropping the coat hanger(s) 7 onto a suitable spigot or other collection device mounted on the gantry body 30 (not shown). The gantry would then be free to instigate a new pickoff collection from any other position on the machine (either left or right) using relative positioning. This facility allows a true-multi pick of multiple items from any positions within the machine, allowing multiple items to be delivered to a waiting user. This particular method of operation would also be useful for an attendant (by suitable instruction from a client PC, or maybe by using a designated master-card ID card) to remove unwanted or long-time hanging items from the machine. This process would allow the operator to free up slots, and the operator could typically choose to have the items 5 delivered to a rear drop-off location with the apparatus.

Although in the second embodiment, only the left rail assembly and picker arm have been described, it should be understood that the corresponding elements on the right side will be configured in the same way but oppositely oriented.

According to the embodiments, versatile pickoffs can use escort-clips 9 or hangers 7 depending on chosen picker attachment. The pickoff mechanism can be controlled to drive up or down (z direction) under software control to an exact designated position. The pickoff process (whether for escort-clips or hangers) allows the latched member 62, 62 A or latching device 158 to spring over the escort-clip 9 or hanger 7 with minimal force, minimising wear and tear. In previous sytems the escort-clip pick-off process relies on the pointed beak section 58, 60 of the picker bar 36 striking the top edge of the escort-clip 9 upper loop 80 and forcing a lift by way of brute force. The pick-off process in this embodiment now has a controlled action to latch and lift the escort-clip 9, or hanger 7 vertically upwards without brute force. This type of motion is well suited to lifting escort-clips 9 or hangers 7. A retaining bar or cover is useful when lifting hangers 7, so that adjacent hangers 7 are not semi-lifted and disturbed from their locations. This retaining device would typically be attached to the pickoff mechanism 34 and clamp over the adjacent hangers 7 to stop them disturbed by the rubbing friction caused by the raising of the target hanger 7 and garment item 5.

Due to the advanced counting and positioning on this apparatus multiple home and delivery positions may be programmed, thus facilitating the delivery of items to any position within the apparatus. Previous systems provide for only one delivery location at the front of the apparatus. In previous systems an item 5 is typically delivered to a home (i.e. front kiosk) location, as that is where a user normally waits. But this system can be instructed to deliver items anywhere within the apparatus. This feature could allow for a remote instruction (say from an operator via a PC) to deliver an item (or items) to, say, the rear of the machine where they can be more readily removed by an attendant. The instruction for this type of cycle could come from a remote 'client PC 1 10, 1 12, or special ID card 13, PIN number 15 or biometric activation at the apparatus front kiosk. In a further embodiment, the hanging positions may be marked by positioning a barcode (or data matrix type) label (or any type of unique marker) at each slot and scanning them (with a reader fitted to the gantry) as the gantry moves along to elicit position information. That is, the rails may be marked with barcodes or similar type technology which provides information as the absolute or relative position of the gantry with reference to the hanging positions.