Hatch State [HS]

For AutoStore ports equipped with a hatch, the system sends bin mode OPEN as soon as the hatch begins to open. This works well for a human picker, but a robotic pick system needs to know when the hatch is fully open to capture a picture of the bin. The HS segment provides this information.

During normal operation, the hatch position cycles between Closed, Between, and Open. A picture of the bin should be taken when the hatch position is Open. The Fully Open state is used for ports that can insert bins; in this case, the hatch opens as far as possible to allow bin insertion.

For ports with a hatch that can be controlled via a MultiPort, a robotic arm also needs to know which physical port to pick from. This information is provided in the port_index value:

• 1 indicates the left port of MultiPort
• 2 indicates the right port of MultiPort

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These directions are relative to the operator’s view of the port; the actual cardinal direction depends on whether the port is placed on the north or south side of the grid.

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For ports that are NOT MultiPorts, port_index is always 1.

Segment Example

HS,port_id,hatch_position,port_index 
HS,1,O,1 // (multi)port 1, left port hatch open
HS,1,C,2 // (multi)port 1, right port hatch closed

Hatch Positions

Port Indexes

Software Version Requirement

The HS segment was added in Log Publisher version 1.16.0