Article storage equipment

By setting up a positioning structure and image acquisition device in the item storage device, the problem that the camera cannot clearly capture item label information is solved, and the function of automatically identifying item details is realized, reducing the difficulty of user operation.

CN222674416UActive Publication Date: 2025-03-25HEFEI MIDEA REFRIGERATOR CO LTD +2
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Patent Information

Application Number
CN202420571198.8
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-03-20
Publication Date
2025-03-25
Estimated Expiration
2034-03-20

AI Technical Summary

Technical Problem

In the prior art, the camera cannot clearly capture the label information of the item, resulting in the inability to automatically identify the specific type of the item, the winery and other detailed information of the item, and the user needs to manually adjust the wine bottle for shooting.

Method used

An item storage device is designed, including a cabinet, an item identification area, a positioning structure and an image acquisition device. The positioning structure is used to limit the target position of the identification area of ​​the item to be identified in the item identification area, and the image acquisition device is arranged in the item identification area, and the shooting angle is facing the target position.

Benefits of technology

Through this device, the user does not need to manually adjust the item. The image acquisition device can clearly capture the item's label information and automatically identify the item's detailed information, reducing the user's operation difficulty.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model discloses an article storage device, which comprises a cabinet body, an article storage device and an article storage device, wherein an article identification area is arranged in the cabinet body; the positioning structure is arranged in the article identification area, and the positioning structure is used for limiting the target position of the identification area of the to-be-identified article in the article identification area; the image acquisition device is arranged in the article identification area, and the shooting angle of the image acquisition device faces the target position. According to the utility model, the technical problem that the label part of the article cannot be automatically and clearly shot is solved.
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Description

Technical Field

[0001] The utility model belongs to the technical field of household electrical appliances, and in particular relates to an article storage device. Background Art

[0002] High-end users who love to drink wine generally pursue quality and have high requirements for the red wine stored in the wine cabinet. In addition to requiring a constant storage environment, they also hope to know the number of wines and the information of each wine in real time, such as the storage time, winery, how to use, etc., and users generally obtain this information by searching by themselves, which is not convenient enough. In the related technology, the camera set on the top of the wine cabinet captures the image of the entire wine cabinet, so as to identify the wine information of all the red wines stored in the wine cabinet. The recognition area of ​​each shelf below is limited, and the wine information on the wine bottle label cannot be clearly captured by the camera. At most, the number of wines can be identified, but the specific type of wine, winery and other detailed information cannot be managed. Other devices for storing items also have the problem that the camera cannot clearly capture the label information. If the detailed information of the item needs to be identified, the user needs to manually lift the bottle and aim it at the camera and fiddle with it back and forth, which is difficult for the user to operate. Utility Model Content

[0003] The utility model provides an article storage device, which is used to solve the technical problem that the label part of the article cannot be automatically and clearly photographed.

[0004] The article storage device provided by the utility model comprises: a cabinet body, in which an article identification area is provided; a positioning structure, arranged in the article identification area, and used to limit the identification area of ​​the article to be identified to a target position in the article identification area; an image acquisition device, arranged in the article identification area, and the shooting angle of the image acquisition device is toward the target position.

[0005] In some embodiments, the item storage device also includes: a first in-place sensing device, arranged in the item identification area, the first in-place sensing device is used to sense whether an item to be identified is placed in the item identification area; a controller, the signal output end of the controller is electrically connected to the image acquisition device, and the signal input end of the controller is electrically connected to the first in-place sensing device.

[0006] In some embodiments, the cabinet includes a cabinet shell and at least one shelf disposed in an inner cavity of the cabinet shell, and the cabinet shell and each of the shelves define the object identification area and a plurality of object storage areas.

[0007] In some embodiments, the positioning structure is a positioning groove opened on the surface of the shelf, or the positioning structure is a positioning member arranged on the surface of the shelf, and the positioning member is provided with a positioning groove; wherein the notch of the positioning groove is opposite to the target position.

[0008] In some embodiments, the positioning groove is a groove adapted to the side shape of the object to be identified, and the image acquisition device is arranged above the positioning groove, or the positioning groove is a groove adapted to the bottom shape of the object to be identified, and the image acquisition device is arranged at the side of the positioning groove.

[0009] In some embodiments, the projection of the positioning groove along the groove opening direction is circular, elliptical or long strip.

[0010] In some embodiments, the object storage device further includes: a first partition disposed between each of the object storage areas adjacent to the object identification area and the object identification area.

[0011] In some embodiments, the object storage device further includes: a plurality of second presence sensing devices, wherein each of the object storage areas is further provided with at least one second presence sensing device for sensing whether an object is placed in the object storage area.

[0012] In some embodiments, the item storage equipment also includes: a plurality of in-place indicating devices, wherein at least one in-place indicating device is arranged in the item identification area and / or each of the item storage areas, the second in-place sensing device is connected to the input end of the controller, and each in-place indicating device is connected to the signal output end of the controller; and / or one or more of the following devices electrically connected to the controller: a display device, a load control device, an audible and visual reminder device, and a communication device for communicating with the outside.

[0013] In some embodiments, the item storage device also includes: a fill light device, which is arranged in the item identification area and connected to the signal output end of the controller; and / or a guide member, which is arranged in the item identification area; wherein the guide member, the fill light device and the image acquisition device are in the same orientation relative to the target position.

[0014] One or more technical solutions provided by the embodiments of the present invention achieve at least the following technical effects or advantages:

[0015] The utility model sets an item identification area in an item storage device, and sets a positioning structure in the item identification area for limiting the identification area of ​​the item to be identified to the target position in the item identification area; an image acquisition device is set in the item identification area, and the shooting angle of the image acquisition device is oriented toward the target position, so that the position of the identification area of ​​the item to be identified is fixed relative to the image acquisition device and will not exceed the shooting area of ​​the image acquisition device, and the user does not need to manually align the identification area with the shooting angle of the image acquisition device. The image acquisition device can align the identification area of ​​the item to be identified to shoot, and the item image obtained by shooting has a clear and complete identification area, thereby providing an automated condition for obtaining detailed item information by shooting images and reducing the difficulty of user operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic diagram of the structure of an article storage device provided by some embodiments of the utility model;

[0018] Figure 2 A schematic diagram of the structure of an article storage device provided by other embodiments of the utility model;

[0019] Figure 3A for Figure 1 Shelf structure diagram of the equipment for storing items;

[0020] Figure 3B In some embodiments of the present invention, the object to be identified is placed Figure 1 A schematic diagram of an item identification area of ​​an item storage device;

[0021] Figure 4A for Figure 2 Shelf structure diagram of the equipment for storing items;

[0022] Figure 4B In some other embodiments of the present invention, the object to be identified is placed Figure 2 A schematic diagram of an item identification area of ​​an item storage device;

[0023] Figure 5 In some embodiments of the present invention, the object to be identified is placed Figure 1 A schematic diagram of an item identification area of ​​an item storage device;

[0024] Figure 6 for Figure 1 A schematic diagram of the position of the image acquisition device relative to the identification area of ​​the object to be identified;

[0025] Figure 7 A schematic diagram of electrical connections for article storage devices provided in some embodiments of the utility model. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] In addition, in the present utility model, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0028] The present invention provides an article storage device, which can be an electrical device for storing articles, such as a refrigerator, a freezer, a vertical refrigerator, a wine cabinet, etc. Figure 1 and Figure 2 As shown, the article storage device provided by the utility model includes: a cabinet 120, an image acquisition device 121 and a positioning structure 122. An article identification area 120a is provided in the cabinet 120; the positioning structure 122 is arranged in the article identification area 120a, and the positioning structure 122 is used to limit the identification area of ​​the article to be identified to the target position in the article identification area 120a; the image acquisition device 121 is arranged in the article identification area 120a, and the shooting angle of the image acquisition device 121 is toward the target position.

[0029] In some embodiments, the object identification area 120a is a cavity for accommodating an object to be identified, that is, when it is necessary to identify the object information carried by the identification area of ​​an object, the object can be placed in the object identification area.

[0030] It is understood that the identification area is an area on the object to be identified that carries the item information of the object to be identified. The identification area can be a label attached to the surface of the object or an image area printed on the surface of the object. For example, if the item storage device is a wine cabinet, the item to be identified can be wine, such as red wine, and the wine information carried by the identification area of ​​the wine bottle needs to be identified.

[0031] like Figure 1 and Figure 2 As shown, in some embodiments, in addition to the item identification area 120a, the cabinet 120 is also provided with at least one item storage area 120b for storing items. The item storage area 120b is used to place items that have undergone item information identification in the item identification area 120a or items that do not require item information identification.

[0032] In some embodiments, the cabinet 120 includes: a cabinet shell 123 and one or more shelves 124 disposed in the inner cavity of the cabinet shell 123, and each shelf 124 defines an item identification area 120a and a plurality of item storage areas 120b in the inner cavity enclosed by the cabinet shell 123. It is understandable that each shelf 124 defines one or more storage areas on the same layer, and any one of the storage areas defined by each shelf 124 is an item identification area 120a, and the other storage areas are item storage areas 120b. If the shelf 124 includes a plurality of shelves, each shelf 124 is disposed in the inner cavity of the cabinet shell 123 at intervals.

[0033] In some embodiments, at least one carrying portion 124a is provided on the upper surface of each shelf 124, and each carrying portion 124a is used to carry a corresponding article, and the storage area corresponds to the carrying portion 124a one by one, that is, each carrying portion 124a and the space above it are the storage area corresponding to the carrying portion 124a.

[0034] like Figure 3A and Figure 4A As shown, in some embodiments, the item storage device is a wine cabinet for storing wine, and the supporting portion 124a corresponding to each item storage area 120b is a groove extending along the depth direction of the cabinet body 120, and the extension length of the groove is adapted to the bottle body length of the wine bottle, and the groove can be an arc-shaped groove or a triangular groove.

[0035] like Figure 3A and Figure 5 As shown, in some embodiments, the positioning structure 122 is a positioning member 122 a fixedly disposed on the upper surface of the shelf 124 .

[0036] like Figure 3AAs shown, in some embodiments, the positioning member 122a is a single member that is independent of the shelf 124 and fixedly disposed on the upper surface of the shelf 124, and a positioning groove 122b that is opposite to the target position is provided in the single positioning member 122a. It can be understood that the positioning groove 122b is a groove that is adapted to the bottom shape of the object to be identified, and the image acquisition device 121 is disposed at the side of the positioning groove 122b, so that when the object to be identified is placed in the object identification area 120a, the object to be identified is carried on the positioning member 122a, and the bottom of the object to be identified is limited to the positioning groove 122b of the positioning member 122a, and the image acquisition device 121 can capture the identification area of ​​the object to be identified. In the actual implementation process, the projection of the positioning groove 122b along the groove direction is circular or elliptical.

[0037] like Figure 5 As shown, in other embodiments, the positioning members 122a include multiple ones, and each positioning member 122a is arranged around an axis perpendicular to the surface of the shelf 124, so that when the object to be identified is placed in the object identification area 120a, the object to be identified is carried on the upper surface of the shelf 124, and the bottom of the object to be identified is limited to the annular area surrounded by each positioning member 122a. It can be understood that each positioning member 122a can be an arc-shaped member with an arc-shaped opening, and the arc-shaped openings of each arc-shaped member are arranged relative to each other. Similar to a single positioning member 122a, the image acquisition device 121 also needs to be arranged in a lateral position.

[0038] like Figure 4A As shown, in other embodiments, the positioning structure 122 is a positioning groove 122b directly opened on the upper surface of the shelf 124, and the notch of the positioning groove 122b is opposite to the target position. It can be understood that the positioning groove 122b can be a groove adapted to the side shape of the object to be identified, and the image acquisition device 121 needs to be set in the upper position or side position of the positioning groove, so that when the object to be identified is placed in the object identification area 120a, the object to be identified is carried on the shelf 124, and the side of the object to be identified is limited to the positioning groove 122b of the shelf 124, and the image acquisition device 121 can capture the identification area of ​​the object to be identified. In the actual implementation process, the projection of the positioning groove 122b along the notch direction is a long strip, and the length direction of the long strip extends along the horizontal direction of the cabinet 120.

[0039] like Figure 3A As shown, in some embodiments, among the multiple object storage areas 120b located on the same layer defined by the same shelf 124, a second partition 125 may be provided between two adjacent object storage areas 120b to isolate the two adjacent object storage areas 120b on the same layer from each other. Figure 4A As shown, two adjacent article storage areas 120b on the same layer may also be connected, that is, there is no need to set up the second partition 125.

[0040] In some embodiments, each shelf 124 is connected to the cabinet shell 123 so that the shelf 124 is supported by the cabinet shell 123. For example, a slot may be provided on the inner wall of the cabinet shell 123, and the outer edge of the shelf 124 is snap-fitted to the cabinet shell 123 through the slot.

[0041] like Figure 3B As shown, in some embodiments, the item storage device is a wine cabinet for storing wine, and the item identification area 120a is the area for placing the wine to be identified. The shape of the positioning groove 122b opened on the upper surface of the shelf 124 is a groove adapted to the shape of the bottom of the wine bottle of the wine to be identified, that is, the projection of the groove along the groove direction is circular or elliptical, and the image acquisition device 121 is set on the side of the positioning groove 122b, and can capture the marking area on the body of the upright wine bottle.

[0042] like Figure 4B As shown, in other embodiments, the object storage device is a wine cabinet for storing wines, and the object identification area 120a is the area for placing the wines to be identified. The positioning groove 122b provided on the positioning member 122a is a groove adapted to the shape of the bottle body of the wine to be identified, that is, the projection of the groove along the notch direction is a rectangle. The image acquisition device 121 is arranged above the positioning groove 122b, specifically, it can be directly above or obliquely above the positioning groove 122b, and can capture the identification area on the bottle body of the wine bottle lying (tilted or horizontally placed).

[0043] like Figure 6 As shown, the position of the object identification area 120a in the cabinet shell 123 is different, and the fixed position of the image acquisition device 121 is different. The image acquisition device 121 can be fixed to the lower surface of the shelf 124, or the inner surface of the top wall of the cabinet shell 123, or the inner surface of the side wall of the cabinet shell 123 according to actual conditions.

[0044] like Figure 3A , Figure 4AAs shown, in some embodiments, the article storage device provided by the utility model may also include: a first in-position sensing device 126 for sensing whether an article to be identified is placed in the article identification area 120a, wherein the first in-position sensing device 126 is arranged in the article identification area 120a, so that when an article is taken in and out of the article identification area 120a, the first in-position sensing device 126 can timely detect the placement and removal of objects in the article identification area 120a. The first in-position sensing device 126 may be a gravity sensor, an induction switch, or an infrared beam sensor. If the first in-position sensing device 126 is a gravity sensor or an induction switch, it may be installed at the bottom of the positioning groove 122b; if the first in-position sensing device 126 is an infrared beam sensor, it may be installed at two relative positions above the positioning groove 122b.

[0045] like Figure 7 As shown, in some embodiments, the object storage device provided by the utility model may further include a controller 130, the signal output end of the controller 130 is electrically connected to the image acquisition device 121, and the signal input end of the controller 130 is electrically connected to the first in-position sensing device 126. The object to be identified is placed in the object identification area 120a, and the first in-position sensing device 126 generates a corresponding sensing signal and transmits it to the controller 130, so that the controller 130 detects that the object to be identified is placed in the object identification area 120a, and triggers the controller 130 to start the image acquisition device 121 to shoot at the target position, so as to collect a picture or video of the identification area including the object to be identified.

[0046] like FIG. 3A to FIG. 4B As shown, in some embodiments, the article storage device provided by the utility model may further include a guide 127, which is disposed in the article identification area 120a, and the guide 127 and the image acquisition device 121 are located in the same orientation relative to the target position, and the guide 127 is used to guide the user to place the article to be identified, and keep the identification area at a position relative to the shooting angle of the image acquisition device 121. In some embodiments, the article identification area 120a is a storage area belonging to the edge position among the storage areas in the cabinet 120, and the guide 127 and the image acquisition device 121 are both disposed on the inner surface of the side wall of the cabinet shell 123 located in the article identification area 120a.

[0047] In some embodiments, a first partition 128 is provided between each item storage area 120b adjacent to the item identification area 120a and the item identification area 120a. The first partition 128 is used to visually isolate the item identification area 120a from each item storage area 120b that is on the same layer and adjacent thereto, so as to prevent the image acquisition device 121 from photographing items stored in the item storage area 120b when photographing a target position in the item identification area 120a. The first partition 128 may be an opaque partition or a partition with a transparency lower than a certain threshold. In some embodiments, the guide member 127 and the image acquisition device 121 may be provided on the surface of the first partition 128 facing the item identification area 120a.

[0048] In some embodiments, the guide member 127 may be a label or a light-emitting member with guide content written thereon.

[0049] like Figure 3A and Figure 4A As shown, in some embodiments, the article storage equipment provided by the utility model also includes multiple second in-place sensing devices 129, wherein each article storage area 120b is provided with at least one second in-place sensing device 129 for sensing whether there is an article placed in the article storage area 120b, so that when articles are taken out and placed in the article storage area 120b, the second in-place sensing device 129 provided in the article storage area 120b can timely detect the placement and removal of objects.

[0050] In some embodiments, the second in-position sensing device 129 is a gravity sensor or a sensing switch, which is installed on the supporting portion 124a corresponding to the object storage area 120b.

[0051] In other embodiments, the second in-situ sensor device 129 may be a camera placed in each storage space layer, and the camera placed in the storage space layer identifies whether there are items placed in each item storage area 120b in the storage space layer.

[0052] In some embodiments, Figure 3A and Figure 3B As shown, the item storage equipment provided by the utility model also includes multiple in-place indicating devices 131, and an in-place indicating device 131 is respectively arranged in the item identification area 120a and / or each item storage area 120b; the second in-place sensing device 129 is connected to the signal input end of the controller 130, and each in-place indicating device 131 is connected to the signal output end of the controller 130.

[0053] In some embodiments, the article storage device provided by the utility model further includes one or more of the following devices electrically connected to the controller 130: a display device 132, a load control device 133, an audio and visual reminder device 134, and a communication device 135 for communicating with the outside.

[0054] It can be understood that the display device 132 is used to display information of various stored items and interactive information, and the load control device 133 is used to control the load requirements of basic functions such as temperature, lighting, sterilization, etc. inside the cabinet 120.

[0055] It can be understood that the communication device 135 may include a Wi-Fi module and / or a Bluetooth module. The communication device 135 is used to connect the item storage device to the network. The image or video of the identification area including the item to be identified taken by the image acquisition device 121 can be transmitted to the cloud through the communication device 135, and the cloud is used to identify the item information carried in the identification area. The cloud returns the identification result to the item storage device, and the returned identification result can be displayed on the display device 132.

[0056] It is understandable that the sound and light reminder device 134 can be a buzzer and / or a voice device. The sound and light reminder device 134 is used to remind the user of successful identification by sound or light when the cloud or controller 130 successfully identifies the item information of the item to be identified; when the cloud or controller 130 fails to identify the item information of the item to be identified, it also uses sound or light to remind the user how to place it correctly.

[0057] In some embodiments, the article storage device provided by the utility model may further include a power supply device 136 and / or a fill light device 137 electrically connected to the controller 130. Specifically, the fill light device 137 and the image acquisition device 121 may be installed at any position above, obliquely above, on the left, on the right, and on the rear of the article identification area 120a. The installation positions of the image acquisition device 121 and the fill light device 137 are calculated in advance through experimental data based on the position angle and distance between the article identification area 120a and the image acquisition device 121. The fill light device 137 and the image acquisition device 121 are in the same orientation relative to the target position, so that when the identification area is placed facing the emission angle of the image acquisition device 121, the image acquisition device 121 can aim at the identification area for shooting, so that the identification area can be completely shot, or it is ensured that no less than 1 / 3 of the text content in the identification area is clearly shot.

[0058] The power supply device 136 is used to supply power to various loads in the item storage device. The fill light device 137 is arranged in the item identification area 120a. The fill light device 137 is used to fill light for the item to be identified when the image acquisition device 121 is shooting at the target position. When the first in-situ sensing device 126 senses that the item to be identified is placed in the item identification area 120a, the image acquisition device 121 is turned on and the fill light device 137 is turned on at the same time.

[0059] In some embodiments, the article storage device provided by the present invention may further include a cabinet door 110 , which can be opened and closed relative to the cabinet body 120 .

[0060] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0061] The above are only embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. An article storage device, characterized in that: include: A cabinet body, wherein an item identification area is provided in the cabinet body; A positioning structure, disposed in the object identification area, the positioning structure is used to limit the identification area of ​​the object to be identified to a target position in the object identification area; An image acquisition device is arranged in the object identification area, and a shooting angle of the image acquisition device is directed toward the target position.

2. The article storage device according to claim 1, characterized in that: Also includes: A first in-position sensing device is disposed in the object identification area, and is used to sense whether an object to be identified is placed in the object identification area; A controller, wherein a signal output end of the controller is electrically connected to the image acquisition device, and a signal input end of the controller is electrically connected to the first in-position sensing device.

3. The article storage device according to claim 2, characterized in that: The cabinet comprises a cabinet shell and at least one shelf arranged in the inner cavity of the cabinet shell. The cabinet shell and each of the shelves define the object identification area and a plurality of object storage areas.

4. The article storage device according to claim 3, characterized in that: The positioning structure is a positioning groove opened on the surface of the shelf, or The positioning structure is a positioning member fixedly arranged on the upper surface of the shelf, and the positioning member is provided with a positioning groove; Wherein, the notch of the positioning slot is opposite to the target position.

5. The article storage device according to claim 4, characterized in that: The positioning groove is a groove adapted to the side shape of the object to be identified, and the image acquisition device is arranged above the positioning groove, or The positioning groove is a groove adapted to the bottom surface shape of the object to be identified, and the image acquisition device is arranged at the side of the positioning groove.

6. The article storage device according to claim 5, characterized in that: The projection of the positioning groove along the groove opening direction is circular, elliptical or long strip.

7. The article storage device according to claim 3, characterized in that: The article storage device further includes a first partition plate disposed between each of the article storage areas adjacent to the article identification area and the article identification area.

8. The article storage device according to claim 3, characterized in that: Also includes: A plurality of second in-position sensing devices, wherein each of the article storage areas is further provided with at least one second in-position sensing device for sensing whether an article is placed in the article storage area.

9. The article storage device according to claim 8, characterized in that: Also includes: A plurality of in-place indicating devices, wherein at least one in-place indicating device is provided in the article identification area and / or each of the article storage areas, the second in-place sensing device is connected to the signal input end of the controller, and each in-place indicating device is connected to the signal output end of the controller; and / or One or more of the following devices electrically connected to the controller: a display device, a load control device, an audible and visual reminder device, and a communication device for communicating with the outside.

10. The article storage device according to claim 2, characterized in that: Also includes: A fill light device is arranged in the object identification area, the fill light device is connected to the signal output end of the controller, and / or A guide member, disposed in the object identification area; Wherein, the guiding member, the fill light device and the image acquisition device are in the same orientation relative to the target position.