Learning Device Position Adjustment for Article Conveyance
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Solution Overview
Problem
Conventional learning devices for article transport facilities face inaccuracies in deriving the reference position deviation amount and position adjustment amount due to the use of cameras with convex lenses, especially when detection marks are located at the edge of the field of view, leading to potential misalignment and inefficiencies in article transfer processes.
Innovation Solution
The learning device employs a multi-step image capturing and deviation calculation process, including a positioning correcting mechanism to adjust the position of the second learn assist member based on movement adjustment amounts, ensuring accurate derivation of reference position deviation and position adjustment amounts by capturing images multiple times and averaging valid data within a tolerance range, and adjusting the grip portion's position to center the detection mark within the field of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a camera with a convex lens is used to capture images of detection marks, then the imaging means can capture images of the detection mark, but the reference position deviation amount cannot be derived accurately when the detection mark is located in an edge area of the field of view
Solution Approach 1:
The system performs preliminary positioning to center the detection mark in the field of view before capturing the image. This preliminary action ensures that the detection mark is in the optimal position for accurate measurement, avoiding the distortion and inaccuracy that occur when marks are at the edge of the field of view.
Solution Approach 2:
The system captures an image, calculates the deviation amount, checks whether it falls within the tolerance range, and if not, adjusts the position and recaptures the image. This feedback loop continues until an accurate measurement is obtained, ensuring high precision by iteratively correcting positioning based on previous measurement results.
2Device complexity
If the grip portion is simply raised and lowered with respect to the transfer support portion, then the transfer operation is simple, but the grip portion becomes horizontally displaced due to inaccuracies in installation position or swaying motion
Solution Approach 1:
The system replaces complex mechanical positioning mechanisms with an optical measurement and control system. By using the camera to capture images and calculate deviation amounts, the system achieves precise horizontal position adjustment without requiring complex mechanical positioning devices, thus maintaining operational simplicity while improving precision.
Solution Approach 2:
The system changes the horizontal position parameter of the grip portion based on the calculated deviation amount. By adjusting the horizontal position parameter according to the measured deviation, the system compensates for installation inaccuracies and swaying motions, achieving accurate positioning without increasing mechanical complexity.
3Measurement precision
If multiple image capturing and deviation calculation processes are performed with positioning correction, then accurate position adjustment amounts are derived, but the learning process time increases
Solution Approach 1:
The system implements a feedback mechanism where the deviation amount is calculated and checked against a tolerance range. If the deviation is within the tolerance range, the process terminates early, avoiding unnecessary additional image captures and calculations. This feedback-based early termination reduces learning process time while maintaining measurement precision.
Solution Approach 2:
The system performs preliminary positioning to center the detection mark before the main measurement process. This preliminary action reduces the likelihood of needing multiple correction iterations, thereby reducing the overall learning process time while ensuring accurate measurements from the first attempt.
Data Source
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AI summary
An object is to provide a learning device and a learning method, for an article transport facility, which can learn position adjustment amount accurately. A learning control device performs, positioning process, a first image capturing process, and a first deviation amount calculating process in which a reference position deviation amount in the horizontal direction between the imaging reference position and a detection mark is derived based on image information captured in the first image capturing process to derive a position adjustment amount from the derived reference position deviation amount, and a positioning correcting process in which the position adjustment device is operated to adjust a position of the second learn assist member based on the derived movement adjustment amount when the reference position deviation amount derived in the first deviation amount calculating process falls outside a set tolerance range, and a second image capturing process, and a second deviation amount calculating process in which a reference position deviation amount in the horizontal direction between the imaging reference position and the detection mark is derived based on image information captured in the second image capturing process to derive a position adjustment amount from the derived reference position deviation amount and the movement adjustment amount.