Single Monocular Imaging Device for Reflector Position Learning
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Solution Overview
Problem
The existing article transport facilities require two monocular imaging devices for learning target positions, increasing the size and manufacturing cost of the learning module due to the need for spaced arrangement of imaging devices.
Innovation Solution
A single monocular imaging device is used in the learning module, capturing images of a reflector with distinct areas that differ in reflectance and wavelength, allowing the controller to determine the shape and size of the reflector, thereby simplifying the structure and reducing costs by eliminating the need for separate imaging devices at each storage section.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two monocular imaging devices are provided to capture images at different angles, then the learning module can determine the three-dimensional position and shape of the reflector, but the size of the learning module increases due to the need for spaced arrangement of imaging devices
Solution Approach 1:
A light emitter-receiver is introduced as an intermediary device that projects light to the reflector and receives the reflected light. This mediator enables the single imaging device to capture optical path information that would otherwise require multiple imaging devices, allowing three-dimensional position determination without increasing the learning module size.
Solution Approach 2:
The mechanical system of multiple imaging devices arranged in space is replaced with an optical system consisting of a light emitter-receiver and a single imaging device. The light emitter-receiver projects light to the reflector, and the imaging device captures the reflected light, substituting the need for multiple mechanical imaging devices with an optical measurement approach.
2Measurement precision
If two monocular imaging devices are provided to capture images at different angles, then the learning module can determine the three-dimensional position and shape of the reflector, but the manufacturing cost increases due to the need for multiple imaging devices
Solution Approach 1:
The functions of multiple imaging devices are merged into a single imaging device combined with a light emitter-receiver. The light emitter-receiver and imaging device work together as an integrated system to achieve the measurement capabilities that would otherwise require multiple separate imaging devices, thereby reducing manufacturing cost.
Solution Approach 2:
The light emitter-receiver serves as a mediator that enables the single imaging device to obtain information that would otherwise require multiple imaging devices. This intermediary approach reduces the number of expensive imaging devices needed while maintaining measurement precision.
3Ease of manufacture
If a single monocular imaging device is used to capture images of the reflector, then the size and manufacturing cost of the learning module are reduced, but the ability to accurately determine the shape and size of the reflector deteriorates
Solution Approach 1:
The light emitter-receiver acts as an intermediary that provides structured light to the reflector. By projecting light and capturing the reflected light with the single imaging device, the system obtains sufficient information to accurately determine the three-dimensional shape and size of the reflector, overcoming the limitations of a single monocular imaging device.
Solution Approach 2:
The mechanical approach of using multiple imaging devices is replaced with an optical approach using a light emitter-receiver and single imaging device. This substitution enables accurate three-dimensional measurement with a single imaging device by utilizing light reflection principles.
4Ease of manufacture
If a single monocular imaging device is used to capture images of the reflector, then the size and manufacturing cost of the learning module are reduced, but the measurement capability deteriorates without proper reflector design
Solution Approach 1:
The reflector is designed with local quality variations, specifically a first area and a second area with different reflectance properties. This local differentiation enables the single imaging device to capture distinguishable image information that allows accurate determination of the reflector's position, shape, and size.
Solution Approach 2:
The reflector incorporates areas with different reflectance characteristics (analogous to color changes in optical properties). The first area and second area have different reflectance values, creating distinguishable image signals that enable the single imaging device to accurately measure the reflector's three-dimensional characteristics.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enables accurate recognition and determination of the reflector's shape and size, facilitating efficient article transfer and learning of target positions while reducing the size and manufacturing cost of the learning module.
Implementation Method 1
each of the plurality of storage sections is provided with a reflector configured to reflect light from the light-emitter-receiver back toward the light-emitter-receiver
Implementation Method 2
the learning module has only one monocular imaging device configured to capture an image of the reflector
Data Source
AI summary
An article transport facility comprises storage sections, a transport device, a controller, and a learning module. The transport device has a transfer device having a support portion, and a light-emitter-receiver. The controller is caused to store information that indicates a second target position at which the transfer device is located when transferring an article, and information that indicates a first target position to which the support portion is moved. Each of a plurality of storage sections is provided with a reflector. A learning control performed by the controller is a control in which a first target position and a second target position are learned based on information of an image of the reflector captured by the imaging device of the learning module and pre-learning position information. Each reflector has a first area which forms the periphery of the reflector, and a second area in the first area. The relationship between the reflectance and the wave length of the reflected light is different between the first area and the second area.