Stereo Structured Light Vision for 3D Tote Pose Alignment
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Solution Overview
Problem
Inventory systems face inefficiencies in resource utilization, leading to lower throughput, long response times, and high costs due to the challenges of accommodating fluctuating throughput and the need for significant infrastructure changes.
Innovation Solution
A stereo vision system is employed to determine the 3D pose of inventory holders, using multiple cameras and lasers to capture localized images and laser line profiles, allowing for precise alignment of transfer apparatuses with inventory compartments, thereby optimizing item transfer and reducing interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional inventory systems expand infrastructure to accommodate fluctuating throughput, then system capacity increases, but cost and complexity increase significantly
Solution Approach 1:
The patent replaces traditional mechanical vision systems with a stereo vision system using multiple cameras and lasers to capture 3D spatial information. This optical system enables precise positioning and alignment without requiring complex mechanical adjustments or infrastructure changes, allowing the system to accommodate fluctuating throughput without proportional increases in infrastructure complexity
Solution Approach 2:
The system uses adjustable laser parameters and camera positioning to dynamically adapt to different inventory holder configurations and throughput requirements. By changing optical parameters rather than physical infrastructure, the system can scale capacity without proportional increases in system complexity
2Measurement precision
If stereo vision system uses multiple cameras and lasers to determine 3D pose, then positioning precision improves, but system complexity increases
Solution Approach 1:
The vision system is segmented into distinct functional modules: multiple cameras for capturing 2D images, lasers for projecting reference patterns, and processing systems for 3D reconstruction. Each module performs a specific function, allowing the complex task of 3D pose determination to be divided into manageable steps while maintaining high precision
Solution Approach 2:
The patent introduces laser-projected patterns as an intermediary between the cameras and the inventory holder. These patterns serve as reference markers that enable precise 3D coordinate mapping without requiring direct complex interactions between multiple cameras and the target object, simplifying the overall system architecture
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 approach enhances storage density, reduces clearance needs, and improves throughput by enabling faster, smoother item transfers, minimizing interference and operational costs.
Implementation Method 1
directing light from the first laser to intersect with a vertical portion and a horizontal portion of a first frame portion... to generate a first laser line profile
Implementation Method 2
capturing, via the first camera... a first image of the first frame portion... capturing, via a second camera... a second image of a second frame portion
Data Source
AI summary
Inventory systems may include an inventory holder, a transfer apparatus, and a stereo vision system localized to determine a three dimensional (3D) pose of the inventory holder. The stereo vision system includes a first camera and a first laser disposed at a first end portion of a platform, and a second camera and a second laser disposed at a second end portion of the platform. The first camera and the first laser being localized to capture a first image of a first frame portion of an opening of the inventory holder. The second camera and the second laser being localized to capture a second image of a second frame portion of the opening. Furthermore, one or more processors can be configured to determine the 3D pose of the inventory holder based on the first image and the second image.