Article Storage Camera Alignment Correction
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Solution Overview
Problem
Conventional article storage facilities require complex calculations to correct target stop positions and distances due to positional variations in components, leading to inefficient operation.
Innovation Solution
A learning method using a combination of frontal and angular view cameras to derive correction information for target stop positions and extending/retracting distances, allowing for simple calculations to align the article transfer device with storage units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional coordinates are computed based on stereovision from parallax of pair of images, then target stop position and target distance can be corrected, but the calculations performed by the learning control means become complicated
Solution Approach 1:
The patent replaces the complex stereovision calculation system with a simplified optical measurement system. Instead of computing three-dimensional coordinates from parallax of image pairs, the invention uses a single imaging device to directly capture the position of the detected member, and derives correction amounts through simple coordinate transformations based on the imaging device's optical characteristics. This substitution of the measurement principle dramatically reduces calculation complexity while maintaining correction accuracy.
Solution Approach 2:
The patent extracts only the essential information needed for correction from the imaging data. Rather than performing full three-dimensional coordinate computation from stereovision, the system extracts the two-dimensional position coordinates of the detected member in the image and directly converts these to correction amounts for the target stop position and target distance. This extraction approach eliminates unnecessary computational steps.
2Reliability
If conventional stereovision method is used to compute three-dimensional coordinates, then correction of target stop position and target distance can be achieved, but the learning control means requires complicated calculations
Solution Approach 1:
The patent substitutes the complex stereovision-based control system with a simplified direct imaging-based control system. By using a single imaging device positioned at a specific angle to capture the detected member, and applying straightforward coordinate transformations, the system achieves reliable correction without requiring complicated three-dimensional computation, thereby improving ease of operation.
Solution Approach 2:
The patent changes the measurement parameters from three-dimensional coordinates requiring stereovision computation to two-dimensional image coordinates that can be directly transformed into correction amounts. This parameter change simplifies the control system's computational burden while maintaining the reliability needed for accurate target stop position and distance correction.
Data Source
AI summary
A learning method is disclosed for an article storage facility having an article storage rack including article storage units arranged in a rack lateral width direction and a vertical direction, a vertically movable lift, and a horizontal travel carriage associated with the vertically movable lift. A frontal view camera is positioned with respect to the article transfer device such as to capture an image of a detected member provided for each of the storage units from a rack fore-and-aft direction. An angular view camera is positioned with respect to the article transfer device such as to be displaced relative to the frontal view camera in the rack lateral width direction or the vertical direction and such as to capture an image of a detected member from a direction at an angle relative to the rack fore-and-aft direction. And vertical direction correction information, rack lateral width correction information and extending and retracting distance correction information are derived based from image information.