System and method for library robotics positional accuracy using parallax viewing
View Patent ↗In one aspect and one example, a method for calibrating robotic picker mechanisms in automated storage library systems includes detecting a calibration mark with at least one sensor from a first position and a second position, where the first position and the second position are separated by an offset distance. Further, the method includes determining a shift in the calibration mark between the first position and the second position, and determining a distance between a reference position and the calibration mark based on the shift in the calibration mark, the offset distance, and the focal length of the sensor.
1. A method for calibrating robotic picker mechanisms in automated storage library systems, comprising:
detecting a calibration mark associated with a storage library with at least one sensor, wherein the at least one sensor detects the calibration mark from a first position and a second position, the first position and the second position separated by an offset distance, wherein the calibration mark comprises an optically detectable indicium;
determining a relative shift in the detected calibration mark detected from the first position and the second position; and
determining a distance between the calibration mark and a reference position based on the shift in the detected calibration mark, the offset position, and a focal length associated with the at least one sensor used to detect the calibration mark.
2. The method of claim 1 , wherein the reference position is associated with an average position of the first position and the second position.
3. The method of claim 1 , wherein the reference position is associated with at least one of the first position and the second position.
4. The method of claim 1 , wherein the reference position is associated with a robotic picker mechanism.
5. The method of claim 1 , wherein the at least one sensor includes a first sensor and a second sensor.
6. The method of claim 1 , wherein the at least one sensor includes a first sensor and a second sensor separated by the offset distance.
7. The method of claim 1 , wherein the at least one sensor is associated with a robotic picker mechanism.
8. The method of claim 1 , wherein the at least one sensor is attached to a robotic picker mechanism.
9. The method of claim 1 , wherein the at least one sensor includes an optical sensor.
10. The method of claim 1 , wherein the sensor includes a CMOS imaging device.
11. The method of claim 1 , wherein the first position and the second position are in a plane substantially orthogonal to a direction between the at least one sensor and the calibration mark.
12. A robotic mechanism for transporting storage devices in a storage library, comprising:
a gripper assembly for handling storage devices;
a sensor associated with the gripper assembly; and
at least one controller, wherein the at least one controller and sensor are adapted to
detect a calibration mark from a first position, wherein the calibration mark comprises an optically detectable indicium,
detect the calibration mark from a second position,
determine a shift in the detected calibration mark from the first position and the second position relative to the sensor, and
determine a distance between a reference point and the calibration mark based on the shift in the calibration mark, the distance between the first position and the second position, and a focal length associated with the sensor.
13. The device of claim 12 , wherein the reference position is associated with an average position of the first position and the second position.
14. The device of claim 12 , wherein the reference position is associated with at least one of the first position and the second position.
15. The device of claim 12 , wherein the reference position is associated with the gripper assembly.
16. The device of claim 12 , wherein the calibration mark is associated with at least one of a storage bin and a drive bezel.
17. The device of claim 12 , further including a light source associated with the gripper assembly for directing light to the approximate position of the calibration mark.
18. The device of claim 12 , wherein the sensor is coupled to a robotic picker mechanism.
19. The device of claim 12 , wherein the sensor includes an area sensor device.
20. The device of claim 12 , wherein the sensor includes a CMOS imaging device.
21. The device of claim 12 , wherein the sensor includes a CCD imaging device.
22. The device of claim 12 , wherein the calibration mark includes at least one of a rectangular shaped and cross-hair indicium.
23. A storage library system, comprising:
a housing adapted to include storage slots and one or more media drives; and
a gripper assembly for handling storage devices in a storage library system, having:
a sensor associated with the gripper assembly; and
a controller, wherein the controller and the sensor are configured to:
detect a calibration mark from a first position, wherein the calibration mark comprises an optically detectable indicium,
detect a calibration mark from a second position,
determine a shift in the detected calibration mark from the first position and the second position relative to the sensor, and
determine a distance between the gripper assembly and the calibration mark based on the shift in the calibration mark, the distance between the first position and the second position, and a focal length associated with the sensor.
24. The system of claim 23 , wherein the calibration mark is associated with at least one of a storage bin and a drive bezel.
25. The system of claim 23 , further including a light source associated with the gripper assembly for directing light to the approximate position of the calibration mark.
26. The system of claim 23 , wherein the sensor includes an area sensor device.
27. The system of claim 23 , wherein the sensor includes a CMOS imaging device.
28. The system of claim 23 , wherein the sensor includes a CCD imaging device.