System and method for library robotics positional accuracy using parallax viewing
AssigneeQuantum Corporation
InventorMichael E. Critchlow
Life of this patent
Estimating the term…
Abstract
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.
Claims28
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.
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.
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.
Dependencies are inferred from the claim text.