JP6004472B2 - Correction apparatus, correction method, and program - Google Patents

Description

  The present invention relates to a correction apparatus, a correction method, and a program for performing correction processing for movement control of an accessor provided in a library apparatus.

The library device 30 that stores the recording medium 70 for recording backup data includes a mobile device called an accessor. The accessor is a device that moves between the cell 40 for storing the recording medium 70 and the drive device 50 for writing backup data to the recording medium 70, and moves the recording medium 70 in and out of the cell 40 and the drive device 50. is there.
A technique relating to the position adjustment of the accessor in the library apparatus 30 is disclosed in Patent Document 1.

JP 2009-217912 A

  By the way, production of a camera, which is an example of a photographing device mounted on an accessor, may be discontinued. When a camera mounted on the accessor breaks down, a different type of camera may be attached to the accessor as a replacement by a maintenance person. The camera newly installed in this accessor may have a different angle of view from the malfunctioning camera.

  Here, the control unit that controls the accessor, for example, sets the coordinate distance indicated by a predetermined number of coordinates when one pixel in an image captured by a camera mounted on the accessor is one coordinate, and the predetermined coordinate distance. A movement table indicating a correspondence relationship with the number of times of output of the reference signal for instructing the motor of the accessor to move the photographing position by the number of pixels in the corresponding image is stored in the storage unit or the like. Then, the control unit of the accessor performs reference to the motor based on the coordinate distance corresponding to the number of pixels from the reference position specified by the image analysis to the predetermined mark in the image and the correspondence relationship held in the movement table. Output a signal. As a result, the accessor moves so that a predetermined mark is captured at a predetermined reference position in an image captured by a camera attached to the accessor, and the recording medium stored in the library or the like is taken out or moved to the library cell. Insert the recording medium.

Here, when the angle of view of the images read by both the failed camera and the camera newly installed in the accessor is different, the distance in real space indicated by each pixel is different. Therefore, the distance in the real space differs according to the coordinate distance corresponding to the predetermined number of pixels in each image acquired by these two cameras. Therefore, the distance in the real space corresponding to the coordinate distance corresponding to the predetermined number of pixels on the image newly acquired by the camera newly installed by the maintenance person's replacement work is equal to the predetermined number of pixels indicated by the movement table. It differs from the distance in real space where the accessor moves depending on the number of times the corresponding reference signal is output. As a result, the accessor cannot perform accurate movement control using the image acquired by the newly mounted camera and the above-described movement table.
Note that the technique disclosed in Patent Document 1 described above is a technique in which the position of an accessor is adjusted in a short time with respect to a specific one type of camera using an image detection unit. For this reason, the technique of Patent Document 1 does not solve the problem that the accessor cannot be accurately controlled when different types of cameras are mounted on the accessor.

  Therefore, an object of the present invention is to provide a correction device, a correction method, and a program that can solve the above-described problems.

In order to achieve the above object, the present invention provides a correction apparatus for adjusting the position of an accessor in a library apparatus , and includes image data generated by a photographing apparatus that photographs a jig provided in the accessor. From the coordinate identification unit that identifies the coordinates in the image data of the target mark provided on the jig, the coordinate comparison unit that compares the coordinates of the feature and the reference coordinates, and the comparison results performed by the coordinate comparison unit And a type specifying unit that specifies the type of the imaging device based on the correction device.

The present invention also relates to a correction method for adjusting the position of the accessor in the library apparatus, from the image data generated by the photographing apparatus photographing a jig provided on the accessor, provided in the jig Identifying the coordinates of the target mark in the image data, comparing the coordinates of the target mark with reference coordinates, and identifying the type of the imaging device provided in the accessor based on the comparison result of the comparison Is a correction method characterized by

The present invention causes a computer of a correction device for adjusting the position of the accessor in the library apparatus, from the image data generated by the photographing apparatus photographing a jig provided on the accessor, provided in the jig coordinate specifying means for specifying coordinates in the image data of the target mark that is, coordinate comparison means for comparing coordinates and the reference coordinates of the target mark, the imaging provided in the accessor based on a comparison result obtained by the prior Symbol comparison It is a program characterized by functioning as type specifying means for specifying the type of device.

  By the processing of the correction device of the present invention, the accessor control unit can appropriately control the movement of the accessor by using a movement table suitable for the camera mounted on the accessor.

It is a functional block diagram which shows the minimum structure of the correction apparatus 1 of this invention. It is a functional block diagram which shows the structure of the correction | amendment apparatus 1 by embodiment of this invention. FIG. 2 is a block diagram showing a configuration of a library apparatus 30 in the embodiment of the present invention. It is a figure which shows the accessor 11 with which the jig | tool 7 is being fixed. It is a figure which shows the image of the jig | tool 7 image | photographed with the camera 6 from which a kind differs. It is a figure which shows table T2 for a movement. It is a figure which shows the processing flow of the correction apparatus 1 by embodiment of this invention.

<Embodiment>
FIG. 1 is a functional block diagram showing the minimum configuration of the correction apparatus 1 of the present invention.
As shown in this figure, the correction device 1 includes at least a coordinate specifying unit 2, a coordinate comparison unit 3, and a type specifying unit 4.
Here, the coordinate specifying unit 2 specifies the coordinates of the feature that is a part of the target object from the image data generated by the imaging device that has captured the target object.
Further, the coordinate comparison unit 3 compares the coordinates of the characteristic object with the reference coordinates 20.
Further, the type identification unit 4 identifies the type of the imaging device based on the comparison result of the comparison performed by the coordinate comparison unit 3.

FIG. 2 is a functional block diagram showing the configuration of the correction apparatus 1 according to the embodiment of the present invention.
As shown in FIG. 2, the correction device 1 according to the embodiment of the present invention includes functional units such as a coordinate specifying unit 2, a coordinate comparison unit 3, a type specifying unit 4, and a table correction unit 12. These functional units are configured in the correction apparatus 1 when the control unit 10 executes a program.
In addition, the storage unit 5 stores reference coordinates 20, a type specifying table T1, and a moving table T2. Here, the reference coordinates 20 are data that the coordinate comparison unit 3 compares with the coordinates in the image data of the object photographed by the camera 6, and the type identification unit 4 identifies the type of the camera 6 based on the comparison result. . The type specifying table T <b> 1 is a table used when the type specifying unit 4 specifies the type of the camera 6 based on the comparison result compared by the coordinate comparison unit 3.
Further, the camera 6 shoots the jig 7 fixed to the accessor 11 which is an example of the moving device, thereby generating image data including the image of the object printed on the jig 7. The generated image data is output to the coordinate specifying unit 2. In the following description, the camera 6 originally attached to the accessor 11 will be referred to as a camera 6a, and the camera 6 after replacement when the camera 6a has failed will be referred to as a camera 6b. The cameras 6a and 6b are collectively referred to as the camera 6.

FIG. 3 is a block diagram showing the configuration of the library apparatus 30 according to the embodiment of the present invention.
This figure shows an example when the library device 30 is viewed from above. The library device 30 includes a library 80 that stores a plurality of recording media 70 and a drive device 50 that reads information recorded on the recording media 70 and writes information to the recording media 70. The library device 30 also includes an accessor 11 that carries the recording medium 70 stored in the library 80 to the drive device 50. The accessor 11 is equipped with a camera 6 and a control unit 10. The library apparatus 30 may have other configurations.

  Here, the library 80 has a plurality of cells 40 for storing the recording medium 70. In the library 80, the cells 40 may be provided vertically and horizontally. The recording medium 70 may be a data cartridge such as a tape or a disk. Alternatively, the recording medium 70 may be another recording medium 70.

  The drive device 50 is a device that reads information recorded on the recording medium 70 and writes information to the recording medium 70. When the drive device 50 grips the recording medium 70 by the operation of the accessor 11 and is disposed in the entrance of the drawing port, the drive device 50 detects the recording medium 70 and performs an operation of drawing it inside.

Further, the accessor 11 holds the recording medium 70 stored in each cell 40 of the library 80 based on the control by the control unit 10 and carries it out to the drive device 50, and holds the recording medium 70 from the drive device 50. Then, the drive unit is carried out to the library 80.
In the present embodiment, an example in which the control unit 10 is mounted on the accessor 11 will be described. However, the control unit 10 is installed in another location in the library apparatus 30 and the accessor 11 is connected via a communication line or the like. You may make it control.

FIG. 4 is a view showing the accessor 11 to which the jig 7 is fixed.
In this figure, the camera 6 is fixed to the accessor 11 at a position where a feature on the jig 7 is photographed from an oblique direction.
The jig 7 is a plate on which a target mark 8 which is an example of a characteristic object and a barcode 9 (upper barcode 9a and lower barcode 9b) are printed. 11 is fixed at the same position on 11 so as to photograph the same direction. The jig 7 is a plate that is used only when the position of the accessor 11 is adjusted, and is removed during the actual operation of the accessor 11.
Note that the target mark 8 has a shape including at least a vertical line. In the present embodiment, the target mark 8 has a vertical line on the right side and a triangle having the vertical line as one side. The lower vertex of the two vertices in the vertical line of the triangle is called vertex A, and the upper vertex is called vertex B.

FIG. 5 is a diagram showing an image of the jig 7 taken by different types of cameras 6.
In FIG. 5, an image 101a of the jig 7 is an image taken by the camera 6a when the position of the accessor 11 equipped with the camera 6a is adjusted.
In FIG. 5, the image 101b of the jig 7 is displayed when the accessor 11 on which the camera 6a is mounted starts an actual operation, and after a while, the camera 6a breaks down and is replaced with the camera 6b. Are images taken by the camera 6b.
The images taken by the cameras 6a and 6b are both X1 pixel in the vertical direction and Y1 pixel in the horizontal direction. In both the images 101a and 101b, the upper left coordinates of the images are (0, 0). In both the images 101a and 101b, the lower left coordinates are (0, Y1), the upper right coordinates are (X1, 0), and the lower right coordinates are (X1, Y1).

The coordinates of the point A in the target mark 8 are coordinates serving as a reference for use in movement control of the accessor 11. Even in the actual operation after the jig 7 is removed from the accessor 11, the coordinates of the point A in the target mark 8 become the reference coordinates for use in the movement control of the accessor 11.
Further, the coordinates of the point B in the target mark 8 are coordinates used for checking whether the mounting angle of the camera 6 is normal. The coordinate specifying unit 2 performs image processing on the image data of the image captured by the camera 6 and obtains the X coordinates of the points A and B in the target mark 8. And the coordinate specific | specification part 2 will judge that the attachment angle of the camera 6 is normal if the difference of both X coordinates is in a predetermined range.
Although the target mark 8 shown in FIG. 5 is a triangle, the target mark 8 is not limited to a triangle, and may be another shape such as a square or a star.

Further, the two barcodes 9 printed on the jig 7 are the same information as the barcode 9 printed on the back of the recording medium 70 actually stored in the cell 40 of the library 80. The two barcodes 9 printed on the jig 7 are used for determining whether or not the area specified by the barcode 9 can be photographed by the camera 6.
As a specific process for determining whether or not the area specified by the barcode 9 can be captured by the camera 6, for example, the coordinate specifying unit 2 performs image processing on the image data of the image captured by the camera 6. Then, the coordinates of points C and D in bar code 9 are obtained. During actual operation of the accessor 11, the control unit 10 captures the barcode 9 printed on the recording medium 70 inside a rectangle having the C point and D point obtained by the coordinate specifying unit 2 as diagonal vertices. The accessor 11 is controlled to move to such a position.

  As can be seen from a comparison between the range in which the two barcodes 9 in the image 101a in FIG. 5 fit and the range in which the two barcodes 9 fit in 101b, the cameras 6a and 6b are cameras 6 that shoot at different angles of view. Yes, the camera 6b is an enlarged image of the camera 6a. Therefore, the distance in the real space per pixel differs between the images 101a and 101b taken by the different cameras 6a and 6b.

FIG. 6 is a diagram showing the movement table T2.
This movement table T2 is a table used when the control unit 10 controls the movement of the accessor 11 in the X coordinate direction. In addition, the moving table T2 indicates the coordinate distance indicated by the predetermined number of coordinates when one pixel in the image is one coordinate and the movement of the photographing position by the number of pixels in the image corresponding to the predetermined coordinate distance. It is a table which shows the correspondence with the frequency | count of the output of the reference signal for instruct | indicating to the motor of the accessor 11. FIG. The control unit 10 controls the movement of the accessor 11 by adjusting the number of reference signals input to the motor of the accessor 11 using the movement table T2. Here, in the movement table T2 in FIG. 6, for example, the number of times of output of the reference signal for instructing the motor of the accessor 11 to move the photographing position by the number of pixels in the image corresponding to the coordinate distance of one coordinate is obtained. n1 times. In addition, in the movement table T2 in FIG. 6, for example, the number of times of output of the reference signal for instructing the motor of the accessor 11 to move the photographing position by the number of pixels in the image corresponding to the coordinate distance of two coordinates is n2. It is shown that.

Note that T2a in FIG. 6 is a table showing a specific example of the movement table T2.
In the moving table T2a in FIG. 6, for example, the number of times of output of the reference signal for instructing the motor of the accessor 11 to move the photographing position by the number of pixels in the image corresponding to the coordinate distance of one coordinate is one. It shows that there is. Further, in the movement table T2a in FIG. 6a, for example, the number of output of the reference signal for instructing the motor of the accessor 11 to move the photographing position by the number of pixels in the image corresponding to the coordinate distance of 10 coordinates is 9 times. It is shown that. As described above, the movement table T2 stores the number of times of input of the reference signal input to the motor for controlling the movement of the accessor 11 for each coordinate distance when one pixel in the image is one coordinate.

  It is assumed that the distance that the accessor 11 moves when the reference signal is input once is 1.7 mm, and the actual width of the imaging target for the number of pixels in the image corresponding to the coordinate distance for one coordinate is temporarily 2 mm. In such a case, to move the accessor 11 by 20 mm, the control unit 10 inputs the reference signal to the motor 11 times and moves the accessor 11 18.7 mm, or inputs the reference signal to the motor 12 times to move the accessor 11. Can move 20.4 mm. However, the control unit 10 cannot accurately move the accessor 11 by 20 mm using the reference signal. Accordingly, as shown in the movement table T2a of FIG. 6, the movement table T2 specifically indicates the number of times of input of the reference signal input to the motor for controlling the movement of the accessor 11, and 1 pixel in the image is 1 Each coordinate distance in the case of coordinates is stored in advance.

The moving table T2a shown in FIG. 6 is a moving table T2 for controlling the accessor 11 using an image captured by the camera 6a originally mounted on the accessor 11.
Here, a moving table T2b for controlling the accessor 11 using an image taken by the camera 6b after being replaced due to a failure of the camera 6a is previously stored in, for example, a personal computer 60 (hereinafter referred to as a PC 60). Assume that it is stored on the hard disk. The movement table T2b also records the same information as the movement table T2a. However, in the movement table T2a and the movement table T2b, the number of times of output of the reference signal for instructing the motor of the accessor 11 to move the photographing position by the number of pixels in the image corresponding to the coordinate distance of one coordinate is obtained. Is different.

FIG. 7 is a diagram showing a processing flow of the correction apparatus 1 according to the embodiment of the present invention.
Next, the processing flow of the correction apparatus 1 according to the embodiment will be described by taking as an example a case where the camera 6a mounted on the accessor 11 is broken and replaced with either the same type of camera 6a or a different type of camera 6b. .
Here, it is assumed that the position adjustment is performed on the accessor 11 on which the camera 6a is mounted before failure, and the moving table T2 for the camera 6a is stored in, for example, the hard disk of the PC 60. Further, it is assumed that the image 101a of the jig 7 photographed by the camera 6a is already stored in the hard disk of the PC 60, for example.

When the camera 6a mounted on the accessor 11 in the library apparatus 30 fails, the maintenance staff first replaces the camera 6a mounted on the accessor 11 with another camera 6b. This camera 6b is connected to the accessor 11 at a position where the entire target mark 8 and barcode 9 (upper barcode 9a and lower barcode 9b) printed on the jig 7 in FIG. 4 are within the angle of view of the camera 6b. Fixed.
Then, the maintenance person operates the PC 60 to adjust the position of the accessor 11 and, for example, downloads a program for adjusting the position of the accessor 11 stored in the hard disk of the PC 60 to the storage unit 5 in the accessor 11. I do.
Next, the maintenance person operates the PC 60 to instruct the start of correction. Then, the PC 60 outputs a correction start signal to the correction device 1 provided in the accessor 11. And the control part 10 of the correction | amendment apparatus 1 inputs a correction start signal (step S1). When receiving the correction start signal, the controller 10 next outputs a shooting instruction signal to the camera 6b (step S2). Then, the camera 6b images the jig 7 on which the target mark 8 and the barcode 9 are printed, and outputs image data generated by the imaging to the correction device 1. In the correction apparatus 1, the coordinate specifying unit 2 in the control unit 10 inputs image data (step S3).

  When the image data is input, the coordinate specifying unit 2 compares a predetermined threshold value between the gradation of each pixel being 0 (black) or 255 (white) and the gradation of each pixel of the input image data. To do. The coordinate specifying unit 2 converts the original image into a binary image by replacing pixels with gradations smaller than the threshold with white and pixels with gradations larger than the threshold with black. Perform binarization processing. And the coordinate specific | specification part 2 is the same shape as the shape of the triangle target mark 8 shown in FIG. A group of pixels indicated by black is extracted by pattern matching. Then, the coordinate specifying unit 2 determines the coordinates of the points A and B in the triangular target mark 8 from the extracted image data, the coordinates of the upper left C point of the upper barcode 9a, and the lower right D point of the lower barcode 9b. Identify. Then, the coordinate specifying unit 2 outputs the X coordinate of the specified point A to the coordinate comparison unit 3 (step S4).

  Next, when the X coordinate of the point A specified by the coordinate specifying unit 2 is input, the coordinate comparison unit 3 compares the X coordinate of the point A with the reference coordinate 20. For example, the reference coordinates 20 may be X2 indicating a threshold value that is a coordinate indicating a distance from the origin between the X coordinate of the point A of the image 101a and the X coordinate of the point A of the image 101b in FIG. And the coordinate comparison part 3 outputs the comparison result to the kind specific | specification part 4 (step S5).

  When the type specifying unit 4 inputs the comparison result of the coordinate comparison unit 3, it determines whether the camera 6 mounted on the accessor 11 is the camera 6a or 6b based on the comparison result (step S6). . For example, the type specifying unit 4 specifies the camera 6 as the camera 6a when the comparison result of the coordinate comparing unit 3 is “reference coordinate 20> X coordinate of the point A after camera replacement”. Further, the type specifying unit 4 specifies the camera 6 as the camera 6b when “X coordinate of the point A after camera replacement ≧ reference coordinate 20” (step S6). When the type identifying unit 4 identifies the type of the camera 6 mounted on the accessor 11 as the camera 6a, the position of the accessor 11 is the same as the camera 6a mounted before the camera replacement. The moving table T2a can be used as it is for adjustment.

When the type specifying unit 4 specifies the type of the camera 6 mounted on the accessor 11 as the camera 6b, the type specifying unit 4 sends a command signal to the table correction unit 12 to download the moving table T2b for the camera 6b. Output (step S7).
Then, the table correction unit 12 downloads the movement table T2b for the camera 6b used for adjusting the position of the accessor 11 from the PC 60, and replaces and records the movement table T2a stored in the storage unit 5 (step S8). ).
By such processing, the control unit 10 uses the movement table T2b appropriate for the camera 6b even when the movement control of the accessor 11 is performed using a different type of camera 6b after replacement. Control can be performed appropriately.

  In step S6, when it is determined that “reference coordinate 20> X coordinate of point A after camera replacement”, the camera 6 attached to the accessor 11 is identified as the camera 6a, or After step S8, the control unit 10 calculates the difference between the X coordinates of the points A and B arranged in the vertical direction extracted by the coordinate specifying unit 2 in step S5. And the control part 10 determines whether the calculation result is settled in the regulation value (step S9).

When the control unit 10 determines that the difference between the X coordinates of the point A and the point B is within the specified value, the control unit 10 determines that the camera 6 is mounted at a correct mounting angle (step S10). On the other hand, when the control unit 10 determines that the difference between the X coordinates of the point A and the point B is not within the specified value, the control unit 10 determines that the camera 6 is not mounted at the correct mounting angle. Then, the control part 10 displays the warning message which shows the attachment defect of the camera 6 on a screen (step S11).
In that case, the maintenance person sees the warning message and reattaches the camera 6.

  According to the processing of the correction device 1 described above, when the camera 6a mounted on the accessor 11 is replaced, the correction device 1 specifies the type of the camera 6 and downloads the movement table T2 suitable for the camera 6 from the PC 60. To do. By the processing of the correction device 1, the control unit 10 of the accessor 11 can appropriately control the movement of the accessor 11 using the downloaded movement table T2.

  In the description of the above-described embodiment, the coordinates of the target mark 8 and the barcode 9 are specified by binarizing the image. Instead of the binarization processing, the pixel of interest and the gradation value in the vicinity thereof are used. The coordinates of the target mark 8 and the barcode 9 may be specified by using an edge detection technique that is calculated in the following manner.

  In the description of the above embodiment, the coordinate comparison unit 3 compares the X coordinate of the point A in the target mark 8 with one threshold value. However, when there are a plurality of types of cameras 6, a plurality of threshold values are used. And the threshold value and the X coordinate of point A may be compared. Then, the type identification unit 4 may identify the camera 6 based on the comparison result of the coordinate comparison unit 3. For example, when Xa <threshold value a using threshold value a and threshold value b of X coordinate (threshold value a <threshold value b) and Xa coordinate of point A, threshold value a ≦ When Xa <threshold value b, the type specifying unit 4 can specify one type of camera 6 from the three types of cameras 6 based on any determination result when threshold value b ≦ Xa. it can.

  In addition, although embodiment of this invention was described, the above-mentioned position adjustment apparatus has a computer system inside. The process described above is stored in a computer-readable recording medium 70 in the form of a program, and the above process is performed by the computer reading and executing this program. Here, the computer-readable recording medium 70 refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 1 ... Correction apparatus 2 ... Coordinate specific part 3 ... Coordinate comparison part 4 ... Kind specific part 5 ... Memory | storage part 6 ... Camera 7 ... Jig 8 ... Target mark 9. Bar code 9a ... Upper bar code 9b ... Lower bar code 10 ... Control unit 11 ... Accessor 12 ... Table correction unit 20 ... Reference coordinates 30 ... Library device 40 ... cell 50 ... drive device 60 ... personal computer 70 ... recording medium 80 ... library 101a, 101b ... image T2, T2a, T2b ... moving table

Claims (8)

A correction device for adjusting the position of an accessor in a library device,
From the image data generated by the photographing apparatus photographing a jig provided on the accessor, and the coordinate specifying unit for specifying a coordinate in the image data of the target mark formed on the jig,
A coordinate comparison unit that compares the coordinates of the target mark with reference coordinates;
A type identifying unit that identifies the type of the imaging device based on a comparison result performed by the coordinate comparison unit;
Equipped with a,
The photographing device is provided in the accessor;
A correction device characterized by that. A coordinate distance indicated by a predetermined number of coordinates when one pixel in the image data is one coordinate, and a reference signal for instructing movement of the imaging position of the imaging apparatus by the number of pixels corresponding to the predetermined coordinate distance Using a moving table indicating a correspondence relationship with the number of outputs, and a moving device attached to the photographing device that holds the recording medium and moves to a predetermined position,
A table correcting unit that corrects the moving table based on the type of the imaging device specified by the type specifying unit;
The correction apparatus according to claim 1, further comprising: The coordinate comparison unit uses a threshold coordinate indicating a distance from an origin in the image data as the reference coordinate, and compares the coordinate of the target mark with the threshold. Or the correction apparatus of Claim 2. The coordinate specifying unit converts image data generated by a photographing device that has photographed the jig into binarized image data, and is provided in the jig previously recorded in the storage unit from the binarized image data. The shape of at least one of the target mark and the predetermined barcode is extracted using a pattern matching technique, and the coordinates of the predetermined position indicated by the shape of at least one of the target mark and the barcode are specified. The correction apparatus according to any one of claims 1 to 3, wherein the correction apparatus includes: The coordinate specifying unit is provided in the jig that has converted the image data generated by the imaging device that has captured the jig into image data that has been edge-detected, and has been previously recorded in the storage unit from the image data that has been edge-detected . Extracting a shape of at least one of the target mark and the predetermined barcode using a pattern matching technique, and specifying coordinates of a predetermined position indicated by the shape of at least one of the target mark and the barcode; The correction device according to any one of claims 1 to 3, wherein The target mark has a shape including two points arranged vertically,
The coordinate specifying unit specifies the coordinates of two points vertically aligned with the target mark ,
A control unit that determines the quality of the mounting angle of the imaging device from the coordinates of the two points;
The correction apparatus according to claim 1, wherein the correction apparatus is a correction apparatus. A correction method for adjusting the position of an accessor in a library device,
From the image data generated by the photographing device that photographed the jig provided in the accessor, specify the coordinates in the image data of the target mark provided in the jig ,
Compare the coordinates of the target mark with the reference coordinates,
Identifying the type of the imaging device provided in the accessor based on the comparison result of the comparison;
A correction method characterized by that. A computer of a correction device for adjusting the position of the accessor in the library device ;
From the image data generated by the photographing apparatus photographing a jig provided on the accessor, coordinate specifying means for specifying coordinates in the image data of the target mark formed on the jig,
Coordinate comparison means for comparing the coordinates of the target mark with reference coordinates;
Type specifying means for specifying the type of the imaging device provided in the accessor based on a comparison result obtained by the prior Symbol comparison,
A program characterized by functioning as

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