WO1999044171A1 - Systeme de stockage, robots et commande pour un tel systeme de stockage - Google Patents

Systeme de stockage, robots et commande pour un tel systeme de stockage Download PDF

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Publication number
WO1999044171A1
WO1999044171A1 PCT/DE1999/000522 DE9900522W WO9944171A1 WO 1999044171 A1 WO1999044171 A1 WO 1999044171A1 DE 9900522 W DE9900522 W DE 9900522W WO 9944171 A1 WO9944171 A1 WO 9944171A1
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WO
WIPO (PCT)
Prior art keywords
robot
storage
orientation
identification
markings
Prior art date
Application number
PCT/DE1999/000522
Other languages
German (de)
English (en)
Inventor
Johannes Ponader
Original Assignee
Johannes Ponader
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Johannes Ponader filed Critical Johannes Ponader
Priority to AU33264/99A priority Critical patent/AU3326499A/en
Publication of WO1999044171A1 publication Critical patent/WO1999044171A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0003—Automatic card files incorporating selecting, conveying and possibly reading and/or writing operations
    • G06K17/0012—Automatic card files incorporating selecting, conveying and possibly reading and/or writing operations with more than one selection steps, e.g. selection of a record carrier from a selected compartment of a compartmented storage

Definitions

  • the invention relates to a storage system with an orientation option for a movable robot, in particular in a library, according to the preamble of claim 1 and a method for operating the storage system according to claim 10. Furthermore, the invention relates to a robot and a controller for such a storage system .
  • the rail guidance of the robot in the high-bay warehouse advantageously enables a precise approach to predetermined storage locations within the high-bay warehouse, since the position of the robot is predetermined by the rail arrangement.
  • a disadvantage of such a high-bay warehouse is the effort involved in installing the rail guide, which also requires a certain spatial arrangement of the individual shelves. Older warehouses with angled arrangements of the individual shelves can often not be equipped with such a robot system. In addition, the rails generally narrow the otherwise accessible area between the individual shelves and thereby limit the manual accessibility of the warehouse, which is particularly intolerable in libraries with public traffic.
  • the invention is therefore based on the object of creating an automated storage system which, without a separate rail arrangement, enables a robot to approach predetermined storage locations precisely in order to automatically store, remove or check inventory items.
  • the invention encompasses the technical teaching of arranging orientation markings in a warehouse at the individual storage locations, the orientation markings and the identification markings affixed to the individual bearing articles being identical in terms of their external appearance and having only a different information content.
  • the advantage of such a design of the orientation markings is that the pattern recognition of the robot then only has to recognize a single pattern, whereas the recognition of different patterns for identification markings and orientation markings would be considerably more complex.
  • identification marking and orientation marking are to be understood here in general and in the following and are not restricted to the optical markings preferably used, which can be present, for example, in the form of stickers or labels. Rather, it is also possible to use electronic identification markings or orientation markings which consist, for example, of active or passive signal transmitters, the information content of which is detected by the robot on the radio path. In addition, other forms of identification markings or orientation markings can be used, which enable information to be read out.
  • the individual orientation markings each carry location information which, for example, can indicate the absolute position of the respective storage location within the storage system.
  • the orientation markings can also be one
  • Bear location information which reflects the relative location to the next storage location.
  • the location information could indicate that the next storage location is four meters to the left and two meters ahead.
  • the individual orientation markings at the storage locations can define a course through the entire warehouse on which all storage locations are approached by the robot, for example in order to carry out an inventory of the inventory. This is particularly advantageous in libraries, since, for example, an automatic revision can be carried out at night without public traffic.
  • storage location is to be understood here and in the following generally and includes, for example, the shelves mentioned at the beginning in a high-bay warehouse or in a library.
  • the invention is not limited to such rack storage, but also in others - 3 -
  • Storage systems can be used in which the stock items are stored in a different way at certain storage locations.
  • Automated parking garages are to be mentioned here as examples, in which the parked motor vehicles are parked as storage items on parking spaces as storage locations.
  • the storage system according to the invention can also be used at boat moorings in which the individual boats represent the storage items and are each located at specific berths which are to be understood as storage locations in the sense of the invention.
  • Another application is the storage of bicycles in a bicycle rack, which is of interest, for example, when renting a bicycle.
  • the robot has an internal power supply, for example in the form of a rechargeable battery, but a cable-based power supply is also conceivable, the power cable being rolled up or unrolled during the robot movement either by the robot or a stationary power supply unit can be.
  • an internal power supply for example in the form of a rechargeable battery, but a cable-based power supply is also conceivable, the power cable being rolled up or unrolled during the robot movement either by the robot or a stationary power supply unit can be.
  • Storage system with an orientation option for a movable robot, in particular in a library, with several storage locations for the storage of storage items, an identification mark being attached to each storage item, a sensor attached to the robot for detecting the identification markings attached to the storage items, with on orientation markings for the robot are attached to the storage locations, which have essentially the same appearance as the identification markings on the storage items and carry location information relating to the spatial position of the respective storage location, and the sensor on the output side being connected to a control unit which detects the robot movement as a function of controls the orientation marks detected by the sensor.
  • Such a storage system can also be characterized in that the orientation markings on the storage locations each reflect the absolute spatial position of the respective storage location within the storage system.
  • the orientation markings attached to the storage locations each determine the relative position of the next storage location to be approached by the robot, so that the robot automatically travels from storage location to storage location on a predetermined course.
  • a basic further development of the storage system can consist of the sensor for detecting the orientation marks and the identification marks on the bearing - 4 -
  • the identification markings are attached to the storage items in each case at the same height in order to simplify the identification.
  • a further development of these variants can consist in that the optical axis of the optical sensor runs in the horizontal direction at the search height of the identification markings.
  • a general further development of the storage system can consist in the fact that the storage locations are in each case shelves, shelves or parking spaces within a shelf. It can further be provided that the optical axis of the optical sensor lies in a search plane, the vertical distance (h) between the search plane and the shelf being essentially equal to the height of the identification markings.
  • a further possible embodiment of the storage system according to the invention can consist in the robot having a mass memory in order to store the article information read out from the identification markings and / or the location information of the orientation markings for later evaluation.
  • the robot moves to a first storage location within the storage system
  • the identification marks of the stock items arranged in the first storage location are sequentially detected by the sensor of the robot and the respective item information is determined
  • the orientation mark attached to the first storage location is detected by the sensor of the robot and the location information of the orientation mark is determined
  • the location of the next storage location is determined and approached automatically by the robot.
  • the identification markings are detected optically by an optical sensor.
  • the method can be characterized in that after the detection of an identification mark directly next to the identification mark already detected and at a predetermined height (h), an image pattern with a predetermined vertical ( ⁇ h) extent is detected and compared with a stored image pattern of an identification mark. Chen to determine whether a further identification mark or an orientation mark is arranged immediately next to the already detected identification mark.
  • the latter method variant can be further developed in that the predetermined one Height (h) for the detection of the image pattern essentially corresponds to the height of an identification mark and the vertical extent ( ⁇ h) of the recorded image pattern is substantially less than the height of an identification mark.
  • the horizontal position of the empty space can be stored in addition to the identification mark last recorded.
  • a general further development of the method according to the invention can consist in that, if a further identification marking is not recognized, the width of the empty space is stored immediately next to the identification marking last recorded, in order to enable a distinction to be made between a missing stock item and a thin stock item with an illegible identification mark.
  • Figure 1 is a library with several shelves and a course defined by several orientation markings for a robot and
  • FIG. 2 shows a schematic representation of a shelf board, each with an orientation mark on the shelf ends and with several books, each with a label as an identification mark.
  • the library shown schematically in Figure 1 essentially consists of several shelves 1 with books, the storage and removal of the individual books in a conventional manner being carried out manually by the individual users or the library staff, whereas the revision, i.e. the inventory is checked automatically outside the opening times of the library by a mobile robot 2, which is only shown schematically here.
  • the robot 2 is constructed in a conventional manner and has an electric motor-driven, wheel-supported undercarriage which enables the robot 2 to move independently within the library.
  • the power supply is provided by a built-in battery, so that the robot 2 does not require a cable feed and can therefore move freely in the library.
  • the robot 2 has an optical sensor which can be displaced in the vertical direction in order to be able to recognize the books on different shelves, the sensor for data evaluation being connected to a built-in computer.
  • the sensor is used to detect the labels 3 attached to the spine of the individual books, which enable identification of the individual books and are shown by way of example in FIG.
  • the optical sensor also detects orientation markings OM, 4, which are attached to the individual shelves 1 at the ends of the rows of books and enable the robot 2 to be oriented within the library.
  • orientation markings OM, 4 defines the relative spatial position of the next shelf, so that all orientation markings OM, 4 together define a course through the library, which is shown in FIG. 1 by the dashed intermediate positions of the robot 2 and the directional arrows running between them is shown.
  • the robot 2 is thus placed at the beginning of the automatic revision in such a way that the optical sensor detects the first orientation marking OM, 4, which is attached to the side of the row of books located on a specific shelf.
  • the robot 2 then moves along the first shelf 1 and detects the labels 3 of the books on this shelf.
  • the robot 2 then encounters another orientation marking OM, 4, which defines the relative position of the next shelf to be approached, wherein the next shelf can be arranged at a different height on the same shelf or on a different shelf.
  • the built-in computer uses this to calculate the control data for the chassis of the robot 2 and the vertical movement control of the sensor, whereupon the robot 2 then moves to the predetermined next rack position and there first searches for an orientation marking OM, 4 which defines the start of a new rack section.
  • this orientation marker OM, 4 also serves to check whether the correct rack position has actually been approached.
  • the robot 2 then travels along the shelf 1 in the manner described above and detects the labels 3 attached to the individual book spines in order to store the associated book data in the built-in computer for later data evaluation.
  • the optical sensor is now looking for the next label, which can be a book label 3 or an orientation mark OM, 4.
  • the search height h being slightly less than the height of a label (book label 3 or orientation marker 4). This largely prevents misplacement of a label 3 on the spine from leading to error detections. If a label 3 is stuck on so deep, for example, that the lower edge of the label 3 already abuts the shelf, the upper end of the label 3 is still within the search range Oh. If, however, label 3 is placed too high on the spine of the book, the lower end of label 3 is usually still within the search range Oh.
  • the search height h is communicated to the system by appropriate positioning of the orientation markings. It is important here that the optical axis of the sensor always runs parallel to the floor and in the plane of the search height, so that the search plane in the camera image is always in the center of the image regardless of the distance between the sensor and the shelf.
  • the computer built into the robot 2 compares the almost linear pattern detected by the sensor with a predetermined pattern in order to determine whether a label 3 has been recognized. In this case there must be a white stripe which is interspersed with black spots, the black spots belonging to the black frame of the label 3 or the label printing.
  • the computer then extends the vertical bandwidth 4h, whereby the label is also read out.
  • the system uses a database comparison of the read content to determine whether there is an identification mark for a book or an orientation mark. This offers the advantage that the distinction between identification markings (book labels) on the one hand and orientation markings on the other hand can be made by a simple text comparison. If it is a book label, the read content is saved for later data evaluation. If, on the other hand, it is an orientation marker, the robot extracts the information for the required movement processes from the orientation marker.
  • the ascertained horizontal distance from the label found to the edge of the image can already be passed on to the control system, which then initiates a robot movement by this distance. This ensures that the new label is at the very edge of the sensor image and additional labels - 8th -
  • the chassis also corrects it accordingly.
  • the distance information can be used to determine whether the associated book is immediately adjacent to the previous book or whether there is a space between these two books, which can either result from a book with an unrecognized label or from a gap.
  • the data of all labels 3 that were recorded during the revision are stored in the built-in computer.
  • the stored data is then transferred to a central computer and compared with the library catalog, which shows the target inventory of the entire library.
  • the central computer automatically creates a correction list that lists the entire shortage of the library and enables library staff to correct the book inventory. For this purpose, the library staff returns the books that have been misplaced to the right place and re-orders missing books if necessary.
  • the embodiment of the invention is not limited to the preferred exemplary embodiments specified above. Rather, a number of variants are conceivable which make use of the solution shown, even in the case of fundamentally different types.
  • the invention is an efficient orientation system for robots, in particular one for search and control robots in structured environments. - 9 -
  • the invention relates in particular to a process for the orientation of robots in rooms or places.
  • Mobile robots have to orient themselves in the room in which they move. This is usually done with the help of landmarks, radio transmitters or similarly designed landmarks.
  • the tasks of such a robot are basically divided into two aspects:
  • the invention simplifies the work of the robot by largely combining the two tasks into one work process. This is particularly useful, for example, for search and control robots. So far, these search robots have had to perform two tasks in parallel:
  • the robot's task By giving the landmarks (e.g. landmarks) the same appearance as the objects to be searched for or controlled, the robot's task now is simply to search for these objects, regardless of whether they are moving search objects or the fixed orientation objects. If such an object is found, the recognition process is carried out, that is to say the characteristics of the object are recognized, and a simple and efficient comparison with an orientation point or landmark file then determines whether it is an object to be searched for or an orientation point.
  • Another advantage of the system is that e.g. B. in the case of landmarks an inconspicuous and optically non-distracting or possibly even attractive from the design value is possible because the mark optically does not differ from the objects located in the room anyway.
  • the site revision in large libraries represents an important task, which has been carried out in a manual process up to now by comparing shelf to shelf with the current location catalog data.
  • the first attempts at technical simplification can so far only be found in the fact that the personnel are equipped with portable computer systems and thus have easier access to the catalog.
  • the invention makes it possible here to enable a simple system for catalog and location revision in libraries, which can be easily and inconspicuously adapted to the existing conditions in one or more reading rooms.
  • the recognition of the books on the shelves is realized via an image recognition mechanism, which combines the acquisition of information for controlling the system by reading in the landmarks with reading the book identifications with the aid of a single text recognition process, saving time and computing effort.
  • a control computer coordinates the mobile robot.
  • the location data that this robot collects can be stored temporarily and can be automatically compared in a separate work step or immediately with the catalog data in electronic form using an appropriate program.
  • An image recognition module is required to recognize the books, which locates the book labels in the camera image with the least possible computing effort and reads out the signatures. The way it works is described as follows:
  • the first label should already be found and deciphered. It is somewhere in the camera image, the other books are on the right.
  • the algorithm now searches to the right of the label found at a predetermined standard height for the next label. He makes use of an important and not entirely trivial finding: albeit the labels
  • the measure sought corresponds approximately to the height a standard label, measured from the shelf along the spine. An extremely deeply glued label just reaches this height, and a very highly glued label just sets
  • the image recognition program is now looking for the next label in a certain vertical range, which it presents as a white stripe, possibly interspersed with black spots (which belong to the letters on the label) (see Fig. 1, 1. ). 0
  • a certain tolerance against color deviations and noise effects must be taken into account. If it thinks it has found the next label, it extends the examination area up and down (2.) and at the same time finds the letters of the signature, which serves as an assurance that this is actually a label 25.
  • the illustrations of the letters, if found, are passed on to simple text recognition. Then it continues the search to the right.
  • the image recognition module already passes on information to the control module: the
  • This lens-book distance information can either: - 13 -
  • the control module can then move the robot accordingly, so that
  • the image recognition module with text recognition has time to decrypt the new label using the previous image and to store the information found (the book ID) in the memory, if it was a label at all. If it has reached the edge of the image, it can now read a new camera image and look for the next label.
  • this height ideally also remains at the same height (in the middle) in the camera image, regardless of the distance from the camera to the shelf (or also at what angle to the shelf, because also an angle of the camera direction -
  • the direction of the shelf not equal to 90 ° basically only results in an increase in the distance and a 25 "thinning" of the labels at the same time).
  • the height of an object in the camera image can be ideally expressed, as already indicated above, with a first degree function on the distance; the slope corresponds to the difference in height between the object and the center of the lens; if it is zero, the function remains constant.
  • the system is now sufficiently tolerant of deviations in the implementation of the required movements by the driving mechanics; Only a deviation of more than one label width in the course of a book width could disturb the algorithm.
  • the robot is not designed to drive around between users in a busy reading room. It should be used at times when the reading rooms are not open to the public and at most the library staff are present.
  • the robot must be warned of the obstacle before it can become dangerous.
  • the camera is attached to the robot so that it looks a little ahead of the robot when working. A marking label at the end of the shelf or, if necessary, if there is no more space
  • a special case not to be forgotten is the arrangement of two shelves at right angles to each other.
  • a marker should also be provided here, which informs the robot of this fact and causes it to rotate in good time.
  • a removable disk system is available as a storage medium, in which the entire data of a revision tour can be transferred to a mainframe computer in one hand, which then compares it with the electronic library catalog.
  • the work of this evaluation program basically consists of only comparative work and will not be described further here. If the program detects that a book is on the shelf too much or a book is missing, it records this fact in a comparison log. With undetected signatures of books, but which could be interpreted as a book, the procedure is as described in the section above, i.e. H. an error is only reported if the number of unrecognized books deviates from the target number, or if a large number of books within a shelf or directly in succession has not been recognized. However, if the robot was unable to find a book, an entry is also made in the comparison log for the library staff to use to check whether it was a robot recognition error or an actually missing book.
  • the system may not recognize a book for some reason, not because of a more or less accidental failure (due to the incidence of light, a bad video image, due to the location on the shelf), but in principle not. From time to time there are handwritten additions, printed letters or simply dirt on the signatures.
  • the recognition program can also have problems with books with a white spine if it cannot clearly lift the label off the spine. Such books should, if they are categorized as not recognized the first time the system is run, be given new, clearly legible labels; 25 For white books, a dark border around the label helps.
  • a further consideration is the power supply to the robot due to a possible reduction in the profitability of the system. If the use of such robot systems is to be worthwhile, they should work independently for as long as possible. H. can work without being operated by an employee. At least 12-14 hours (overnight) maintenance-free operation would be a desirable period of use, provided there are no irregularities. In addition to a supply via batteries, the possibility of an external power supply is also conceivable.
  • the cable can be rolled up or rolled out either by the robot or the stationary unit.
  • Three basic directions of movement are conceivable: the robot moves away from the power supply and, over time, has to pull an ever longer cable behind it; he describes a circle, or he starts his work with rolled out cable and stands cleanly next to the supply unit in the morning. Theoretically, the last option would even allow the robot to be controlled via the designed cable.
  • Another conceivable method would be replacement batteries positioned in the room at certain points or at a central charging station, which the robot can pick up independently. - 20 -
  • Another technical addition to the system is a device for removing and re-inserting the books.
  • the robot which is directly connected to the library catalog by radio, can remove incorrectly positioned books or pull them out a little, so that they can be easily recognized, removed and correctly set the next day.
  • he could get hold of the signature or the barcode of the loan system, which is often attached to the front page.
  • two grippers which insert themselves into the optically or mechanically localized gap between two books, would clamp them with mutual pressure and pull them towards themselves.
  • An automated and autonomous revision system for book entry with the aid of image recognition and a computer-aided, flexible car control can be characterized in that it is oriented in the room using a control system that is similar in appearance to that of the book labels, that it reads its command data optically independently, like the signature data, that the information acquisition for control and signature recognition is combined in an optimized image recognition process and it finally provides the data for an automated catalog comparison.
  • Such a system can be further developed in that the device is equipped with an external power supply via a cable that is unrolled and / or unrolled either by the robot or by a fixed station located in the room.
  • Another embodiment variant of the system according to the invention provides that additional guidance information is obtained from the rolled-out cable.
  • the device can accommodate spare accumulators that are positioned independently in the room, or that it can independently return to a charging station.
  • Another embodiment of the system is characterized in that it has a device for removing and re-inserting the books.
  • Another possibility is that the system recognizes the books with a contactless electronic, electromagnetic or other recognition system.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne, selon un aspect, un système de stockage permettant l'orientation d'un robot (2) mobile, notamment dans une bibliothèque, comportant plusieurs emplacements de stockage pour le stockage des articles à stocker, un marquage d'identification (3) étant apposé sur chaque article à stocker, un capteur placé sur le robot pour détecter les marquages d'identification apposés sur les articles à stocker, des marquages d'orientation (4) destinés au robot étant apposés sur les emplacements de stockage, ces marquages d'orientation présentant sensiblement le même aspect que les marquages d'identification présents sur les articles à stocker, et portant une information géographique concernant la position dans l'espace de l'emplacement de stockage respectif, et le capteur étant relié côté sortie avec une unité de commande, laquelle commande le mouvement du robot en fonction des marquages d'orientation détectés par le capteur. Un autre aspect de la présente invention consiste dans un procédé pour faire fonctionner un système de stockage, avec les étapes suivantes: - un premier emplacement de stockage au sein du système de stockage est abordé par le robot, - les marquages d'identification des articles à stocker disposés dans le premier emplacement de stockage sont successivement détectés par le capteur du robot, et les informations respectives relatives aux articles sont détectées, - le repère d'orientation apposé sur le premier emplacement de stockage est détecté par le capteur du robot, et l'information géographique de ce repère d'orientation est détectée, - et en fonction de l'information géographique détectée, la position de l'emplacement de stockage suivant est détectée et abordée automatiquement par le robot.
PCT/DE1999/000522 1998-02-26 1999-02-26 Systeme de stockage, robots et commande pour un tel systeme de stockage WO1999044171A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU33264/99A AU3326499A (en) 1998-02-26 1999-02-26 Storage system and robot and control unit for a storage system of this type

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Application Number Priority Date Filing Date Title
DE19808073 1998-02-26
DE19808073.5 1998-02-26

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WO1999044171A1 true WO1999044171A1 (fr) 1999-09-02

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004113030A1 (fr) * 2003-06-26 2004-12-29 Abb Ab Procede de commande de machines, systeme, programme informatique, signal de donnees et gui associes
DE202016101022U1 (de) * 2016-02-26 2017-05-29 Leuze Electronic Gmbh + Co Kg Positioniersystem

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3843218A1 (de) * 1988-12-22 1990-06-28 Grau Gmbh & Co Holdingges Verfahren und vorrichtung zum betreiben eines automatischen datentraegerarchivs
US5303034A (en) * 1992-05-01 1994-04-12 Storage Technology Corporation Robotics targeting system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3843218A1 (de) * 1988-12-22 1990-06-28 Grau Gmbh & Co Holdingges Verfahren und vorrichtung zum betreiben eines automatischen datentraegerarchivs
US5303034A (en) * 1992-05-01 1994-04-12 Storage Technology Corporation Robotics targeting system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004113030A1 (fr) * 2003-06-26 2004-12-29 Abb Ab Procede de commande de machines, systeme, programme informatique, signal de donnees et gui associes
US8417363B2 (en) 2003-06-26 2013-04-09 Abb Ab Control method for machines, including a system, computer program, data signal and gui
DE202016101022U1 (de) * 2016-02-26 2017-05-29 Leuze Electronic Gmbh + Co Kg Positioniersystem

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