PRODUCT DESCRIPTION
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8024534 / / 2019-08-19
Operating Instructions | InspectorP Rack Fine Positioning
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double deep racks. The device is mounted to the automated storage and retrieval sys-
tem. The device takes pictures when putting goods into and taking them out of storage
and detects a hole or a round reflector as a positioning mark in the rack. Using this po-
sitioning mark, the device sends a deviation of the current position of the automated
storage and retrieval system from the target position to a higher-level control (e.g.
PLC), which initiates rack fine positioning of the automated storage and retrieval sys-
tem. This prevents load carriers from colliding with the racks.
3.3
Principle of operation
Rack fine positioning takes place with a positioning mark on the rack. Positioning is
possible over holes (recommended hole diameter: 13 mm) and round reflectors as po-
sitioning marks. A distinction is also made between single and double deep racks. In
single deep racks, the shelf has space for a storage unit. In double deep racks, two
storage units are operated one behind another, whereby the shelf is twice as deep.
The device is able to handle both applications. Depending on the application (type of
positioning mark, rack depth), there are differences in system design such as the se-
lection of the lens focal length and the use of lighting filters.
The positioning mark (hole or reflector) is typically placed in the center of the camera
image and defined as the target region during alignment and rack fine positioning of
the device. The target region typically corresponds to the area around the center point
of the image. If necessary, the target region can be moved into another area of the im-
age using the operating software.
The device detects the current position of the posi-
tioning mark during operation and forwards the deviation from the target region to the
control. Using the information provided by the device, the control initiates rack fine po-
sitioning of the automated storage and retrieval system. If the positioning mark is lo-
cated in the target region, goods may be put onto or taken off the rack. If the position-
ing mark is outside the target region, the relative position in relation to the target re-
gion is displayed using ambient sectors.
Figure 2: Detection and output related to the target region (example)
(1)
Ambient sector (blue)
(2)
Positioning mark (red)
(3)
Target region (green)
