公开(公告)号：US20160289002A1

公开(公告)日：2016-10-06

申请号：US15091662

申请日：2016-04-06

Applicant: Daifuku Co., Ltd.

Inventor： Yasushi Morikawa

IPC: B65G1/137

CPC classification number: B65G1/0421 ,  B65G1/137 ,  B65G2201/0297 ,  B66F9/0755 ,  B66F9/24 ,  H01L21/67259 ,  H01L21/68 ,  H01L21/681

Abstract: A control portion is configured to execute a preliminary movement process of causing a movement mechanism to execute a preliminary movement operation of moving the movement support body with an imaging device attached thereto to a preliminary target stop position that is preset as a target stop position and stopping the movement support body at the preliminary target stop position; an imaging process of causing the imaging device to image an imaging target location in a state in which the movement support body is stopped at the preliminary target stop position; an offset amount calculation process of calculating, based on a captured image obtained by the imaging process, a positional offset amount of the movement support body in a front-rear direction and a lateral direction from a proper position of the movement support body; and a correction process of correcting the preliminary target stop position based on the positional offset amount calculated by the offset amount calculation process and setting the target stop position.

Abstract translation: 控制部被配置为执行预备移动处理，使得移动机构执行将附接有成像装置的移动支撑体移动到预设为目标停止位置的预定目标停止位置并停止的预备移动操作 运动支撑体在初步目标停止位置; 使成像装置在所述移动支撑体停止在所述预备目标停止位置的状态下对成像目标位置进行成像的成像处理; 偏移量计算处理，其基于通过摄像处理获得的拍摄图像，从所述移动支撑体的正确位置计算所述运动支撑体在前后方向和横向方向上的位置偏移量; 以及基于由偏移量计算处理计算出的位置偏移量并设定目标停止位置来校正预备目标停止位置的校正处理。