Method of improving ras characteristics relating to calibration algorithms in an automated robotic system

• US 20070110297A1
• Filed: 11/17/2005
• Published: 05/17/2007
• Est. Priority Date: 11/17/2005
• Status: Active Grant

• Current Assignee: International Business Machines Corporation
• Original Assignee: International Business Machines Corporation
• Inventors: Pierce, Steven
• Granted Patent: US 7,472,029 B2
• Time in Patent Office: Days
• US Class Current: 382/153
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: G11B 17/225 wherein the disks are transferred from a fixed magazine to a fixed playing unit using a moving carriage

Abstract

An automated data library system employs a calibration sensor, the fiducial target and a controller in electrical communication with the calibration sensor to create a calibration sensor pixel image of a calibration area surrounding an expected location of the fiducial target within the automated data storage library by executing one or more vertical calibration sensor scans and/or one or more horizontal calibration sensor scans of the calibration area, and monitoring an output of the calibration sensor scans at defined position intervals. The expected location of the fiducial target can be on a data storage drive of the library or a storage shelf of the library. The controller can execute a debugging procedure, a diagnostic test and/or an error recovery procedure based on the calibration sensor pixel image.

Claims

1. A signal bearing medium tangibly embodying a program of machine-readable instructions executable by a processor to perform operations comprising:

identifying a calibration area surrounding an expected location of a fiducial target within an automated data storage library; and

creating a calibration sensor pixel image of the calibration area.

2. The signal bearing medium of claim 1, wherein the creating of the calibration sensor pixel image of the calibration area includes:

executing at least one vertical calibration sensor scan of the calibration area; and

monitoring an output of the calibration sensor scan at defined position intervals.

3. The signal bearing medium of claim 1, wherein the creating of the calibration sensor pixel image of the calibration area includes:

executing at least one horizontal calibration sensor scan of the calibration area; and

monitoring an output of the calibration sensor scan at defined position intervals.

4. The signal bearing medium of claim 1, wherein the operations further comprise:

executing at least one of a debugging procedure, a diagnostic test and an error recovery procedure based on the calibration sensor pixel image.

5. The signal bearing medium of claim 4, wherein the debugging procedure includes:

storing scan data representative of a monitoring of an output of at least one calibration sensor scan at defined position intervals into a calibration log file to facilitate a subsequent display of the calibration sensor pixel image.

6. The signal bearing medium of claim 4, wherein the diagnostic test includes:

validating an energy detection sensitivity level of a calibration sensor based on the calibration sensor pixel image exhibiting an acceptable energy detection sensitivity level of the calibration sensor.

7. The signal bearing medium of claim 4, wherein the error recovery procedure includes:

determining an estimated image location of the fiducial target within the automated data storage library based on a pixel image location of the fiducial target within the calibration sensor pixel image.

8. A controller of an automated data storage library, the controller comprising:

a processor; and

a memory storing instructions operable within the processor, the instructions being executed for;

identifying a calibration area surrounding an expected location of a fiducial target within an automated data storage library; and

creating a calibration sensor pixel image of the calibration area.

9. The controller of claim 8, wherein the creating of the calibration sensor pixel image of the calibration area includes:

executing at least one vertical calibration sensor scan of the calibration area; and

monitoring an output of the calibration sensor scan at defined position intervals.

10. The controller of claim 8, wherein the creating of the calibration sensor pixel image of the calibration area includes:

executing at least one horizontal calibration sensor scan of the calibration area; and

monitoring an output of the calibration sensor scan at defined position intervals.

11. The controller of claim 9, wherein the instructions are further executed for:

executing at least one of a debugging procedure, a diagnostic test and an error recovery procedure based on the calibration sensor pixel image.

12. The controller of claim 11, wherein the debugging procedure includes:

storing scan data representative of a monitoring of an output of at least one calibration sensor scan at defined position intervals into a calibration log file to facilitate a subsequent display of the calibration sensor pixel image.

13. The controller of claim 11, wherein the diagnostic test includes:

validating an energy detection sensitivity level of a calibration sensor based on the calibration sensor pixel image exhibiting an acceptable energy detection sensitivity level of the calibration sensor.

14. The controller of claim 11, wherein the error recovery procedure includes:

determining an estimated image location of the fiducial target within the automated data storage library based on a pixel image location of the fiducial target within the calibration sensor pixel image.

15. An automated data library system, comprising:

a calibration sensor; and

a controller in electrical communication with the calibration sensor to create a calibration sensor pixel image of a calibration area surrounding an expected location of a fiducial target within the automated data storage library.

16. The automated data library system of claim 15,

wherein the controller is operable to execute at least one vertical calibration sensor scan of the calibration area;

and

wherein the controller is further operable to monitor an output of the calibration sensor scan at defined position intervals.

17. The automated data library system of claim 15,

wherein the controller is operable to execute at least one horizontal calibration sensor scan of the calibration area;

and

wherein the controller is further operable to monitor an output of the calibration sensor scan at defined position intervals.

18. The automated data library system of claim 15, further comprising:

a data storage drive, wherein the fiducial target is a fiducial target and the expected location of the fiducial target is on the data storage drive.

19. The automated data library system of claim 15, further comprising:

a storage shelf, wherein the fiducial target is a fiducial target and the expected location of the fiducial target is on the storage shelf.

20. The automated data library system of claim 15, wherein the controller is further operable to execute at least one of a debugging procedure, a diagnostic test and an error recovery procedure based on the calibration sensor pixel image.