| CPC A47B 53/02 (2013.01) [B65G 1/10 (2013.01); F16P 3/142 (2013.01); G06T 7/74 (2017.01); G06T 2207/10004 (2013.01); G06T 2207/30232 (2013.01)] | 11 Claims |
|
1. Storage system, comprising:
a plurality of shelving units that:
extend parallel to each other in a longitudinal direction (L); and
are each driveably movable in a width direction (W), transverse to the longitudinal direction, regardless of dependence on each other:
varying the position of each of the shelving units;
varying the interspace between two adjacent shelving units; and
varying an aisle width and position between two adjacent shelving units;
wherein the storage system further comprises:
a safety system for determining whether movement is permitted, wherein the safety system:
comprises at least one camera, configured to provide an image of an interspace between a first shelving unit and a second shelving unit adjacent to the first shelving unit;
A control device, for controlling the movement of the shelving units, the control device being arranged for:
Receiving images from one or more cameras;
Saving a first camera image of an interspace between the first and the second shelving unit, at the moment an interspace between the first and second shelving unit is or has been created;
Receiving a command to move the first and second shelving unit towards each other;
Capturing a second camera image from the same camera or cameras on or after the moment of receiving the command;
Comparing the first and the second camera image;
Executing the command if the first and second camera images show more than a predetermined amount of correspondence;
Ignoring the command if the first and the second camera images show more than a predetermined amount of deviation;
comprising at least one sensor, adapted to provide a signal that indicates whether an object is located in an interspace between a first shelving unit and a second shelving unit adjacent thereto; wherein the sensor is configured to provide a continuous signal but not to capture full images, the signal used to determine if movement is determined, if movement is detected then a trigger for aisle inspection to collect images from the camera or cameras is made; and
wherein the controller is configured for determining that a change takes place in an interspace between a first shelving unit and a second adjacent shelving unit, such as a person entering the interspace, during the displacement of a first shelving unit, based on the signal from the sensor.
|