Handheld dimensioner with data-quality indication

Abstract

A handheld dimensioner with a user interface configured to present a quality indicator is disclosed. The handheld dimensioner is configured to capture three-dimensional (3D) data and assess the three-dimensional-data's quality. Based on this quality, a quality indicator may be generated and presented to a user via the user interface. This process may be repeated while the user repositions the handheld dimensioner. In this way, the user may use the quality indicators generated at different positions to find an optimal position for a particular dimension measurement.

Description

FIELD OF THE INVENTION

The present invention relates to dimensioning systems, and in particular, to a handheld dimensioner with a user interface that indicates the quality of the dimensioning data captured by the dimensioner.

BACKGROUND

Most transport vehicles have both volume and weight capacity limits. An inefficient use of space results if the transport vehicle becomes full before its weight capacity is reached. By dimensioning packages, shipping companies can fill space optimally and compute shipping charges accurately.

Hands-free measurements of an object's dimensions (e.g., volume) may be carried out using a dimensioning system (i.e., dimensioner). These systems can accurately gather volume information, without causing disruptions in workflow. Handheld dimensioners require no dedicated setup to measure an object's dimensions. These devices are small (e.g., fit into a user's hand) and convenient. Since the dimensioner is mobile, it may be positioned in a wide variety of environments. These environments may vary considerably due to lighting, object location, and/or object coloring. Some environments are not suitable for dimensioning; however, this is not always obvious to a user. Dimensioning data captured in adverse environments may lead to unfavorable results.

A need, therefore, exists for a handheld dimensioner with a user interface configured to indicate the quality of the dimensioning data so a user can respond as necessary.

SUMMARY

In one aspect, the present invention embraces a method for indicating a quality of three-dimensional data captured by a handheld dimensioner. The method includes capturing three-dimensional data of a field-of-view with a sensor. The three-dimensional data is then transmitted to a processor where its quality is assessed. Based on this assessment, a quality indicator, corresponding to the quality, is generated using the processor. The quality indicator is then signaled to a user via a user interface.

In an exemplary embodiment, the method described repeats as the user repositions the handheld dimensioner. The user may use the quality indicators for various positions to find an optimal position for a particular measurement.

In another exemplary embodiment, the user interface includes a display for signaling the quality indicator. Here the quality indicator could include a visual image of the field-of-view with a graphical overlay corresponding to the quality. Alternatively, the quality indicator could include a gauge graphic displaying the quality as one of a range of possible qualities. Still another quality indicator could include a graphic in which the graphic's color corresponded to the quality.

In another exemplary embodiment, the user interface includes a light for signaling the quality indicator. Here, the quality indicator could include pulsating illumination where the pulsating-illumination's pulse rate could correspond to the quality.

In another exemplary embodiment, the user interface includes a speaker for signaling the quality indicator. Here the quality indicator could include a sound, wherein the sound's volume and/or frequency could correspond to the quality.

In yet another exemplary embodiment, the user interface includes a haptic device for signaling the quality indicator. Here the quality indicator could include a vibration, wherein the vibration's amplitude and/or rate could correspond to the quality.

In another aspect, the present invention embraces a handheld dimensioner configured to indicate the quality of three-dimensional data used for dimensioning. The handheld dimensioner includes a dimensioning subsystem for capturing visual images and three-dimensional data of a field-of-view. The dimensioner also includes a user-interface subsystem configured to present a quality indicator to a user. In addition, the dimensioner includes a control subsystem communicatively coupled to the dimensioning subsystem and the user-interface subsystem. The control subsystem includes at least one processor. The control subsystem also includes at least one non-transitory storage medium for storing processor-executable instructions. These processor-executable instructions configure the processor to receive three-dimensional data from the dimensioning subsystem, assess the three-dimensional-data's quality, generate the quality indicator corresponding to the quality, and transmit the quality indicator to the user-interface.

In an exemplary embodiment, the handheld dimensioner's user-interface subsystem includes a display for presenting the quality indicator to the user. Here, the quality indicator could include (i) a visual image of the field-of-view with a graphical overlay that corresponds to the quality, (ii) a graphical scale displaying the quality as one of a range of qualities on the graphical scale, and/or (iii) at least one prompt for provoking an action by a user.

In another exemplary embodiment, the handheld-dimensioner's user interface includes a light for presenting illumination corresponding to the quality indicator.

In another exemplary embodiment, the handheld-dimensioner's user interface includes a speaker, for presenting sounds corresponding to the quality indicator.

In yet another exemplary embodiment the handheld-dimensioner's user interface includes a haptic device for presenting vibrations corresponding to the quality indicator.

The foregoing illustrative summary, as well as other exemplary objectives and/or advantages of the invention, and the manner in which the same are accomplished, are further explained within the following detailed description and its accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts images with quality indicators demonstrating the use of quality indicators.

FIG. 2 graphically depicts a flowchart illustrating an exemplary method for indicating the quality of three-dimensional data captured by a handheld dimensioner.

FIG. 3 schematically depicts a block diagram of an exemplary handheld dimensioner.

DETAILED DESCRIPTION

The present invention embraces a handheld dimensioning system (i.e., dimensioner) that provides indicators regarding the quality of the three-dimensional data used for dimensioning. This qualitative feedback helps a user operate the handheld dimensioner reliably.

Handheld dimensioning is a challenging problem. The measurement environment is uncontrolled. As a result, the dimensioner must either accommodate a huge range of measurement conditions, or more practically, provide feedback to help a user understand the limits imposed by the measurement conditions. The measurement conditions include diverse lighting conditions, diverse measurement geometries (e.g., spatial relationships and orientations), and/or diverse object colors.

Handheld dimensioner users typically have a low tolerance for excessive measurement times and/or alignment complexities. A handheld dimensioner must employ a flexible sensing-technology to achieve reliable measurements in various conditions.

A variety of sensing technologies have been employed for dimensioning (e.g., time-of-flight sensing or stereoscopic imaging) to capture range data (i.e., three-dimensional data). While any may be used, one sensing technology well suited for handheld dimensioners uses structured light. Structured-light dimensioners sense depth by projecting a known light pattern (e.g., dots, grids, bars, stripes, checkerboard, etc.) onto a scene (i.e., field-of-view). A pattern image is captured by an image sensor laterally offset from the projector. Distortions in the reflected light pattern caused by objects in the field-of-view are analyzed to derive depth information (i.e., three-dimensional data).

High quality three-dimensional data is necessary for accurate dimensioning. A variety of measurement conditions cause three-dimensional data quality to suffer. One such condition is lighting. Suitable lighting is necessary to produce light-pattern images suitable for structured-light dimensioning. Too little light may lead to noisy images, while excessive light may lead to saturated images. In either case, the light pattern cannot be resolved suitably for dimensioning calculations. The lighting must also be uniform. Images with dark areas and saturated areas may have poor quality, since the dynamic range of the image sensor is often too small to capture both ideally.

Certain measurement geometries (i.e., the relative positions of the dimensioner and the measured object) can also affect the quality of the three-dimensional data. For example, when using a structured light dimensioner, an object's surface must reflect some portion of the projected light pattern in order to convey depth information properly. Typically, three sides of an object should be visible for a volume to be measured. Sometimes, however, one or more surfaces are not visible. In these cases, the dimensioner could be repositioned to improve the quality of the three-dimensional data.

An indication of the three-dimensional data quality may allow for the positioning of the dimensioner (or measured object) and/or the adjustment of lighting to maximize the quality of the three-dimensional data. In this way, a quality indicator may enhance the usability of a handheld dimensioner.

Screen captures from an exemplary handheld dimensioner's user interface are shown in FIG. 1. The results of two measurements are shown. The measurements are from a first position 1 and a second position 2. Presented for each measurement are visible images and quality indicators. The visible images show the dimensioner's field-of-view. In the field-of-view is an object for measurement. The quality indicators correspond to the quality of the three-dimensional data captured for each measurement.

The first-position screen-capture 1 shows a visible image of the object as measured from a first position. One first-position quality-indicator shown is a graphical scale 3. The graphical scale 3 displays the three-dimensional quality (i.e., quality) as one of a range of possible qualities. Here, the graphical-scale's low-scale reading indicates that poor three-dimensional data quality was captured for this measurement.

The low quality of the first-position three-dimensional data is further indicated by a graphical overlay of a wire-frame rendering 4 of the object. The wire-frame rendering represents the dimensioner's sense of the object's edges. Here, the wire-frame rendering does not match the edges of the object; implying that any dimensioning resulting from this measurement could be inaccurate.

There are several possible reasons for the low three-dimensional-data quality at the first position 1. First, the lighting is not uniform and too bright in some areas. The object is positioned in direct sunlight, and as a result, the top surface 5 is fully illuminated while the front surface 6 and the side surface 7 are in shadow. Second, some object surfaces are not easily seen by the dimensioner. When imaged broadside, a surface is in full view, however as the object is rotated away from this orientation the surface seen by the dimensioner diminishes. Here, the object is positioned so that the front surface 6 and top surface 5 are visible but the side surface 7 is less visible.

The screen capture from the first-position measurement 1 also displays an up-arrow 8 and a left-arrow 9. These quality indicators are prompts intended to provoke a user to reposition the dimensioner. By repositioning, the likelihood of capturing high-quality three-dimensional data in a subsequent measurement is improved. In this example, the arrows 8,9 indicate that the user should move the dimensioner up and to the left before taking another dimension measurement.

The visible image of the measurement from the second position 2 is also shown in FIG. 1. Here, the dimensioner has been repositioned and a second measurement has been taken. The second-position quality-indicator 10 indicates high three-dimensional-data quality. The high quality of the data can be attributed to improved illumination conditions and improved visibility of the top surface 5, front surface 6 and side surface 7. The second-position's wireframe-rendering 11 matches the object's edges. The agreement between the wireframe rendering and the object implies an accurate dimension measurement.

FIG. 2 graphically depicts a flowchart illustrating an exemplary method for indicating the quality of three-dimensional data captured by a handheld dimensioner. A handheld dimensioner uses a sensing technology (e.g., structured light, time-of-flight, etc.) to capture three-dimensional data 15 of an object (or objects) in a field-of-view. This three-dimensional data captured may include a depth map.

A depth map is typically a gray scale image of the field-of-view wherein the value of a pixel corresponds to the distance between the dimensioner and the point in the field-of-view represented by the pixel. In some regions of the field of view, however, the sensor may not obtain range information. The quality of the three-dimensional data corresponds to the gaps in the sensed range information. For example, if the number of pixels with no range information (i.e., a null-pixel) is large the depth-map's quality is low. A processor in the handheld dimensioner receives the captured three-dimensional data and assesses its quality 16.

From this quality, the processor may generate a quality indicator 17. For example, the quality indicator may indicate the three-dimensional data completeness. Alternatively, the quality indicator may include information regarding the dimensioners projected results based on the three-dimensional data. Here, the quality indicator could be compared with other sensor outputs, with stored information, or a user's knowledge/expectations to derive a measurement confidence. Still another quality indicator could include prompts to provoke an action. For example, the user might be prompted to move the dimensioner and retake a measurement. Alternatively, the user might be prompted to change a setting and retake a measurement.

After the quality indicator is generated, the processor may transmit the quality indicator information to a user interface where it may be signaled (i.e., presented) to a user 18. The quality indicators may be embodied in different ways. For example, if the user interface includes a display, then the quality indicator may include a visual image of the field-of-view with a graphical overlay corresponding to the quality. Alternatively, the quality indicator may include a graphic for displaying the quality as one of a range of possible qualities. In some cases, the graphic's color may correspond to the quality and in others the shape, size, and/or orientation of the graphic may change to indicate a change in quality.

In another possible embodiment, the user interface includes a light (or lights) for signaling the quality indicator. The lights used are typically light emitting diodes (i.e., LEDs) but could use electrical filaments, plasma, or gas as a means for illumination. The illumination state of the light (or lights) may correspond to the quality. For example, the light brightness could indicate quality. The blinking rate of a light could also indicate quality. For example, if the quality is poor, then the light flashes slowly and as the measurement gets better, the light flashes more rapidly. In some embodiments, the relative state of multiple lights (e.g., a bar-graph light-array) could indicate a quality. Another embodiment could use the color of the illumination to indicate quality.

In another possible embodiment, the user interface includes a speaker for signaling the quality indicator. In this embodiment, the quality indicator may be a sound. The sound's volume, frequency, or modulation could indicate quality.

In another possible embodiment, the user interface could include a haptic device to indicate quality. The haptic device may apply forces, vibrations, and/or motions to a user holding a device to convey the quality. In an exemplary embodiment, a haptic device may include a vibration, and the vibration's amplitude and/or rate (vibration frequency) indicate quality.

Capturing three-dimensional data, assessing its quality to generate a quality indicator and then signaling the quality indicator via a user interface may be repeated 19 to help a user determine an optimized measurement condition. For example, a handheld dimensioner may process three-dimensional data continuously to provide quality feedback to a user in real time. A user may monitor the quality feedback (e.g., a gauge graphic) as the dimensioner is moved into a variety of positions to find a position that gives the highest data quality. Once this position is found then the dimensioner may be positioned in it and triggered to acquire a measurement.

FIG. 3 schematically depicts a block diagram of an exemplary handheld dimensioner. The handheld dimensioner 21 positioned in front of an object 20 may optically measure the object's dimensions (e.g., volume). The dimensioner 21 utilizes a variety of subsystems to measure the object.

A dimensioning subsystem 30 uses at least one image sensor to capture range data of an object or objects within a field-of-view 22. To accomplish this, the dimensioning subsystem 30 uses an imaging lens 31 to focus a real image of the field-of-view 22 onto an image sensor 32 to convert the optical image into an electronic signal. The image sensor 32 may be a charge-coupled device (i.e., CCD) or a sensor using complementary-metal-oxide-semiconductor (i.e., CMOS) technology. The image sensor 32 typically includes a plurality of pixels that sample the real image and convert the real-image intensity into an electronic signal. A digital signal processor (i.e., DSP) 33 is typically included to facilitate the formation of the digital image.

The creation of three-dimensional data (i.e., depth information) is facilitated by a second element in the dimensioning subsystem that either transmits an optical signal (i.e., projector) or images a scene (i.e., sensor). The lens 34 for the projector (or sensor) 55 is typically configured into a stereo arrangement with the imaging lens 31 to allow for the collection of depth information (e.g., using the principle of parallax). The projector (or sensor) 35 is typically communicatively coupled to the DSP 33 which may facilitate its control and communication.

A control subsystem 40 is communicatively coupled to the at least one image sensor (or the image sensor 32 and the projector 35) via the DSP 33. The control subsystem 40 includes one or more processors 41 (e.g., one or more controller, digital signal processor (DSP), application specific integrated circuit (ASIC), programmable gate array (PGA), and/or programmable logic controller (PLC)) to configure the imaging subsystem for the dimensioning data collection and to perform the processing to generate dimensioning measurements and feedback. The processor 41 may be configured by processor-executable instructions (e.g., a software program) stored in at least one non-transitory storage medium (i.e., memory) 42 (e.g., read-only memory (ROM), flash memory, and/or a hard-drive). The processor-executable instructions, when executed by the processor 41 configure the processor to: (i) receive three-dimensional data from the dimensioning subsystem, (ii) assess the three-dimensional-data's quality, (iii) generate a quality indicator corresponding to the quality, (iv) transmit the quality indicator to a user interface, and (v) generate a quality indicator gauge perceivable to the user.

The dimensioning system 21 also includes a user-interface subsystem 50 to display dimension measurements (e.g., linear dimension or volume) and feedback. In some embodiments, the user-interface includes a display, a light, a speaker, and/or a haptic device to convey the quality information.

The dimensioner 21 may also include a communication subsystem 60 for transmitting and receiving information to/from a separate computing device or storage device. This communication subsystem 60 may be wired or wireless and may enable communication via a variety of protocols (e.g., IEEE 802.11, including WI-FI®, BLUETOOTH®, CDMA, TDMA, or GSM).

The subsystems in the dimensioner 21 are electrically connected via a couplers (e.g., wires or fibers) to form an interconnection subsystem 70. The interconnection system 70 may include power buses or lines, data buses, instruction buses, address buses, etc., which allow operation of the subsystems and interaction there between.

* * *

To supplement the present disclosure, this application incorporates entirely by reference the following commonly assigned patents, patent application publications, and patent applications:

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* * *

In the specification and/or figures, typical embodiments of the invention have been disclosed. The present invention is not limited to such exemplary embodiments. The use of the term “and/or” includes any and all combinations of one or more of the associated listed items. The figures are schematic representations and so are not necessarily drawn to scale. Unless otherwise noted, specific terms have been used in a generic and descriptive sense and not for purposes of limitation.

Claims

1. A method for indicating a quality of three-dimensional range data of an object for shipping captured by a handheld dimensioner, the method comprising: capturing, using a sensor, three-dimensional range data from a field of view, the field of view comprising an object for shipping, and the three-dimensional range data corresponding to projected light configured to convey depth information pertaining to the field of view;transmitting the three-dimensional range data to a processor;assessing, using the processor, the quality of the three-dimensional range data for making dimensioning calculations corresponding to the object in the field of view based on the three-dimensional range data;generating, using the processor, a quality indicator corresponding to the quality of the three-dimensional range data; andsignaling the quality indicator on a user interface;wherein the quality indicator comprises guidance for capturing additional three-dimensional range data to improve the accuracy of dimensioning calculations corresponding to the object relative to dimensioning calculations from previously captured three-dimensional range data.

2. The method according to claim 1, wherein the user interface comprises a display for signaling the quality indicator.

3. The method according to claim 2, wherein the quality indicator comprises a visual image of the field-of-view with a graphical overlay, the graphical overlay corresponding to the quality of the three-dimensional range data.

4. The method according to claim 2, wherein the quality indicator comprises a gauge graphic displaying the quality of the three-dimensional range data as one of a range of possible qualities.

5. The method according to claim 2, wherein the quality indicator comprises a graphic, the graphic's color corresponding to the quality of the three-dimensional range data.

6. The method according to claim 1, wherein the user interface comprises a light for signaling the quality indicator.

7. The method according to claim 6, wherein the quality indicator comprises a pulsating illumination of the light the pulsating-illumination's pulse rate corresponding to the quality of the three-dimensional range data.

8. The method according to claim 1, wherein the user interface comprises a speaker for signaling the quality indicator.

9. The method according to claim 8, wherein the quality indicator comprises a sound, the sound's volume and/or frequency corresponding to the quality of the three-dimensional range data.

10. The method according to claim 1, wherein the user interface comprises a haptic device for signaling the quality indicator.

11. The method according to claim 10, wherein the quality indicator comprises a vibration, the vibration's amplitude and/or rate corresponding to the quality of the three-dimensional range data.

12. The method according to claim 1, wherein the capturing, transmitting, assessing, generating, and signaling are repeated.

13. The method according to claim 1, wherein the quality of the three-dimensional data comprises accuracy of dimensioning calculations based on the three-dimensional range data.

14. The method according to claim 1, wherein the quality of the three-dimensional data comprises resolution of a depth map based on the three-dimensional range data.

15. A handheld dimensioner configured to indicate the quality of three-dimensional range data used for dimensioning an object for shipping, the handheld dimensioner comprising: a dimensioning subsystem for capturing visual images and three-dimensional range data of a field of view;a user-interface subsystem configured to present a quality indicator to a user, the quality indicator corresponding to the quality of three-dimensional range data;a control subsystem communicatively coupled to the dimensioning subsystem and the user-interface subsystem, the control subsystem comprising at least one processor and at least one non-transitory storage medium for storing processor-executable instructions, wherein the processor-executable instructions configure the processor to: (i) receive three-dimensional range data from the dimensioning subsystem, the three-dimensional range data corresponding projected light configured to convey depth information pertaining to the field of view, the field of view comprising an object for shipping, (ii) assess a quality of the three-dimensional range data, the quality indicating projected accuracy of dimensioning calculations corresponding to the object in the field of view based on the three-dimensional range data, (iii) generate the quality indicator corresponding to the quality of the three-dimensional range data, and (iv) transmit the quality indicator to the user-interface;wherein the quality indicator comprises guidance for capturing additional three-dimensional range data to improve the projected accuracy of dimensioning calculations corresponding to the object relative to the projected accuracy corresponding to previously captured three-dimensional range data.

16. The handheld dimensioner according to claim 15, wherein the user-interface subsystem comprises a display.

17. The handheld dimensioner according to claim 15, wherein the quality indicator comprises a visual image of the field-of-view with a graphical overlay, the graphical overlay corresponding to the quality.

18. The handheld dimensioner according to claim 15, wherein the quality indicator comprises a graphical scale displaying the quality as one of a range of qualities on the graphical scale.

19. The handheld dimensioner according to claim 15, wherein the quality indicator comprises at least one prompt for provoking an action by a user.

20. The handheld dimensioner according to claim 15, wherein the user interface comprises a light for presenting illumination corresponding to the quality indicator.

21. The handheld dimensioner according to claim 15, wherein the user interface comprises a speaker for presenting sounds corresponding to the quality indicator.

22. The handheld dimensioner according to claim 15, wherein the user interface comprises a haptic device for presenting vibrations corresponding to the quality indicator.

23. A handheld dimensioner configured to indicate a quality of three-dimensional range data used for dimensioning an object for shipping, the handheld dimensioner comprising: a dimensioning subsystem for capturing visual images and three-dimensional range data of a field of view;a user-interface subsystem comprising a display for presenting graphical information;a control subsystem communicatively coupled to the dimensioning subsystem and the user-interface subsystem, the control subsystem comprising at least one processor and at least one non-transitory storage medium for storing processor-executable instructions, wherein the processor-executable instructions configure the processor to: (i) receive three-dimensional range data from the dimensioning subsystem corresponding to a field of view comprising an object for shipping, (ii) assess a quality of the three-dimensional range data, the quality indicating suitability for making dimensioning calculations corresponding to the object in the field of view based on the three-dimensional range data, (iii) transmit the quality of the three-dimensional range data to the user-interface (iv) indicate the quality of the three-dimensional range data via the display for presenting graphical information;wherein indicate the quality comprises providing guidance for capturing additional three-dimensional range data to improve the accuracy of dimensioning calculations corresponding to the object relative to dimensioning calculations from previously captured three-dimensional range data.

24. The handheld dimensioner according to claim 23, wherein the graphical information comprises a gauge indicating the quality of the three-dimensional range data.

25. The handheld dimensioner according to claim 15, wherein the graphical information comprises positioning guidance.

26. The method according to claim 1, wherein the quality of the three-dimensional range data corresponds to gaps in the three-dimensional range data.

27. The method according to claim 1, wherein the quality of the three-dimensional range data corresponds to completeness of the three-dimensional range data.

28. The method according to claim 1, wherein the quality of the three-dimensional range data corresponds to projected results of dimensioning calculations based on the three-dimensional range data.

29. The method according to claim 1, wherein the quality of the three-dimensional range data corresponds to illumination conditions in the field of view.

30. The method according to claim 1, wherein the quality of the three-dimensional range data corresponds to lighting uniformity in the field of view.

31. The method according to claim 1, wherein the quality of the three-dimensional range data corresponds to diversity of object colors in the field of view.

32. The method according to claim 1, wherein the quality of the three-dimensional range corresponds to agreement between an object in the field of view and a wireframe rendering of the object.

33. The method according to claim 1, wherein the three-dimensional range data comprises a depth map, and wherein the quality of the three-dimensional range data comprises a quality of the depth map.

34. The method according to claim 1, wherein the guidance comprises a prompt intended to provoke a user to adjust the uniformity and/or brightness of lighting with respect to the object.

35. The method according to claim 1, wherein the guidance comprises a prompt intended to provoke a user to change the relative orientation as between at least a pair of respective surfaces of the object and the field of view.