Patent Grant
10805603
This disclosure generally relates to volume dimensioning systems, and particularly to systems and methods useful in the promoting compliance with governmental or industry standard calibration guidelines.
Volume dimensioning systems are useful for providing dimensional and/or volumetric information related to three-dimensional objects. The objects may, for example take the form of parcels or packages intended for transit via a carrier (e.g., courier) or other items intended for transit. Dimensional and/or volumetric information is useful for example, in providing users with accurate shipping rates based on the actual size and/or volume of the object being shipped. Dimensional and/or volumetric information may be used by the carrier in selecting and scheduling appropriately sized vehicles and/or delivery routes. The ready availability of dimensional and/or volumetric information for all objects within a carrier's network assists the carrier in ensuring optimal use of available space in the many different vehicles and containers used in local, interstate, and international shipping.
Such may be of particular significant in today's economy where many businesses rely on “just in time” manufacturing. Typically, every supplier in the supply chain must be able to ship necessary components or resources on demand or with very little lead time. Thus, efficient handling of cargo is required. It does a supplier no good to have the desired goods on hand, if the supplier cannot readily ship the desired goods.
Automating volume dimensioning can speed parcel intake, improve the overall level of billing accuracy, and increase the efficiency of cargo handling. Unfortunately, parcels are not confined to a standard size or shape, and may, in fact, have virtually any size or shape. Additionally, parcels may also have specialized shipping and/or handling instructions (e.g., fragile, this side up) that must be followed during shipping or handling to protect the objects during shipping.
Volume dimensioning devices are used throughout the package delivery and carriage industry to provide a rapid way of measuring the overall dimensions of an object and, in some instances, to provide shipping rates for the object based on one or more classes of service. Historically, shipping rates were principally a function of an object's weight—heavier objects were assigned higher shipping costs than lighter objects. However, such a costing system failed to appreciate that volume the volume occupied by an object also impacted shipping costs since vehicles were not just limited in gross vehicle weight, but internal volume as well. As a consequence shippers began establishing shipping rates using both volume and weight as factors considered in determining the ultimate shipping rate charged to a customer.
The concept of volume dimensioning factors the shipping volume of an object into the overall shipping cost of an object. Thus, objects having a relatively light weight but a relatively large physical volume may have a shipping cost that exceeds the shipping cost of a physically smaller, but heavier, object. The use of volume in determining shipping costs increased the labor associated with package intake, since objects could no longer simply be weighed and a cost assigned. Instead, to accurately obtain a volume dimension, multiple dimensional measurements were taken and used to determine the volume of the object. Once the volume is determined, a shipping cost is assigned based on the measured volume and/or weight of the object. Thus, the shipping cost charged a customer is a function of the weight of an object, the volume occupied by the object, or both the weight of and the volume occupied by the object. Automated volume dimensioning systems have replaced the laborious and error prone derivation of an object's volume by manually obtaining multiple linear dimensions (e.g., the length, width, height, girth, etc.) of an object. The accuracy of a quoted shipping rate is thus dependent upon the accuracy with which an object can be dimensioned using a volume dimensioning system.
There exists a need for new dimensioning systems that may accurately perform volume dimensioning of objects including parcels and packages as well as other objects.
The Applicants have developed systems and methods useful for adjusting the reported or displayed dimensional measurement accuracy and consequently the reported or displayed shipping or cartage rate obtained using dimensional or volumetric data supplied by the volume dimensioning system. The systems and methods described herein take into consideration the level of distortion (e.g., dimensional distortion, optical distortion, etc.) present in the image data provided by such automated volume dimensioning systems. In some instances, the system adjusts a dimensional accuracy of a representation of volume dimensioning information (e.g., dimensions, cost based on the measured distortion present in the volume dimensioning system). Such may ensure that the dimensional and shipping cost data generated by the system is determined using the finest units of accuracy achievable given the current system operational parameters to reliably provide the most accurate shipping or cartage costs. Such systems and methods can be used to promote or facilitate volume dimensioning system compliance with corporate, industry, or regulatory standards, best practices, or guidelines, for example National Institute of Standards (NIST) Handbook 44-2012 Chapter 5.58—“Multiple Dimension Measuring Devices”.
The systems and methods disclosed herein also facilitate the ongoing, operationally transparent, calibration of volume dimensioning systems. Such ongoing calibrations provide system users and consumers with a degree of confidence in the dimensional and shipping cost data provided by the volume dimensioning system and also provide an early indication that the system calibration can no longer be brought into compliance with corporate, industry, or regulatory standards, best practices, or guidelines.
A volume dimensioning system may be summarized as including at least one image sensor that provides image data representative of a number of images of a field of view of the at least one image sensor; and a control subsystem communicatively coupled to the at least one image sensor to receive the image data therefrom, the control subsystem including at least one nontransitory storage medium and at least one processor, the at least one nontransitory storage medium which stores at least one of information or processor executable instructions; and the at least one processor which: determines at least one distortion value indicative of an amount of distortion in the images based at least in part on at least a portion of a calibration pattern which appears in the field of view of the at least one image sensor in at least a portion of some of the images, the calibration pattern having a set of defined characteristics; assesses the at least one distortion value relative to a number of distortion threshold values; and adjusts a unit of accuracy in a representation of volume dimensioning related information based at least in part on the assessment of the at least one distortion value relative to the distortion threshold values.
The at least one processor may determine the at least one distortion value as at least one set of optical distortion values and at least one set of dimensional distortion values, the set of optical distortion values representative of an optical contribution to distortion in the image data and the set of dimensional distortion values representative of a dimensional contribution to distortion in the image data. The at least one processor may assess the at least one distortion value relative to a recalibration threshold value that represents distortion correctable via a self recalibration by the volume dimensioning system. The at least one processor may assess the at least one distortion value relative to a service required threshold value that represents distortion that can only be corrected via a servicing of the volume dimensioning system by a service technician. The at least one processor may adjust the unit of accuracy in the representation of volume dimensioning related information in response to an assessment that the at least one distortion value exceeds the recalibration threshold value and is below the service required threshold value. Responsive to the determination that the at least one distortion value is less than the recalibration threshold value, the at least one processor may recalibrate the volume dimensioning system to a fine unit of accuracy; and wherein responsive to the determination that the at least one distortion value exceeds the recalibration threshold value and is below the service required threshold value, the at least one processor may recalibrate the volume dimensioning system to a coarse unit of accuracy. The processor may further produce an alert in response to an assessment that the at least one distortion value exceeds the service required threshold value. The processor may further determine at least one of a set of calculated optical distortion correction factors or a set of calculated dimensional correction factors in response to an assessment that the at least one distortion value is within the recalibration threshold value and wherein the processor may further apply at least one of the set of calculated optical distortion correction factors or the set of calculated dimensional correction factors to the image data in determining the volume dimensioning related information. The processor may adjust a decimal place represented to adjust the unit of accuracy in the representation of volume dimensioning related information. The processor may adjust a dimensional unit of measurement represented to adjust the unit of accuracy in the representation of volume dimensioning related information. The processor may adjust a unit of currency represented to adjust the unit of accuracy in the representation of volume dimensioning related information. The volume dimensioning system may further include an illumination subsystem communicably coupled to the control subsystem, the illumination subsystem to at least partially illuminate the calibration pattern. The volume dimensioning system may further include a support structure to receive at least the at least one image sensor such that when the at least one image sensor is received by the support structure at least a portion of the pattern is within a field of view of the at least one image sensor. The system may be fixed or hand held. The at least one distortion value may be associated with at least one of data indicative of a date or data indicative of a time and wherein the at least one distortion value and the respective associated data indicative of a date or data indicative of a time may be stored in the non-transitory storage medium.
A volume dimensioning method may be summarized as including receiving by at least one dimensioning system processor image data representative of a number of images in a field of view of at least one image sensor; determining by the at least one dimensioning system processor at least one distortion value indicative of an amount of distortion in the images based at least in part on at least a portion of a calibration pattern which appears in the field of view of the at least one image sensor in at least some of the images, the calibration pattern having a set of defined characteristics; assessing by the at least one dimensioning system processor the at least one distortion value relative to a number of distortion threshold values stored in a non-transitory storage medium communicably coupled to the at least one dimensioning system processor; and adjusting by the at least one dimensioning system processor a unit of accuracy in a representation of volume dimensioning related information based at least in part on the assessment of the at least one distortion value relative to the distortion threshold values.
Assessing by the at least one dimensioning system processor the at least one distortion value relative to a number of distortion threshold values may include determining the at least one distortion value as at least one set of optical distortion values and at least one set of dimensional distortion values; wherein the set of optical distortion values represents an optical contribution to distortion in the image data; and wherein the set of dimensional distortion values represent a dimensional contribution to distortion in the image data. Assessing by the at least one dimensioning system processor the at least one distortion value relative to a number of distortion threshold values may include assessing the at least one distortion value relative to a recalibration threshold value representing distortion correctable via a recalibration of the volume dimensioning system. Assessing by the at least one dimensioning system processor the at least one distortion value relative to a number of distortion threshold values may include assessing the at least one distortion value relative to a service required threshold value representing distortion not correctable via recalibration of the volume dimensioning system. Assessing by the at least one dimensioning system processor the at least one distortion value relative to a number of distortion threshold values may include assessing the at least one distortion value to fall between the recalibration threshold value and the service required threshold value, representing distortion correctable via a recalibration of the volume dimensioning system. Adjusting a unit of accuracy in a representation of volume dimensioning related information based at least in part on the assessment of the at least one distortion value relative to the distortion threshold values may include recalibrating the volume dimensioning system to a fine unit of accuracy responsive to an assessment that the at least one distortion value relative to the recalibration threshold value indicates a distortion correctable via recalibration; recalibrating the volume dimensioning system to a coarse unit of accuracy responsive to an assessment that the at least one distortion value falls between the recalibration threshold value and the service required threshold value; and generating an alert responsive to an assessment that the at least one distortion value relative to the service required threshold value indicates a distortion not correctable via recalibration. The volume dimensioning method may further include, responsive to the determination that the at least one distortion value is within the recalibration threshold value, determining by the at least one dimensioning system processor at least one of a set of calculated optical distortion correction factors or a set of calculated dimensional correction factors; and applying at least one of the set of calculated optical distortion correction factors or the set of calculated dimensional correction factors to the image data in determining the volume dimensioning related information.
A volume dimensioning controller may be summarized as including at least one input communicably coupled to at least one processor, the at least one input to receive image data representative of a number of images of a field of view of at least one image sensor; and at least one processor communicably coupled to the at least one non-transitory storage medium, the at least one processor to: determine at least one distortion value indicative of an amount of distortion in the images based at least in part on at least a portion of a calibration pattern which appears in the field of view of the at least one image sensor in at least some of the images, the calibration pattern having a set of defined characteristics; assess the at least one distortion value relative to a number of distortion threshold values stored in the non-transitory storage medium; and adjust a unit of accuracy in a representation of volume dimensioning related information based at least in part on the assessment of the at least one distortion value relative to the distortion threshold values.
The at least one processor may determine the at least one distortion value as at least one set of optical distortion values and at least one set of dimensional distortion values, the set of optical distortion values representative of an optical contribution to distortion in the image data and the set of dimensional distortion values representative of a dimensional contribution to distortion in the image data. The at least one processor may assess the at least one distortion value relative to a recalibration threshold value that represents distortion correctable via a self recalibration by the volume dimensioning system. The at least one processor may assess the at least one distortion value relative to a service required threshold value that represents distortion that can only be corrected via a servicing of the volume dimensioning system by a service technician. The at least one processor may adjust the unit of accuracy in the representation of volume dimensioning related information in response to an assessment that the at least one distortion value exceeds the recalibration threshold value and is below the service required threshold value. Responsive to the determination that the at least one distortion value is less than the recalibration threshold value, the at least one processor may recalibrate the volume dimensioning system to a fine unit of accuracy; and wherein responsive to the determination that the at least one distortion value exceeds the recalibration threshold value and is below the service required threshold value, the at least one processor may recalibrate the volume dimensioning system to a coarse unit of accuracy.
In the drawings, identical reference numbers identify similar elements or acts. The sizes and relative positions of elements in the drawings are not necessarily drawn to scale. For example, the shapes of various elements and angles are not drawn to scale, and some of these elements are arbitrarily enlarged and positioned to improve drawing legibility. Further, the particular shapes of the elements as drawn, are not intended to convey any information regarding the actual shape of the particular elements, and have been solely selected for ease of recognition in the drawings.
In the following description, certain specific details are set forth in order to provide a thorough understanding of various disclosed embodiments. However, one skilled in the relevant art will recognize that embodiments may be practiced without one or more of these specific details, or with other methods, components, materials, etc. In other instances, well-known structures associated with volume dimensioning systems, correction of optical and dimensional distortion in single and compound lens devices, wired, wireless and optical communications systems, and/or automatic data collection (ADC) readers have not been shown or described in detail to avoid unnecessarily obscuring descriptions of the embodiments.
Unless the context requires otherwise, throughout the specification and claims which follow, the word “comprise” and variations thereof, such as, “comprises” and “comprising” are to be construed in an open, inclusive sense, that is as “including, but not limited to.”
Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” include plural referents unless the content clearly dictates otherwise. It should also be noted that the term “or” is generally employed in its broadest sense, that is as meaning “and/or” unless the content clearly dictates otherwise.
The headings and Abstract of the Disclosure provided herein are for convenience only and do not interpret the scope or meaning of the embodiments.
The volume dimensioning system 100 includes a camera subsystem 102 and control subsystem 104. The volume dimensioning system 100 optionally includes one or more of: a user interface (UI) subsystem 106; a communications subsystem 108 and/or an automatic data collection (ADC) subsystem 110.
The various subsystems 102-110 may be communicatively coupled by one or more couplers (e.g., electrically conductive paths, wires, optical fibers), for example via one or more buses 112 (only one shown) and/or control lines 114 (only two shown). The buses 112, or other couplers, may include power buses or lines, data buses, instruction buses, address buses, etc., which allow operation of the various subsystems 102-110 and interaction or intercommunication therebetween. The various subsystems 102-110 are each discussed in turn, below. While various individual components are generally easily categorizable into one or another of the subsystems, some components may be optionally implemented in one or two or more of the subsystems 102-110. Thus, some components may be illustrated in
The camera subsystem 102 includes an optional illumination subsystem 116 to provide or emit electromagnetic illumination outward from the volume dimensioning system 100 into an environment containing a target object (not shown in
The illumination subsystem 116 includes an illumination device 120. The illumination device 120 may take the form of an array of individually addressable or controllable elements, and also may have a variety of forms capable of producing electromagnetic energy having a spectral content useful for image collection by the sensor subsystem 118. The illumination subsystem 116 will typically include an illumination driver 122 which is coupled to control the individually addressable or controllable elements of the illumination device 120. Alternatively, the illumination device 120 may be controlled directly by the control subsystem 104 without the use of a dedicated illumination driver 122.
In particular, the illumination device 120 is controlled to produce or emit modulated electromagnetic energy in a number of wavelengths or ranges of wavelengths. For instance, illumination may include electromagnetic energy of wavelengths in an optical range or portion of the electromagnetic spectrum including wavelengths in a human-visible range or portion (e.g., approximately 390 nm-750 nm) and/or wavelengths in the near-infrared (NIR) (e.g., approximately 750 nm-1400 nm) or infrared (e.g., approximately 750 nm-1 mm) portions and/or the near-ultraviolet (NUV) (e.g., approximately 400 nm-300 nm) or ultraviolet (e.g., approximately 400 nm-122 nm) portions of the electromagnetic spectrum. The particular wavelengths are exemplary and not meant to be limiting. Other wavelengths of electromagnetic energy may be employed.
The sensor subsystem 118 includes an image transducer or image sensor 124, typically a two-dimensional array of photo-sensitive or photo-responsive elements, for instance a two-dimensional array of photodiodes or a two-dimensional array of charge coupled devices (CODs). The sensor subsystem 118 may optionally include a buffer 125 communicatively coupled to the image sensor 124 to receive or otherwise acquire image data measured, captured or otherwise sensed or acquired by the image sensor 124. The buffer 125 may comprise a non-transitory storage medium capable of temporarily storing image data until the image data is further processed by the volume dimensioning system 100. In at least some instances, the sensor subsystem 118 can include one or more sensors, systems, or devices for reading or scanning one or more optical machine readable symbols or radio frequency machine readable devices such as radio frequency identification (RFID) tags. Some possibly suitable systems are described in U.S. patent application Ser. No. 12/638,616, filed Dec. 15, 2009 and published as U.S. patent application publication no. US 2010-0220894, which is incorporated by reference herein in its entirety to the extent the subject matter therein does not contradict or conflict with the subject matter of the instant application.
The sensor subsystem may further include one or more distance determination sensors (not shown in
The control subsystem 104 includes one or more processors 126, for example one or more microprocessors (one shown) 126a, digital signal processors (DSP—one shown) 126b, application specific integrated circuits (ASIC), programmable gate arrays (PGA), programmable logic controllers (PLC), or the like. While the DSP 126b may be considered or provided or packaged as part of the control subsystem 104, the DSP 126b may in some applications be may be considered or provided or packaged as part of the camera subsystem 102.
The control subsystem 104 includes at least one non-transitory storage media 130. For example, the control subsystem 104 may include nonvolatile memory, for instance read only memory (ROM) or NAND Flash memory 130a. Additionally or alternatively, all or a portion of the at least one non-transitory storage media 130 may include volatile memory, for instance dynamic random access memory (ROM) 130b. The at least one non-transitory storage media 130 may store one or more computer- or processor-executable instructions or data, useful in causing the microprocessor, DSP or other microcontroller to perform dimensional functions, volumetric functions, volume dimensioning functions, shipping cost calculation functions, or combinations thereof, for example by executing the various methods described herein.
In some instances the at least one non-transitory storage media 130 may store or otherwise retain a number of distortion values indicative of the quantitative or qualitative degree of distortion present in the image data provided by the volume dimensioning system 100. Such distortion may be present as an optical distortion, a dimensional distortion, or any other type of distortion including chromatic distortion that causes deviations between the image data and the scene within the field of view of the sensor subsystem 118. In yet other instances, the at least one non-transitory storage media 130 may store or otherwise retain a plurality of historical distortion values, such as a plurality of optical or dimensional distortion values that permit the historical trending of the optical or dimensional distortion values. Such historical data can also play a helpful role in demonstrating an ongoing compliance with one or more corporate, industry, or regulatory guidelines, best practices, or standards. In at least some instances, the at least one non-transitory storage media 130 can store or otherwise retain one or more sets of distortion correction factors useful in reducing or eliminating one or more forms of distortion present in the image data provided by the volume dimensioning system 100.
The optional UI subsystem 106 may include one or more user interface components which provide information to a user or allow a user to input information or control operation of the volume dimensioning system 100.
For example, the UI subsystem 106 may include a display 132 to visually provide information or control elements to the user. The display 132 may, for example, take the form of a liquid crystal display (LCD) panel. The display 132 may, for example, take the form of a touch sensitive display, allowing the display of user selectable icons (e.g., virtual keypad or keyboard, graphical user interface or GUI elements) in addition to the display of information. The display 132 may be coupled to the control subsystem 104 via a display driver 134 or similar component. The display driver 134 may control the presentation of information and icons on the display 132. The display driver 134 may additionally process signals indicative of user inputs made via the display 132.
The UI subsystem 106 may optionally include a physical keypad or keyboard 136, which allows a user to enter data and instructions or commands. The physical keypad or keyboard 136 may be integral to a housing (not shown) of the volume dimensioning system 100. Alternatively, the optional physical keypad or keyboard 136 may be separate from the housing, communicatively coupled thereto via a wireless connection or wired connection for instance a Universal Serial Bus (USB®) interface.
The UI subsystem 106 may optionally include a speaker 138 to provide audible information, cues and/or alerts to a user. The UI subsystem 106 may optionally include a microphone 140 to receive spoken information, instructions or commands from a user.
The communications subsystem 108 may include one or more wireless communications components and/or one or more wired communications components to allow communications with devices external from the volume dimensioning system 100.
For example the communications subsystem 108 may include one or more radios (e.g., transmitters, receivers, transceivers) 142 and associated antenna(s) 144. The radio(s) 142 may take any of a large variety of forms using any of a large variety of communications protocols, for instance IEEE 802.11, including WI-FI®, BLUETOOTH®, various cellular protocols for instance CDMA, TDMA, EDGE®, 3G, 4G, GSM.
Also for example, the communications subsystem 108 may include one or more communications ports 146. The communications ports 146 may take any of a large variety of forms, for example wired communications ports for instance ETHERNET® ports, USB® ports, FIREWIRE® ports, THUNDERBOLT® ports, etc. The communications ports 146 may even take the form of wireless ports, for instance an optical or radio frequency transceiver.
The ADC subsystem 110 may include one or more ADC readers to perform automatic data collection activities, for instance with respect to a target object.
For example, the ADC subsystem 110 may include a radio frequency identification (RFID) reader or interrogator 148 and associated antenna 150 to wireless read and/or write to wireless transponders (e.g., RFID tags or transponders) (not shown). Any of a large variety of RFID readers or interrogators 148 may be employed, including fixed or stationary RFID readers or portable or handheld RFID readers. RFID reader(s) 148 may be used to read information from a transponder physically or at least proximally associated with a target object (not shown in
Also for example, the ADC subsystem 110 may include a machine-readable symbol reader 152 to wireless read machine-readable symbols (e.g., one-dimensional or barcode symbols, two-dimensional or matrix code symbols) (not shown). Any of a large variety of machine-readable symbol readers 152 may be employed. For example, such may employ scanner based machine-readable symbol readers 152 such as those that scan a point of light (e.g., laser) across a symbol and detector light returned from the symbol, and decoding information encoded in the symbol. Also for example, such may employ imager based machine-readable symbol readers 152 such as those that employ flood illumination (e.g., LEDs) of a symbol, detect or capture an image of the symbol, and decode information encoded in the symbol. The machine-readable symbol reader(s) 152 may include fixed or stationary machine-readable symbol readers or portable or handheld machine-readable symbol readers. The machine-readable symbol reader(s) 152 may be used to read information from a machine-readable symbol physically or at least proximally associated with a target object. Such information may, for instance, include recipient information including an address and/or telephone number, sender information including an address and/or telephone number, specific handling instructions (e.g., fragile, keep a give side up, temperature range, security information).
While not illustrated, the volume dimensioning system 100 may include a self contained, discrete source of power, for example one or more chemical battery cells, ultracapacitor cells and/or fuel cells. While also not illustrated, the volume dimensioning system 100 may include a recharging circuit, for example to recharge secondary chemical battery cells. Alternatively or additionally, the volume dimensioning system 100 may be wired to an external power source, such as mains, residential or commercial power.
The dimensions of the reference pattern 202 are defined, fixed, and known by the volume dimensioning system 100 prior to imaging. This allows the volume dimensioning system 100 to analyze pattern image data 212, 222 containing at least a portion of the reference pattern 202 to assess or quantify the distortion present in the image and to generate at least one distortion value indicative of the distortion. The distortion may be global throughout the image or may be localized with different portions of the image exhibiting different types or amounts of distortion.
Although shown in two different figures for clarity and ease of discussion, optical and dimensional distortion, along with other forms of distortion such as color or chromatic aberration or distortion, may appear in image data produced by a volume dimensioning system 100. Such combinations further complicate the accurate determination of dimensional or volumetric information therefrom. Uncorrected, such optical and dimensional distortion in the image can cause the calculation or propagation of erroneous dimensional information and consequently volumetric information and volume-based shipping cost information.
Optical distortion may be present in the image data received from the sensor subsystem 118 in many forms. Typical forms of optical distortion present in image data can include radial distortion, chromatic or spherical aberration, linear distortion, geometric distortion, and combinations thereof. Such optical distortion may not necessarily be a consequence of a latent defect in the sensor subsystem 118 but may be inherent in the design or manufacture of the optics used to provide the sensor subsystem 118 or characteristic of the image processing hardware, firmware, or software employed by the volume dimensioning system 100. Such optical distortion may variously be referred to as pincushion distortion, barrel distortion, or mustache distortion depending on the visual appearance of the distortion present in the displayed pattern image data 212, 222. Regardless of the cause, the presence of distortion in the image data compromises the ability of the volume dimensioning system 100 to accurately determine dimensional or volumetric data for an object. Uncorrected, such optical and dimensional distortion may adversely impact the accuracy of the shipping costs provided by the volume dimensioning system 100 and also may hinder a shipper's ability to schedule and load shipping containers, trucks, railcars, or the like based on the dimensional and volumetric data.
In some instances, optical distortion may be present but non-uniformly distributed across an image. Such distortion may result in a portion of an image suffering little or no optical distortion while other portions of the same image suffer significant distortion. For example, little optical distortion may be present in the center portion of an image while all or a portion of the periphery of the same image may suffer a much greater degree of optical distortion. In other instances a first type of distortion may be distributed more-or-less uniformly across the image while a second type of distortion may be present in one or more localized areas. In yet other instances, an object of dimensional interest may lie within only a portion of an optically distorted image captured by the image sensor. In such instances, it may be advantageous to locally correct the distortion present in the area of the image in which the object of dimensional interest lies. In at least some instances, if the type and extent of such local distortion present in an image can be assessed or is of a known type, extent, and/or magnitude, then local dimensional correction may be possible within the image. The ability to locally correct distortion present in an image advantageously eliminates the application of such distortion correction in portions of the image having where such distortion is not present.
Although the reference pattern 202 is depicted as a checkerboard, any number of machine recognizable indicia including one or more machine-readable symbols, machine-readable patterns, calibration patterns, calibration targets, calibration points, or the like may be similarly employed as a tool for assessing the distortion (e.g., amount, type, location) present in the image data. Physical parameters associated with the reference pattern 202 can be provided to the volume dimensioning system 100 either as one or more factory settings (e.g., preloaded values placed into the read only portion of the non-transitory storage medium) or communicated to the volume dimensioning system (e.g., via a network, Bluetooth, or similar connection). All or a portion of such physical parameters may include color information associated with the reference pattern 202 including the overall reference pattern size, the size of the white areas 204, the size of the colored areas 206, or combinations thereof. All or a portion of such physical parameters may include the spatial or geometric relationship between the various white and colored areas 204, 206 in the reference pattern 202. All or a portion of such physical parameters may include information encoded into one or more regions or portions of the reference pattern 202 in the form of one or more machine readable indicia or symbols. Pattern image data 212, 214 is used by the at least one processor 126 to detect and quantify the distortion (e.g., optical or dimensional distortion) present in the image data using the one or more known physical parameters. The quantity of distortion present may be expressed as at least one distortion value. In at least some instances, all or a portion of the reference pattern 202 may be useful in calibrating the volume dimensioning system 100.
In at least some instances, the entire electromagnetic spectrum reflected or otherwise returned from the reference pattern 202 may be used by the at least one processor 126 to determine all or a portion of the at least one distortion value. In other instances, only a portion of the electromagnetic spectrum reflected or otherwise returned from the reference pattern 202 may be used by the at least one processor 126 to determine the at least one distortion value. In some instances, the reference pattern 202 may return pattern image data unique to the electromagnetic spectrum illuminating the reference pattern 202 (e.g., the pattern image data returned in a near-ultraviolet spectrum may differ from that returned in a visible spectrum). Portions of the electromagnetic spectrum used by the at least one processor 126 may include, but are not limited to, the near ultraviolet portion of the electromagnetic spectrum, the near infrared portion of the electromagnetic spectrum, one or more portions of the visible electromagnetic spectrum, or any portion of combination thereof.
Although the entire reference pattern 202 is shown within the field of view 210 of the image sensor 124 in both
Identification data may in some instances be created, generated or otherwise provided by the at least one processor 126 and associated with the at least one determined distortion value. Such identification data may include chronological data such as data indicative of the date or the time at which the at least one distortion value was obtained, calculated, or otherwise determined by the at least one processor 126. Such identification data may include chronological data such as data indicative of the date or the time at which one or more sets of distortion correction factors are determined by the at least one processor 126. Such identification data may include chronological data associated with system events (e.g., distortion value determination, distortion correction determination, system calibration, a change in system units of accuracy, a change in system configuration, etc.) that are recommended or required for compliance with one or more corporate, industry, or regulatory guidelines, best practices, or standards.
The determined at least one distortion value along with the respective associated identification data may be at least partially stored in the at least one non-transitory storage media 130. Maintaining a history of the determined at least one distortion value may advantageously provide the ability for the one or more processors 126 to predict expected future distortion values and to detect sudden or unexpected changes in the level or magnitude of the determined at least one distortion value. Sudden changes in the at least one distortion value may, for example, indicate an unexpected change in performance of the volume dimensioning system 100. The ability to predict future expected distortion values may, for example, be useful in providing a predicted replacement interval or an expected remaining service life for the volume dimensioning system 100.
In at least some instances, the volume dimensioning system 100 can generate an output that includes both identification data and the associated at least one distortion value either as a visible output on user interface 132 or as a data output transmitted via the communication subsystem 108 to an external device such as a non-transitory data storage location on a local network or in the cloud or an external display device such as a printer or similar data output device.
At least some instances, the at least one processor 126 can calculate or otherwise determine one or more sets of distortion correction factors (e.g., one or more sets of optical distortion factors or one or more sets of dimensional distortion factors) based in whole or in part on the determined at least one distortion value. When within a first set of distortion threshold values, the volume dimensioning system 100 may use the distortion correction factors to reduce or even eliminate the effects of distortion, improving the dimensional, volumetric, and resultant shipping cost calculation capabilities of the volume dimensioning system 100.
The at least one processor 126 may determine the distortion correction factors using one or more numerical distortion correction methods. Numerical distortion correction methods may, for example, include Brown's distortion model or other similar mathematical distortion correction methods or schemes. One or more graphical distortion correction methods may also be used alone or in cooperation with one or more numerical distortion correction methods.
In some instances, the at least one processor 126 may use the entire electromagnetic spectrum of the image provided by the sensor subsystem 118 to determine all or a portion of the one or more distortion correction factors. In other instances, the at least one processor may use a portion of the electromagnetic spectrum of the image provided by the sensor subsystem 118 to determine the one or more distortion correction factors. The use of sets of distortion correction factors in one or more portions of the electromagnetic spectrum may in some instances advantageously provide the ability to partially or completely correct at least a portion of the chromatic aberration present in the image data provided by the sensor subsystem 118.
Dimensional distortion such as that shown in
In at least some instances the distortion present in the image data may include both optical and dimensional distortion. In such instances the one or more processors 126 may calculate multiple distortion values including at least one optical distortion value indicative of the level of optical distortion present in the image data and at least one dimensional distortion value indicative of the level of dimensional distortion present in the image data. The at least one optical distortion value and the at least one dimensional distortion value may be stored or otherwise retained individually within the non-transitory storage media 130 or alternatively may be combined to provide at least one combined distortion value reflective of both the optical and dimensional distortion present in the image data.
Using one or more calibration parameters of the reference pattern 202 and based on the determined at least one distortion value, the one or more processors 126 can determine or otherwise generate one or more sets of distortion correction factors. Such sets of distortion correction factors can include one or more sets of optical distortion correction factors, one or more sets of dimensional distortion correction factors, or combinations thereof. The one or more sets of distortion correction factors can be wholly or partially stored or otherwise retained in the at least one non-transitory storage media 130. The one or more sets of distortion correction factors are used by the at least one processor 126 to reduce or eliminate the effects of distortion present in the image data on the determined dimensional, volumetric, volume dimensional, or cost data provided by the volume dimensioning system 100. Additionally, the one or more sets of distortion correction factors may be used to by the at least one processor 126 to correct the image data prior to using the image data to provide an output on the display 132.
The volume dimensioning system 100 can determine the at least one distortion value and one or more sets of distortion correction factors on a regular or irregular basis. For example, in some instances, the volume dimensioning system 100 can determine the at least one distortion value when the reference pattern 202 falls within the field of view of the at least one sensor 124 and the system 100 is not actively volume dimensioning an object. Such may occur when the volume dimensioning system 100 is placed in a defined location for example returned to a cradle or stand. In other instances, the routine range of motion may bring the reference pattern 202 within the field of view of the at least one sensor 124 as the volume dimensioning system is moved or displaced. For example, the reference pattern 202 may appear in the field of view of the at least one image sensor 124 when the volume dimensioning system 110 is moved from a “storage” position or location to a “ready” position or location, or from a “ready” position or location to a “storage” position or location. In yet other instances, the volume dimensioning system 100 may provide one or more human perceptible indicators or signals that prompt a user to at least partially align the volume dimensioning system 100 with the reference pattern 202 to permit the system to perform a distortion correction or calibration.
In other instances, determination of the at least one distortion value and optionally the determination of the at least one set of distortion correction factors may occur as a portion of the volume dimensioning system 100 calibration routine. For example, in some instances, the at least one distortion value may be determined prior to the performance of a volume dimensioning system calibration to improve or otherwise enhance the level of accuracy of the calibration. In some instances, such distortion correction or calibration routines may be time-based and conducted at regular or irregular intervals. In other instances, such distortion correction or calibration routines may be performance related and conducted based upon one or more measured system performance parameters. In yet other instances, such distortion correction or calibration routines may be time and performance based to comply with one or more corporate, industry, or regulatory standards, best practices, or guidelines.
Advantageously, the ability to detect the presence of distortion present in the image data, to quantify the distortion using at least one distortion value, to optionally determine one or more sets of distortion correction factors, and to optionally incorporate both into a volume dimensioning system calibration procedure reduces the likelihood of the volume dimensioning system 100 providing erroneous linear, volumetric, or shipping cost information. Such periodic detection and quantification of distortion present in the image data may be conducted on an automatic (i.e., system generated) or manual (i.e., at user discretion) basis at regular or irregular intervals.
The volume dimensioning system 100 may also include one or more sensors (not visible in
In at least some instances the reference pattern 202 can be formed on the base 304 or on a rigid or flexible member that is operably coupled or otherwise attached to the base member 304. The reference pattern 202 may be formed in different colors, materials, embossings, debossings, textures, engravings, or similar. In some instances, the reference pattern 202 may include one or more inscriptions, logos, designs, trademarked images, or the like. In at least some instances all or a portion of the reference pattern 202 and the base member 304 may be detached and mounted remotely from the support member 302. For example, in at least some instances the reference pattern 202 may be mounted on a vertical surface such as a wall or similar partition.
In at least some situations, when the volume dimensioning system 100 is received by the support member 302 the sensor subsystem 118 may autonomously provide pattern image data including at least the portion of the reference pattern 202 to the at least one processor 126. Autonomous provision of image data by the sensor subsystem 118 to the at least one processor 126 may occur at regular or irregular intervals. Autonomous collection of pattern image data may permit a more frequent updating of the at least one distortion value or the one or more sets of distortion correction factors than a manually initiated collection of pattern image data since such autonomous collection may occur at times when the volume dimensioning system 100 is not in active use. The pattern image data so acquired allows the at least one processor 126 to determine the at least one distortion value using the known reference pattern 202 calibration parameters. Access to pattern image data also optionally permits the at least one processor 126 to determine the one or more sets of distortion correction factors. Providing the at least one processor 126 with the ability to determine the at least one distortion value and the sets of distortion correction factors while the volume dimensioning system 100 is not in active use may advantageously increase the overall accuracy of the dimensional, volumetric, and cost information provided by the system 100.
Although the object 402a is depicted as a cubic solid for simplicity and ease of illustration, it should be understood that similar principles as described below will apply to any object placed within the field of view of the volume dimensioning system 100. Object 402a is illustrated as having actual dimensions of 11.1 cm in length, 6.3 cm in width, and 15.6 cm in height. Such an object may be representative of a commonly encountered shipping container such as a cardboard box. Prior to placement of the object 402a in the field of view 210 of the imaging sensor 124, the volume dimensioning system 100a has determined through the use of a reference pattern 202 (not shown in
Object 402b has dimensions identical to object 402a, 11.1 cm in length, 6.3 cm in width, and 15.6 cm in height. However, prior to placement of the object 402b in the field of view 210 of the imaging sensor 124, the volume dimensioning system 100b has determined through the use of a reference pattern 202 (not shown in
In at least some instances, the volume dimensioning system 100 can correct distortion present in only a portion of the overall image. For example, the volume dimensioning system 100 may correct only the portion of the image containing the object 402. Such local correction can proceed using one or more correction factors determined based at least in part on any distortion present in the portion of the image containing and/or proximate the object 402. Such local distortion correction factors can be used in a manner similar to image wide distortion correction factors, for example to determine the dimensional accuracy achievable with regard to the object 402 and to determine whether a fine unit of accuracy or a coarse unit of accuracy should be used in assessing dimensional and cost information for the object 402.
At 506 the at least one processor 126 determines at least one distortion value using the pattern image data received from the sensor subsystem 118 at 504. The at least one processor 126 can determine any number of distortion values, including at least one of: an optical distortion value, a dimensional distortion value, a chromatic aberration or distortion value, or combinations thereof. The distortion values so determined provide a quantitative measure or assessment of the overall quality of the image data provided by the sensor subsystem 118. In some instances, all or a portion of the at least one distortion values determined by the at least one processor 126 at 506 can be stored or otherwise retained within the at least one non-transitory storage media 130.
At 508 the at least one processor 126 compares the determined at least one distortion value from 506 with a first distortion threshold. A determined at least one distortion value falling within the first distortion threshold indicates the distortion present in the image data provided by the sensor subsystem 118 is sufficiently small that a fine unit of accuracy may be used in determining and calculating dimensional, volumetric, and cost information. Conversely, a determined at least one distortion value exceeding the first distortion threshold may indicate the level of distortion present in the image data provided by the sensor subsystem 118 is sufficiently large that the use of the fine unit of accuracy is inappropriate and a coarse unit of accuracy should instead be used to determine and calculate dimensional, volumetric, and cost information. Such distortion thresholds may be provided as one or more factory settings or one or more periodically updated thresholds that are stored or otherwise retained in the at least one non-transitory storage media 130.
Advantageously, such adjustments are made autonomously by the volume dimensioning system 100 without user intervention using the determined at least one distortion value and a plurality of distortion thresholds stored or otherwise retained within the non-transitory storage media 130. For illustrative purposes, Table 1 lists one set of example values that may be associated with “fine” and “coarse” units of accuracy:
At 510, if the at least one processor 126 finds the distortion value determined at 506 is within or less than the first distortion threshold, the at least one processor 126 can adjust one or more volume dimensioning system parameters at 512. In at least some instances, at 512 the one or more processors 126 may calculate one or more sets of distortion correction factors to reduce or eliminate the distortion present in the image data provided by the sensor subsystem 118 using the one or more distortion values determined at 506. In some instances, adjusting the one or more volume dimensioning system parameters at 512 may also include confirming the fine units of accuracy are being used, performing one or more calibration routines, or combinations thereof.
At 514 the at least one processor compares the at least one distortion value determined at 506 with a second distortion threshold. If at 510 the at least one processor 126 found the at least one distortion value determined at 506 exceeded the first distortion threshold at 510, the at least one processor 126 can compare the determined at least one distortion value with a second distortion threshold at 514. In at least some instances, distortion values exceeding the second distortion threshold may indicate the presence of distortion in the image data provided by the sensor subsystem 118 that is of a magnitude or severity sufficient to render the system 100 unusable based on one or more corporate, industry, or regulatory guidelines, best practices, or standards.
Although
If at 516 the at least one processor 126 finds the at least one distortion value determined at 506 exceeds or is greater than the second distortion threshold, the at least one processor 126 can generate one or more human perceptible outputs indicative of a “service required” condition at 518. In some instances at 518, one or more functions or features of the volume dimensioning system 100, for example the costing functionality, may be inhibited if the distortion value exceeds the second distortion threshold.
At 520, if the at least one processor 126 found the distortion value determined at 506 fell between the first and the second distortion thresholds at 516, the at least one processor 126 can adjust the units of accuracy of the information presented by the volume dimensioning system 100. In at least some instances, at least one processor 126 can adjust dimensional, volumetric or cost information provided by the volume dimensioning system 100 to one or more coarse units of accuracy. In at least some instances, at 520 the one or more processors 126 may calculate one or more sets of distortion correction factors to reduce or eliminate the distortion present in the image data provided by the sensor subsystem 118 using the one or more distortion values determined at 506. The one or more coarse units of accuracy cause the system 100 to determine, calculate, and display dimensional, volumetric, and cost data in units of accuracy that are based at least in part on the capability of the system 100 to resolve such dimensions and volumes based on the distortion values determined at 506. In at least some instances, some or all of the units of accuracy may be based on one or more corporate, industry, or regulatory guidelines, best practices, or standards. In some instances, for example, the units of accuracy used by the volume dimensioning system may be based on the NIST Handbook 44-2012 Chapter 5.58. The method 500 terminates at 522.
At 606 the at least one processor 126 assesses the image data supplied by the sensor subsystem 118 for dimensional distortion. The assessment of the dimensional distortion by the at least one processor 126 determines at least in part at least one dimensional distortion value. The at least one dimensional distortion value determined at 606 can provide a quantitative measure of the degree or magnitude of the dimensional distortion present in the image data provided by the sensor subsystem 118. Such a quantitative measure of the dimensional distortion present in the image data may be obtained by the at least one processor 126 using one or more numerical distortion analysis techniques, graphical distortion analysis techniques, or combinations thereof. After the at least one processor 126 has determined at least one distortion value attributable to either or both optical and dimensional distortion present in the image data provided by the sensor subsystem 118, the method 600 concludes at 608.
At 704, the at least one processor 126 can associate one or more identifiers with the at least one distortion value determined at 506 or the one or more sets of distortion correction factors determined at 512 or 520. Any type of logical identifier, including one or more sequential or chronological identifiers, may be so associated with the at least one distortion value. The association of one or more logical identifiers with the at least one distortion value or the one or more sets of distortion correction factors permits the retrieval and presentation of such data in an organized and logical manner. Storage of such historical data may also assist in compliance with one or more corporate, industry, or regulatory guidelines, best practices, or standards.
At 704 the at least one processor 126 can associate one or more logical identifiers with all or a portion of the distortion values (i.e., determined at 506) or all or a portion of the calculated sets of distortion correction factors (i.e., calculated at 512 or 520). In at least some instances, the one or more logical indicators can include one or more chronological indicators such as date and time of determination of the at least one distortion value or calculation of the set of distortion correction factors by the at least one processor 126. In some instances, the one or more logical indicators can include one or more serialized indicators sequentially assigned by the at least one processor 126 upon determining the at least one distortion values or calculating the set of distortion correction factors. Any similar logical indicators that provide the ability to retrieve, sort, organize, or display the associated distortion values or distortion correction factors in a logical manner may be so assigned by the at least one processor 126.
At 706, the at least one distortion value or the set of distortion correction factors and the associated logical identifier are at least partially stored within a non-transitory storage media 130. In at least some instances, at least a portion of the non-transitory storage media 130 can include one or more types of removable media, for example secure digital (SD) storage media, compact flash (CF) storage media, universal serial bus (USB) storage media, memory sticks, or the like. The use of such removable storage media may advantageously permit the transfer of data such as the stored distortion values and distortion correction factors to one or more external computing devices equipped with a comparable removable storage media reader.
At 708, the stored distortion values or distortion correction factors are displayed sorted or otherwise arranged or organized by the associated identifier either on the internal display device 132 of the volume dimensioning system 100 or an external display device wiredly or wirelessly accessed by the system 100 via the communications subsystem 108.
At 710, the stored distortion values or distortion correction factors are displayed sorted by the associated identifier either on the internal display device 132 of the volume dimensioning system 100 or an external display device wiredly or wirelessly accessed by the system 100 via the communications subsystem 108. Additionally, one or more trend lines may be fitted to the displayed data to provide an indication of the overall rate of degradation or change in distortion of the image data provided by the sensor subsystem 118. Such trend data may be useful in detecting sudden or unexpected changes in the overall level of image data quality provided by the sensor subsystem 118 and may advantageously provide an indication of the overall condition of the sensor subsystem 118.
At 712, the stored distortion values or distortion correction factors are displayed sorted by the associated identifier either on the internal display device 132 of the volume dimensioning system 100 or an external display device wiredly or wirelessly accessed by the system 100 via the communications subsystem 108. Additionally, through the use of one or more trend lines or similar data analysis techniques, a performance forecast is provided. Such performance forecasts may identify an expected date or timeframe in which the image data provided by the sensor subsystem 118 will no longer fall within an acceptable distortion threshold. Such data may advantageously indicate or predict an expected date at which the sensor subsystem 118 or the volume dimensioning system 100 may require service or replacement. The method 700 terminates at 714
The above description of illustrated embodiments, including what is described in the Abstract, is not intended to be exhaustive or to limit the embodiments to the precise forms disclosed. Although specific embodiments of and examples are described herein for illustrative purposes, various equivalent modifications can be made without departing from the spirit and scope of the disclosure, as will be recognized by those skilled in the relevant art. The teachings provided herein of the various embodiments can be applied to other automated systems, not necessarily the exemplary volume dimensioning system generally described above.
For instance, the foregoing detailed description has set forth various embodiments of the devices and/or processes via the use of block diagrams, schematics, and examples. Insofar as such block diagrams, schematics, and examples contain one or more functions and/or operations, it will be understood by those skilled in the art that each function and/or operation within such block diagrams, flowcharts, or examples can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. In one embodiment, the present subject matter may be implemented via Application Specific Integrated Circuits (ASICs). However, those skilled in the art will recognize that the embodiments disclosed herein, in whole or in part, can be equivalently implemented in standard integrated circuits, as one or more computer programs executed by one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs executed by on one or more controllers (e.g., microcontrollers) as one or more programs executed by one or more processors (e.g., microprocessors), as firmware, or as virtually any combination thereof, and that designing the circuitry and/or writing the code for the software and or firmware would be well within the skill of one of ordinary skill in the art in light of the teachings of this disclosure.
When logic is implemented as software and stored in memory, logic or information can be stored on any computer-readable medium for use by or in connection with any processor-related system or method. In the context of this disclosure, a memory is a computer-readable medium that is an electronic, magnetic, optical, or other physical device or means that contains or stores a computer and/or processor program. Logic and/or the information can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions associated with logic and/or information.
In the context of this specification, a “computer-readable medium” can be any element that can store the program associated with logic and/or information for use by or in connection with the instruction execution system, apparatus, and/or device. The computer-readable medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device. More specific examples (a non-exhaustive list) of the computer readable medium would include the following: a portable computer diskette (magnetic, compact flash card, secure digital, or the like), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM, EEPROM, or Flash memory), a portable compact disc read-only memory (CDROM), digital tape, and other nontransitory media.
Many of the methods described herein can be performed with one or more variations. For example, many of the methods may include additional acts, omit some acts, and/or perform or execute acts in a different order than as illustrated or described.
The various embodiments described above can be combined to provide further embodiments. All of the commonly assigned US patent application publications, US patent applications, foreign patents, foreign patent applications and non-patent publications referred to in this specification and/or listed in the Application Data Sheet, including but not limited to U.S. provisional patent application Ser. No. 61/691,093, filed is incorporated herein by reference, in its entirety. Aspects of the embodiments can be modified, if necessary, to employ systems, circuits and concepts of the various patents, applications and publications to provide yet further embodiments.
These and other changes can be made to the embodiments in light of the above-detailed description. In general, in the following claims, the terms used should not be construed to limit the claims to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled. Accordingly, the claims are not limited by the disclosure.
This application is a continuation of U.S. application Ser. No. 13/786,131, filed Mar. 5, 2013, which claims the benefit of U.S. Provisional Application No. 61/691,093, filed Aug. 20, 2012, each of which are incorporated herein by reference in its entirety.
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| Number | Date | Country | |
|---|---|---|---|
| 20190335168 A1 | Oct 2019 | US |
| Number | Date | Country | |
|---|---|---|---|
| 61691093 | Aug 2012 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 13786131 | Mar 2013 | US |
| Child | 16404189 | US |
