Automatic mode switching in a volume dimensioner

• US 10,163,216 B2
• Filed: 06/15/2016
• Issued: 12/25/2018
• Est. Priority Date: 06/15/2016
• Status: Active Grant

• Current Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Original Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Inventors: Ackley, H. Sprague
• Primary Examiner(s): Yang, Weiwen
• Application Number:
  US15/182,636
• Publication Number:
  US 20170365060A1
• Time in Patent Office: 923 Days
• Field of Search: None
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G01B 11/02 for measuring length, width or thickness G01B11/08 takes precedence
• CPC Class Codes: G01B 11/026 by measuring distance between sensor and object G01B11/0608 takes precedence
• CPC Class Codes: G06K 2007/10524 Hand-held scanners
• CPC Class Codes: G06K 7/10821 further details of bar or optical code scanning devices
• CPC Class Codes: G06K 7/1491 the method including a reconstruction step, e.g. stitching two pieces of bar code together to derive the full bar code
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/12 Edge-based segmentation
• CPC Class Codes: G06T 7/62 of area, perimeter, diameter or volume
• CPC Class Codes: H04N 23/00 Cameras or camera modules comprising electronic image sensors; Control thereof

Abstract

Dimensioners and methods for dimensioning an object includes capturing, using a dimensioning system with a single sensor, at least one range image of at least one field-of-view, and calculating dimensional data of the range images and storing the results. Wherein, the number of views captured of the object is automatically determined based on one of three modes. The first mode is used if the object is a cuboid, or has no protrusions and only one obtuse angle that does not face the point of view, where it captures a single view of the object. The second mode is used if the object includes a single obtuse angle, and no protrusions, where it captures two views of the object. The third mode is used if the object includes a protrusion and/or more than one obtuse angle, overhang, protrusion, or combinations thereof, where it captures more than two views of the object.

Claims

1. A method, using a dimensioning system with a sensor, comprising:

capturing a range image of an object in at least one field-of-view;

determining from the captured range image if the object to be dimensioned is at least one of a cuboid, has any protrusions, or any obtuse angles;

automatically determining a number of views to be captured with the dimensioning system based on the determination of whether the object is at least one of a cuboid, has any protrusions, or any obtuse angles,

wherein;

if the object is determined to be a cuboid, or has no protrusions and only one obtuse angle that does not face the point of view, automatically determining that a single view comprising the captured range image as a first view comprises sufficient 3D data for dimensioning the object;

if the object includes a single obtuse angle that faces the point of view and no protrusions, capturing a second view of the object, and

if the object includes a protrusion and/or more than one obtuse angle, overhang, protrusion, or combinations thereof, capturing the second view and one or more additional views of the object;

calculating dimensional data using the first view, first view and second view, or first view, second view, and the one or more additional views and storing the results.

2. The method according to claim 1 further comprising:

calculating dimensions of a minimum bounding box for the stored dimensional data from the range images from all of the automatically determined views; and

displaying and/or transmitting the dimensions of the minimum bounding box for certification in commerce.

3. The method according to claim 1 further comprising:

moving at least one of the dimensioning system and the object so that the dimensioning system'"'"'s field-of-view contains a different view of the object after capturing one of the at least one views of the object until the determined number of views is captured.

4. The method according to claim 3, wherein the step of moving at least one of the dimensioning system and the object is determined based on:

determining if there is a side of the object in the view that is non-flat, and if so, moving the dimensioning system or the object so that the dimensioning system'"'"'s field-of-view contains a different portion of the object;

detecting if there is an obtuse angle that faces the point of view, and if so, moving the dimensioning system or the object so that the dimensioning system'"'"'s field-of-view contains a different portion of the object; and

/or

detecting if there is a protrusion, and if so, moving the dimensioning system or the object so that the dimensioning system'"'"'s field-of-view contains a different portion of the object.

5. The method according to claim 3, wherein the moving at least one of the dimensioning system and the object comprises generating audio and/or visual messages to guide a user to perform the movement.

6. The method according to claim 5, wherein the audio and/or visual messages comprise instructions for the user to (i) move the dimensioning system or the object in a particular direction, (ii) move the dimensioning system or the object at a particular speed, and/or (iii) cease moving the dimensioning system and/or the object.

7. The method according to claim 3, wherein the moving of at least one of the dimensioning system and the object comprises an automatic movement of at least one of the dimensioning system and the object.

8. The method according to claim 1, wherein capturing the range image of the object in at least one field-of-view comprises:

projecting, using a pattern projector, a light pattern into the field-of-view;

capturing, using a range camera, an image of the field-of-view, the image comprising a reflected light-pattern; and

generating 3D data from the image of the reflected light-pattern;

wherein, the dimensioning system includes a single sensor.

9. The method according to claim 8, wherein the at least one range image comprises 3D data sufficient for dimensioning the object.

10. The method according to claim 9, wherein the 3D data sufficient for dimensioning comprises 3D data from all necessary surfaces of the object to calculate the minimum bounding box.

11. The method according to claim 10, wherein the 3D data sufficient for dimensioning comprises 3D data from a surface of the object without any gaps in the reflected light-pattern.

12. The method according to claim 1, wherein the dimensioning system is handheld.

13. A dimensioning system, comprising:

a pattern projector configured to project a light pattern onto an object;

a single range camera configured to (i) capture an image of a reflected light-pattern in a field-of-view, (ii) generate 3D data from the reflected light-pattern, and (iii) create a range image using the 3D data; and

a processor communicatively coupled to the pattern projector and the single range camera;

wherein the processor is configured by software to;

determine if the object is at least one of a cuboid, has any protrusions, or any obtuse angles; and

automatically determine the number of views required to be captured of the object using the following modes;

a first mode using a first view of the object when the object is a cuboid, or has no protrusions and only one obtuse angle that does not face the point of view;

a second mode using the first view and a second view of the object when the object includes a single obtuse angle that faces the point of view and no protrusions; and

a third mode using the first view, the second view, and one or more additional views of the object when the object includes a protrusion and/or more than one obtuse angle, overhang, protrusion, or combinations thereof.

14. The dimensioning system according to claim 13, wherein the processor is further configured to:

calculate dimensions of a minimum bounding box from the range images from all of the automatically determined views;

wherein, the dimensioning system displays and/or transmits the dimensions of the minimum bounding box for certification in commerce.

15. The dimensioning system according to claim 13, wherein the dimensioning system is further configured to move at least one of the dimensioning system and the object so that the dimensioning system'"'"'s field-of-view contains a different portion of the object after capturing one of the views of the object until the determined number of views of the object are captured.

16. The dimensioning system according to claim 15, wherein the moving of at least one of the dimensioning system and the object is determined based on the processor being configured for:

determining if there is a side of the object in the view that is non-flat, and if so, moving at least one of the dimensioning system and the object so that the dimensioning system'"'"'s field-of-view contains a different portion of the object;

detecting if there is an obtuse angle that faces the point of view, and if so, moving at least one of the dimensioning system and the object so that the dimensioning system'"'"'s field-of-view contains a different portion of the object; and

detecting if there is a protrusion, and if so, moving at least one of the dimensioning system and the object so that the dimensioning system'"'"'s field-of-view contains a different portion of the object.

17. The dimensioning system according to claim 16, wherein the moving of at least one of the dimensioning system and the object comprises generating audio and/or visual messages to guide a user to perform the movement.

18. The dimensioning system according to claim 17, wherein the audio and/or visual messages comprise instructions for the user to (i) move at least one of the dimensioning system and the object in a particular direction, (ii) move at least one of the dimensioning system and the object at a particular speed, and/or (iii) cease moving the dimensioning system and/or the object.

19. The dimensioning system according to claim 13, wherein the dimensioning system is handheld.

20. The dimensioning system according to claim 19, wherein the dimensioning system is incorporated into a handheld barcode scanner.