Method and system for measuring outermost dimension of a vehicle positioned at an inspection station

• US 10,591,277 B2
• Filed: 07/28/2016
• Issued: 03/17/2020
• Est. Priority Date: 07/28/2016
• Status: Active Grant

• Current Assignee: Liberty Robotics Incorporated
• Original Assignee: Liberty Reach Inc.
• Inventors: Kallay, Michael, Bartos, Gary W., Brennan, Grason, Haven, G. Neil
• Primary Examiner(s): Holder, Anner N
• Application Number:
  US15/221,803
• Publication Number:
  US 20180031364A1
• Time in Patent Office: 1,328 Days
• CPC Class Codes: G01B 11/02 for measuring length, width or thickness G01B11/08 takes precedence
• CPC Class Codes: G01B 11/22 for measuring depth
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes

Abstract

Method and system for measuring outermost dimensions of a vehicle positioned at an inspection station and having top, front, back and side exterior surfaces are provided. The system includes a plurality of 3-D or depth sensors supported around and above the vehicle at the inspection station. Each of the sensors has a field of view so that one of the exterior surfaces of the vehicle is in one of the fields of view. Each sensor includes a set of radiation sensing elements which detect projected radiation reflected from its exterior surface to obtain sensor data. At least one processor processes the sensor data from each of the sensors to obtain a virtual 3-D model of the vehicle. Control logic is employed to obtain measurements of outermost dimensions of the vehicle based on the 3-D model.

Claims

1. A system for measuring outermost dimensions of a vehicle positioned at an inspection station and having top, front, back and side exterior surfaces, the system comprising:

a plurality of 3-D or depth sensors supported around and above the vehicle at an inspection station, each of the sensors having a field of view so that one of the exterior surfaces of the vehicle is entirely in one of the fields of view, each sensor including a set of radiation sensing elements which detect projected radiation reflected from its exterior surface to obtain sensor data wherein each of the sensors is capable of capturing thousands of individual points in space and wherein each of the points has a position in space;

at least one processor to process the points in space to obtain a 3-D point cloud of the vehicle which is a virtual 3-D model of the entire vehicle; and

control logic to obtain measurements of the outermost dimensions of the vehicle based on the 3-D model wherein the control logic determines if the vehicle has been modified with illegal exterior modifications which increase the outermost dimensions of the vehicle based on the measurements.

2. The system as claimed in claim 1, wherein the processed sensor data includes a plurality of individual points in space which represent an image and wherein each of the points has a position in space and an associated color value.

3. The system as claimed in claim 1, wherein each of the sensors includes a pattern emitter for projecting a known pattern of radiation and a detector for detecting the known pattern of radiation reflected from its exterior surface.

4. The system as claimed in claim 3, wherein each emitter emits a non-visible pattern of radiation and each detector detects the reflected, non-visible pattern of radiation.

5. The system as claimed in claim 1, wherein each sensor includes a lens and detector assembly to image and detect beams of radiation reflected from its respective exterior surface.

6. The system as claimed in claim 5, wherein each lens and detector assembly includes a color camera.

7. The system as claimed in claim 1, wherein each of the sensors is a volumetric sensor capable of capturing thousands of individual points in space.

8. The system as claimed in claim 7, wherein each of the sensors includes a color camera and wherein each of the points has both a Cartesian position in space and an associated RGB color value.

9. The system as claimed in claim 7, wherein the at least one processor computes a bounding 3-D box to the 3-D model and wherein the control logic determines dimensions of the 3-D bounding box.

10. The system as claimed in claim 9, further comprising a 3-D display to display the 3-D model and the bounding box and a user interface to allow a user of the system to manipulate the dimensions of the 3-D box.

11. The system as claimed in claim 1, wherein each of the sensors is a multi-spectral sensor.

12. The system as claimed in claim 10, wherein the vehicle has an axis of symmetry and wherein the user interface allows the user to adjust the axis of symmetry.

13. The system as claimed in claim 12, wherein the 3-D box has a plurality of bounding planes and wherein the user interface allows the user to select one of the bounding planes and move the selected bounding plane along the axis of symmetry.