Arrangement for, and method of, loading freight into a shipping container
First Claim
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1. A system comprising:
- a first three-dimensional (3D) camera deployed at a zone through which freight is conveyed to a container, and having a first field of view, the first 3D camera configured to generate a first point cloud of voxels representative of the freight;
a second 3D camera deployed at the zone and having a second field of view narrower than the first field of view, the second 3D camera configured to generate a second point cloud of voxels representative of the freight; and
a dimensioner in communication with the first and second 3D cameras, the dimensioner configured to;
weigh the voxels of to the first point cloud based on respective angles of the voxels relative to the center of the first field of view of the first 3D camera;
weigh the voxels of to the second point cloud based on respective angles of the voxels relative to a center to a center of the second field of view of the second 3D camera;
combine the first and second point clouds to obtain a composite point cloud representative of the freight;
enclose the composite point cloud with a bounding box having dimensions and facial constraints, wherein the facial constraints include a predetermined orientation of at least one face of the bounding box with respect to one of the zone through which freight is conveyed and at least another face of the bounding box; and
dimension the freight using the dimensions of the bounding box enclosing the composite point cloud, wherein the dimensioner is implemented by a processor.
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Abstract
A plurality of three-dimensional (3D) cameras is deployed about a zone through which freight is conveyed to a shipping container. The 3D cameras have sensors with fields of view over which a plurality of point clouds of voxels are captured from the freight. A server combines the point clouds to obtain a composite point cloud of the freight, encloses the composite point cloud with a bounding box having dimensions, and dimensions the freight from the dimensions of the bounding box. An optional scale weighs the freight while it is being dimensioned and moved through the zone.
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Citations
9 Claims
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1. A system comprising:
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a first three-dimensional (3D) camera deployed at a zone through which freight is conveyed to a container, and having a first field of view, the first 3D camera configured to generate a first point cloud of voxels representative of the freight; a second 3D camera deployed at the zone and having a second field of view narrower than the first field of view, the second 3D camera configured to generate a second point cloud of voxels representative of the freight; and a dimensioner in communication with the first and second 3D cameras, the dimensioner configured to; weigh the voxels of to the first point cloud based on respective angles of the voxels relative to the center of the first field of view of the first 3D camera; weigh the voxels of to the second point cloud based on respective angles of the voxels relative to a center to a center of the second field of view of the second 3D camera; combine the first and second point clouds to obtain a composite point cloud representative of the freight; enclose the composite point cloud with a bounding box having dimensions and facial constraints, wherein the facial constraints include a predetermined orientation of at least one face of the bounding box with respect to one of the zone through which freight is conveyed and at least another face of the bounding box; and dimension the freight using the dimensions of the bounding box enclosing the composite point cloud, wherein the dimensioner is implemented by a processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification