SYSTEMS AND METHODS FOR MEASURING THREE-DIMENSIONAL PROFILE

• US 20100073476A1
• Filed: 05/06/2009
• Published: 03/25/2010
• Est. Priority Date: 09/24/2008
• Status: Abandoned Application

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Chiang, Shih-Wen, Chuang, Yu-Hsiang, Liang, Che-Wei, Yang, Hui-Kuo, Kao, Chi-Chun
• Application Number:
  US12/436,481
• Publication Number:
  US 20100073476A1
• Time in Patent Office: Days
• US Class Current: 348/136
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management

Abstract

A method for detecting at least one object within a storage space. The method includes identifying at least one surface among surfaces confining the storage space, and dividing each of the at least one surface into a plurality of sub-areas. The method further includes detecting an occupancy status of each sub-area, wherein the occupancy status is indicative of the presence of the at least one object over each of the at least one surface, and deriving at least one of volume, location, and shape information of the at least one object, based on the occupancy statuses of the sub-areas.

Claims

1. A method for detecting at least one object within a storage space, comprising:

identifying at least one surface among surfaces confining the storage space;

dividing each of the at least one surface into a plurality of sub-areas;

detecting an occupancy status of each sub-area, wherein the occupancy status is indicative of the presence of the at least one object over each of the at least one surface; and

deriving at least one of volume, location, and shape information of the at least one object, based on the occupancy statuses of the sub-areas.

2. The method of claim 1, further comprising deriving at least one of volume, location, and shape information of a remaining space unoccupied by the at least one object within the storage space.

3. The method of claim 1, wherein the storage space is divided into a plurality of sub-spaces, each sub-space being associated with one sub-area of each of the at least one surface, the sub-area being a projection of a sub-space on the corresponding surface, and

wherein deriving the volume information of the at least one object includes:

identifying sub-spaces that are occupied by the at least one object, wherein a sub-space is occupied if at least two of its associated sub-areas are occupied; and

deriving the volume information of the at least one object based on the volume of each occupied sub-space.

4. The method of claim 1, wherein detecting an occupancy status of each sub-area includes:

receiving a signal from a sensor configured to detect an object-presence status of each sub-area of the at least one surface based on at least one emitted signal from a signal source in the storage space, wherein the signal cannot penetrate the at least one object; and

identifying occupancy of a sub-area if intensity of the received signal of the corresponding light sensor is lower than a threshold.

5. The method of claim 4, wherein the signal is light, the sensor is a light detector, and the signal source is a light emitter.

6. The method of claim 4, wherein the storage space has a first end and a second end opposite to the first end, the second end being closer to an entrance of the storage space than the first end, the method further comprising:

placing the at least one object close to the first end, wherein the sub-areas closer to the first end are larger than the sub-areas closer to the second end.

7. The method of claim 1, wherein detecting an occupancy status of each sub-area includes:

having patterns arranged on at least some of the sub-areas of the at least one surface;

receiving at least one image of the patterns from an imaging device configured to observe the storage space; and

processing the at least one image to derive the occupancy status of each sub-area.

8. The method of claim 7, wherein processing the at least one image includes:

mapping the at least one image to the at least one surface; and

identifying occupancy of a sub-area if the corresponding pattern of the sub-area is not present based on the at least one image.

9. The method of claim 7, wherein receiving the at least one image of the patterns from an imaging device includes:

segmenting the storage space into a plurality of regions; and

for each region, directing the imaging device to an angle and a focal length suitable for providing an image of the patterns in the region.

10. The method of claim 1, wherein detecting an occupancy status of each sub-area includes:

projecting a structured light in the storage space;

taking a first set of images of a first light pattern created by the structured light using an imaging device before the at least one object is placed in the storage space;

taking a second set of images of a second light pattern created by the structured light using the imaging device after the at least one object is placed in the storage space, wherein each image in the second set of images corresponds to a image in the first set of images; and

processing the first set of images and the second set of images to detect the occupancy status of each sub-area.

11. The method of claim 10, wherein processing the first set of images and the second set of images includes:

determining a differential pattern based on each image in the second set of images and the corresponding image in the first set of images;

mapping the differential patterns to the at least one surface; and

identifying occupancy of a sub-area if the sub-area is covered by the differential pattern.

12. The method of claim 10, wherein taking the first set of images and the second set of images includes:

segmenting the storage space into a plurality of regions;

directing the imaging device to an angle and a focal length for taking a first image of the first light pattern in a region; and

directing the imaging device to the same angle and the same focal length for taking a second image of the second light pattern in the same region.

13. A system for detecting at least one object within a storage space, comprising:

a signal source configured to emit at least one signal, wherein the at least one signal does not penetrate the at least one object;

a plurality of sensors placed on at least one surface among surfaces confining the storage space, wherein each of the at least one surface is divided into a plurality of sub-areas and each sub-area has a sensor placed therein, wherein the plurality of sensors are configured to detect the at least one signal emitted by the signal source; and

a processor configured to;

detect an occupancy status of each sub-area based on the detected signal of each sensor, wherein the occupancy status is indicative of the presence of the at least one object over each of the at least one surface; and

derive at least one of volume, location, and shape information of the at least one object, based on the occupancy statuses of the sub-areas.

14. The system of claim 13, wherein the processor is further configured to derive at least one of volume, location, and shape information of a remaining space unoccupied by the at least one object within the storage space.

15. The system of claim 13, wherein a sub-area is determined as being occupied if intensity of the detected signal of the corresponding light sensor is lower than a threshold.

16. The system of claim 13, wherein the signal is a light signal, the sensor is a light detector, and the signal source is a light emitter.

17. The system of claim 13, wherein the storage space has a first end and a second end opposite to the first end, the second end being closer to an entrance of the storage space than the first end, wherein the sub-areas closer to the first end are larger than the sub-areas closer to the second end.

18. The system of claim 13, wherein the storage space is divided into a plurality of sub-spaces, each sub-space associated with one sub-area on each of the at least one surface, the sub-area being a projection of a sub-space on the corresponding surface,

wherein the volume of the at least one object is determined by:

identifying sub-spaces that are occupied by the at least one object, wherein a sub-space is occupied if at least two of its associated sub-areas are occupied;

determining volume of each occupied sub-space; and

deriving the volume of the at least one object based on the volume of each occupied sub-space.

19. A system for detecting at least one object within a storage space, comprising:

a plurality of patterns placed on at least one surface among surfaces confining the storage space, wherein each of the at least one surface is divided into a plurality of sub-areas and each sub-area has a pattern placed therein;

an imaging device located within the storage space, configured to take at least one image of the patterns; and

a processor configured to;

detect an occupancy status of each sub-area based on the at least one image, wherein the occupancy status is indicative of the presence of the at least one object over each of the at least one surface; and

derive at least one of volume, location, and shape information of the at least one object, based on the occupancy statuses of the sub-areas.

20. The system of claim 19, wherein occupancy status of each sub-area is detected by:

mapping the at least one image to the at least one surface; and

identifying occupancy of a sub-area if the corresponding pattern in the sub-area is invisible on the at least one image.

21. The system of claim 19, wherein the storage space is segmented into a plurality of regions, wherein the imaging device is directed to an angle and a focal length suitable for taking a image of the patterns in each region.

22. A system for detecting at least one object within a storage space, comprising:

a light source configured to project a structured light on at least one surface among surfaces confining the storage space, wherein each of the at least one surface is divided into a plurality of sub-areas and each sub-area has a pattern placed therein;

an imaging device configured to;

take a first set of images of a first light pattern created by the structured light before the at least one object is placed in the storage space; and

take a second set of images of a second light pattern created by the structured light after the at least one object is placed in the storage space, wherein each image in the second set of images corresponds to a image in the first set of images; and

a processor configured to;

detect an occupancy status of each sub-area based on the first set of images and the second set of images, wherein the occupancy status is indicative of the presence of the at least one object over each of the at least one surface; and

derive at least one of volume, location, and shape information of the at least one object, based on the occupancy statuses of the sub-areas.

23. The system of claim 22, wherein occupancy status of each sub-area is detected by:

determining a differential pattern based on each image in the second set of images and the corresponding image in the first set of images;

mapping the differential patterns to the at least one surface; and

identifying occupancy of a sub-area if the sub-area is covered by the differential pattern.

24. The system of claim 22, wherein the storage space is segmented into a plurality of regions, wherein the imaging device is directed to an angle and a focal length for taking a first image of the first light pattern in a region and directed to the same angle and the same focal length for taking a second image of the second light pattern in the same region.