Cargo sensing system
First Claim
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1. A system for detecting a presence of cargo in a container, comprising:
- an ambient light sensor to determine if an ambient light level within the container exceeds a threshold value;
a camera to obtain an image of an interior of the container;
an edge detection module configured to recognize lines formed by intersection of floor and walls of the container, and to compare the recognized lines to a plurality of images of empty cargo containers within an edge image library, and upon failure to match the recognized lines to an image within the edge image library, to within a threshold level of differences, to assume that cargo is present within the container;
a laser unit, controlled by a projection pattern generator and operated only when ambient lighting is below the threshold value, to create a laser projection pattern in the container; and
a laser pattern evaluation module to evaluate the laser projection pattern to determine if cargo is present in the container.
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Abstract
A cargo sensing system is configured to determine if cargo is present within a container. In one implementation, the cargo sensing system senses lines within an image of a cargo space. The lines may be straight, curved or otherwise configured, and are evaluated for indications of the presence of cargo within the cargo space. In a first implementation of the cargo sensing system, the lines within the cargo space are formed by a laser tracing over a predetermined projection pattern. In a second implementation of the cargo sensing system, the lines sensed are formed by intersection of planes defining the cargo space.
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Citations
20 Claims
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1. A system for detecting a presence of cargo in a container, comprising:
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an ambient light sensor to determine if an ambient light level within the container exceeds a threshold value; a camera to obtain an image of an interior of the container; an edge detection module configured to recognize lines formed by intersection of floor and walls of the container, and to compare the recognized lines to a plurality of images of empty cargo containers within an edge image library, and upon failure to match the recognized lines to an image within the edge image library, to within a threshold level of differences, to assume that cargo is present within the container; a laser unit, controlled by a projection pattern generator and operated only when ambient lighting is below the threshold value, to create a laser projection pattern in the container; and a laser pattern evaluation module to evaluate the laser projection pattern to determine if cargo is present in the container. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of sensing cargo in a container, comprising:
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verifying that personnel are not inside the container by sensing an ambient light level to determine if the ambient light level exceeds a threshold value and assuming that personnel are not in the container if the ambient light level is below a threshold; operating an auxiliary lighting unit when the ambient light level does not exceed the threshold; obtaining an image of an inside of the container using a camera; evaluating lines in the image formed by intersection of floor and walls of the container for indications of cargo, wherein the evaluation compares lines found by edge detection of the walls and floor in the image to an edge image library comprising a plurality of images of empty cargo containers, and upon failure to match the image to an image within the edge image library to within a threshold level of differences, assumes that cargo is present within the container; projecting a laser projection pattern into the container using a laser unit, only when ambient lighting is below the threshold value and personnel are not inside the container; and evaluating the laser projection pattern to determine if cargo is present in the container, wherein the evaluating selects at least two lines from the image of the projection pattern, measures a distance between those lines, and compares the measured distance to an expected distance as an indicator that cargo within the container disrupted the laser projection pattern. - View Dependent Claims (10, 11, 12, 13)
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14. A cargo sensing system, comprising:
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an ambient light sensor to determine if an ambient light level within a container exceeds a threshold value; a camera to obtain an image of an interior of the container; an edge detection module configured to evaluate the image to recognize lines formed by intersection of a floor and walls of the container and to recognize indications of cargo, wherein ambient light below the threshold results in use of an auxiliary light source while the edge detection module is operating, wherein the edge detection module is additionally configured to compare results of edge detection of the image to each of a plurality of images within an edge image library associated with standard images of empty cargo containers, and upon failure to match the image to an image within the edge image library to within a threshold level of differences, to assume that cargo is present within the container; a laser unit, controlled by a projection pattern generator and operated only when ambient lighting is below the threshold value, to create a laser projection pattern within the interior of the container; and a laser pattern evaluation module to evaluate the laser projection pattern to determine if cargo is present in the container, wherein the evaluation module selects at least two lines from the image of the laser projection pattern, measures a distance between those lines, and compares the measured distance to an expected distance as an indicator of whether cargo within the container disrupted the laser projection pattern. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification