Dimensioning system with guided alignment

• US 9,823,059 B2
• Filed: 08/06/2014
• Issued: 11/21/2017
• Est. Priority Date: 08/06/2014
• Status: Active Grant

• Current Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Original Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Inventors: Li, Jingquan, Jovanovski, Brian L., McCloskey, Scott, Lloyd, Ryan Andrew
• Primary Examiner(s): NGUYEN, SANG H
• Application Number:
  US14/453,019
• Publication Number:
  US 20160040982A1
• Time in Patent Office: 1,203 Days
• Field of Search: 356601-625, 356 501, 356 41, 438 46, 438135, 382103, 382132, 382154
• CPC Class Codes: G01B 11/026 by measuring distance between sensor and object G01B11/0608 takes precedence
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01C 3/00 Measuring distances in line of sight; Optical rangefinders tapes, chains or wheels for measuring length G01B3/00; active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves, G01S17/48
• CPC Class Codes: G01S 17/46 Indirect determination of position data
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4972 Alignment of sensor

Abstract

A dimensioning system including a computing device running an alignment software program is disclosed. The alignment software uses range information from a range sensor in order to generate alignment messages. The alignment messages may help a user define a frame of reference and align the dimensioning system'"'"'s range sensor for improved dimensioning performance.

Claims

1. A dimensioning system comprising:

a range sensor for capturing range images of a field of view;

an adjustable range-sensor support to physically support and position the range sensor in a range-sensor pose;

a computing device communicatively coupled to the range sensor, the computing device capable of executing adjustment software and dimensioning software; and

a display communicatively coupled to the computing device;

wherein said adjustment software generates adjustment messages to facilitate adjustment of the range-sensor pose, the adjustment software configuring the computing device to;

(i) receive the range images from the range sensor, (ii) compute, using at least one of the range images, a pose difference, wherein the pose difference comprises a difference between an initial range-sensor pose and a target range-sensor pose, (iii) generate, based on the pose difference, at least one adjustment message to facilitate adjustment of the range sensor pose to more closely align with the target range-sensor pose, and (iv) transmit the at least one adjustment message to the display-communicatively coupled to the computing device, and

wherein the dimensioning software configures the computing device to derive, from at least one of the range images, dimensions of an object in the field of view.

2. The dimensioning system according to claim 1, wherein the adjustment software generates adjustment messages until the pose difference is minimized below an adjustable threshold value.

3. The dimensioning system according to claim 1, wherein the range sensor comprises a stereo arrangement of (i) a pattern projector for projecting a light pattern within a field of view and (ii) a range camera for capturing images of the reflected light pattern.

4. The dimensioning system according to claim 1, wherein the light pattern is invisible.

5. The dimensioning system according to claim 1, wherein the range sensor comprises a color camera for capturing color images of visible light within the field of view.

6. The dimensioning system according to claim 1, wherein the adjustment software further configures the computing device to detect planar surfaces in the range images.

7. The dimensioning system according to claim 6, wherein the adjustment messages comprise indications for a user to select a platform from the detected planar surfaces.

8. The dimensioning system according to claim 1, wherein the target range-sensor pose is stored on a non-transitory computer-readable storage medium communicatively coupled with the computing device.

9. The dimensioning system according to claim 1, wherein the target range-sensor pose is adjustable.

10. A method, implemented by a computer, for operating a dimensioning system, the method comprising:

generating adjustment messages to facilitate the positioning of a range sensor of the dimensioning system, the range sensor communicatively coupled to the computer and capable of generating range images, the generating adjustment messages comprising;

recording the range images from the range sensor onto a non-transitory computer-readable storage medium;

reading the range images from the computer-readable storage medium;

processing at least one of the range images to derive a result, comprising computing a difference between an initial range-sensor pose and a target range-sensor pose; and

generating at least one adjustment message based on the result, the at least one adjustment message being generated to facilitate adjustment of the range sensor to more closely align with the target range-sensor pose; and

deriving, from at least one of the range images, dimensions of an object in the field of view.

11. The method according to claim 10, wherein the step of processing comprises identifying at least one planar surface in at least one range image.

12. The method according to claim 11, wherein the step of processing comprises computing the initial range-sensor pose and the target range-sensor pose.

13. The method according to claim 12, wherein the adjustment messages comprise instructions for physically adjusting the range sensor in order to minimize the difference the between the initial range-sensor pose and the target range-sensor pose.

14. The method according to claim 10, wherein the range sensor comprises a projector for projecting a light pattern in a field of view and a range camera for detecting the light pattern in at least part of the field of view, wherein the projector and the range camera are in a stereo arrangement.

15. The method according to claim 10, wherein the adjustment messages comprise range images with superimposed graphics and/or text.

16. The method according to claim 10, wherein the range sensor comprises a color camera.

17. The method according to claim 16, wherein the adjustment messages comprise color images with superimposed graphics and/or text.

18. The method according to claim 10, wherein the adjustment messages comprise audio messages.

19. The method according to claim 10, wherein the adjustment messages comprise visual information displayed on a display communicatively coupled to the computer.