Dimensioning system with guided alignment

• US 10,240,914 B2
• Filed: 05/10/2018
• Issued: 03/26/2019
• 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:
  US15/975,881
• Publication Number:
  US 20180259324A1
• Time in Patent Office: 320 Days
• 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;

a computing device communicatively coupled to the range sensor;

a display communicatively coupled to the computing device; and

a memory comprising adjustment software and dimensioning software;

wherein, when the computing device executes the adjustment software, the adjustment software configures the computing device to;

receive range images from the range sensor;

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;

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

transmit the at least one adjustment message to the display communicatively coupled to the computing device, wherein, the at least one adjustment message is displayed substantially simultaneously with at least one real-time image on the display.

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 3, 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 a frame of reference 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 frames of reference.

8. The dimensioning system according to claim 6, wherein the adjustment software further configures the computing device to select a platform from the detected frames of reference.

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

10. The dimensioning system according to claim 1, wherein the target range-sensor pose is based on the range sensor'"'"'s resolution, the range sensor'"'"'s field of view, specular reflections, multipath interference, and/or mixed pixel responses.

11. The dimensioning system according to claim 1, wherein the target range-sensor pose minimizes depth differences between a foreground package and a background.

12. The dimensioning system according to claim 1, wherein the adjustment software configures the computing device to receive user input selecting the target range-sensor pose.

13. The dimensioning system according to claim 1, wherein the adjustment software configures the computing device to:

receive user input selecting a dimensioning application; and

change the target range-sensor pose based on the selected dimensioning application.

14. The dimensioning system according to claim 1, wherein the adjustment software configures the computing device to:

receive user input selecting a range of package sizes; and

change the target range-sensor pose based on the selected range of package sizes.

15. The dimensioning system according to claim 1, wherein the adjustment software configures the computing device to:

detect a new range sensor; and

change the target range-sensor pose based on the detected new range sensor.

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

processing at least one of the range images from the range sensor 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

displaying the adjustment message simultaneously with at least one real time image.

17. The method according to claim 16, wherein the step of processing comprises identifying at least one frame of reference in at least one range image.

18. The method according to claim 17, wherein the step of processing comprises computing the initial range-sensor pose and the target range-sensor pose.

19. The method according to claim 18, wherein the adjustment message comprises instructions for physically adjusting the range sensor in order to minimize the difference between the initial range-sensor pose and the target range-sensor pose.

20. The method according to claim 16, 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.

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

22. The method according to claim 16, wherein the adjustment messages comprise visual information displayed on a display communicatively coupled to the computer.