Automatic mode switching in a volume dimensioner

• US 10,417,769 B2
• Filed: 09/24/2018
• Issued: 09/17/2019
• Est. Priority Date: 06/15/2016
• Status: Active Grant

• Current Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Original Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Inventors: Ackley, H. Sprague
• Primary Examiner(s): Yang, Wei Wen
• Application Number:
  US16/139,900
• Publication Number:
  US 20190026898A1
• Time in Patent Office: 358 Days
• Field of Search: None
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G01B 11/02 for measuring length, width or thickness G01B11/08 takes precedence
• CPC Class Codes: G01B 11/026 by measuring distance between sensor and object G01B11/0608 takes precedence
• CPC Class Codes: G06K 2007/10524 Hand-held scanners
• CPC Class Codes: G06K 7/10821 further details of bar or optical code scanning devices
• CPC Class Codes: G06K 7/1491 the method including a reconstruction step, e.g. stitching two pieces of bar code together to derive the full bar code
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/12 Edge-based segmentation
• CPC Class Codes: G06T 7/62 of area, perimeter, diameter or volume
• CPC Class Codes: H04N 23/00 Cameras or camera modules comprising electronic image sensors; Control thereof

Abstract

Dimensioners and methods for dimensioning an object includes capturing, using a dimensioning system with a single sensor, at least one range image of at least one field-of-view, and calculating dimensional data of the range images and storing the results. Wherein, the number of views captured of the object is automatically determined based on one of three modes. The first mode is used if the object is a cuboid, or has no protrusions and only one obtuse angle that does not face the point of view, where it captures a single view of the object. The second mode is used if the object includes a single obtuse angle, and no protrusions, where it captures two views of the object. The third mode is used if the object includes a protrusion and/or more than one obtuse angle, overhang, protrusion, or combinations thereof, where it captures more than two views of the object.

Claims

1. A dimensioning system, comprising:

a range camera configured to capture a first light pattern image projected onto an object from a first view, in response to a determination that the object has a flat side and an obtuse angle not facing a point of view of the dimensioning system and generate a first range image based on the first light pattern image; and

a processor communicatively coupled to the pattern projector and the range camera, wherein the processor is configured by software to;

calculate a first set of dimensions of the object based on the first range image;

cause the range camera to capture a second light pattern image of the object from a second view, in response to a determination that the object has a non-flat side and an obtuse angle facing the point of view of the dimensioning system based on the first set of dimensions and generate a second range image based on the second light pattern image, wherein the second view is different from the first view;

calculate a second set of dimensions of the object based on the second range image; and

determine a minimum bounding box for the object, defined by the projected light pattern onto the object, based at least on the first set of dimensions and the second set of dimensions.

2. The dimensioning system of claim 1, wherein in response to determining the minimum bounding box for the object, the processor is configured by software to further:

calculate a first bounding box for the object based on the first set of dimensions;

calculate a second bounding box for the object based on the second set of dimensions;

determine a smaller bounding box from the first bounding box and the second bounding box as the minimum bounding box.

3. The dimensioning system of claim 1, wherein in response to determining the minimum bounding box for the object, the processor is configured by software to further:

generate a composite image based on the first range image and the second range image; and

determine the minimum bounding box for the object based on the composite image.

4. The dimensioning system of claim 1, wherein the processor is configured by software to:

determine that the object comprises at least one of;

(a) a protrusion, (b) the non-flat side, or (c) two or more obtuse angles based on the first range image;

cause the range camera to capture a third light pattern image of the object from a third view and generate a third range image based on the third light pattern image, wherein the third view is different from the first view and the second view; and

calculate a third set of dimensions of the object based on the third range image;

wherein determining the minimum bounding box for the object is based at least on the first set of dimensions, the second set of dimensions, and the third set of dimensions.

5. The dimensioning system of claim 4, wherein in response to determining the minimum bounding box for the object, the processor is configured by software to further:

calculate a first bounding box for the object based on the first set of dimensions;

calculate a second bounding box for the object based on the second set of dimensions;

calculate a third bounding box for the object based on the third set of dimensions; and

determine a smallest bounding box from the first bounding box, the second bounding box, and the third bounding box as the minimum bounding box.

6. The dimensioning system of claim 4, wherein in response to determining the minimum bounding box for the object, the processor is configured by software to further:

generate a composite image based on the first range image, the second range image, and the third range image; and

determine the minimum bounding box for the object based on the composite image.

7. The dimensioning system of claim 1, wherein the object comprises a bar code symbol, wherein the dimensioning system further comprises a bar code scanner, and wherein the processor is configured by software to further:

cause the bar code scanner to scan the bar code symbol;

retrieve a set of historical dimensions of the object from a database based on the bar code symbol; and

compare the minimum bounding box with the set of historical dimensions of the object.

8. The dimensioning system of claim 7, wherein the processor is configured by software to further:

determine that the minimum bounding box is not consistent with the set of historical dimensions of the object; and

flag the object as counterfeit.

9. The dimensioning system of claim 1, wherein the range camera utilizes at least one of:

structured light, stereo vision, or time-of-flight.

10. The dimensioning system of claim 1, wherein the object is on a motorized turntable, and wherein in response to causing the range camera to capture the second light pattern image, the processor is configured by software to cause the motorized turntable to rotate.

11. A method for dimensioning an object using a dimensioning system, comprising:

generating a first range image of the object from a first view, in response to determining that the object has a flat side and an obtuse angle not facing a point of view of the dimensioning system;

calculating a first set of dimensions of the object based on the first range image;

generating a second range image of the object from a second view, in response to determining that the object has a non-flat side and an obtuse angle facing the point of view of the dimensioning system based on the first set of dimensions, wherein the second view is different from the first view;

calculating a second set of dimensions of the object based on the second range image; and

determine a minimum bounding box for the object, defined by a projected light pattern onto the object, based at least on the first set of dimensions and the second set of dimensions.

12. The method of claim 11, wherein determining the minimum bounding box for the object further comprises:

calculating a first bounding box for the object based on the first set of dimensions;

calculating a second bounding box for the object based on the second set of dimensions; and

determining a smaller bounding box from the first bounding box and the second bounding box as the minimum bounding box.

13. The method of claim 11, wherein determining the minimum bounding box for the object further comprises:

generating a composite image based on the first range image and the second range image; and

determining the minimum bounding box for the object based on the composite image.

14. The method of claim 11, further comprises:

determining that the object comprises at least one of;

(a) a protrusion, (b) the non-flat side, or (c) two or more obtuse angles based on the first range image;

generating a third range image from a third view, wherein the third view is different from the first view and the second view; and

calculating a third set of dimensions of the object based on the third range image;

wherein determining the minimum bounding box for the object is based at least on the first set of dimensions, the second set of dimensions, and the third set of dimensions.

15. The method of claim 14, wherein determining the minimum bounding box for the object further comprises:

calculating a first bounding box for the object based on the first set of dimensions;

calculating a second bounding box for the object based on the second set of dimensions;

calculating a third bounding box for the object based on the third set of dimensions; and

determining a smallest bounding box from the first bounding box, the second bounding box, and the third bounding box as the minimum bounding box.

16. The method of claim 14, wherein determining the minimum bounding box for the object further comprises:

generating a composite image based on the first range image, the second range image, and the third range image; and

determining the minimum bounding box for the object based on the composite image.

17. The method of claim 11, wherein the object comprises a bar code symbol, and wherein the method further comprises:

scanning the bar code symbol of the object;

retrieving a set of historical dimensions of the object from a database based on the bar code symbol; and

comparing the minimum bounding box with the set of historical dimensions of the object.

18. The method of claim 17, further comprising:

determining that the minimum bounding box is not consistent with the set of historical dimensions of the object; and

flagging the object as counterfeited.

19. The method of claim 11, wherein generating the first range image is based on at least one of:

structured light, stereo vision, or time-of-flight.

20. The method of claim 11, wherein the object is on a motorized turntable, and wherein generating the second range image of the object from the second view further comprises rotating the motorized turntable.