Dimensioning system for, and method of, dimensioning freight in motion along an unconstrained path in a venue

• US 10,451,405 B2
• Filed: 11/22/2016
• Issued: 10/22/2019
• Est. Priority Date: 11/22/2016
• Status: Active Grant

• Current Assignee: Symbol Technologies, LLC (Zebra Technologies Corporation)
• Original Assignee: Symbol Technologies, LLC (Zebra Technologies Corporation)
• Inventors: Clayton, Richard Mark, Swope, Charles Burton
• Primary Examiner(s): Mistry, Oneal R
• Application Number:
  US15/358,810
• Publication Number:
  US 20180143003A1
• Time in Patent Office: 1,064 Days
• 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 11/04 specially adapted for measuring length or width of objects while moving
• CPC Class Codes: G01S 17/36 with phase comparison between the received signal and the contemporaneously transmitted signal
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/894 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/292 Multi-camera tracking
• CPC Class Codes: H04N 13/204 using stereoscopic image cameras stereoscopic photography G03B35/00

Abstract

A ranging system captures successive point clouds from moving freight, and a tracking system tracks successive positions and orientations of the moving freight. A computing device correlates each successive point cloud with each successive position and orientation and time of the moving freight, combines the correlated point clouds to obtain a composite point cloud of the moving freight, and processes the composite point cloud to dimension the moving freight. Once the freight is dimensioned, it may, for example, be efficiently loaded into a container.

Claims

1. A dimensioning system for dimensioning a moving freight in motion along an uninterrupted path in a venue, the dimensioning system comprising:

a ranging system having one or more dimensioning sensors mounted in a dimensioning zone of the venue configured to capture a plurality of successive point clouds representative of distances between the one or more dimensioning sensors and the moving freight;

a tracking system having one or more positioning sensors configured to track a plurality of successive positions and orientations of the moving freight; and

a computing device in communication with the ranging system and the tracking system, the computing device configured to;

detect a change in at least one of position and orientation of the moving freight within the dimensioning zone of the venue based on tracking of the moving freight by the tracking system;

determine spatial alignment of the at least one of position and orientation of the moving freight with corresponding ones of the plurality of successive point clouds by correlating each of the successive point clouds with each of the successive positions and orientations of the moving freight based on detecting the change;

combine the correlated point clouds to obtain a composite point cloud representative of the moving freight;

process the composite point cloud to determine a dimension of the moving freight; and

output the dimension of the moving freight to assist in loading the moving freight, wherein,

the ranging system and the tracking system detect the moving freight when it moves on a freight mover along the uninterrupted path past the ranging system and the tracking system, and

the one or more positioning sensors of the tracking system include a detector mounted at one of the freight mover and the venue and configured to detect each of the successive positions and orientations of the moving freight.

2. The dimensioning system of claim 1, wherein the composite point cloud includes data points corresponding to the moving freight and the freight mover, and the computing device is configured to:

remove the data points corresponding to the freight mover from the composite point cloud;

after removing the data points corresponding to the freight mover from the composite point cloud, enclose the data points of the composite point cloud with a bounding box having dimensions; and

dimension the moving freight from the dimensions of the bounding box.

3. The dimensioning system of claim 1, wherein:

the tracking system include an emitter configured to emit a signal;

the detector is configured to detect the emitted signal;

one of the emitter and the detector is mounted on the freight mover for joint movement therewith; and

the other of the emitter and the detector is mounted in the venue remotely from the freight mover.

4. The dimensioning system of claim 3, wherein:

the emitter includes at least one light emitting diode (LED) mounted on the freight mover configured to emit light in a predetermined light pattern; and

the detector includes at least one camera stationarily mounted in the venue for detecting the predetermined light pattern.

5. The dimensioning system of claim 3, wherein the detector includes a camera mounted on the freight mover, and configured to image at least one feature arranged at a known, fixed location in the venue to locate each of the successive positions and orientations of the moving freight.

6. The dimensioning system of claim 1, wherein the one or more dimensioning sensors of the ranging system include at least one three-dimensional (3D) camera deployed at a location through which the moving freight is moved.

7. The dimensioning system of claim 6, wherein the at least one 3D camera is stationarily mounted in the venue, and the at least one 3D camera includes a sensor pointed at an area of expected travel associated with the moving freight.

8. The dimensioning system of claim 1, wherein the tracking system is configured to:

assign a time stamp to each of the successive positions and orientations of the moving freight; and

correlate each of the successive point clouds with each of the successive time-stamped positions and orientations of the moving freight.

9. A method of dimensioning a moving freight in motion along an uninterrupted path in a venue, the method comprising:

capturing, via one or more dimensioning sensors of a ranging system, a plurality of successive point clouds representative of the moving freight;

tracking, via one or more positioning sensors of a tracking system, a plurality of successive positions and orientations of the moving freight;

correlating, via a computing device in communication with the ranging system and the tracking system, each of the successive point clouds with each of the successive positions and orientations of the moving freight;

combining, via the computing device, the correlated point clouds to obtain a composite point cloud of the moving freight;

processing, via the computing device, the composite point cloud to determine a dimension of the moving freight; and

outputting the dimension of the moving freight to assist in loading the moving freight,

wherein,

the ranging system and the tracking system detect the moving freight when it moves on a freight mover along the uninterrupted path past the ranging system and the tracking system, and

the one or more positioning sensors of the tracking system include a detector mounted at one of the freight mover and the venue and configured to detect each of the successive positions and orientations of the moving freight.

10. The method of claim 9, wherein:

the composite point cloud includes data points representative of the moving freight and the freight mover;

the processing is performed by;

removing the data points corresponding to the freight mover from the composite point cloud;

after removing the data points corresponding to the freight mover from the composite point cloud, enclosing the composite point cloud with a bounding box having dimensions; and

dimensioning the moving freight from the dimensions of the bounding box.

11. The method of claim 9, wherein:

the tracking is performed by emitting a signal from an emitter mounted on one of the freight mover and the venue; and

the detector detects the emitted signal, the detector mounted on the other one of the freight mover the venue.

12. The method of claim 11, further comprising configuring the emitter with at least one light emitting diode (LED) mounted on the freight mover to emit light in a predetermined light pattern, and configuring the detector with at least one camera stationarily mounted in the venue to detect the predetermined light pattern.

13. The method of claim 9, further comprising configuring the detector with a camera mounted on the freight mover to image at least one feature arranged at a known, fixed location in the venue to locate each of the successive positions and orientations of the moving freight.

14. The method of claim 9, wherein the capturing is performed by deploying at least one three-dimensional (3D) camera at a location through which the freight is moved.

15. The method of claim 14, further comprising stationarily mounting the at least one 3D camera in the venue in an area of expected travel associated with the moving freight.

16. The method of claim 9, further comprising assigning a time stamp to each of the successive positions and orientations of the moving freight, and correlating each of the successive point clouds with each of the successive time-stamped positions and orientations of the moving freight.

17. A method of dimensioning a moving freight in motion along an uninterrupted path in a venue, the method comprising:

capturing, via one or more dimensioning sensors of a ranging system, a plurality of successive point clouds representative of the moving freight;

tracking, via one or more positioning sensors of a tracking system, a plurality of successive positions and orientations of the moving freight;

correlating, via a computing device in communication with the ranging system and the tracking system, each of the successive point clouds with each of the successive positions and orientations of the moving freight;

combining, via the computing device, the correlated point clouds to obtain a composite point cloud of the moving freight;

processing, via the computing device, the composite point cloud to determine a dimension of the moving freight; and

outputting the dimension of the moving freight to assist in loading the moving freight,

wherein,

the ranging system and the tracking system detect the moving freight when it moves on a freight mover along the uninterrupted path past the ranging system and the tracking system,

the composite point cloud includes data points representative of the moving freight and the freight mover, and

the processing is performed by;

removing the data points corresponding to the freight mover from the composite point cloud,

after removing the data points corresponding to the freight mover from the composite point cloud, enclosing the composite point cloud with a bounding box having dimensions, and

dimensioning the moving freight from the dimensions of the bounding box.