Patent Publication Number: US-11662468-B1

Title: LiDAR scanning system and methods

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is related to U.S. patent application Ser. No. 17/581,694, filed on Jan. 21, 2022, and entitled “LIDAR SCANNING SYSTEM AND METHODS,” which is hereby expressly incorporated by reference in its entirety. 
     BACKGROUND 
     Grain bins have historically been used as a consolidation point for grain storage and as a method for drying grain prior to distribution. It is necessary to accurately measure the amount of grain inside a grain bin. This is particularly necessary during loading and unloading to determine the quantity of grain being distributed. 
     SUMMARY 
     At a high level, aspects described herein relate to an image scanning system and methods of use. Particular aspects relate to an image scanning system and methods for imaging product in a container, such as grain within a grain bin. Additional aspects of the disclosure relate to a locking mechanism for securing the image scanning system to the container. 
     The image scanning system provides an accurate way to measure product in a container. This is beneficial in applications such as grain bin monitoring because it provides a precise way to measure how much product is being distributed, which is necessary for farming and supply chain operations. To enhance the accuracy and precision for product measurement, the image scanning system uses a Light Detection and Ranging (LiDAR)-based image scanning device. 
     The image scanning device is used to generate point clouds of an area. To enhance the area over which the point clouds can be generate, and thus better determine volume and area information within the container, the image scanning device is comprised within an image scanning head of the image scanning system. The image scanning system further comprises a base housing and a securing arm. 
     The image scanning head is rotatably coupled to the base housing, and the base housing is rotatably coupled to the securing arm. The image scanning head is configured to rotate in a first direction about the base housing, while the base housing is configured to rotate in a second direction about the securing arm. The first direction is about perpendicular to the second direction. In this way, the image scanning device within the image scanning head can be positioned at any angle to determine position and distance information for distance points of a point cloud. The base housing may include motors, such as stepper motors, to rotate the image scanning head and the base housing. 
     For imaging, the image scanning head can include a window that is transparent to the radiation wavelength utilized by the image scanning device. A brush is included on the securing arm located at a position within a plane of rotation formed from rotation of the base housing about the securing arm. That is, the brush can extend parallel to the plane of rotation formed from rotation of the base housing about the securing arm. In some positions, when rotating the base housing, the window engages the brush so that the brush moves across the window during rotation. The brush helps shed debris that may block penetration of the radiation wavelength through the window. 
     The image scanning system is generally positioned within the container that it is imaging. To do so, the present disclosure also provides for a locking system that correctly positions the image scanning system when installed and locked in place. 
     The locking system comprises a first compressible material and a second compressible material. A first securing plate is disposed between the first and second compressible materials, and a second securing plate is positioned adjacent to a second compressible material top surface. In some cases, the first or second compressible material is affixed to the first securing plate. 
     The first securing plate comprises a first curved edge that forms a first securing plate opening perimeter edge around a first securing plate opening. The first curved edge curves in a first direction away from the second compressible material. The second securing plate comprises a second curved edge. The second curved edge curves in a second direction away from the second compressible material. A ball is position at least partially within the first curved edge and the second curved edge, and it is generally held rotationally in place by the first and second securing plates. A shaft can extend from the ball to the image scanning system. 
     To secure the image scanning system in place, the image scanning system is placed through an opening of the container, and the locking system is fastened to a surface, i.e., a securing surface, of the container. The fasteners extend through the first and second securing plates, and thus, when fastened, compress at least the second compressible material such that the first and second plates exert a force on the ball. The force exerted by the secured plates generally rotationally locks the ball in place, thereby locking the image scanning system into position. 
     This summary is intended to introduce a selection of concepts in a simplified form that is further described in the detailed description section of this disclosure. The summary is not intended to identify key or essential features of the claimed subject matter, nor is it an aid in determining the scope of the claimed subject matter. Additional objects, advantages, and novel features of the technology will be set forth in part in the description that follows, and in part will become apparent to those skilled in the art upon examination of the disclosure or learned through practice of the technology. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present technology is described in detail below with reference to the attached drawing figures, wherein: 
         FIG.  1 A  is an example image scanning system, in accordance with an aspect described herein; 
         FIG.  1 B  is an example locking system that can be used to lock the image scanning system of  FIG.  1 A  into position, in accordance with an aspect described herein; 
         FIG.  2    is a partially exploded view of the image scanning system of  FIG.  1 A , in accordance with an aspect described herein; 
         FIG.  3    is another partially exploded view of the image scanning system of  FIG.  1 A , in accordance with an aspect described herein; 
         FIGS.  4 A- 4 E  is a series of illustrations showing a perspective view of the image scanning system of  FIG.  1 A  during rotation in a first direction and a second direction, in accordance with aspects described herein; 
         FIG.  5    is an exploded view of the locking system of  FIG.  1 B , in accordance with an aspect described herein; 
         FIG.  6 A  is a side view of the locking system of  FIG.  1 B , in accordance with an aspect described herein; 
         FIG.  6 B  is a cross-sectional side view of the locking system of  FIG.  1 B , in accordance with an aspect described herein; 
         FIG.  7    is a an example image scanning system locked into position within a container using an example locking system, in accordance with an aspect described herein; 
         FIG.  8    is an example operating environment for a controller suitable for operating the image scanning system of  FIG.  1 A , in accordance with an aspect described herein; 
         FIG.  9 A  is an example point cloud determined during a scan of a container using an image scanning device, such as the image scanning device of  FIG.  1 A , in accordance with an embodiment described herein; 
         FIG.  9 B  is an enhanced view of a portion of the point cloud from  FIG.  9 A , in accordance with an aspect described herein; 
         FIGS.  9 C-D  illustrate example geometric relationships to aid in determining distance values for the position of an image scanning system, such as the image scanning system of  FIG.  1 A , on a container for use in adjusting distance information determined by the image scanning system, in accordance with aspects described herein; 
         FIG.  9 E  is an example point cloud generated using the image scanning system of  FIG.  1 A , in accordance with an aspect described herein; 
         FIG.  10    is an example illustration of a one-dimensional typographical representation of product in a container, as generated using the image scanning system of  FIG.  1 A , in accordance with an aspect described herein; 
         FIG.  11    is an example method for manufacturing an image scanning system, in accordance with an embodiment described herein; 
         FIG.  12    is an example method for providing a product volume change using an image scanning system, in accordance with an aspect described herein; 
         FIG.  13    is an example method of manufacturing a locking device, in accordance with an aspect described herein; 
         FIG.  14    is an example method of using a locking device, in accordance with an aspect described herein; and 
         FIG.  15    is an example computing device suitable for implementing aspects of the described technology, in accordance with an aspect described herein. 
     
    
    
     DETAILED DESCRIPTION 
     In many industrial settings, bulk product measurement is key to supply chain operations. For instance, farming operations grow and harvest a product. In many cases, this product is consolidated and stored at central locations, such as silos, elevators, warehouses, and the like. It is important to accurately measure the amount of product in a container, especially when product is being added or removed from the container. 
     This disclosure provides an improved system for accurately and precisely measuring product in containers. As used herein, a container is generally any structure for holding a product. Containers can include warehouse floors, silos, elevators, bunkers, bins, and so forth. A product is intended to include anything agricultural or manufacturing product that can be held within a container. For instance in a grain elevator, the product may be grain. Products can include sugar, grain, legumes, seeds, beets, and the like stored in containers. As examples, a product may include grain within a grain bin, while a product may also include sugar piled on a warehouse or other structure floor. Thus, it will be understood that “container” and “product” are to be broadly interpreted. 
     In many cases, it can be challenging to accurately measure the volume, including a change in volume, of a product within a container. For example, existing methods of volume measurements for grain elevators include visual observation of a height measuring device running vertically along a silo wall. However, the accuracy is limited because product can form a cone shape when filled and may form a funnel shape when distributed from the base of the silo. Since the product is not flat, it can be challenging or impossible to account for these changes when making volumetric determinations. 
     Another traditional method includes weighing a product in the container and the amount removed from a container. This method, too, has limitations. Even product of a same product type can vary in density. For instance, a grain having more moisture will be denser than a grain having less moisture. Thus, when mixed in the container, it is challenging to determine a volume based on the product weight, since the density can fluctuate across the container. Moreover, in many agricultural operations, products are placed in containers to dry or cure after harvesting. In this instance, the density of the product changes over time. For these reasons, among others, weight-based measurements can introduce error when determining the amount of a product in a container. These errors propagate through the supply chain, since such errors, in many cases, may cause discrepancies between the amount of a product that has been listed on upstream harvest manifolds and the amount of product received by a downstream supplier. 
     To overcome these challenges, the present disclosure provides for an image scanning system that accurately and precisely provides volumetric measurements of products in a container. 
     One example of an image scanning system that achieves these benefits comprises an image scanning head that includes an image scanning device. The image scanning head is rotatably coupled to a base housing, and the base housing is rotatably coupled to a securing arm. The image scanning head rotates about the base housing in a first direction perpendicular to the rotation of the base housing about the securing arm. In this way, the image scanning device of the image scanning system can image in any direction. 
     The image scanning device comprised within the image scanning head can utilize LiDAR to image a surrounding area. In general, a LiDAR system, or other electromagnetic radiation-based image system, emits a radiation wavelength that is reflected from its surroundings and is detected by a detector of the image scanning device. This is translated into distance information that results in an “image,” e.g., a point cloud, of the surrounding area, since the image scanning device can be rotated to any position by the image scanning system. 
     The image scanning system can be used to image and determine volumetric information for product in a container by placing the image scanning system within the container and initiating an image scanning process. Moreover, the image scanning system can be used as part of a comprehensive agricultural supply chain process to aid in tracking and measuring agricultural products from the field throughout the downstream supply chain. As part of this comprehensive product tracking and measurement process, the image scanning system can be used in coordination with other tracking and measuring devices for agricultural products. One such example is included in U.S. patent application Ser. No. 15/794,463, filed on Oct. 26, 2017, entitled “Farming Data Collection and Exchange System,” granted as U.S. Pat. No. 11,126,937, which is expressly incorporated herein by reference in its entirety. 
     The image scanning system can be held in place within the container using a locking system. The locking system comprises a first compressible material and a second compressible material. A first securing plate is disposed between the first compressible material and the second compressible material, while a second securing plate is adjacent to a first compressible material top surface. 
     The first securing plate comprises a first curved edge that forms a first securing plate opening perimeter edge around a first securing plate opening. The first curved edge curves in a first direction away from the second compressible material. The second securing plate comprises a second curved edge that curves in a second direction away from the second compressible material. The first direction is opposite the second direction. 
     A ball is positioned within the curved edges of the first securing plate and the second securing plate. A shaft can be secured to the ball and extend away from the ball. In some cases, the shaft extends away from the ball in the first direction. The shaft can be used to hold the image scanning device within the container, while the locking system is secured to a securing surface, which can be a container surface on the outside of the container. 
     This locking system arrangement is beneficial because it allows the locking system to be placed at an angle, which occurs when the securing surface of the container has a pitch. However, the ball rotates and allows the shaft to naturally align perpendicular to level ground due to gravity. 
     The locking system can be fastened in place by fasteners that extend through the first securing plate and the second securing plate. When tightened, the fasteners compress at least the second compressible material, which decreases a distance between the first securing plate and the second securing plate. This causes the first securing plate and the second securing plate to exert a force on the ball, increasing the force required to rotate the ball, and thus move the shaft, to a different position. As such, the shaft is locked into position upon engaging and securing the fasteners of the locking system. 
     In operation, the image scanning system can perform a first scan of the areas within the container, including an area of the product in the container. Based on this scan, the image scanning system collects distance information in the form of a point cloud to different distance points within the container. Subsequent to completing the first scan, the image scanning system can be used to perform a second scan of the areas within the container. The change in the distance points of the point cloud can be used to determine a volume change of the product in the container, and this volume change can be provided to a computing device for display on an interface of the computing device. 
     It will be realized that the systems and methods previously described are only examples that can be practiced from the description that follows, which is provided to understand the technology and recognize its benefits more easily. Additional examples are now described with reference to the figures. 
     Referencing first  FIG.  1 A , an example image scanning system  100  is illustrated. As illustrated, image scanning system  100  comprises image scanning head  102 , body housing  104 , and securing arm  106 . Securing arm  106  is illustrated as coupled to shaft  110  in the figure. It will be understood that image scanning system  100  of  FIG.  1   , and related figures, is provided as an example of the technology. The inventors contemplate that embodiments may have additional or fewer components, and may have different arrangements. However, providing each and every possibility would be impracticable. 
     Image scanning system  100  of  FIG.  1 A  may be used to determine product volume and changes in product volume of a product in a container, among other applications. Some of which will be described in more detail throughout this disclosure. To do so, image scanning system  100  scans the contents of a container, including the walls and a product within a container. To scan the entire contents, image scanning system  100  rotates various components in different directions of rotation. In this way, components of image scanning system  100  can position an image scanning device in any direction to scan the product in the container, as will be further described. 
     To provide such a comprehensive scan, image scanning device  100  comprises image scanning head  102  which is rotatably coupled to body housing  104 . Body housing  104  is rotatably coupled to securing arm  106 . Image scanning head  102  is rotatably coupled to body housing  104  such that rotation of image scanning head  102  about body housing  104  occurs in a first direction. Additionally, body housing  104  is rotatably coupled to securing arm  106  such that rotation of body housing  104  about securing arm  106  occurs in a second direction. The first direction is about perpendicular to the second direction. In a specific case, the first direction is perpendicular to the second direction. By configuring the rotation of components of image scanning device  100  in this way, a face of image scanning head  102  can be angled in any direction to facilitate scanning the container and product. 
       FIG.  2    illustrates a partially exploded view of image scanning system  100  from  FIG.  1 A . In particular,  FIG.  2    illustrates one example method of rotatably coupling image scanning head  102  to body housing  104 , and body housing  104  to securing arm  106 . 
     In the example illustrated by  FIG.  2   , image scanning head  102  is rotatably coupled to body housing  104  using first rotary joint  112 . Further, the body housing  104  is rotatably coupled to securing arm  106  using second rotary joint  114 . Some rotatory joints, such as first rotary joint  112  and second rotary joint  114  provide 360-degree bi-directional rotation, and such rotary joints are suitable for use in the present technology. These allow image scanning head  102  and body housing  104  to fully rotate in a first direction and a second direction, respectively. Moreover, bi-directional rotary joints allow each of the image scanning head  102  and body housing  104  to rotate forward and backward in the first direction and the second direction. Rotation of image scanning head  102  about body housing  104  creates a first plane of rotation, while rotation of body housing  104  about securing arm  106  creates a second plane of rotation about perpendicular, or perpendicular, to the first plane of rotation. 
     In aspects, rotary joints can be selected to facilitate communication between components of image scanning system  100 , including communication messaging or power. That is communication or power can be transmitted through the rotary joints. 
     In the example illustrated, body housing  104  is coupled to securing arm  106  at first securing arm end  118 A. That is, securing arm  106  comprises first securing arm end  118 A opposite second securing arm end  118 B. First securing arm end  118 A is delineated from second securing arm end  118 B using first theoretical dashed line  120 . Securing arm  106  also comprises first securing arm side  108 A and second securing arm side  108 B opposite first securing arm side  108 A. Body housing  104  can be coupled to securing arm  106  at first securing arm side  108 A. 
     As further illustrated in  FIG.  2   , securing arm  106  comprises brush  116 . Brush  116  is positioned on first securing arm side  108 A. As will be described further, brush  116  is positioned to engage window  126  of image scanning head  102  during rotation. This helps remove any dust or debris that accumulates on window  126 , which facilitates image scanning device  100  scanning a container or product. Put another way, brush  116  can be positioned within a second plane of rotation that is formed from rotation of body housing  104  about securing arm  106 . In a specific configuration, brush  116  is oriented parallel with the second plane of rotation. 
     Securing arm  106  in  FIG.  2    is shown coupled to shaft  110 . In aspects where shaft  110  is separate from securing arm  106 , first shaft end  124 A of shaft  110  can be coupled to securing arm  106  at second securing arm end  118 B. As will be understood, in the example image scanning system  100  shown, shaft  110  and securing arm  106  are separate components. In other embodiments, these can be the same components, and securing arm  106  and shaft  110  may generally illustrate regions of the single component. 
     While not illustrated, securing arm  106  may comprise a securing arm channel. The securing arm channel may open at a location corresponding to a location on first securing arm end  118 A where base housing  104  is coupled to securing arm  106  via second rotary joint  114 . The securing arm channel may extend through and within securing arm  106 , and open at a location corresponding to a location where shaft  110  on second securing arm end  118 B is coupled to securing arm  106 . The securing arm channel may comprise a wire extending through the securing arm channel and engaging second rotary joint  114  to provide for communication or power to components within base housing  104  and image scanning head  102 . 
       FIG.  3    provides another partially exploded view of image scanning system  100  of  FIG.  1 A . Image scanning head  102  is illustrated as comprising window  126 . Window  126  may comprise all of or a partial surface of a face of image scanning head  102 . As will be described, window  126  can be coupled to an open area of the face of image scanning head  102 . Window flange  128  can be used to facilitate coupling window  126  to image scanning head  102 , in some configurations. 
     In general, image scanning head  102  comprises image scanning device  130 . Image scanning device  130  is configured to measure distance using electromagnetic radiation. It is contemplated that any radiation wavelength in the electromagnetic spectrum can be used. For instance, LiDAR, radar (radio detection and ranging), and the like may be used with the present technology. 
     While various systems may be used, LiDAR has been found particularly suitable in the present technology. In general, a LiDAR system scans an area to determine positional information about objects in the scanned area. The particularities regarding how a LiDAR system functions to determine positional information is generally known in the art. However, in brief, and at a high level, most LiDAR systems comprise a laser ranging system. The range to an object is measured based on how long it takes an emitted light wave to reflect off the object and return to the LIDAR system. 
     To do so, image scanning device  130  emits a light source from an emitter, such as a laser emitter. The light can be any wavelength of the electromagnetic spectrum; however, common LiDAR systems use lasers emitting in a wavelength of 600-1000 nm. Some commonly used lasers include carbon dioxide lasers, neodymium-doped yttrium aluminum garnet lasers, semiconductor lasers, wavelength-tunable solid-states lasers, and so forth. 
     The emitted light source is projected into an area where it reflects off an object and returns back to the LiDAR system. In an example use case contemplated for the present technology, emitted light is reflected from the walls of a container and a product within the container. 
     To detect the reflected radiation, image scanning device  130  further comprises a detector, sometimes called a receiver. The time the light takes to return from the emitter to the detector provides the distance of the object reflecting the light. This can occur continuously, as the laser emitter emits light pulses at a particular frequency, such as 10,000 pulses per second. Scanning over different areas of a space provides the LiDAR system with the ability to map a three-dimensional space, and distance information is collected over the area. 
     In many cases, the resulting scan using image scanning device  130  generates points cloud of distance information to represent the three-dimensional space that is scanned. An example point cloud is illustrated in  FIG.  9 A  as scan  500 , illustrating how an empty volume of a cylindrical container can be generated by image scanning system  100  employing image scanning device  130 . 
     To accomplish this, image scanning device  130  can be enclosed within image scanning head housing  134  of image scanning head  102 . Image scanning device  130  can be secured within image scanning head housing  134  such that lens  132  of image scanning device  130  is aligned with window  126 . Window  126  can be selected so that it is transparent to the wavelength emitted and detected by image scanning device  130 . 
     While image scanning device  130  is described as comprising both an emitter and a detector, it will be understood that other arrangements may also be suitable, and such arrangements are contemplated to be within the scope of the present disclosure. For instance, an image scanning device that could be used may comprise either an emitter or a detector, and a corresponding emitter or detector for the particular radiation wavelength could be located within another component of an image scanning system or be a disparate and distinct component from the image scanning system of this embodiment. 
     As noted, to facilitate a three-dimensional scan of the space surrounding image scanning device  100 , image scanning head  102  is maneuvered to face all of or a portion of the areas within the three-dimensional space being scanned. This can be done using rotation of image scanning head  102  about body housing  104  using first motor  136 , and body housing  104  about securing arm  106  using second motor  138 . 
     First motor  136  and second motor  138  can be any type of motor. Electric brushed or brushless motors are suitable. Some aspects of the technology determine a position of image scanning head  102  and body housing  104 . One method of doing so uses stepper motors for first motor  136  and second motor  138 , which provide positional information of the motor shaft, and in turn, image scanning head  102  relative body housing  104 , and body housing  104  relative to securing arm  106 . 
     In the aspects illustrated as image scanning system  100 , first motor  136  and second motor  138  are enclosed within body housing  104 . Here, first motor  136  is configured to rotate image scanning head  102  about body housing  104  by rotating a portion of first rotary joint  112 . Second motor  138  is configured to rotate body housing  104  about securing arm  106  by rotating a portion of second rotary joint  114 . However, it will be understood that other arrangements are suitable and are contemplated within the scope of this disclosure. For instance, one or more motors operable to rotate an image scanning head or a body housing can be comprised within the image scanning head. Similarly, one or more motors operable to rotate an image scanning head or a body housing may be comprised within a securing arm. Any combination of these arrangements is also contemplated. 
     As will be understood, rotation of image scanning head  102  about body housing  104  naturally has a first rotational axis. In the particular example illustrated, the first rotational axis extends through first rotary joint  112 . Similarly, rotation of body housing  104  about securing arm  106  naturally has a second rotational axis. In this example, the second rotational axis extends through second rotatory joint  114 . In aspects, it is beneficial to have the first rotational axis extend though a first center of mass for image scanning head  102 . The first center of mass can be positioned to align with the first rotational axis by applying counterweights to image scanning head  102 . By positioning the first center of mass to align with the first rotational axis, the strain on first motor  136  is reduced. Likewise, it is also beneficial to have the second rotational axis extend through a second center of mass for image scanning head  102  and body housing  104 . The second center of mass can be positioned to align with the second rotational axis by applying counterweights to image scanning head  102  or body housing  104 . By positioning the second center of mass to align with the second rotational axis, the strain on second motor  138  is reduced. 
       FIGS.  4 A- 4 E  provide a series of illustrations showing a perspective view of image scanning system  100  of  FIG.  1 A  during rotation of image scanning head  102  in a first direction and body housing  104  in a second direction. Using a series of rotations such as these, a face of image scanning head  102  comprising window  126  can be positioned in any direction to generate a three-dimensional scan within a container. 
     Starting at  FIG.  4 A , image scanning system  100  is at a position where body housing  104  is upright and parallel to securing arm  106 . Image scanning system  100  can rotate body housing  104  about securing arm  106  forward or backward in a second direction, which is illustrated by the transition of the position of body housing  104  from  FIG.  4 A  to  FIG.  4 B . The rotation of body housing  104  about securing arm  106  in the second direction forms a second plane of rotation, illustrated by curved arrow  140 , which also illustrates the direction of rotation of body housing  104  in the second direction via the second arrow direction. 
     Looking to  FIG.  4 C , the illustration shows rotation of image scanning head  102  about body housing  104  in a first direction. Image scanning system  100  can rotate image scanning head  102  about body housing  104  forward or backward in a first direction. In the starting position in  FIG.  4 B , a face of image scanning head  102  is facing in a forward direction away from securing arm  106 . As image scanning head  102  is rotated in the first direction, the face comprising window  126  begins to rotate away from the forward direction and toward a rearward direction that faces securing arm  106 , illustrated in process by the transition of image scanning head  102  from the position illustrated in  FIG.  4 B  to the position illustrated in  FIG.  4 C . The rotation of image scanning head  102  about body housing  104  in the first direction forms a first plane of rotation, illustrated by second curved arrow  142 , which also illustrates the direction of rotation of image scanning head  102  in the second direction via the first arrow direction. 
       FIG.  4 D  illustrates image scanning head  102  completing a 180-degree rotation from the starting position in  FIG.  4 A  and  FIG.  4 B  so that a face comprising window  126  faces rearward toward securing arm  106 . In this illustration, image scanning head  102  continues to rotate within the first plane of rotation, shown by second curved arrow  142 . 
     Transitioning from  FIG.  4 D  to  FIG.  4 E , body housing  104  is showing continuing rotation with the second plane of rotation, illustrated by second curved arrow  140 . In this example, body housing  104  has reversed to move backward in the first direction, as illustrated by the second arrow direction of second curved arrow  140 . As illustrated, in the position, window  126  engages brush  116  positioned on securing arm  106 . Window  126  is swept along brush  116  by rotation of body housing  104  about securing arm  106  in the second direction. If there is dust or debris on window  126 , it is removed by brush  116  during engagement of window  126  with brush  116  as body housing  104  rotates about securing arm  106 . 
     It should be understood that  FIGS.  4 A- 4 E  illustrate an example of the rotation that can be performed by components of image scanning system  100 . As noted, in some aspects, image scanning head  102  can rotate forward and backward about base housing  104  throughout 360 degrees of rotation in the first direction. Similarly, base housing  104  can rotate forward and backward about securing arm  106  throughout 360 degrees of rotation in the second direction. Any combination of movement or positions resulting from this configuration is intended to be within the scope of the disclosure. 
     As described, image scanning system  100  can be used to scan a container and product within a container. In some aspects, to do so, image scanning system  100  is positioned within a container and locked (e.g., stabilized) into place using a locking system, such as locking system  200  provided in  FIG.  1 B . 
     Locking system  200  can be used in conjunction with image scanning system  100  of  FIG.  1 A . However, it will be understood that locking system  200  may have other applications as well. Locking system  200  provides some additional advantages. In particular, locking system  200  provides one way to naturally orient image scanning device  100  into a position for scanning the inside of a container. Moreover, locking system  200  can be used on pitched surfaces, such as the roof of a container, and will naturally orient image scanning device  100 , or any other object, into the correct position due to gravity acting on the mass of image scanning device  100 . Once in position, locking system  200  can be “locked” to stabilize image scanning device  100  into the position. 
     It should be understood that locking system  200  is only an example that can be made using the description of the present technology. Other arrangements, including additional or fewer components are also contemplated and intended to be within the scope of the present disclosure. 
     Locking system  200  is illustrated having first compressible material  202 . First compressible material  202  comprises first compressible material top surface  252  and first compressible material bottom surface  254 . Locking system  200  also comprises second compressible material  206 . Second compressible material  206  comprises second compressible material top surface  260  and second compressible material bottom surface  262 . 
     Locking system  200  further comprises first securing plate  204 . First securing plate  204  comprises first securing plate top surface  256  and first securing plate bottom surface  258 . Locking system  200  also comprises second securing plate  208 . Second securing plate  208  comprises second securing plate top surface  264  and second securing plate bottom surface  266 . 
     First securing plate  204  is disposed between first compressible material  202  and second compressible material  206 . First securing plate  204  is disposed between first compressible material top surface  252  and second compressible material bottom surface  262 . In some cases, first securing plate  204  is disposed between and adjacent to first compressible material top surface  252  and second compressible material bottom surface  262 . In some aspects, first compressible material  202 , second compressible material  206 , or both are affixed to first securing plate  204 . In some aspects, first compressible material  202 , second compressible material  206 , or both are spaced apart from first securing plate  204 , and held in position with fasteners, such as those that will be further described. 
     Second securing plate  208  is positioned adjacent second compressible material  206  opposite first securing plate  204 . Adjacent here includes second securing plate  208  being next to second compressible material  206  without another object between second securing plate bottom surface  266  and second compressible material top surface  260 . Adjacent can include directly contacting or spaced apart without another object between the components. 
     First compressible material  202  can comprise first compressible material perimeter edge  212  defining first compressible material opening  214 . First compressible material opening  214  can be located at a central position of first compressible material  202 . 
     Second compressible material  206  can comprise second compressible material perimeter edge  222  defining first compressible material opening  224 . Second compressible material opening  224  can be located at a central position of second compressible material  206 . 
     First securing plate  204  comprises first curved edge  216 . By “curved,” it is meant that a portion of first securing plate  204  or another component affixed to first securing plate  204  deviates in a direction away from a plane across which first securing plate  204  extends. In cases, first curved edge  216  extends away from the plane across which first securing plate  204  extends at an angle less than 90 degrees. To further assist in locking, and apply a force to ball  234 , as will be described in more detail, first curved edge  216  extends away from the plane across which first securing plate  204  extends at an angle of equal to or less than 45 degrees. 
     First curved edge  216  can form a first securing plate opening perimeter edge  218  that defines a first securing plate opening  220 . In aspects, first securing plate opening perimeter edge  218  is positioned inward from first securing plate perimeter edge  246  that comprises an outer terminal edge of first securing plate  204 . As illustrated, first curved edge  216  may curve in a first direction away from second compressible material  206 . In some cases, first curved edge  216  may curve into first compressible material opening  214 . 
     Second securing plate  208  comprises second curved edge  226 . Similarly, a portion of second securing plate  208  or another component affixed to second securing plate  208  deviates in a direction away from a plane across which second securing plate  208  extends. Similarly, second curved edge  226  extends away from the plane across which second securing plate  208  extends at an angle less than 90 degrees. To further assist in locking, and apply a force to ball  234 , as will be described in more detail, second curved edge  226  extends away from the plane across which second securing plate  208  extends at an angle of equal to or less than 45 degrees. 
     Second curved edge  226  can form a second securing plate opening perimeter edge  228  that defines a second securing plate opening  230 . In aspects, second securing plate opening perimeter edge  228  is positioned inward from second securing plate perimeter edge  248  that comprises an outer terminal edge of second securing plate  208 . As illustrated, second curved edge  226  may curve in a second direction away from second compressible material  206 . In some cases, first curved edge  216  may curve into flange opening  232  of flange  210 . As shown by first curved edge  216  and second curved edge  226 , the first direction is opposite the second direction. 
     While the aspect illustrated comprises a layering of first compressible material  202 , first securing plate  204 , second compressible material  206 , and second securing plate  208 , it should be noted that some aspects of the technology might have different arrangements, with more or fewer components. For instance, it is contemplated that first securing plate  204  and second securing plate  208  could be arrangement adjacent to one another, e.g., without having second compressible material  206  disposed between them. In such aspects, another material or no material at all may be positioned between first securing plate  204  and second securing plate  208 . 
     Ball  234  can be positioned at least partially within first curved edge  216  or second curved edge  226 . Turning briefly to  FIG.  6 A ,  FIG.  6 A  illustrates a side view of locking device  200 . As shown, ball  234  is positioned at least partially within first curved edge  216  and second curved edge  226 . This is also illustrated in the cross-sectional side view shown in  FIG.  6 B . All of or a portion of ball  234  can be positioned between first curved edge  216  and second curved edge  226 . In aspects where ball  234  is partially positioned within first curved edge  216  and second curved edge  226 , first ball end  268 , which is opposite second ball end  270 , may extend through first securing plate opening  220  of first securing plate  204 . In some cases, second ball end  270  may extend through second securing plate opening  230  of second securing plate  206 . To facilitate positioning ball  234  within first curved edge  216  and second curved edge  226 , a diameter of ball  234  can be greater than a diameter of each of first securing plate opening  220  and second securing plate opening  230 . 
     In aspects, ball  234  is coupled to shaft  110 . As described, embodiments of the technology comprise shaft  110  that couples locking device  200  to an image scanning device, such as image scanning device  100  of  FIG.  1 A . Shaft  110  comprises first shaft end  124 A that extends to second shaft end  124 B. Shaft  110  can be a hollow shaft comprising a shaft channel that opens at each of first shaft end  124 A and second shaft end  124 B. In this arrangement, shaft  110  is coupled at second shaft end  124 B to first ball end  268  of ball  234 . Shaft  110  is coupled such that a shaft channel opens into ball channel  272 , which extends from first ball end  268  though a center of ball  234  to second ball end  270 . As will be described, the shaft channel and ball channel  272  may facilitate communication between components by permitting a wire for communication or power to extend through ball channel  272  into the shaft channel. 
     Turning back to  FIG.  5    and with reference to  FIG.  1 A , aspects of the technology include controller housing  122  coupled to locking system  200 . Controller housing can comprise a controller configured to operate an image scanning system, or another device, used in conjunction with locking system  200 . It should be understood that, while the example illustrated is suitable for positing a controller within controller housing  122 , a controller may be positioned at any location, and may comprise one or more pieces of hardware. For instance, a controller can be comprised within components of an image scanning system  100 , such as image scanning head  102 , body housing  104 , or securing arm  106 . In aspects, the controller is a disparate and distinct component wirelessly communicating with components of image scanning system  100 . Thus, while controller housing  122  is illustrated coupled to locking system  200 , the illustrations of the present disclosure intend to provide an example that is suitable for practicing the technology, although any arrangement of features and components is still contemplated. In embodiments, controller housing  122  is coupled to locking system  200  with the aid of a housing flange  210 . Controller housing  122  may comprise an opening through which wires for communication or power may pass through and into, for example, ball channel  272 . While controller housing  122  is described as housing a controller, it will be understood that controller housing  122  can be more generally referred to as a “housing” that can comprise other components as well, such as communication components for communicating information through a wireless network. 
     To facilitate installation of locking system  200  and to lock locking system  200 , a fastener can be placed through first securing plate  204  and second securing plate  208  and into a securing surface. To illustrate, first securing plate  204  comprises one or more first fastener holes  236 A- 236 C. Similarly, second securing plate  208  comprises one or more second fastener holes  238 A- 238 C. When locking system  200  is assembled by positioning first securing plate  204  between first compressible material  202  and second compressible material  206 , and positioning second securing plate  208  adjacent to second compressible material  206 , one or more first fastener holes  236 A- 236 C are aligned with one or more second fastener holes  238 A- 238 C such that a fastener, such as one or more fasteners  240 A- 240 C, can be inserted through the fastener holes in the first direction. The fastener, such as one or more fasteners  240 A- 240 C, may include a bolt, screw, nail, and the like. 
     In some cases, such as the one illustrated, first compressible material  202  comprises one or more third fastener holes  242 A- 242 C, and second compressible material  206  comprises one or more fourth fastener holes  244 A- 244 C. When locking system  200  is assembled as described, one or more third fastener holes  242 A- 242 C align with one or more fourth fastener holes  244 A- 244 C, such that a fastener, such as one or more fasteners  240 A- 240 C, can be inserted through the fastener holes in the first direction. 
       FIGS.  6 A- 6 B  provide illustrations of locking system  200  after being assembled. Referring to these figures, fasteners  240 A and  240 B, and any other fasteners of locking system  200  can be engaged in a manner such that a distance between first securing plate  204  and second securing plate  208  is reduced. This causes first securing plate  204  and second securing plate  208  to exert a force on ball  234 , which in turn, increases the force required to rotate ball  234  within the area between first curved edge  216  and second curved edge  226  where ball  234  is positioned, thus “locking” it into position. Said differently, a fastener, such as fastener  240 A or  240 B, can be engaged so that second compressible material  206  transitions from an expanded state to a compressed state to lock ball  234  into position. This can also occur when securing the fastener into a securing surface, such as the roof of a container, since the fastener is engaging first securing plate  204  and second securing plate  208  as it is being secured into the securing surface. In some cases, locking base flange  250  can be used to aid in securing the fastener to the securing surface. The fastener being secured into the securing surface further supports locking system  200  on the securing system such that it does not move about the securing surface. 
     An example of this is illustrated in  FIG.  7   .  FIG.  7    includes container  300  having within it product  302 . For example, this may be a silo storing a farmed product. Image scanning system  304 , which can correspond to any image scanning system described herein, is locked into place within container  300  using locking system  306 , which can correspond to any locking system described herein. 
       FIG.  8    provides an example control system  400  suitable for operating image scanning system  100  of  FIG.  1   , or any other image scanning system described herein. Control system  400 , as illustrated in  FIG.  8   , comprises controller  402  in communication with image scanning device  404  and motors  406 . Image scanning device  404  and motors  406  are examples suitable for, and may generally correspond with, an image scanning device and motors described in any embodiment of this disclosure, such as image scanning system  100 . Additionally, while illustrated as communicating with only image scanning device  404  and motors  406 , it will be understood that controller  402  may be configured to operationally control other devices and components not shown. 
     As illustrated, controller  402  additionally communicates with datastore  408  and computing device  410 . While controller  402  is illustrated as directly communicating with image scanning device  404 , motors  406 , and datastore  408 , while wirelessly communicating with computing device  410 , it will be understood that controller  402  can communicate with any of the components shown, and with components not shown, in any manner and combination, and that the communication illustrated by control system  400  is but one example. 
     In general, any components of  FIG.  8    can communicate through direct wiring or wireless communication through a network. As an example, suitable wireless networks include one or more networks (e.g., public network or virtual private network “VPN”) or one or more local area networks (LANs), wide area networks (WANs), or any other communication network or method. 
     Datastore  408  generally stores information including data, computer instructions (e.g., software program instructions, routines, or services), or models used in embodiments of the described technologies. Although depicted as a single database component, datastore  408  may be embodied as one or more datastores or may be in the cloud. Datastore  408 , while illustrated as a standalone component, in other embodiments, may be integrated with another component, such as any component of control system  400 , including computing device  410 , or remotely accessed by any other component. 
     Computing device  410  may be any computing device, including a computing device having an interface component, such as an output component, for communicating information received from controller  402 . An example computing device suitable for use includes computing device  1500  of  FIG.  15   . 
     It is emphasized that any additional or fewer components, in any arrangement, may be employed to achieve the desired functionality within the scope of the present disclosure. Although the various components of  FIG.  8    are shown with lines for the sake of clarity, in reality, delineating various components is not so clear, and metaphorically, the lines may more accurately be grey or fuzzy. Although some components of  FIG.  8    are depicted as single components, the depictions are intended as examples in nature and in number, and are not to be construed as limiting for all implementations of the present disclosure. Other arrangements and elements (e.g., machines, interfaces, functions, orders, and groupings of functions, etc.) can be used in addition to or instead of those shown, and some elements may be omitted altogether. 
     Further, many of the elements described in relation to  FIG.  8   , such as those described in relation to controller  402  (e.g., scanner  412 , image processor  414 , volume determiner  416 ), are functional entities that may be implemented as discrete or distributed components or in conjunction with other components, and in any suitable combination and location. Various functions described herein are being performed by one or more entities and may be carried out by hardware, firmware, or software. For instance, various functions may be carried out by a processor executing computer-executable instructions stored in memory, such as datastore  408 . 
     Although many of the functional aspects are illustrated as being performed by controller  402 , it will be realized that such functional components may be performed by any computing device, including computing device  410 , and in any combination between controller  402 , computing device  410 , or another computing device. As such, the illustration is intended to be one example, rather than limit the disclosure to a particular implementation. For instance, controller  402  may be a distinct computing processor executing functions described herein. However, in other cases, controller  402  is included as part of remote computing device  410 . While illustrated as a single controller, it will be understood that more than one “controller” can be employed, and may be located in various arrangements, including within, remote from, or both an image processing system, such as the image processing system  100  of  FIG.  1   . 
     Controller  402  can take the form of a control device, and at the most basic level, may be embodied as a computer processor. Computer processor  1506  of  FIG.  15    is an example of a device suitable for use as controller  402 . Controller  402  can be configured to execute functions stored in computer memory, such as datastore  408 . Example functions are illustrated in  FIG.  8    as scanner  412 , image processor  414 , and volume determiner  416 . As illustrated, controller  402  is further configured to operationally control hardware devices of an image scanning system, such as image scanning device  404  and motor  406 . Image scanning device  404  and motor  406  can be any of image scanning device or motor described herein, and can operate in any image scanning system described herein. Controller  402  may operationally control hardware devices, such as image scanning device  404  or motors  406  using drivers stored at datastore  408 . 
     Controller  402  can employ scanner  412  to scan a container and a product within the container. In general, scanner  412  operates to instruct image scanning device  404  to initiate an image scan. During an image scan, image scanning device  404  emits a radiation wavelength, such as any wavelength along the electromagnetic spectrum, and in particular, any of those described herein. The radiation is emitted via an emitter comprised as part of image scanning device  404 . In a specific instance, image scanning device  404  may operate as a LiDAR system, and emit a radiation wavelength at or between 600-1000 nm. 
     During emission, controller  402  operates to control motor  406 . Motor  406  is intended to embody one or more motors configured to operate within an image scanning system, such as the image scanning system that includes image scanning device  404 . The motor  406 , under control of controller  402 , positions image scanning device  404  via the image scanning system such that image scanning device  404  collects a plurality of distance points, e.g., distance values for locations of the container, to form a point cloud of distance information. That is, as image scanning device  404  is maneuvered into different positions, the radiation emissions emitted by the emitter reflect off different locations, or points, in the container, and the distance the points are from the detector is determined and recorded. This distance information can be stored in datastore  408 . Using this method, a hemisphere of distance points associated with various angles of rotation of components of the image scanning system is collected. 
       FIG.  9 A  provides example point cloud, shown within scan  500 , generated during a scan of container  300  and product  302  by image scanning device  304  of  FIG.  7   , which may comprise components that correspond to image scanning device  404  under control of scanner  412  of  FIG.  8     
     With reference back to  FIG.  8   , image processor  414  can be employed to process the distance points of the point cloud, e.g., the “image.” Several processing, or preprocessing techniques can be applied to the distance points by image processor  414 . As will be understood, image processor can execute instructions stored on computer-storage media to perform functions that will be described in more detail herein. That it, the functions performable by image processor  414  may be in the form of computer-readable instructions stored on computer-storage media. As should be further understood the computer instructions can be configured such that any combination of the functions described herein, in any order, are performable by image processor  414 . 
     To process the data points and provide volume and typographical information, image processor  414 , in conjunction with volume determiner  416 , may perform a series of steps that include building a distance information dataset, calibrate positioning, determine volume, and generate a topography map. 
     To build the distance information dataset, image processor  414  can calculate spherical or Cartesian coordinates for distance points of the distance information dataset, format distance points into a traversal graph, and further process that collected distance points. 
     In general, data comes in from image scanning device  404  as collection of points in a spherical coordinates system. Any image scanning device described in this disclosure may be used. When received, the distance points may be defined as r (radius), θ (theta), and φ (phi). Here, r is the distance measure by image scanning device  404 , θ is angle of the image scanning device  404  during the scan, and φ is a pivot angle of the face of the image scanning head comprising image scanning device  404 . In some cases, the initial collection of distance points may be in a non-standard spherical coordinate system, such as one having values from 0-180 and 0-360. Here, the range of θ and φ might be off. If so, they can be converted to a different spherical coordinate system having a range of 0-180 for θ and a range of −90-90 for φ. To do this, the spherical coordinates for the distances points can first be converted to standard Cartesian coordinates. One example of doing so is provided as follows:
 
 x=−r ×cos(θ)×cos(φ)
 
 y=r ×sin(φ)×sin(θ)
 
 z=r  cos(θ)
 
The standard Cartesian coordinates of the distance points can then be converted to standard spherical coordinates. One example of doing so is provided as follows:
 
 r =√{square root over ( x   2   +y   2   +z   2 )}
 
θ=acos( z/r )
 
φ=atan 2 ( y,z )
 
Standard spherical coordinates can be converted to standard Cartesian coordinates using the following:
 
 x=r ×sin(θ)×cos(φ)
 
 y=r ×sin(θ)×sin(φ)
 
 z=r  cos(θ)
 
     The data can then be formatted into a traversal graph. In order to more efficiently traverse the point cloud, we construct a m×n array where m is the range of θ values and n is the range of φ values. It can be assumed that for any point (mi, ni), the point&#39;s neighbors may comprise:
 
( mi,ni+ 1)
 
( mi,ni− 1)
 
(( mi+ 1) %  m,ni )
 
(( mi− 1) %  m,ni )
 
In this case, (mi, ni) indicate the two-dimensional relative position of a distance point in the traversal graph. The traversal graph generally stores the index of the point in both the spherical or Cartesian point arrays, allowing for easy cross-referencing and updating, as will be described.
 
     Next, image processor  414  can process the collected data. This can be done by adjusting for outliers, extrapolating data, and adjusting for image scanning device  404  offset. 
     For instance, once the distance information has been determined by scanner  412 , image processor  414  can remove outlier distance points. As noted, the distance points can be represented as distance values to a particular location of the container or product in the container. Image processor  414  can identify duplicate distance points. These values can occur where there is more than one distance point for the same location of the container. Such duplicate distance points are identified and removed from the point cloud by image processor  414 . In some cases, outliers are identified and overwritten with a median value determined from neighbor distance points. 
     Image processor  414  can remove outlier distance points based on the likelihood the distance point is a representation of a true reflection of the container or product. For instance, the distance values of the distance points may represent a Gaussian distribution. Those distance points that are greater than a predetermined distance from the mean may be removed by image processor  414 . In one example, those distance points having values three or more standard deviations away from the mean are removed by image processor  414 . 
     Image processor  414  can remove additional outlier distance points of the point cloud using Delaunay triangulation. This method helps discount neighbors that are not within a statistically significant range so that unassociated points are not grouped together. 
     If there are missing distance points, these distance points can be extrapolated. The missing distance points can be identified from the traversal graph. To determine an extrapolated distance point to provide as the missing distance point, an average value can be determined from neighbor distance point values for the neighbors of the missing distance point. 
     In many cases, an image scanning system is not positioned at a central location of the container, but is offset from the center by a particular distance. In cases where the image scanning system is not at the central location, image processor  414  can adjust the point cloud as a simple way to correct this offset. 
     Moreover, due to the rotation in the first and second directions, image scanning device  414  is generally not stationary at a single point during a scan. For instance, the emission and detection by image scanning device  414  is different at different points of rotation, such as if a body housing of the image scanning device is positioned perpendicular to a securing arm versus positioned parallel to the securing arm. Therefore, the origin of the point cloud moves depending on the angle of base housing. To account for this, each point can be translated by the distance from the base to the emitter for a given angle of the base housing, or other rotational component, which position and angle are known due to the user of stepper motors, or other positional determination method. The raw distance information comprising the distance points can be adjusted based using the know emitter distance from the point of rotation. After adjusting the distance information, some of the distance points may be found to overlap in location. The overlapping points can be removed. Missing distance points can be extrapolated, as described above, and added to the distance information. 
     Image processor  414  can also be used to calibrate for the position of the image scanning device relative to the container. For instance, image scanning device may not be positioned a central position relative to the walls of the container, sometimes referred to as the eaves of the container. This offset distance can be measured at the container. For instance, the distance value of the eave to the center of the container and the distance value of the image scanning device to the center of the container, can be measured and used to adjust for the point cloud. This is particularly helpful when determining a topography of the product. To adjust for the location of the image scanning device not being at a central location of the structure, the point cloud is moved so that a location where the roof meets the eave is at the  0  of the vertical axis (y). If there is a skew in the points, rotate the point cloud to be parallel to the vertical axis (y). 
     To aid in adjusting the point cloud, image processor  414  calibrates the position of the image scanning system comprising image scanning device  404 . For instance, an image scanning device may produce scan  500  shown in  FIG.  9 A . In some cases, scan  500  represents a scan after proceeding through the processing steps previously described. As will be understood, in some implementations, the scan may include area  502  directly above the image scanning system. Area  502  in this example includes an area, in this case a hemisphere, where images scanning device  404  was unable to measure distance points. Distance points can be retrieved that are located along an edge of the hemisphere of the scan. These points may include ni=0 and ni=n−1. An ellipse of best fit can be estimate using the Levenberg-Marquardt algorithm, identified generally as function  504 , illustrated in  FIG.  9 B , which provides an enhanced view of a portion of  FIG.  9 A . Generally, by determining function  504 , such as an ellipse, to represent the edge of area  502 , the center point of area  502  can be approximated. This center point comprises a location at which the image scanning system is secured to a container roof. As will be described, function  504  and the location can be used to determine distance values identifying the location of the image scanning system relative to the container. Function  504  in  FIG.  9 B  illustrates the function determined for area  502  of  FIG.  9 A . 
     In some cases, it may be beneficial to adjust for tilt of the image scanning system comprising image scanning. Tilt may occur where the image scanning system is not perfectly perpendicular to level ground. During installation, the tilt is eliminated or reduced using some locking systems provided herein. However, if an installation results in or requires some tilt, then this can be determined and adjusted for in the data reprocessing. In general, an assumption can be made that there is zero tilt. 
     If needed, to adjust for tilt of image scanning device  404 , the tilt can be stored as an array of two angles [α (alpha), β (beta)]. Here, a is the rotation of the ellipse, and β is the vertical angle between the horizontal plane and the ellipse (determined previously as function  504  for area  502 ) using conic sections, which can be determined using the equation below: 
     
       
         
           
             β 
             = 
             
               
                 π 
                 2 
               
               - 
               
                 a 
                 ⁢ 
                 
                   tan 
                   ( 
                   
                     
                       
                         
                           1 
                           - 
                           
                             b 
                             2 
                           
                         
                         
                           a 
                           2 
                         
                       
                       ) 
                     
                   
                 
               
             
           
         
       
     
     In this equation, a is the length of the semi-major axis of the ellipse, and b is the length of the semi-minor axis of the ellipse previously determined. These values will be used to determine distance values for the image scanning system and the container, and may be used to adjust the point cloud when isolating the product topography. 
     In some cases, distance values for the container, such as distance from the eaves to the center of the container, and distance values for the location of the image scanning device relative to the container, can be determined using the previously identified values. With reference to  FIG.  9 C , the figure illustrates ellipse  504  of  FIG.  9 B . Image scanning system has been placed at location (0, 0), which is not at a center (c x , c y ) of the ellipse, i.e., function  504 . 
     To determine the distance values for adjusting the point cloud, the ellipse can be divided into the four lengths r 1-4  that intersect at location (0,0) of the image scanning device. Further, r represents the radius of the ellipse, which in this case is circular in this particular case. Using these representative lengths, center (c x , c y ), can be represented as follows: 
     
       
         
           
             
               ( 
               
                 
                   c 
                   x 
                 
                 , 
                 
                   c 
                   y 
                 
               
               ) 
             
             = 
             
               ( 
               
                 
                   
                     
                       r 
                       1 
                     
                     + 
                     
                       r 
                       3 
                     
                   
                   2 
                 
                 , 
                 
                   
                     
                       r 
                       2 
                     
                     + 
                     
                       r 
                       4 
                     
                   
                   2 
                 
               
               ) 
             
           
         
       
     
     Assuming that area  502  is circular, the center (c x , c y ), determined above, can be used to find the radius of function  504  at the image scanning device using the equation below and sample points, which can include a distance point from the scan, such as a distance point along the edge of area  502  determined previously when calculating function  504 .
 
 r =√{square root over (( x−c   x ) 2 +( y−c   y ) 2 )}
 
     Finally, the geometric relationship between area  502  of  FIGS.  9 A- 9 C  and the roof of the container can determined and the distance values calculated for each. Turning to  FIG.  9 D , the figure illustrates the geometric relationship. Here, R is the radius of the container, assuming a cylindrical container. As illustrated, this is geometrically related to r, which is the radius of function  504 . For instance, represented as triangles, the distance from the center (c x , c y ) to the eave is shown as h, which can now be determined using the equation below:
 
 h =( R−r )tan θ
 
     With h and (c 1 , c 2 ) now known, the distance from eave and distance from center to be used in isolating the topography can be determined. The method may be enhanced by taking more than four samples, such as using the radii calculated when determining the tilt. This method is robust in that determining the direction of each radius is not needed when determining the center. As described previously, once the distance values for the image scanning system and the container are known, either through initial measurement or the example calculation method described, the Cartesian coordinates can be rotated and translated such that the origin is at the center of the eave and the tilt is zero. 
     Having determined the geometry of the container, image processor  414  can be used to further process distance points to classify distance points as associated with the container or the product, or are otherwise noise. In doing so, it is possible to generate a highly accurate topography of the product, along with a highly accurate volume or volume change of the product. 
     One example method of doing so includes performing a scan of a container having identical or substantially identical dimensions of the container. In another case, a scan of the container when empty can be performed. In either event, the scan may provide distance information in the form of distance points. Since the container is empty, the distance points can each identified as associated with the container, e.g., the roof, walls, floor, hopper, or the like. This provides an expected point of intersection for each distance point in a subsequent scan that is associated with the container, specifically whether distance point of the subsequent scan is associate with the wall, roof, hopper, floor, or the like. This information can be stored for reference when determining whether distance points of the subsequent scan are associated with the product, which aids in providing an accurate volume measurement and topographical mapping. 
     During a subsequent scan, of the container with product or a substantially similar container with product, distance points are collected. The collected distance points of the subsequent scan can be compared to the store distance points of the prior scan of the empty container or substantially similar empty container previously performed. If a distance points is significantly different from a distance point of the prior scan, then there is a probability that the distance point of the subsequent scan is associate with product, as opposed to a roof, wall, or so on. In another case, the distance point that is substantially different from the prior scan distance points is noise, as opposed to grain. However, another method that will be described can be used to differentiate between a distance point associated with product as opposed to a distance point associated with noise. 
     One method to determine whether a distance point of the subsequent scan is substantially different from the prior scan is use defined reference thresholds for one or more of the container part. As an example, the following reference thresholds have been found suitable: roof: 20%; walls: 5%; hopper: 1%; floor 1%. Any other part of the container can have a reference threshold of 1%. That is, when a subsequent scan is completed, the distance points of the subsequent scan are compared to that of the prior scan. Where subsequent scan distance points have a distance that is equal to or greater than prior scan distance points by a factor greater than the reference threshold, the subsequent scan distance points can be identified as product or noise. Those subsequent scan distance points that have a distance less than prior scan points by a factor less than the reference threshold, then the subsequent scan distance points can be identified as associated with a part of the container, such as the roof, walls, and so forth. Those subsequent scan distance points, based on a distance to a prior scan distance point, can be classified as roof, walls, or so forth based on the classification of the prior scan distance points. In implementations, image processor  414  can remove one or more points associated that are classified as part of the container. 
     To further refine the dataset of distance points, distance points associated with noise can be removed. To identify distance points associated with noise, the subsequent scan distance points can be compared to the prior scan distance points. If a distance point of the subsequent scan is greater than distance points of the prior scan for the same classification, the greater subsequent scan distance point can be classified as noise and removed. In some cases, a reference threshold, such as 1%, can be applied to determine whether a subsequent scan distance point is greater than a prior scan distance point by a factor greater than the reference threshold. In general, this assumption may be made because it is assumed that the container defines the greatest distances, as the product is held within the container. Therefore, distance points associated with the product should have distances less than those distance points associated with the container. 
     Image processor  414  can further refine the dataset of distance points by references the previously generated traversal graph. To do so, image processor  414  can identify a seed distance point. The seed point can be identified from the dataset of distance points having removed distance points associated with the container and distance points associated with noise, such as using the methods previously described. Of this dataset, the seed point can be identified by identifying the distance point having the greatest measured distance from image scanning device  404 . As will be understood, there is a high confidence that this point can accurately be classified as associated with product. 
     Once the seed is identified, the traversal graph can be referenced to determine distance points that are connected to the seed point, e.g., by determining whether a distance point is a neighbor distance point. This can continue for those distance points determined to be neighbors by determining the next neighboring distance points. This continues until all of the neighbors have been identified. Here, each of the identified neighbor distance points is connected to the seed distance point. In this way, terminal edges of the product are identified. Distance points of the dataset that are not connected with the seed distance point can be classified as noise and removed. Volume determiner  416  may be employed to estimate volume. This may include the product volume, e.g., the volume of the product in the container, or an empty volume, e.g., the volume of the area within the container not occupied by product. Two example methods for determining volume include determining the volume without removing distance points above the eave. Another determines the volume while removing points above the eave. Using one or both of these methods is beneficial because, in some container configurations, distance points associated with the container roof introduce error into the overall determination of the volume. As such, using both methods provides a way to compare the accuracy of the determined volume values. 
     For instance, volume determiner  416  can determine an empty volume of the container. The empty volume includes the volume of the container not occupied by the product. This can include the volume above the product in the container. One example method that can be employed by volume determiner  416  to calculate the empty volume is to determine a triangular mesh in the point cloud. Algorithms for determining a triangular mesh, such as a greedy surface triangulation algorithm are known in the art. Once the point cloud has been triangulated, a tetrahedron can be determined from the three distance points of each triangle to a point representative of the location of image scanning device  404 , or another arbitrary point. Volume determiner  416  calculates the volume of each individual tetrahedron, each of which is summed to determine the empty volume. In this way, the empty volume can be calculated within in a manner that includes the volume of the container above the eave. 
     As noted, however, the empty volume may also be calculated based on removing the volume above the eave. In doing so, image processor  414  removes the roof and walls of the container from the point cloud. To remove the roof, all points below zero on the vertical axis, which here is representative of the roof are removed. To remove distance points defining the walls of the container, distance points that have a distance greater than or equal to a radius of the container, assuming the container is cylindrical, are removed. A margin of equal to or less than 10% error can be applied at this stage. Further, methods previously described for classifying distance points as part of the container can be employed, and those distance points for one or more of the container roof, walls, and so forth can be removed. Scan  506  illustrates a point cloud of distance points having removed distance points associated with the roof of the container, and is provided as an example illustration. 
     Continuing with reference back to  FIG.  8   , volume determiner  416  generally determines the volume of the product in the container, i.e., the product volume or the product occupied volume. To do so, volume determiner  416  may reference a total container volume stored in datastore  408 . The total container volume may be predetermined and stored. One method for determining the total container volume is for controller  402  to initiate a scan of an empty container, e.g., a container without product. The empty volume can be determined as previously described. The empty volume determined when no product is present in the container is provided as the total container volume. Another example method uses geometric calculations that will be understood by those of ordinary skill in the art. For instance, for a cylindrical silo, the total container volume may be geometrically calculated using standard calculations for determining the volume of a cylinder. Volume determiner  416  may determine a product occupied volume by scanning a container having a product to determine an empty volume. The difference between the total container volume and the empty volume for a scan is one method of providing the product occupied volume of the container. In an example, the product volume is the difference of the empty volume and the total container volume. The output product volume can be communicated to computing device  410  for display at an interface. Volume determiner  416  can determine a product volume for subsequent scans by scanner  412 . In this way, volume determiner  416  can determine the volume of product added to or distributed from the container. 
     Volume determiner  416  may also determine a change in product volume between subsequent scans. For instance, during a first scan, a first empty volume or a first product volume can be determined. During a second scan, a second empty volume or a second product volume can be determined. Volume determiner  416  may determine a change in the product volume using the difference between the first empty volume and the second empty volume, or the difference between the first product volume and the second product volume. 
     As noted, image processor  414  may also generate a topography of the product in the container. Having performed one or more of the processing steps, image processor  414  transforms remaining three-dimensional coordinates of the distance points into a one-dimensional array of heights. This one-dimensional array of heights is representative of the topography of the product in the container. The topography of the product can be communicated to computing device  410  for display at an interface. An example of the one-dimensional product topography is illustrated as  FIG.  10   . As illustrated, container  600  comprises product  602 . Using the described methods, topography  604  is generated and displayed at an interface of a computing device. In the example illustrated by  FIG.  10   , the distance points within the topography have been triangulated, which can aid in other calculations, such as an empty volume, as well. 
       FIG.  11    provides an example method  1100  for manufacturing an image scanning system. Method  1100  provides one example method of manufacturing those image scanning systems described herein, including image scanning system  100  of  FIG.  1 A . 
     At block  1102 , an image scanning device is enclosed within an image scanning head of an image scanning system. The image scanning device may be any device for emitting or detecting a radiation wavelength. The image scanning device may further identify a time delay between emitted radiation and reflected detected radiation to determine a distance from the image scanning device to a location from which the radiation was reflected. A suitable image scanning device comprises a LiDAR system. However, it will be understood that other devices measuring distance using electromagnetic radiation may be suitable as well. 
     The image scanning device is enclosed within an image scanning head. The image scanning head may be constructed of a material, such as a hard polymer or metal. Methods of forming the image scanning head can include additive manufacturing methods, or other methods, such as milling. The image scanning head may be formed from a plurality of pieces and assembled using a fastener, such a rivet, screw, and the like. The pieces may be affixed using methods such as gluing, welding, and the like. 
     The image scanning head can be manufactured with a window that is transparent to the radiation wavelength emitted or detected by the image scanning device. In one example, a face of the image scanning device is milled, cut, or otherwise formed to include an opening having a size corresponding to a window size of the window. The window can be inserted into the opening and affixed to the image scanning head by, for example, a glue, fastener and so forth. 
     A lens of the image scanning device can be aligned with the window. That is, the image scanning device is positioned such that radiation emitted at an emitter or received by a detector passes through the lens of the image scanning device and the window of the image scanning head. The image scanning device, once positioned, can be secured using fasteners such that the image scanning device is stable within the image scanning head during rotation of the components of the image scanning system. 
     At block  1104 , the image scanning head is rotatably coupled to a base housing of the image scanning device. A rotary joint may be used to form the rotational coupling. A bi-directional, 360-degree rotary joint has been found suitable for use. The image scanning head is coupled such that the image scanning head rotates about the base housing in a first direction. In cases where bi-directional rotation is provided, the image scanning head may rotate forward and backward along the first direction (e.g., along a first plane of rotation). Wired connections from components of the image scanning head, such as power and communication, can be maintained through the rotary joint. 
     The method of manufacturing can further include configuring a first motor to rotate the image scanning head about the base housing. As described, the first motor can be brushless or brushed electric motor, for example. One suitable first motor is a stepper motor. The first motor can be secured in place within the base housing. A first motor shaft can be configured to rotate a portion of the rotary joint secured to the image scanning head, as has been described in a previous example, when the first motor is operational. The first motor can be communicatively coupled to a controller, which may be included within the base housing, or another component of the image scanning system, or external to the base housing in a controller housing. 
     At block  1106 , the base housing is rotatably coupled to a securing arm of the image scanning system. The base housing may be formed of material, including a material described with reference to the image scanning head. Likewise, similar manufacturing methods, such as additive manufacturing, milling, construction from a plurality of individual components may be used to construct the base housing. 
     A rotary joint, such as the one described with reference to block  1104 , can be used to form the rotational coupling such that the base housing rotates about the securing arm. The rotation of the base housing about the securing arm proceeds along a second direction. In cases where bi-directional rotation is provided, the base housing may rotate forward and backward in the second direction (e.g., along a second plane of rotation). The second direction is perpendicular to the first direction. In some cases, the second direction is about perpendicular the first direction. In this way, the rotation of the image scanning head about the base housing and the rotation of the base housing about the securing arm provides a mechanism by which a face of the window of the image scanning head can be positioned toward any direction. Moreover, the rotatory joint can provide for a wired connection, power or communication, of components within the base housing to components external to the base housing. 
     The method of manufacturing can further include configuring a second motor to rotate the base housing about the securing arm. As described, the second motor can be brushless or brushed electric motor, for example. One suitable second motor is a stepper motor. The second motor can be secured in place within the base housing. A second motor shaft can be configured to rotate a portion of the rotary joint secured to the securing arm, as has been described in a previous example, when the second motor is operational. The second motor, along with any other components, may be enclosed within the base housing. 
     In some aspects of the technology, the securing arm comprises a first securing arm end and a second securing arm end that is opposite the first securing arm end. The base housing can be rotatably coupled to the first securing arm end. The base housing can be coupled to the securing arm such that, at a point during rotation, the base housing and the image scanning head perpendicularly align with the securing arm. As will be understood, as with other arrangements, this manufactured arrangement is one example. 
     A shaft can be further coupled to the securing arm. In an aspect, the shaft has a first shaft end and a second shaft end, opposite the first shaft end. The first shaft end can be coupled to the first securing arm end and extend therefrom. In some cases, the shaft is integrally formed with the securing arm. That is, there may be no delineation between a shaft and the securing arm, but rather, these may include terminology for representing locations on an object. 
     In some implementations, the shaft is hollow, thus allowing wires, such as those transmitting communication and power, to be threaded through a shaft channel of the shaft. A pipe can be used as the shaft. Any rigid shaft, such as a pipe formed from polyvinyl chloride (PVC), steel, aluminum, and the like, may be used. Some suitable shafts range in diameter from about ⅛ inch to ¾ inch. In a particular case, a shaft can range in diameter from ⅛ inch to ¾ inch. 
     One suitable example method of coupling a shaft to the securing arm includes threading the first shaft end and threading a location of the second securing arm end, such that the threaded securing arm is configured to receive the threaded shaft. The shaft can be screwed at the threadings into the securing arm. In some configurations, the shaft channel can align with a securing arm channel. A wire for communication or power can be inserted though the shaft channel into the securing arm channel and connect with the rotary joint coupling the base housing to the securing arm such that communication and power can be provided to components housed within the base housing and the image scanning head. 
     A brush can be positioned on the image scanning system. In some manufacturing methods, the brush is coupled to a portion of the image scanning system such that the brush is within a plane of rotation formed by rotation of the base housing about the securing arm. The brush can be positioned such that, at a point during the rotation, the window contacts and moves across the brush. In an example, the brush is coupled to the securing arm at the second securing arm end. The brush can be positioned at a same side of the securing arm as the rotary joint facilitating rotation of the base housing about the securing arm. The brush may be made from any natural or synthetic material. The brush may be sized such that the brush extends along the securing arm over a distance that is equal to or greater than a height of the window, as measured when the base housing is in a position parallel to the position of the securing arm. 
     Turning to  FIG.  12   , an example method  1200  of measuring a product in a container is provided. Method  1200  may be performed using any of the image scanning systems described herein. Aspects of method  1200  may be performed by control system  400  of  FIG.  8   . In embodiments, one or more computer storage media having computer-executable instructions embodied thereon that, when executed, by one or more processors, cause the one or more processors to perform operations of method  1200 . Method  1200  may also be performed as a computer-implemented method by a computing device. 
     At block  1202  of method  1200 , a first scan of a product in a container is performed. The scan can be performed by an image scanning device under control of a controller. For instance, image scanning device  404  of  FIG.  8    can operate under control of controller  402  employing scanner  412 . When performing the scan, distance information may be collected for distance points within the container, including distance points associated with the product in the container. The distance points may comprise distance values that indicate a distance from an image scanning device of the image scanning system to locations within the container corresponding to the distance points. 
     Distance information received from the first scan can be processed using any of the processing techniques described herein. For instance, image processor  414  can be utilized to process the distance information. At this point, a product volume may be determined. This can be performed, for instance, by volume determiner  416  of  FIG.  8   . The product volume may be provided for display at a user interface. 
     At block  1204 , a second scan of the product can be performed. Similar to block  1202 , image scanning device  404  of  FIG.  8    can operate under control of controller  402  of  FIG.  8    employing scanner  412  to perform the second scan. Similarly, distance information may be collected for distance points within the container, including distance points associated with the product in the container, as determined by the second scan. 
     Distance information received from the second scan can be processed using any of the processing techniques described herein. For instance, image processor  414  can be can be utilized to process the distance information. At this point, a product volume may be determined. This can be performed, for instance, by volume determiner  416  of  FIG.  8   . The product volume may be provided for display at a user interface. 
     As examples, image processor  414  may identify distance points, as determined during the first scan or the second scan, that are positioned above an image scanning system position. The identified distance points that are above the image scanning system position are removed. In some cases, this is performed prior to determining the volume change at block  1206 . 
     In another example, image processor  414  may identify a point cloud during the first scan and the second scan. The distance points that have a distance greater than or equal to a radius, or other distance metric, of the container can be removed. This step can be performed for the point cloud determined for the first scan or the second scan. In some cases, this is performed prior to determining the volume change at block  1206 . 
     At block  1206 , a product volume change is determined. The product volume change can be determined by volume determiner  416  of  FIG.  8   . The product volume change can be determined based on the first scan and the second scan. That is, the difference between the product volume of the first scan and the product volume of the second scan can provide the change in the product volume. In another example, the empty volume is determined for the first scan and the empty volume is determined for the second scan. The change in the empty volume can be determined to provide the change in the product volume. 
     In some aspects, the product volume can be determined. The product volume may include the volume occupied by the product in the container. When the total container volume is known, the product volume can be determined using the empty volume and total container volume. In some cases, the product volume for any scan can be determined and provided to a computing device for display on a user interface. 
     The product volume may change due to adding or distributing product between scans. Other factors, such as drying, may cause the product volume to change. Said differently, the first scan and the second scan collect distance information of the product relative to the image scanning system, and the volume change is determined based on a change in the distance information of the product between the first scan and the second scan. 
     The change in product volume between the first scan and the second scan is provided to a computing device at block  1208  for display at an interface of the computing device. 
     Turning to  FIG.  13   , an example method  1300  for manufacturing a locking system is provided. Method  1300  may be suitable for manufacturing any of the locking systems described herein, such as locking system  200  of  FIG.  1 B . 
     At block  1302 , a first compressible material is formed. The first compressible material can be formed such that it includes a first compressible material top surface opposite a first compressible material bottom surface. The first compressible material can be made of any compressible material, such as a closed-cell or open-cell foam padding. Many synthetic materials are suitable for use as the first compressible material. Some specific examples include neoprene, ethylene-vinyl acetate (EVA), ethylene propylene diene monomer (EDPM), and so forth. Such synthetic foams have been found beneficial during use because of their ability to compress, while resisting degradation. The first compressible material can be formed by cutting the foam into a particular size. In an aspect, the first compressible material is about equal to or less than 12 inches. In a specific case, the first compressible material is formed such that it is equal to or less than 12 inches. 
     At block  1304 , a second compressible material is formed. The second compressible material may comprise any of the materials described with respect to the first compressible material. To form the second compressible material, the second compressible material can be cut to a size corresponding to the size of the first compressible material. The second compressible material is formed such that the second compressible material comprises a second compressible material top surface opposite a second compressible material bottom surface. 
     At block  1306 , a first securing plate is positioned between the first compressible material top surface and the second compressible material bottom surface. The first securing plate is disposed between the first compressible material and the second compressible material. The first securing plate may be sized to correspond to the first compressible material or the second compressible material. The first securing plate can be formed of a hard polymer, metal, or the like. Stainless steel, aluminum, and the like, or alloys thereof are suitable for use. The size of the first securing plate can be formed by cutting, welding, and so forth. 
     In some aspects, the first compressible material or the second compressible material is affixed to the first securing plate. The first compressible material or the second compressible material can be permanently affixed to the first securing plate. For instance, a glue or other bonding compound, or fastener, such as a tape, may be applied to affix the first compressible material or the second compressible material to the first securing plate. 
     At block  1308 , a second securing plate is positioned adjacent to the second compressible material. In aspects, adjacent to the second compressible material includes adjacent to the second compressible material top side. Adjacent may include the second compressible material top surface being in contact with the second securing plate. Block  1308  can comprise forming the second securing plate to a size corresponding to the first securing plate. The second securing plate can comprise a material described with respect to the first securing plate. 
     In aspects, the first securing plate can be formed to include a curved edge that forms a first securing plate opening perimeter edge around a first securing plate opening. The first securing plate opening can be formed by methods described herein, including cutting, puncturing, and so on. The first securing plate opening may be located at a center position of the first securing plate. The first securing plate opening can include a first securing plate opening perimeter edge formed by the first curved edge of the first securing plate. In aspects, the first perimeter edge is located inward from a first securing plate perimeter edge. The first securing plate can be positioned such that the curved edge is curved in a first direction away from the second compressible material. 
     The second securing plate can also be formed to include a curved edge. The curved edge may form a second securing plate opening perimeter edge around a second securing plate opening. In some aspects, the second securing plate does not have a second securing plate opening, and the curved edge is included as part of an indentation in the second securing plate. The first securing plate opening can be formed using any method described herein, such as cutting, puncturing, and so on. In aspects where the second securing plate comprises a second curved edge that is part of an indentation, the indentation can be created by stamping the second securing plate with an object. In any event, the second securing plate opening or the second securing plate indentation can be located at a center position of the second securing plate. In aspects, the curved edge of the second securing plate is located inward from a second securing plate perimeter edge. In aspects, the second securing plate can be positioned such that the second securing plate opening or the second securing plate indentation is aligned with the first securing plate opening. 
     In one manufacturing method example, the first securing plate and the second securing plate are dimensionally the same. That is, two securing plates may be manufactured to the same specifications. Inverting one securing plate relative to the other securing plate provides the first securing plate and the second securing plate. 
     In a particular case, the second compressible material can be affixed to the second securing plate. The second compressible material can be permanently affixed to the securing plate. A glue or other bonding compound, or fastener, such as a tape, may be applied to affix the second compressible material to the second securing plate. In an aspect, the second compressible material is not affixed to the second securing plate. 
     The method of manufacturing may also include forming one or more first fastener holes within the first securing plate. One or more second fastener holes can be formed within the second securing plate. The one or more first fastener holes and the one or more second fastener holes can be formed on the first securing plate and the second securing plate, respectively, such that the one or more first fastener holes and the one or more second fastener holes align when the second securing plate is positioned atop the first securing plate when the locking system is assembled. The one or more fastener holes may be formed by any method described herein, including cutting, drilling, milling, and so forth. 
     At block  1310 , a ball is positioned at least partially within the first curved edge and the second curved edge. The ball can be positioned such that a center of the ball is disposed between the first securing plate and the second securing plate. The ball may be formed of any hard material, including hard polymers, metal, or the like. The ball can be formed of a compressible material, such as a compressible polymer, rubber, or the like. A compressible ball can also be beneficial in that the ball compresses when the securing plates apply force to the ball. This more tightly holds the ball in place because it distorts its spherical shape, which provides enhanced locking, since the non-spherical shape is less likely to rotate within the curved edges of the securing plates due to the distortion. In aspects, the ball has a diameter about equal to or less than three inches. In particular cases, the ball has a diameter equal to or less than three inches. 
     A ball channel can be formed in the ball. The ball channel may extend from one side of the ball to an opposite side of the ball, extending through the center of the ball. The ball channel can be formed using any methods described herein, including drilling. The ball may be positioned such that one of the ball channel openings corresponds with the first securing plate opening. The ball channel may be formed using any of the methods described herein, including created through aggregate manufacturing methods, drilling, milling, and so forth. 
     The manufacturing methods may further include coupling a shaft to the ball. The shaft may have a first shaft end and a second shaft end. The first shaft end can be configured, for example by threading, to couple to the ball and extend outward therefrom. The shaft can have a shaft channel, e.g., a hollow shaft, and the shaft can be coupled to the ball so that the shaft channel corresponds with the ball channel such that the shaft channel fluidly extends into the ball channel. In some cases, a wire may be inserted into the ball channel and extend into the shaft channel. The wire may extend from a first ball channel opening at a first ball side through the ball channel and out of a second ball channel opening at the second ball side opposite the first ball side. 
     In aspects, a controller housing can be coupled directly or indirectly to the second securing plate. An opening within the controller housing can be formed at a location where the controller housing couples with the locking system, such that the ball channel of the locking system opens into the controller housing. 
     With reference now to  FIG.  14   , an example method  1400  of using a locking system is provided. At block  1402 , a locking system is provided. The locking system can be any locking system described herein. For example, locking system  200  of  FIG.  1 B  is suitable for use. Providing the locking system may include manufacturing, receiving, assembling, and so forth. 
     At block  1404 , a first securing plate opening is aligned with a securing surface opening. The securing surface can include a surface of a container. The securing surface may be the roof of the container. Any method described herein can be used to form the securing surface opening, including cutting the opening from the securing surface. The securing surface opening can be formed to have a size (e.g., width, diameter) that is less than a size of a first securing plate. The locking system can be positioned such that the first securing surface opening is positioned inward from a first securing plate perimeter edge. In aspects, the first securing plate opening perimeter edge of the first securing plate opening, when the locking system is positioned, is located inward from a securing surface opening perimeter edge of the securing surface. 
     When positioning the locking system, a shaft can be inserted through the securing surface opening. The shaft may extend from the locking system positioned on a first side of the securing surface through the securing surface opening and into a second side of the securing surface. As will be understood, the shaft may support an image scanning system on the end opposite the locking system that is within the container on the second side of the securing surface. 
     At block  1406 , one or more fasteners are secured into the securing surface. Using locking system  200  as an example, as illustrated by  FIG.  6 A  and  FIG.  6 B , fasteners  240 A and  240 B can extend through second securing plate  208  and first securing plate  204 . Fasteners  240 A and  240 B can be inserted through a second fastener hole of second securing plate, through a first fastener hole of first securing plate and secured into the securing surface. In the example shown, fasteners  240 A and  240 B also extend through second compressible material  206  and first compressible material  202 . However, it should be understood that in some arrangements, the one or more fasteners do not extend through a first compressible material or a second compressible material. 
     When engaging the fasteners, first securing plate  204  and second securing plate  208  are moved to a distance that is relatively closer, compressing second compressible material  206 . Put another way, second compressible material  206  is transitioned from an expanded state to a compressed state. This causes a force to be applied to ball  234 , thereby increasing the force required to rotate ball  234 , and in turn shaft  110 . 
     The ball feature is beneficial in that it provides a way to secure the locking system at an angle relative to the shaft. This is helpful as many containers do not have flat roofs, but instead, the roofs are pitched to some degree. In this way, the locking system can be placed at an angle on the securing surface, and the ball rotates so that the shaft is perpendicular with a level ground surface. Thus, when the locking system is locked into place, an image scanning system, held in place by the shaft and the locking system, naturally moves to the correct orientation and stays in that orientation, even during movement of the image scanning system. Thus, based on the fastener being secured into the securing surface, the shaft is locked into a shaft position, where the shaft position forms an angle that is less than 90 degrees relative to the first securing plate. 
     In this way, the locking system is locked in place and secured to the securing surface. In those implementations of the locking system using a first compressible material, such as locking system  200 , the first compressible material compresses against the securing surface forming a seal between the locking securing surface and the locking system, helping to prevent moisture and other elements from entering the securing surface opening. 
     Having described an overview of embodiments of the present technology, an example operating environment in which some embodiments of the present technology may be implemented is described below in order to provide a general context for various aspects. 
     Referring now to  FIG.  15   , in particular, an example operating environment for implementing embodiments of the present technology is shown and designated generally as computing device  1500 . Computing device  1500  is but one example of a suitable computing environment and is not intended to suggest any limitation as to the scope of use or functionality of the technology. Neither should computing device  1500  be interpreted as having any dependency or requirement relating to any one or combination of components illustrated. 
     Some aspects of the technology of the present disclosure may be described in the general context of computer code or machine-useable instructions, including computer-executable instructions such as program modules, being executed by a computer or other machine, such as a personal data assistant or other handheld device. Generally, program modules, including routines, programs, objects, components, data structures, etc. refer to code that perform particular tasks or implement particular abstract data types. The technology may be practiced in a variety of system configurations, including hand-held devices, consumer electronics, general-purpose computers, more specialty computing devices, etc. The technology may also be practiced in distributed computing environments whereby tasks are performed by remote-processing devices that are linked through a communications network. 
     With reference still to  FIG.  15   , computing device  1500  includes bus  1502  that directly or indirectly couples the following devices: memory  1504 , one or more processors  1506 , one or more presentation components  1508 , input/output ports  1510 , input/output components  1512 , and illustrative power supply  1514 . Bus  1502  represents what may be one or more busses (such as an address bus, data bus, or combination thereof). Although the various blocks of  FIG.  15    are shown with lines for the sake of clarity, in reality, delineating various components is not so clear, and metaphorically, the lines would more accurately be grey and fuzzy. For example, one may consider a presentation component, such as a display device, to be an I/O component. As another example, processors may also have memory. Such is the nature of the art, and it is again reiterated that the diagram of  FIG.  15    merely illustrates an example computing device that can be used in connection with one or more embodiments of the present technology. Distinction is not made between such categories as “workstation,” “server,” “laptop,” “hand-held device,” etc., as all are contemplated within the scope of  FIG.  15    and reference to “computing device.” 
     Computing device  1500  typically includes a variety of computer-readable media. Computer-readable media can be any available media that can be accessed by computing device  1500  and includes both volatile and nonvolatile media, and removable and non-removable media. By way of example, and not limitation, computer-readable media may comprise computer storage media and communication media. 
     Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by computing device  1500 . Computer storage media excludes signals per se. 
     Communication media typically embodies computer-readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. The term “modulated data signal” means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, RF, infrared, and other wireless media. Combinations of any of the above should also be included within the scope of computer-readable media. 
     Memory  1504  includes computer storage media in the form of volatile or nonvolatile memory. The memory may be removable, non-removable, or a combination thereof. Example hardware devices include solid-state memory, hard drives, optical-disc drives, etc. Computing device  1500  includes one or more processors that read data from various entities such as memory  1504  or I/O components  1512 . Presentation component(s)  1508  present data indications to a user or other device. Examples of presentation components include a display device, speaker, printing component, vibrating component, etc. 
     I/O ports  1510  allow computing device  1500  to be logically coupled to other devices including I/O components  1512 , some of which may be built in. Illustrative components include a microphone, joystick, game pad, satellite dish, scanner, printer, wireless device, and so forth. 
     Embodiments described above may be combined with one or more of the specifically described alternatives. In particular, an embodiment that is claimed may contain a reference, in the alternative, to more than one other embodiment. The embodiment that is claimed may specify a further limitation of the subject matter claimed. 
     The subject matter of the present technology is described with specificity herein to meet statutory requirements. However, the description itself is not intended to limit the scope of this disclosure. Rather, the inventors have contemplated that the claimed or disclosed subject matter might also be embodied in other ways, to include different steps or combinations of steps similar to the ones described in this document, in conjunction with other present or future technologies. Moreover, although the terms “step” or “block” might be used herein to connote different elements of methods employed, the terms should not be interpreted as implying any particular order among or between various steps herein disclosed unless and except when the order of individual steps is explicitly stated. 
     For purposes of this disclosure, the word “including” or “having” has the same broad meaning as the word “comprising,” and the word “accessing” comprises “receiving,” “referencing,” or “retrieving.” Further, the word “communicating” has the same broad meaning as the word “receiving,” or “transmitting” facilitated by software or hardware-based buses, receivers, or transmitters using communication media. Also, the word “initiating” has the same broad meaning as the word “executing” or “instructing” where the corresponding action can be performed to completion or interrupted based on an occurrence of another action. 
     In addition, words such as “a” and “an,” unless otherwise indicated to the contrary, include the plural as well as the singular. Thus, for example, the constraint of “a feature” is satisfied where one or more features are present. Furthermore, the term “or” includes the conjunctive, the disjunctive, and both (a or b thus includes either a or b, as well as a and b). 
     Unless otherwise stated, the term “coupling,” and the like, may be affixing, either directly or indirectly, two components. Coupled components may be removably secured or permanently affixed unless otherwise stated. Further, the term is not meant to imply a particular method of affixing components together. 
     For purposes of a detailed discussion above, embodiments of the present technology are described with reference to a distributed computing environment; however, the distributed computing environment depicted herein is merely an example. Components can be configured for performing novel aspects of embodiments, where the term “configured for” or “configured to” can refer to “programmed to” perform particular tasks or implement particular abstract data types using code. 
     From the foregoing, it will be seen that this technology is one well adapted to attain all the ends and objects described above, including other advantages that are obvious or inherent to the structure. It will be understood that certain features and subcombinations are of utility and may be employed without reference to other features and subcombinations. This is contemplated by and is within the scope of the claims. Since many possible embodiments of the described technology may be made without departing from the scope, it is to be understood that all matter described herein or illustrated in the accompanying drawings is to be interpreted as illustrative and not in a limiting sense. 
     Some example aspects of the technology that may be practiced from the forgoing disclosure include the following: 
     Aspect 1: A locking system comprising: a first compressible material having a first compressible material bottom surface opposite a first compressible material top surface; a second compressible material having a second compressible material bottom surface opposite a second compressible material top surface; a first securing plate disposed between the first compressible material top surface and the second compressible material bottom surface, the first securing plate comprising a first curved edge forming a first securing plate opening perimeter edge around a first securing plate opening, the first curved edge curving in a first direction away from the second compressible material; a second securing plate adjacent to the second compressible material top surface, the second securing plate comprising a second curved edge, the second curved edge curving in a second direction away from the second compressible material; and a ball positioned at least partially within the first curved edge of the first securing plate and the second curved edge of the second securing plate. 
     Aspect 2: Aspect 1, wherein the second curved edge forms a second securing plate opening perimeter edge around a second securing plate opening. 
     Aspect 3: Any of Aspects 1-2, further comprising a fastener extending through the first securing plate and the second securing plate. 
     Aspect 4: Aspect 3, wherein the fastener further extends through the first compressible material and the second compressible material. 
     Aspect 5: Any of Aspects 1-4, further comprising a shaft extending from the ball in the first direction. 
     Aspect 6: Aspect 5, wherein the ball comprises a ball channel and the shaft comprises a shaft channel, the ball channel extending from a first ball side opposite a second ball side, the shaft being coupled to the ball at the first ball side, and wherein the ball channel opens into the shaft channel at the first ball side. 
     Aspect 7: Aspect 6, further comprising a wire extending through the ball channel and the shaft channel, the wire extending outward from the ball channel at the second ball side. 
     Aspect 8: A method of manufacturing a locking system, the method comprising: forming a first compressible material such that the first compressible material comprises a first compressible material bottom surface opposite a first compressible material top surface; forming a second compressible material such that the second compressible material comprises a second compressible material bottom surface opposite a second compressible material top surface; positioning a first securing plate between the first compressible material top surface and the second compressible material bottom surface, the first securing plate comprising a first curved edge forming a first securing plate opening perimeter edge around a first securing plate opening, the first curved edge curving in a first direction away from the second compressible material; positioning a second securing plate adjacent to the second compressible material top surface, the second securing plate comprising a second curved edge, the second curved edge curving in a second direction away from the second compressible material; and positioning a ball at least partially within the first curved edge of the first securing plate and the second curved edge of the second securing plate. 
     Aspect 9: Aspect 8, wherein the second curved edge forms a second securing plate opening perimeter edge around a second securing plate opening. 
     Aspect 10: Any of Aspects 8-9 further comprising forming a first fastener hole within the first securing plate and a second fastener hole within the second securing plate, wherein the first fastener hole and the second fastener hole align when the first securing plate is positioned and the second securing plate is positioned. 
     Aspect 11: Aspect 10, further comprising affixing the first compressible material to the first securing plate. 
     Aspect 12: Any of Aspects 8-11, further comprising coupling a shaft to the ball, wherein the shaft is coupled to the ball at a second shaft end and extends away from the ball toward a first shaft end. 
     Aspect 13: Aspect 12, wherein the ball comprises a ball channel and the shaft comprises a shaft channel, the ball channel extending from a first ball side opposite a second ball side, the shaft being coupled to the ball at the first ball side, and wherein the ball channel opens into the shaft channel at the first ball side. 
     Aspect 14: Aspect 13, further comprising inserting a wire into the ball channel and the shaft channel, wherein the wire extends outward from the ball channel at the second ball side. 
     Aspect 15: A method of using a locking system, the method comprising: providing a locking system comprising: a first compressible material having a first compressible material bottom surface opposite a first compressible material top surface; a second compressible material having a second compressible material bottom surface opposite a second compressible material top surface; a first securing plate disposed between the first compressible material top surface and the second compressible material bottom surface, the first securing plate comprising a first curved edge forming a first securing plate opening perimeter edge around a first securing plate opening, the first curved edge curving in a first direction away from the second compressible material; a second securing plate adjacent to the second compressible material top surface, the second securing plate comprising a second curved edge, the second curved edge curving in a second direction away from the second compressible material; and a ball positioned at least partially within the first curved edge of the first securing plate and the second curved edge of the second securing plate; aligning a securing surface opening of a securing surface with the first securing plate opening such that the securing surface opening is inward from a first securing plate perimeter edge; and securing a fastener into the securing surface, wherein the fastener extends through the first securing plate and the second securing plate. 
     Aspect 16: Aspect 15, wherein the fastener further extends through the first compressible material and the second compressible material. 
     Aspect 17: Any of Aspects 15-16, wherein the locking system further comprises a shaft extending from the ball in the first direction. 
     Aspect 18: Aspect 17, further comprising inserting the shaft through the securing surface opening. 
     Aspect 19: Any of Aspects 15-18, wherein the second compressible material transitions from an expanded state to a compressed state when the fastener is secured into the securing surface. 
     Aspect 20: Any of Aspects 15-19, wherein, based on the fastener being secured into the securing surface, the shaft is locked into a shaft position, the shaft position forming an angle relative to the first securing plate, and wherein the angle is less than 90 degrees. 
     Aspect 21: An image scanning system for measuring product volume in a container, the system comprising: an image scanning head comprising an image scanning device; a base housing, the image scanning head being rotatably coupled to the base housing, wherein the image scanning head rotates about the base housing in a first direction; and a securing arm, the base housing being rotatably coupled to the securing arm, wherein the base housing rotates about the securing arm in a second direction about perpendicular to the first direction. 
     Aspect 22: Aspect 21, wherein the securing arm comprises a first securing arm end and a second securing arm end opposite the first securing arm end, and wherein the base housing is rotatably coupled to the securing arm at the first securing arm end. 
     Aspect 23: Aspect 22, further comprising a shaft coupled to the securing arm at the second securing arm end and extending therefrom. 
     Aspect 24: Aspect 23, further comprising a controller, the controller positioned within a controller housing, wherein the shaft is coupled to the securing arm at a first shaft end, the shaft extending to a second shaft end, and wherein the controller housing is coupled to the shaft at the second shaft end. 
     Aspect 25: Any of Aspects 21-24, wherein the image scanning head further comprises a window, the window being transparent to a radiation wavelength emitted by an emitter of the image scanning device. 
     Aspect 26: Any of Aspects 25, further comprising a brush positioned within a plane of rotation formed from rotation of the base housing about the securing arm, such that the brush engages the window during rotation of the base housing about the securing arm. 
     Aspect 27: Any of Aspects 21-26, wherein the base housing comprises a first motor configured to rotate the base housing about the securing arm and a second motor configured to rotate the image scanning head about the base housing. 
     Aspect 28: A method of manufacturing an image scanning system, the method comprising: enclosing an image scanning device within an image scanning head; rotatably coupling the image scanning head to a base housing such that the image scanning head rotates about the base housing in a first direction; and rotatably coupling the base housing to a securing arm such that the base housing rotates about the securing arm in a second direction about perpendicular to the first direction. 
     Aspect 29: Aspect 28, wherein the securing arm comprises a first securing arm end and a second securing arm end opposite the first securing arm end, and wherein the base housing is rotatably coupled to the securing arm at the first securing arm end. 
     Aspect 30: Aspect 29, further comprising coupling a shaft to the securing arm at the second securing arm end such that the shaft extends away from the securing arm. 
     Aspect 31: Any of Aspects 28-30, communicatively coupling a first motor and a second motor to a controller configured to operably control the first motor and the second motor, wherein the first motor is configured to rotate the base housing about the securing arm and the second motor is configured to rotate the image scanning head about the base housing. 
     Aspect 32: Aspect 31, wherein the controller is positioned within a controller housing and is communicatively coupled to the first and second motor by at least one wire, the wire extending through a securing arm channel to the controller within the controller housing. 
     Aspect 33: Any of Aspects 28-32, further comprising coupling a window to the image scanning head, the window being transparent to a radiation wavelength emitted by an emitter of the image scanning device. 
     Aspect 34: Any of Aspects 33, further comprising positioning a brush within a plane of rotation formed from rotation of the base housing about the securing arm, such that the brush engages the window during rotation of the base housing about the securing arm. 
     Aspect 35: One or more computer storage media storing computer-readable instructions that when executed by a processor, cause the processor to perform a method of measuring product in a container, the method comprising: performing a first scan of a product in a container using an image scanning system, wherein the image scanning system comprises: an image scanning head comprising an image scanning device; a base housing, the image scanning head being rotatably coupled to the base housing, wherein the image scanning head rotates about the base housing in a first direction; and a securing arm, the base housing being rotatably coupled to the securing arm, wherein the base housing rotates about the securing arm in a second direction about perpendicular to the first direction; performing a second scan of product in the container using the image scanning system, wherein the first scan and the second scan are performed by the image scanning device based on rotation of the image scanning head in the first direction and the base housing in the second direction; determining a volume change of the product within the container based on the first scan and the second scan; and providing the volume change to a computing device for display on an interface. 
     Aspect 36: Aspect 35, wherein the first scan and the second scan collect distance information of the product relative to the image scanning system, and the volume change is determined based on a change in the distance information of the product between the first scan and the second scan. 
     Aspect 37: Any of Aspects 35-36, further comprising: identifying distance points positioned above an image scanning system position, the distance points identified during the first scan and the second scan; and removing the identified distance points positioned above the image scanning device prior to determining the volume change. 
     Aspect 38: Any of Aspects 35-37, further comprising: identifying a point cloud during the first scan and the second scan; determining distance points of the point cloud that are greater than or equal to a radius of the container; and removing the determined distance points from the point cloud prior to determining the volume change. 
     Aspect 39: Any of Aspects 35-38, further comprising: determining a first empty volume of the container from the first scan; and determining a second empty volume of the container from the second scan, wherein the volume change of the product is determined based on the difference between the first empty volume and the second empty volume. 
     Aspect 40: Aspect 39, further comprising: determining a product occupied volume based on a difference between the total container volume and the first empty volume of the container or the second empty volume of the container; and providing the determined product occupied volume to a computing device for display on an interface. 
     Any of Aspects 21-40 may be used in conjunction with any of Aspects 1-20.