Source: http://www.google.com.ar/patents/US9557166
Timestamp: 2018-01-17 17:50:47
Document Index: 416848644

Matched Legal Cases: ['Application No. 14181437', 'Application No. 15190306', 'Application No. 16172995', 'Application No. 16173429', 'Application No. 15190306', 'Application No. 15188440', 'Application No. 15189214', 'Application No. 16152477', 'Application No. 16168216', 'Application No. 15190315', 'Application No. 15182675', 'Application No. 16175410', 'Application No. 14157971', 'Application No. 13186043', 'Application No. 13186043', 'Application No. 1517112', 'Application No. 15182675', 'Application No. 201520810313', 'Application No. 201520810685', 'Application No. 2015220810562', 'Application No. 1607394']

Patent US9557166 - Dimensioning system with multipath interference mitigation - Google Patents
A system and method for measuring an item's dimensions using a time-of-flight dimensioning system is disclosed. The system and method mitigate multipath distortion and improve the accuracy of the measurements, especially in a mobile environment. To mitigate the multipath distortion, an imager captures...http://www.google.com.ar/patents/US9557166?utm_source=gb-gplus-sharePatent US9557166 - Dimensioning system with multipath interference mitigation
Publication number US9557166 B2
Application number US 14/519,179
Also published as CN205621076U, US20160109224
Publication number 14519179, 519179, US 9557166 B2, US 9557166B2, US-B2-9557166, US9557166 B2, US9557166B2
Patent Citations (706), Non-Patent Citations (155), Referenced by (1), Classifications (11), Legal Events (1)
US 9557166 B2
a control subsystem communicatively coupled to the adjustable aperture, the imager, and the TOF sensor subsystem, the control subsystem configured (i) to determine, from the captured images, an illumination region corresponding to the size, shape, and/or position of the item of interest, (ii) to control the adjustable aperture's size, shape, and/or position to limit the light beam's spatial extent to conform with the illumination region, and (iii) to determine from the range images an at least approximate dimension measurement of the item of interest.
adjusting an adjustable aperture positioned in front of a light source to limit a spatial extent of a light beam directed at the item of interest (i) to substantially limit illumination to the illumination region and (ii) to substantially reach the item of interest without first being reflected.
Controlling the environment that an item of interest is measured in is one approach. Here, reflections from the background may be minimized and the placement of items may be carefully controlled. In addition, the size and shape of items may be constrained. While these measures might work for a fixed installation, it would not be practical for most mobile dimensioning applications (e.g., package delivery and pickup). In these applications, neither the environment (e.g., warehouse) nor the item of interest (e.g., the package) may be controlled.
A general need exists for a dimensioning system suitable for mobile environments. A time-of-flight (TOF) dimensioning system is suitable but may suffer from multipath distortion. A specific need, therefore, exists for a TOF dimensioning system with adaptable multipath interference suppression to facilitate the accurate dimensioning of a variety of items in a variety of environments.
A TOF dimensioning system 1 may use an illumination subsystem 40 to project a beam of light 3 (i.e., light beam) along an optical axis 5 toward an item of interest 2 (e.g., a package). The light beam 3 may be visible or in visible and is typically amplitude modulated, forming a pulse or pulses. The pulsed light beam illuminates the scene and is reflected by objects back to the dimensioning system's TOF sensor subsystem 45.
The time of flight dimensioning system includes an illumination subsystem. This subsystem uses a light source 20 and the associated driver circuitry to generate a light beam 3. The light source 20 may be a laser diode or light emitting diode (i.e., LED), and may radiate at a wavelength within the ultraviolet, visible, or infrared regions of the spectrum. The light source 20 may be filtered, polarized, collimated, or focused by an optical subassembly 25 positioned in front of the light source 20 to receive its radiation. The optical assembly 25 may include optical filters, polarizers, lenses, or other components to form and shape the light into a light beam projected along the optical axis 5 toward the item of interest 2. To limit the spatial extent 7 of the light beam 3, an adjustable aperture 30 is positioned along the optical axis between the optical subassembly and the item of interest. The adjustable aperture 30 blocks a portion of light in a blocking region. The size, shape, and position of the adjustable aperture's blocking region is controlled so the illumination substantially illuminates the item of interest 2 and does not illuminate other objects (e.g., other items situated close to the item of interest) or the background environment 11 (e.g., a wall).
Previous approaches attempted to perform the illumination adjustment by sensing errors in raw TOF sensor data and then adjusting the illumination to minimize these errors. The details of this approach were published in “Time of Flight Measurement Error Reduction Method and Apparatus” on Jan. 2, 2014 (i.e., US 20140002828 A1) which is incorporated herein by reference in its entirety. The present invention uses a different approach. Here the size, shape, and position of the item of interest is detected by an imager positioned and configured for capturing images of the item of interest. The geometric details are then derived using machine vision algorithms running on a processor (e.g., a digital signal processor (DSP)) and provided to a control subsystem 60 to configure the adjustable aperture's 30 transparent and opaque (i.e., blocking) regions.
FIG. 5 schematically depicts a flowchart illustrating an exemplary method for time-of-flight dimensioning 100. The method illustrated includes the steps for reducing multipath distortion 110. First, an item of interest 102 for dimensioning is placed in the field of view of the TOF dimensioning system. An image of the item of interest is then captured 103. From this image, the illumination region may be determined 104. Here, a user input 105 may also facilitate this determination. The illumination region corresponds to (e.g., matches) the item of interest's physical edges. The adjustable aperture is adjusted 106 so the light beam illuminates the illumination region substantially without first being reflected. The light reflected back to the TOF dimension system from the item of interest is used to perform the step TOF dimensioning 107. From this step, a dimension measurement (e.g., volume) is obtained 108.
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International Classification G01B11/24, G01B11/25, G01B11/00, G01B11/255
Cooperative Classification G01B11/2513, G01B11/25, G01B11/2518, G01B11/24, G01B11/255, G01B11/00, G01B11/2408