US6795200B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and system for dimensioning boxes or other cuboid objects
Assignee: Teledyne Flir Commercial Systems Inc
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Filing: 2000-11-13
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Granted: 2004-09-21
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Expires: 2020-11-13
Abstract
Abstract A system for measuring dimensions of cuboid objects may be used to measure dimensions of boxes travelling on a conveyor. The system has a pair of digital cameras which obtain images of one or more lines projected by a projector on upper surfaces of the objects. The height of the upper surfaces can be determined by triangulation. Lengths and widths of the upper surfaces are measured by locating endpoints of the projected lines and fitting rectangles to the located endpoints. The system does not require rigid mounting of the projector relative to the cameras. A third camera may be used to determine speed and direction of the conveyor motion.
Inventors
- 👤 Rod Barman
- 👤 Stewart Kingdon
- 👤 Don Murray
- 👤 Vladimir Tucakov
- 👤 Malcolm Steenburgh
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 12:47
CPC Classifications
G; G01; G01B; G01B11/00; G01B11/02; G01B11/026; G01B11/022
Claims Analysis
Total Claims: 45
Claim 1
Independent Claim
97 words
A method for measuring dimensions of cuboid objects, the method comprising: providing a cuboid object having a first face in a known plane; projecting a line of light onto a second face of the object, the second face opposed to the first face; obtaining, at first and second spaced apart cameras, first and second images of the line of light; and, determining a distance between the line of light and the known plane from the first and second images by using data from the first image together with data from the second image in a triangulation calculation.
Claim 2
Independent Claim
97 words
A method for measuring dimensions of cuboid objects, the method comprising: providing a cuboid object having a first face in a known plane; projecting a line of light onto a second face of the object, the second face opposed to the first face; obtaining, at first and second spaced apart cameras, first and second images of the line of light; and, determining a distance between the line of light and the known plane from the first and second images by using data from the first image together with data from the second image in a triangulation calculation.
Claim 3
Dependent Claim
52 words
The method of claim 1 wherein the line of light comprises light of a wavelength and obtaining the first and second images of the line of light comprises passing light from the line of light through a band pass filter before imaging the line of light at the first and second cameras.
Claim 4
Dependent Claim
50 words
A method according to claim 1 wherein obtaining the first and second images of the line of light comprises synthesizing an image of the object without the line of light, obtaining an image of the object with the line of light and subtracting the synthesized image from the obtained image.
Claim 5
Dependent Claim
22 words
The method of claim 1 wherein the object is moving and the method comprises obtaining the first and second images substantially simultaneously.
Claim 6
Dependent Claim
30 words
The method of claim 4 wherein the first and second cameras are displaced from one another in a direction generally parallel to a direction of motion of the cuboid object.
Claim 7
Dependent Claim
30 words
The method of claim 4 wherein the first and second cameras are displaced from one another in a direction generally perpendicular to a direction of motion of the cuboid object.
Claim 8
Dependent Claim
29 words
The method of claim 1 comprising identifying a segment of the line of light which is spaced apart from the known plane and locating endpoints of the identified segment.
Claim 9
Dependent Claim
31 words
The method of claim 1 wherein the first and second images each comprise an array of pixels and the method comprises fitting straight lines to pixels imaging the line of light.
Claim 10
Dependent Claim
34 words
The method of claim 1 wherein a distance between the first and second cameras is substantially less than a distance between either of the cameras and a projector which projects the line of light.
Claim 11
Dependent Claim
10 words
The method of claim 1 wherein the object is moving.
Claim 12
Dependent Claim
69 words
The method of claim 10 comprising repeating obtaining, at first and second spaced apart cameras, first and second images of the line of light, identifying a segment of the line of light which is spaced apart from the known plane, locating endpoints of the identified segment a plurality of times to obtain a plurality of sets of endpoints and fitting a rectangle to the plurality of sets of endpoints.
Claim 13
Dependent Claim
59 words
The method of claim 10 comprising repeating obtaining, at first and second spaced apart cameras, first and second images of the line of light, identifying a segment of the line of light which is spaced apart from the known plane and locating endpoints of the identified segment a plurality of times to obtain a plurality of sets of endpoints.
Claim 14
Dependent Claim
38 words
The method of claim 12 comprising determining a speed of motion of the object by capturing successive images of the object at spaced apart times and determining a displacement required to maximize a correlation between the successive images.
Claim 15
Dependent Claim
17 words
The method of claim 13 , wherein the successive images are obtained with a third digital camera.
Claim 16
Dependent Claim
15 words
The method of claim 1 comprising projecting a second line of light on the object.
Claim 17
Dependent Claim
14 words
The method of claim 15 wherein the first and second lines of light intersect.
Claim 18
Dependent Claim
19 words
The method of claim 16 wherein the first and second lines of light are substantially perpendicular to one another.
Claim 19
Dependent Claim
39 words
The method of claim 17 wherein the object is moving in a direction of motion and each of the first and second lines of light is oriented at an angle of about 45 degrees to the direction of motion.
Claim 20
Independent Claim
150 words
A method for measuring dimensions of cuboid objects, the method comprising: providing a moving cuboid object having a first face in a known plane; projecting a line of light onto a second face of the object, the second face opposed to the first face; obtaining, at first and second spaced apart cameras, first and second images of the line of light; determining a distance between the line of light and the known plane from the first and second images by triangulation; and, determining a speed of motion of the object by acquiring first, second and third images of the object, the second image including points corresponding to at least a portion of the line of light, determining a correlation between the first and third images and measuring a displacement between points on the object in the first and third images corresponding to the line of light in the second image.
Claim 21
Independent Claim
150 words
A method for measuring dimensions of cuboid objects, the method comprising: providing a moving cuboid object having a first face in a known plane; projecting a line of light onto a second face of the object, the second face opposed to the first face; obtaining, at first and second spaced apart cameras, first and second images of the line of light; determining a distance between the line of light and the known plane from the first and second images by triangulation; and, determining a speed of motion of the object by acquiring first, second and third images of the object, the second image including points corresponding to at least a portion of the line of light, determining a correlation between the first and third images and measuring a displacement between points on the object in the first and third images corresponding to the line of light in the second image.
Claim 22
Dependent Claim
18 words
The method of claim 19 wherein the first, second and third images are acquired by a third camera.
Claim 23
Dependent Claim
47 words
The method of claim 20 comprising transforming the images produced by the third camera so that the apparent optical axis of the third camera is perpendicular to a plane of a top surface of the object prior to determining a correlation between the first and third images.
Claim 24
Dependent Claim
28 words
The method of claim 19 comprising removing the line of light from the first and third images prior to determining a correlation between the first and third images.
Claim 25
Dependent Claim
69 words
The method of claim 22 wherein removing the line of light from one image comprises using a previous estimate of the motion of the object to locate a portion of a different image depicting an area corresponding to the location of the line of light in the one image and replacing an area including the line of light in the one image with the area from the different image.
Claim 26
Independent Claim
131 words
A system for measuring dimensions of cuboid objects, the system comprising: a camera assembly comprising first and second spaced apart digital cameras having a common field of view, the digital cameras rigidly coupled to one another; a projector spaced apart from the camera assembly, the projector mounted to project a line of light on an object in the field of view; and, a controller connected to receive a first image from the first camera and a second image from the second camera and configured to use data from the first image together with data from the second image in a triangulation calculation to determine a dimension of the object; wherein a distance between the first and second cameras is substantially less than a distance between the camera assembly and the projector.
Claim 27
Independent Claim
131 words
A system for measuring dimensions of cuboid objects, the system comprising: a camera assembly comprising first and second spaced apart digital cameras having a common field of view, the digital cameras rigidly coupled to one another; a projector spaced apart from the camera assembly, the projector mounted to project a line of light on an object in the field of view; and, a controller connected to receive a first image from the first camera and a second image from the second camera and configured to use data from the first image together with data from the second image in a triangulation calculation to determine a dimension of the object; wherein a distance between the first and second cameras is substantially less than a distance between the camera assembly and the projector.
Claim 28
Dependent Claim
29 words
The system of claim 24 comprising a conveyor adapted to move objects through the field of view and a sensor for determining a speed of motion of the objects.
Claim 29
Dependent Claim
29 words
The apparatus of claim 25 wherein the first and second cameras are displaced from one another in a direction generally parallel to a direction of motion of the conveyor.
Claim 30
Dependent Claim
29 words
The apparatus of claim 25 wherein the first and second cameras are displaced from one another in a direction generally perpendicular to a direction of motion of the conveyor.
Claim 31
Dependent Claim
40 words
The system of claim 25 wherein the sensor comprises a third camera and a controller, the third camera obtaining successive images of the conveyor and the controller adapted to determine a displacement for maximizing a correlation between the successive images.
Claim 32
Dependent Claim
37 words
The system of claim 28 wherein the projector projects light concentrated in a wavelength range and the first and second cameras comprise bandpass filters which pass light in the wavelength range and block light of other wavelengths.
Claim 33
Dependent Claim
14 words
The system of claim 29 wherein the third digital camera lacks a bandpass filter.
Claim 34
Dependent Claim
21 words
The system of claim 28 wherein the third digital camera is oriented to look directly down upon the conveyor from above.
Claim 35
Dependent Claim
37 words
The system of claim 24 wherein the projector projects light concentrated in a wavelength range and the first and second cameras comprise bandpass filters which pass light in the wavelength range and block light of other wavelengths.
Claim 36
Independent Claim
174 words
A method for measuring dimensions of cuboid objects, the method comprising: providing a cuboid object having a first face in a known plane; projecting a line of light onto a second face of the object, the second face opposed to the first face; obtaining, at first and second spaced apart cameras, first and second images of the line of light; and, determining a distance between the line of light and the known plane from the first and second images by using data from the first image together with data from the second image in a triangulation calculation; wherein the object is moving the method further comprises determining a speed of motion of the object by acquiring first, second and third images of the object, the second image including points corresponding to at least a portion of the line of light, determining a correlation between the first and third images and measuring a displacement between points on the object in the first and third images corresponding to the line of light in the second image.
Claim 37
Independent Claim
174 words
A method for measuring dimensions of cuboid objects, the method comprising: providing a cuboid object having a first face in a known plane; projecting a line of light onto a second face of the object, the second face opposed to the first face; obtaining, at first and second spaced apart cameras, first and second images of the line of light; and, determining a distance between the line of light and the known plane from the first and second images by using data from the first image together with data from the second image in a triangulation calculation; wherein the object is moving the method further comprises determining a speed of motion of the object by acquiring first, second and third images of the object, the second image including points corresponding to at least a portion of the line of light, determining a correlation between the first and third images and measuring a displacement between points on the object in the first and third images corresponding to the line of light in the second image.
Claim 38
Dependent Claim
18 words
The method of claim 33 wherein the first, second and third images are acquired by a third camera.
Claim 39
Dependent Claim
47 words
The method of claim 34 comprising transforming the images produced by the third camera so that the apparent optical axis of the third camera is perpendicular to a plane of a top surface of the object prior to determining a correlation between the first and third images.
Claim 40
Dependent Claim
28 words
The method of claim 33 comprising removing the line of light from the first and third images prior to determining a correlation between the first and third images.
Claim 41
Dependent Claim
69 words
The method of claim 36 wherein removing the line of light from one image comprises using a previous estimate of the motion of the object to locate a portion of a different image depicting an area corresponding to the location of the line of light in the one image and replacing an area including the line of light in the one image with the area from the different image.
Claim 42
Independent Claim
110 words
A system for measuring dimensions of cuboid objects, the system comprising: a camera assembly comprising first and second spaced apart cameras having a common field of view, the first and second cameras rigidly coupled to one another; a projector spaced apart from the camera assembly, the projector mounted to project a line of light on an object in the field of view; and a controller connected to receive a first image from the first camera and a second image from the second camera and configured to use data from the first image together with data from the second image in a triangulation calculation to determine a dimension of the object.
Claim 43
Independent Claim
110 words
A system for measuring dimensions of cuboid objects, the system comprising: a camera assembly comprising first and second spaced apart cameras having a common field of view, the first and second cameras rigidly coupled to one another; a projector spaced apart from the camera assembly, the projector mounted to project a line of light on an object in the field of view; and a controller connected to receive a first image from the first camera and a second image from the second camera and configured to use data from the first image together with data from the second image in a triangulation calculation to determine a dimension of the object.
Claim 44
Independent Claim
96 words
A method for measuring dimensions of cuboid objects, the method comprising: providing a cuboid object having a first face in a known plane; projecting a line of light onto a second face of the object, the second face opposed to the first face; obtaining, at first and second spaced apart cameras, first and second images of the line of light; and, determining a distance between the second face and the known plane from the first and second images by using data from the first image together with data from the second image in a triangulation calculation.
Claim 45
Independent Claim
96 words
A method for measuring dimensions of cuboid objects, the method comprising: providing a cuboid object having a first face in a known plane; projecting a line of light onto a second face of the object, the second face opposed to the first face; obtaining, at first and second spaced apart cameras, first and second images of the line of light; and, determining a distance between the second face and the known plane from the first and second images by using data from the first image together with data from the second image in a triangulation calculation.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2007-09-21 | 2008-03-22 | 2008-09-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2011-09-21 | 2012-03-22 | 2012-09-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2015-09-21 | 2016-03-22 | 2016-09-21 | $7700.00 | Window Closed / Lapsed |