TW202248627A - Cased goods inspection system and method therefor - Google Patents

Abstract

An inspection apparatus, for inspection of cased goods, includes at least one conveyor, at least one camera for capturing case image data of each of the cased goods advanced with the at least one conveyor past the inspection apparatus, and a processor configured to receive the case image data from the at least one camera. The processor is configured to characterize, from the case image data, a case exterior protrusion of the case good as a case flap in open condition, wherein the processor is configured to resolve the case image data and determine the case exterior protrusion is a coherent planar surface, and is programmed with a parameter array of physical characteristic parameters that describe case flap coherency attributes determinative of the coherent planar surface defining an open case flap condition.

Description

Packing goods inspection system and method thereof

Aspects of the disclosed embodiments relate to product inspection, and in particular a boxed goods inspection system and method thereof.

There is a need to improve the inspection system and method of packaged goods.

Typically, boxed goods inspection systems include LED (Light Emitting Diode) array (curtain) lighting. The LEDs in these arrays have considerable spacing in between (greater than 5 mm), so it only introduces a "sampled" image, rather than fully imaging the boxed goods. Other approaches use laser triangulation methods, which are fast, accurate and robust, but sensitive to reflective surfaces like shrink-wrap. Some box inspection systems employ image comparison to detect features of the box such as flaps, where several images of the box with known/predetermined configurations are used for feature detection. Other boxed goods inspection systems employ laser scanners to detect features of boxed goods such as flaps.

and

Note: Similar features have similar labels throughout the drawings. It has also been noted that references herein to the "top" and "bottom" qualifiers (and other spatial qualifiers) refer only to the orientation of the drawings as presented in this case and do not imply any absolute spatial orientation.

FIG. 1 illustrates an exemplary packaged goods inspection system 100 according to an aspect of an embodiment of the present disclosure. While aspects of the disclosed embodiments will be described with reference to the drawings, it is to be understood that aspects of the disclosed embodiments may be embodied in many forms. In addition, any suitable size, shape or type of elements or materials could be used.

One example of a cased shipment handled by the cased shipment inspection system 100 is a shrink-wrapped product 200, which includes a product container included in a shrink-wrapped package as shown in FIG. 2A , one or more product containers. array or product. Another example of a boxed good is a boxed product 210 (such as a cardboard box or other suitable shipping container), as shown in FIG. 2B , which encloses a product container or array of one or more product containers or a containerless product. in. The term "product" shall be understood herein to include any type of consumer product in any type of packaging such as (without limitation) sealed cartons, tote bags, open cartons, trays with or without shrink wrap, bags and pouches, etc. (ie, the term "product" and cased goods includes shrink-wrapped product 200 and boxed product 210). The dimensions of the products/cases 102 (referred to generally herein as products or cases) received by the case inspection system 100 (eg, input products) may vary between different types of products. For exemplary purposes only, typical dimensions (W x L x H) may be between about 4 in x 4 in x 2 in (about 10 cm x 10 cm x 5 cm) and about 25 in x 30 in x 30 in ( approximately 63 cm x 76 cm x 76 cm). Although the examples in FIGS. 2A and 2B are depicted as having a generally hexahedral shape, the product and/or product case may have any desired three-dimensional shape, such as cylindrical, curved, tapered, oval, etc. , and one or more surfaces on any side may be curved or sloped relative to the other side or another surface on the same side. As will be described in more detail below, one or more of the products 102 includes a flap that can be folded to close the opening of the product container. Aspects of the disclosed embodiments provide detection of at least those flaps that are in an open or half-open configuration.

Cased goods inspection system or apparatus 100 includes at least one input conveyor 110, at least one output conveyor 120, vision system 150, controller 199, and user interface 198 (see FIGS. 8-12 for example user interface 198 outputs) . The cased goods inspection system 100 forms (at least in part) or is included in an inbound conveyor system 195 for directing the cased goods 102 into the logistics facility 190, wherein at least one of the conveyors 110, 120 is assembled The state is to push the boxed goods 102 into the logistics facility 190. For exemplary purposes only, the cased goods inspection system 100 is in communication with at least one conveyor 110, 120 and receives cased goods 102 that arrive individually at the input conveyor 110 in any orientation and position, wherein the cased goods 102 come from The input conveyor 110 is diverted to the output conveyor 120 as described herein. The output of the case inspection system 100 includes various (quantity-related) measurements that characterize each case, eg, a case. Examples of quantity-related measurements include: "True Box", "Maximum Box", "Maximum Lug", "Orientation Angle", "Distance from One Side of Conveyor", Flap, Depression (e.g. inner bump), etc.

At least one input conveyor 110 is configured to advance cased goods 102 through cased goods inspection system 100 (also referred to herein as "cased goods inspection apparatus 100"). For example, at least one input conveyor 110 is one or more of a conveyor belt (e.g., a mat-top high-grip conveyor), a roller conveyor, or any other suitable product conveyance means configured to convey Incoming boxed goods 102 between equipment (eg, automated or otherwise) or warehouse workers (eg, humans). At least one input conveyor 110 is configured to move cased goods 102 into and through vision system 150 with minimal vibration and slip (e.g., below any suitable predetermined threshold for vibration and slip) , which may depend on the resolution of the vision system 150 components). The at least one output conveyor 120 is substantially similar to the at least one input conveyor 110 and conveys the cased goods 102 away from the vision systems 150, 170 to any suitable destination, including downstream of the cased goods inspection system 100 or a process Appropriate product handling equipment thereafter.

1 and 1A-1C, a vision system 150 is positioned (e.g., mounted), at least in part, around and near the conveyors 110 and/or 120 for viewing and measuring the The characteristics of the cased goods 102 (as described above) passing through the cased goods inspection system 100 . As described herein, the vision system 150 includes at least one camera (such as, for example, at least one sensor/imaging device 171 - 173 ) configured to capture items that are propelled through the boxed goods inspection using the at least one input conveyor 110 . Box image data of each boxed goods 102 in the system 100 .

According to aspects of the disclosed embodiments, the vision system 150 includes at least a flap inspection system 170 (also referred to herein as an "imaging system" or "inspection system"), which includes at least one sensor/imaging device 171-173 ( Referred to herein as sensors 171 - 173 ), are used to detect flaps (or cause detection of flaps), bumps, and/or depressions of packaged goods 102 . The sensor is any suitable sensor configured to detect/sense at least a flap, bump, and/or indentation of the boxed item 102, and includes, but is not limited to, a camera (for exemplary purposes only) Three are shown and it is understood that there may be more or less than three cameras), a laser inspection system, or any other suitable optical or acoustic inspection system for inspecting flaps of boxed goods 102 . The sensors 171-173 may be any suitable cameras, such as, for example, three-dimensional cameras, including but not limited to time-of-flight cameras or any suitable three-dimensional imaging cameras. In one or more aspects of the disclosed embodiments, sensors 171-173 are positioned adjacent to one or more of conveyors 110, 120 for detecting flaps, bumps, and and/or depressions, as will be described in more detail below. As seen in FIGS. 1A-1C , in one or more aspects of the disclosed embodiments, a flap inspection system 170 includes a laser, where each sensor 171-172 (only two cameras are shown in FIG. 1A - In 1C for demonstration purposes and it should be understood that more or less than two cameras can be provided) paired with lasers 172L, 173L (note: sensor 171 can also be paired with laser 171L, which is not shown in Figures 1A-1C for the sake of brevity). Lasers 171L, 172L, 173L are configured to emit a field of radiation that provides respective scan lines on boxed goods 102 , wherein the scan lines illuminate the outline of boxed goods 102 . Illumination (in one or more aspects) using the contours of the scanline facilitates (eg, through image recognition of case image data from sensors 172, 173) the flaps, tabs, and/or openings of cased goods 102 or sunken detection. In yet other aspects, one or more of the sensors 171-173 are paired with respective lasers, while other sensors 171-173 do not have associated lasers. In one or more aspects, lasers 171L, 172L, 173L are substantially similar to light sources 182, 183 described herein.

Vision system 150 may further include another imaging system (eg, contour detection system 180 , also referred to as a box inspection system or station) that is separate from and distinct from at least one sensor 171 - 173 of flap detection system 170 . The contour detection system 180 images the boxed item 102, which is imaged by at least one sensor 171-173 separate and distinct from the boxed item 102, for inspection of the boxed item in addition to detection of dented conditions. Contour detection system 180 may be substantially similar to U.S. Patent Application Serial No. 15/416,922, filed January 26, 2017 (and titled "Packed Goods Inspection System and Method," now U.S. Patent), the disclosure of which is It is incorporated herein by reference in its entirety.

The contour detection system 180 includes at least one sensor/imaging device 181 , 184 disposed adjacent to one or more of the conveyors 110 , 120 and configured to detect/sense the top and side contours of the products 102 . At least one sensor/imaging device 181, 184 of the contour detection system 180 is configured to capture images of the shadow of each cased item 102 being advanced through the case inspection station 100, as described herein. At least one sensor 181, 184 of the contour detection system 180 is separate from and different from the flap detection system 170, and the contour detection system 180 images the boxed goods 102 (separate from and different from the at least one sensor of the flap detection system 170). Detectors 171-173) are used for the inspection of the packaged goods 102 except for the detection of the unpacked flap. Here, the contour detection system 180 images the cases 102 for the identity of each case 102 (e.g., has a predetermined or expected identity for each case) and the relationship between each case 102 and the verified case 102. Compliant controller 199/processor 199P verification of (eg, predetermined or expected) bin size parameters.

According to an aspect of the disclosed embodiment, the profile detection system 180 includes a first light source 182 that emits a first sheet of light, e.g., a contiguous plane of substantially parallel/collimated light, in the small gap between the conveyors 110 and 120 inside the GP. For example, the first light source 182 may be placed above the conveyors 110 , 120 (as also shown in FIG. 1 ) or below the conveyors 110 , 120 . In one or more aspects, first light source 182 may be common to (i.e., shared between) both profile detection system 180 and flap detection system 170 (e.g., first light source may function as one of the lasers 172L, 173L, or vice versa).

The profile detection system 180 further includes a first camera system 184 positioned, for example, opposite the first light source 182 relative to the conveyors 110 , 120 . The first camera system 184 is arranged to receive parallel/collimated light emitted by the first light source 182 through, for example, the gap GP. For example, when the first light source 182 is positioned above the conveyors 110 , 120 , the first camera system 184 is positioned below the conveyors 110 and 120 . In other aspects, the orientation of the first light source 182 and the first camera system 184 may be rotated (as desired) about an axis defined by the direction of travel of the conveyors 110, 120 to maintain a distance between the light source 182 (e.g., The relationship between the light transmitter) and the camera system 184 (eg, light receiver).

The second light source 183 emits a second sheet of light, ie, a contiguous plane of substantially parallel/collimated light, over the small gap between the conveyors 110 and 120 . For example, the second light source 183 can be placed on one side of the conveyors 110, 120 (transmission of the parallel/collimated beam of the second sheet is substantially orthogonal to the connection plane of the parallel/collimated light of the first sheet of light) ). In one or more aspects, the second light source 183 can be common to (i.e., shared between) both the profile detection system 180 and the flap detection system 170 (e.g., the second light source can function as one of the lasers 172L, 173L, or vice versa).

The second camera system 181 is positioned accordingly (eg, opposite the second light source 183 ) to receive illumination from the second light source 183 , relative to the conveyors 110 , 120 . The second camera system 181 is configured to receive the parallel/collimated light emitted by the second light source 183 . For example, when the second light source 183 is placed on one side of the conveyor 110 , 120 , and the second camera system 181 is placed on the other opposite side of the conveyor 110 , 120 .

According to one or more aspects of the disclosed embodiments, at least one light source 182 or 183 may include a light shaper LS made of lenses or mirrors, which forms a collimated output beam. the light source is any suitable light source and may include, but is not limited to, one or more of lasers, light emitting diodes (LEDs), gas lamps, and any other device of electromagnetic radiation suitable for electromagnetic exposure of the target object, and Its reflection or transmission can be captured by a suitable imaging system which produces an image or virtual image of the illuminated target object.

The collimated output beams of light sources 182, 183 provide sheet(s) of parallel propagating light which (when obstructed by boxed goods 102) cast orthographic shadows to respective camera systems 184, 181 (with respective light sources 182, 181, 183 opposite) on the input window. In this regard, the camera systems 184, 181 receive incident collimated input beams output by respective light sources.

In the example shown, both camera systems 184, 181 include at least one camera 181C, 184C. Camera systems 184, 181 may also include mirrors 181M, 184M and diffusing screens 181D, 184D (referred to in the drawings as diffusers). Mirrors 181M, 184M are employed, for example, to reduce the footprint of the overall case inspection system by redirecting the sheet of light parallel to the conveyors 110,120. Diffuse screens 181D, 184D (which may be any suitable type of illumination diffuser) are examples of input beam shapers that spread the input beam by diffusing parallel light incident thereon from the respective light sources 182, 183, Such that the respective cameras 184, 181 (e.g., camera imaging arrays having desired predetermined widths defined structurally or by any suitable controller, such as controller 199, such that the arrays) can be viewed from the light emitted by the light sources 182, 183 The full width of the corresponding light sheet captures and digitizes the diffused light. As can be appreciated, the cameras 184, 181 can image cases and/or products within the full width of the light sheet (which, as can be further appreciated, can encompass the lateral boundaries of the conveyors 110, 120 and the height of the inspection system opening 101 h).

In order to reduce the light footprint or to be able to use a lower power laser-like light source relative to the folded plate inspection system 170 and the profile inspection system 180, smaller slices of collimated light can be used, with the ability to maintain continuity and cover larger Overlap of large surfaces. Any suitable alignment procedure may be used to realign the separated pieces into a single piece, for example by software of the controller 199 .

As described herein, at least one sensor/imaging device 171 - 173 of flap inspection system 170 is coupled to case inspection station 100 , separate from and distinct from at least one camera 181 , 184 . At least one sensor/imaging device 171-173 is configured to capture case image data 1400 of each cased item 102, in addition to case image data captured by at least one camera 181, 184, which is advanced through case inspection Station 100. In the examples shown in FIGS. 1 and 1A-1C , flap inspection system 170 weighs box image data from contour inspection system 180 or any other suitable data, as described in more detail herein. Here, flap detection system 170 is positioned downstream, relative to the direction of products traveling along conveyors 110, 120, from contour detection system 180 (e.g., product 120 passes through contour detection system 180, 170); however, in other aspects, the flap detection system 170 may be positioned upstream from the contour detection system 180. The relative positioning of the flap detection system 170 and the contour detection system 180 is such that the flap detection system 170 images one or more outsides of the boxed goods 102 (in one or more aspects, all visible outsides are not directly opposite ( For example) provided by the conveyors 110, 120), substantially simultaneously with the imaging of the cased goods 102 by the contour detection system 180, as will be described herein.

Referring to FIG. 1 , flap detection system 170 includes one or more platforms, columns, or other suitable supports disposed adjacent to conveyors 110, 120 and sensor/imaging devices 171-173 (while on one or more In one aspect, lasers 171L-173L) are disposed thereon. Note again that although three sensors 171-173 are depicted in FIG. 1 , in other aspects more or less than three sensors may be configured (such as, for example, two sensors depicted 1A-1C) to image all five visible outsides of cased goods 102 that are not positioned directly against the conveyors 110, 120. As the product passes through the flap detection system 170, the sensor/imaging devices 171-173 are configured relative to the conveyors 110, 120 to image any suitable number of surfaces of each cased load 102; however, in other aspects In this case, a single sensor/imaging device with appropriate mirrors or mirrors can also provide images of the appropriate number of surfaces of each packaged item 102 .

In FIG. 1 , sensors 171 - 173 are configured such that each sensor 171 - 173 images at least one or more respective outer sides of boxed goods 102 . For example, sensor 171 images the lateral sides (and the contours of the longitudinal and top sides) of containerized goods 102, sensor 173 images the top (and contours of the lateral and longitudinal sides) of containerized goods 102, and sensor 172 The angles are adjusted to image the lateral side, the top side, and the longitudinal side of the boxed goods 102 . In FIGS. 1A-1C , the sensors 172, 173 are angled relative to each other and arranged on opposite sides of the conveyors 110, 120 to image both lateral sides, both longitudinal sides, and the top (eg, two sensors image the five visible sides of the boxed item 102). In some aspects of the disclosed embodiments, the flap detection system is provided with any suitable lighting (eg, such as the laser/collimated light sources described above) that facilitates the movement of cased goods along the conveyors 110, 120 102 for imaging. In one aspect, the exposure (e.g., ISO and/or shutter speed) of the sensors/imaging devices 171-173 is such that the cased goods 102 moving along the conveyors 110, 120 appear stationary, and The resulting image of the cased goods 102 moving along the conveyors 102 is not blurred; while in other aspects, the "stop motion effect" of the cased goods 102 moving along the conveyors 110, 120 can be controlled by any suitable Flash lighting is produced.

As noted above, the sensors/imaging devices 171-173 may be any suitable sensor/imaging devices such as, for example, a time-of-flight camera or any other suitable imager capable of generating, for example, , 120 and the three-dimensional depth map or point cloud of each packaged goods 102 traveling. In FIG. 1 , the sensor/imaging device 172 is positioned adjacent to the conveyors 110, 120 to image at least the leading side 102F of the cased goods 102 (eg, relative to each container in the direction of travel along the conveyors 110, 120). Front or longitudinal side of box load 102 - Note: the term "front" is used herein for exemplary purposes only and any spatial term may be used). For example, the sensor/imaging device 172 is mounted to the post 170M in any suitable manner so as to face in a direction substantially opposite to the direction of travel along the conveyors 110, 120 to image images toward the sensor/imaging device 172. And the packing goods 102 of marching. A sensor/imaging device 173 is also mounted on the strut 170M and disposed above the conveyors 110, 120 to image a plan view (eg, , the "top" side is the side relative to the cased goods 102 on the conveyors 110, 120 - note: the term "top" is used herein for exemplary purposes only and any spatial term may be used). The sensor/imaging device 171 is mounted on any suitable surface adjacent the conveyors 110, 120 to image the lateral sides 102L of the cased goods 102 traveling along the conveyors 110, 120. Referring to FIGS. 1A-1C , a sensor 172 is mounted (in a manner similar to FIG. 1 ) to be positioned relative to the conveyors 110, 120 for imaging which includes one lateral side 102L1 of the cased goods 102, the top side 102T, and a perspective view of the boxed load 102 on the trailing or "rear" longitudinal side 102R. The sensor 173 is mounted (in a manner similar to FIG. 1 ) to be positioned relative to the conveyors 110, 120 for imaging including the opposite lateral side 102L2, the top side 102T, and the leading or front side of the cased goods 102. Perspective view of boxed goods 102 on longitudinal side 102F. Each of the sensor/imaging devices 171-173 is configured to generate an image of at least one respective side of the case 102, and (as can be appreciated) the number of cameras may depend on the particular case being inspected.

As described herein, at least one camera (e.g., sensor/imaging device 171-173) is configured to image each exposed case side 102T, 102F, 102R, 102L1, 102L2 of each cased load 102, utilizing at least one conveyor The detectors 110, 120 are advanced through the inspection apparatus 100 so that common image imaging from each imaging bin side 102T, 102F, 102R, 102L1, 102L2 is evident on each imaging bin side 102T, 102F, 102R, 102L1, 102L2 At least one of box side recessed condition (or inward variation) and box exterior protrusion. At least one sensor/imaging device 171-173 is configured to capture case image data 1400 of each cased item 102 that is advanced through the inspection apparatus 100 using the at least one conveyor 110, 120 such that the case image data is embedded in the At least one of a box-side recess 2300 (also referred to herein as an inward variation—see, e.g., FIG. On the exposed case sides 102F, 102R, 102T, 102L1 , 102L2 , and at least one exposed case side 102F, 102R, 102T, 102L1 , 102L2 is disposed in each exposed case-side orientation of the packaged goods 102 .

In other aspects, at least one sensor/imaging device 171-173 is configured to capture case image data 1400 of each cased item 102 that is advanced through the inspection apparatus 100 using at least one conveyor 110, 120, such that the box image data 1400 is embedded with a recessed condition (or inward variation condition), wherein the recessed condition is evident on at least one of the exposed box sides 102T, 102L, 102F, 102R (and in some aspects, as described herein, the bottom 102B ), and at least one exposed box side is configured in each exposed box side orientation of the boxed goods 102 . In addition to or instead of case exterior protrusion determination, the at least one exposed case side 102T, 102L, 102F, 102R imaged by the at least one sensor/imaging device 171-173 is configured such that the recessed condition (resolved from the The recessed condition on the case sides 102T, 102L, 102R, 102F) extends from at least one exposed case side 102T, 102L, 102R, 102F adjacent to the conveyor seat surface 110S, 120S on which the cased goods 102 rest.

The boxed goods inspection system 100 includes any suitable controller 199 (which includes any suitable processor 199P such that reference to the controller 199 performing or being configured to perform the work/functions described herein implies operation of the processor 199P) or any other devices or systems (local or remote) including computer readable media having non-transitory computer program code stored thereon, which configure controller 199 to record and analyze box image data from vision system 150 to compute Desired measurements or other suitable characteristics of boxed goods 102 (as described herein). Controller 199 is operatively coupled to at least one conveyor 110, 120 and communicatively coupled to at least one sensor 171-173, 181, 184 of vision system 150 in any suitable manner, such as through any suitable wired or Wirelessly connected to receive from at least one sensor 171-173 (see FIGS. 14A-14H for example box image data 1400 from sensors 171-173), 181, 184 (see FIGS. 5, 6, and 8-11 for bin image data from sensors 181, 184 (example bin image data).

NOTE: Controller 199 (e.g., via processor 199P) is configured such that box load inspection based on box load images from contour detection system 180 is parsed from at least one At least one of box side sag (also referred to as box side sag condition) and box opening flaps from box image data 1400 (see FIGS. 14A-14D ) for sensors 171 - 173 . The controller 199 is also configured to determine the location of the packaged goods 102 from the contour detection system 180 imaging data that is separate from and different from the case image data 1400 captured by the at least one sensor 171-173 of the case detection system 170. the presence of any case side depressions 2300 and any case exterior protrusions 220 (see FIGS. 2A and 2B and FIGS. 9-11 ); and resolve that at least one of the case side recesses and case exterior protrusions 220 is from a profile detection system separate from and distinct from 180 is the image of the fold plate detection system 170 at least one sensor 171-173 of the box image data 1400 of the respective box side depressions and open box flaps. In one or more aspects, the controller 199 is configured to extract the box image data 1400 from the at least one sensor 171-173 of the flap inspection system 170 (independent of the image data captured by the contour inspection system 180). (take the image of the boxed goods 102) to determine the existence of at least one of the box side depression and the box exterior protrusion 220.

Controller 199 is configured (in one or more aspects) to generate a common image of packaged goods 102 captured by at least one sensor 171-173 (see FIGS. 23B and 23C—for example, at least one Case image data 1400 of a common image of one of the sensors 171-173 or a combined image of more than one from at least one sensor 171-173) characterizes the case side indentation 2300 of the cased load 102 (see FIG. 23A, As will be described hereinafter) and at least one of the box exterior protrusion 220 is the box flap in the open condition. Here, at least one exposed case side 102F, 102R, 102T, 102L1, 102L2 imaged by at least one sensor 171-173 is configured such that the case side recess 2300 and at least one of the case flaps in the open condition ( Resolved from at least one of the case side recess 2300 and the case exterior protrusion 220 evident on the imaged at least one exposed case side 102F, 102R, 102T, 102L1, 102L2) extends from the at least one exposed case side 102F, 102R, 102T, 102L1, 102L2, adjacent to the conveyor seat surfaces 110S, 120S (FIG. 1) on which the cased goods 102 are located.

When the processor is configured to characterize at least one box top 102T or at least one box side 102L, 102R, 102F having a sunken condition from box image data 1400 of boxed goods captured by at least one sensor 171-173 At this time, the processor 199P is programmed to parse from the image data 1400 predetermined planar conformance characteristics from the case top 102T or case sides 102L, 102R, 102F (e.g., such as from expected case dimensions and case types, e.g., stock keeping units ( SKU), as described herein), an inward variation (or depression) of at least one case top 102T or at least one case side 102L, 102R, 102F. Processor 199P is configured to determine a physical characteristic from image data 1400 for each resolved inward variation presence, which describes a recessed condition of at least one case top 102T or at least one case side 102L, 102R, 102F.

Referring to FIG. 3, the operation of the boxed goods inspection system 100 will be described. Cased goods 102 arrive at conveyor 110 in any orientation and position. In one or more aspects, the position of the cased goods 102 on the conveyor 110 includes a distance or clearance from one side of the conveyor 110 . Figure 3 shows the product measurement procedure. Contour detection system 180 performs repeated image captures (FIG. 3, block 310) into image cache storage (such as that of controller 199 processor 199P), such as by input conveyor encoders or alternatively by stepper motor drive circuits (at least one of its propulsion conveyors 110 and 120) is triggered.

FIG. 4 shows a representative example, which may be referred to as a raw acquired image, obtained with a given encoder index value (using the imagers of the cameras of the camera system 181, 184), such as may be generated for four light sources (e.g. , as can be used for either light source 182, 183) and one camera system (eg, camera system 184, 181) implementation. The image comprises illuminated and non-illuminated (non-exposed) sub-areas of pixels 4GI, 4GV. The image analysis computer program algorithm does not take into account the complete capture area of the camera's image sensor in which pixels are not exposed. Instead, consider a specific sub-region 4GI, for example with a height 4H of 3 pixels and a full light-sheet width 4W. Fig. 5 shows the area under consideration 5GI (such as may correspond to these light sources), identified by the dashed rectangle representing the recorded image sub-area 5L, processed by the image analyzer. Figure 6 shows a detail of a particular region 6GI, enlarged to better illustrate the region considered by the image analysis algorithm.

For each acquired image (FIG. 4), the image analysis algorithm compares (FIG. 3, block 320) the pixel light intensities of pixels in the analyzed specific region 5h (FIG. 5) with those obtained from a comparable subregion sample (e.g., from Normalized intensity values obtained from 10 original baseline sample images). Referring to FIG. 3, the normalized baseline may be a rolling baseline, where at each image capture step 320 (where there are no underlying detections, as will be described), the oldest image in the sample is deleted from the record or erased and Replaced by the newly acquired original image (FIG. 3, block 322). The number of images used for the baseline sample can be modified. Normalized intensity values may represent ambient lighting levels, eg, changes in lighting conditions in the surrounding environment of the box inspection system, and the presence of dust, liquid residue or small debris on the optical receiver.

For purposes of illustration, using images acquired from camera system 184 located beneath conveyors 110 and 120, controller 199 verifies (FIG. 3, block 330) , whether several pixels in the considered portion of the acquired image recorded by the two cameras 184, 181 have an intensity drop of greater than (for example) about 40% (compared to the normalized intensity value), and which represent a relative Obtain a width of, for example, about 30 mm (about 1.2 in) or greater across the full width of the radiograph from which the image is captured. As can be appreciated, the width referred to herein as the threshold width for capturing the reduced intensity portion of the image can be set as desired based on environmental conditions. The reduced intensity width of the image portion corresponds to and is due to a reduction in spatial intensity caused by sustained (covering the duration of image acquisition) disruption and/or obstruction or obstruction of at least a portion of the input beam forming the illuminated sheet, such as Due to the object, it can be opaque or translucent (partially through the beam/sheet). In other words, the passage of the product, case and/or package through the sheet is directed at capturing at least part of the image width to produce what may also be referred to as a grayscale image. If this is the case, the controller considers a potential detection of a product or case (FIG. 3, block 332). The threshold for intensity drop (both the threshold width and the threshold intensity variation) can be modified as desired (eg, the intensity drop threshold can be about a 10% drop from the standard value). As can be appreciated, the two thresholds are set depending on the fraction of opaque or translucent material in the film that is irradiated, resulting in its destruction of the grayscale image, where such material is detectable and measurable, as will be further descriptor (and the threshold width may be about 5 mm or about 0.2 in). In contrast, a fully opaque material will reflect, resulting in a substantially complete blockage of illumination and thus the relevant portion of the graphic projected image.

The above procedural steps (e.g., FIG. 3, blocks 310-332) are repeated (FIG. 3, block 334) as long as several pixels of a given acquired image have an intensity drop greater than a predetermined threshold (which can also be expressed as an absolute intensity value threshold), eg, about 40%, and represents a width greater than a predetermined threshold width of about 30 mm (about 1.2 in) or greater; and the procedure stops when this condition is no longer true. Although this first condition is true (established by exceeding two thresholds), if the number of images satisfying this condition represents a potential product length of about 60 mm (about 2.4 in) or greater (as can be detected by an appropriate encoder Determine, which synchronizes the acquisition rate, identifying conveyor displacement and velocity (e.g., conveyor advance rate) to be related to or proportional to the acquired image and/or image frame), then the controller considers the boxed item 102 to be detected, or In other words, the confirmation detection is true (FIG. 3, block 336) (the potential box length for confirmation of the box can be set to be larger or smaller, such as a displacement of about 10 mm (about 0.4 in)) . In this case, controller 199 combines (using combiner 199PC of processor 199P (FIG. 1)) previously acquired upstream imagery, which represents, for example, a conveyor displacement of about 60 mm (about 2.4 in) (representative length Can be larger or smaller, for example, about 10 mm or about 0.4 in), before setting the image of the detection of the detected cased goods 102, for the aforementioned duration before and after the detection of the cased goods 102 (before and/or post-detection duration) of image sequences acquired during the construction (FIG. 3, block 340) of the composite connected complete combined images of the containerized goods 102 (and subsequently several images of the cased goods 102 detected Acquired representations, eg downstream images of a conveyor displacement of approximately 60 mm (approximately 2.4 in) after cased goods 102 detection from camera systems 181 and 184 are established) may be altered and need not be symmetrical. If the number of images satisfying the first and second conditions (i.e., thresholds and durations 330, 336) represent potential products of less than, for example, a width/length of about 60 mm (about 2.4 in), the controller It is established that its detection (FIG. 3, block 337) is a false detection, or that its detected case 102 is below the minimum acceptable length/width that the image capture process can normally sustain. The system is robust against noise or spurious signals such as falling debris.

As noted above, while the two conditions are established, the concatenated construction of the combined image (or virtual image) of scanned cased goods 102 continues beyond, for example, about 60 mm (about 2.4 in) until the maximum accepted product size is reached. In other words, at the controller 199 it is determined that, for example, the image captured by the camera system 184 (corresponding to the desired conveyor travel, e.g., about 60 mm or 2.4 in) (through this determination may be influenced by input from if there are two cameras 184, Influenced by the acquired image of 181) no longer meets the above threshold (for example, the considered part of the acquired image does not have a width greater than the set threshold (for example, about 30 mm (1.2 in), about 40% drop) and strength decrease), the controller 199 records the accepted boxed item size (such as from the recorded conveyor displacement, from the encoder that meets the image capture of its exceeding threshold value). Thus, the controller 199 (with appropriate programming) achieves raw image capture (for incorporation of the combined image into the scanned case) sustainable at another, e.g., about 60 mm (about 2.4 in), at After the maximum accepted product size is exceeded. It is understood that "combined image" (or virtual image) and "combined product image" correspond to the relative positions and orientations of the illumination sources, and include images of substantially orthogonal sides of the packaged goods, such as (for example, a or multiple lateral sides 102L) and top view images (eg, of top side 102T).

Once (and if desired), substantially consistent with controller 199, processor 199P constructs a composite image of the complete imaged cased goods as described, controller 199 proceeds through the process steps depicted in FIG. to calculate a variety of quantity-related measures. Referring to Figure 8, examples of quantity related measurements include: "real box", "largest box", "largest bump", "orientation angle", "distance from one side of conveyor".

"True box" measurements (FIG. 7, block 710) include dimensions of the best-fit shape, which can be determined based on (or obtained from) combined boxed goods images. For example, the shape used in this adaptation is a box with length, width and height. Alternatively, the shape employed may be a sphere with a center and a radius. Various other shapes may be employed in this fit, such as (but not limited to) cylinders, ovals, procones, and the like. Figures 9, 9A, 9B, and 9C illustrate examples of "true box" measurements (shown in Figure 9 with dotted lines on processed images 900A, 900B representing frontal and planar combined images, respectively), obtained freely Composite images acquired/combined/constructed during inspection of boxed goods 102, 200, 210 shown in Figures 1, 2A, and 2B. As can be seen in this example, any protrusions (such as protrusions 220 in FIGS. 2A and 2B or protrusions not yet identified as box flaps as shown in FIG. 9C ) and/or bumps 2400 seen by vision system 150 Not considered as such, when the "true box" size is judged. Here, the real box size includes a real box length RBL, a real box width RBW, and a real box height RBH. In an example, the label LAB on the cased goods 200 depicted in FIG. 2A represents the cased goods 102 and can be partially disassembled and detected in a constrained image and resolved to a best fit shape part of the decision to be ignored in the coverage evaluation. However, for example, opaque or translucent material packages embedded in composite materials are included in the real box measurements to the extent that they conform to the best fit shape.

The "outer box" measurement (FIG. 7, block 712) includes the dimensions of the smallest shape containing the complete product that can be determined based on (or obtained from) combined product images (such as can include protrusions 220 as seen by the vision system, Including cheap sale product section, labeling and packaging). For example, the shape employed in this adaptation is a box with length, width and height, which indicates the largest rectangular footprint of the cased goods 102 on the conveyors 110 , 120 . Alternatively, the shape employed may be a sphere with a center and a radius. Various other shapes may be employed in this adaptation, such as (but not limited to) cylinders, ovals, procones, and the like. Figures 9A, 9B, 9C, and 10 show examples of "outer box" measurements obtained from the boxed goods 102 shown in Figures 1, 2A, and 2B (shown as dashed lines on processed images) (See also, eg, boxed goods 200, 210) acquired/combined/constructed images (1000A, 1000B) during inspection, representing front/side and plan/top combined images, respectively. As can be seen in this example, any protrusions 220 and/or bumps 2400 imaged by the vision system 150 (including portions of such gray image projections indicative of translucent or opaque packaging) are taken into account and included in the "outer box" dimension when judged. Here, the outer box dimensions include outer box length OBL, outer box width OBW, and outer box height OBH. In an example, a partially disassembled label LAB ( FIG. 2A ) on a boxed item 102 (see, eg, boxed item 200 in FIG. 2A ) dominates the coverage area for determining the boxed item 102 .

The "maximum bump" measurement (FIG. 7, block 714) is obtained from the longest dimension of the cased goods 102 being inspected. Figure 11 depicts "maximum bump" measurements obtained during inspection of the cased goods 102 (see also, eg, cased goods 200, 210) depicted in Figures 1, 2A, and 2B /Combined/constructed images 1100A, 1100B (with a similar approach to that shown in Figures 9, 10). Using the determined orientation of the product, "largest bump" is the largest caliper measurement in width, length, and height. As will be described herein, expanding cased goods 102 may affect the handling, storage, and loading characteristics of cased goods 102 within logistics facility 190 . For example, bumps on one or more sides of the cased goods 102 may cause unstable stacking of the cased goods, such as when loading. Lugs on one or more sides of the cased goods 102 may also cause improper reorientation of the cased goods 102, such as on a case carousel of a storage and retrieval system, where the case carousel is configured to automatically Rotate or rotate the cased goods 102 to reorient the cased goods 102. Bumps on one or more sides of the cased goods 102 may cause wrong measurement of the cased goods 102 by the automated transport vehicle 190ATV of the logistics facility 190, which may further result in missed selections, improper cased goods 102 The transfer to the automatic transport vehicle 190ATV, and the wrong placement of the packaged goods. As will be described further below, maximum bump can also be measured separately from the maximum caliper measurements in width, length, and height to determine bump relative to adjacent edges of boxed goods 102 (see FIGS. 11A-11C ) to determine whether improper handling, storage, and loading characteristics exist in any given cased load 102. In one or more aspects, with respect to the largest bumps on the width axis and the largest bumps on the length axis (see FIG. 11B ), only the largest bumps on the length axis (e.g., ) can be tracked, and only the largest bump in the width direction (eg, on one of the longitudinal sides 102F, 102R of the box load 102) can be tracked. Here, the largest bumps in the length direction are assumed for the two lateral sides, and the largest bumps in the width direction are assumed for the two longitudinal sides 102F, 102R.

The product "orientation angle" is the angle of the main axis of the product relative to the direction of travel TD of the cased goods 102 on the conveyors 110,120. Figure 8 best depicts the non-zero product "orientation angle" determined when the box is employed at best fit (see also Figure 24, which depicts the zero product orientation angle for boxed item 102A and boxed item 102B non-zero product orientation angle). For exemplary purposes, the "orientation angle" measurement may be the principal axis when an ovoid shape is employed in the fits.

Referring to Figure 8, the "distance from one side of the conveyor" is determined to be the minimum distance obtained between the cased goods 102 and any intended conveyor side (expressed as based on the width of the light sheet, see Figure 6) .

It should be understood that aspects of the embodiments of the present disclosure are not limited to performing the steps shown in FIGS. 3 and 7 in the order shown. In one or more aspects, determination of measurements, and condition testing are performed in parallel, such as confirmation as the conveyors 110, 120 advance. The sequence of steps depicted in Figures 3 and 7 can illustrate that the coded logic determines the hierarchy of the network.

Once a substantial number of such measurements have been determined, the image analysis computer program of the controller 199 compares the measurements (FIG. 7, block 718) with the amounts provided (in FIG. 7, block 716) to the case inspection system 100. Values and Accepted Tolerances. For example, a programmable logic controller (PLC) (not shown) may provide at least some ratings and accepted tolerances for a given bin to be inspected by the inspection system. Depending on user/operator preference, "true box", "external box" or "largest bump" may be considered for accepting or rejecting boxed shipment 102 .

According to one or more aspects of the disclosed embodiments, as can be seen from the example raw image depicted in FIG. 4 , the recorded light intensity does not change within the acquired image. In order to establish a normalized baseline value of intensity as a basis for comparison or reference, the intensities of a select number (eg, about 10 sample images) of non-black pixels are considered. In one aspect, intensity values of approximately 33% of the median images (eg, compared to a selected number of sample images) are considered to establish a normalized value for pixel intensity. By doing so, signal noise, light interference, etc. are eliminated to reduce false packing detection or false measurement. The sample images that provide the basis for determination of normalized baseline values for intensities can be updated, refreshed, on a rolling basis, as previously described to account for environmental variability, debris on the aforementioned EM sources, and/or vision system components , and so on caused by surrounding changes.

By using the procedure described above, the vision system 150 can automatically compensate for debris etc. present on the viewfinder panels of the camera systems 181,184. When this occurs, the original constructed/combined image shows a narrow line of constant pixel intensity 1200D, as shown within seam line 1200A in FIG. 12 . Upon detection of a narrow line of pixels, an alert may be sent to the operator/user of the case inspection system 100 (such as through the user interface 198) to alert the need to clean the viewing window. Here, due to the normalization of the light intensity program described above, these residues can be gradually reset or removed by the processor 199P of the controller 199 free image processing algorithm in several iterations (encoder steps , stepper motor steps, seconds, etc.), thereby minimizing the impact on the operation of the case inspection system 100 .

In one aspect, the contour detection system 180 communicates its decision (accept or reject) (FIG. 7, blocks 720A and 720B) and the various measurements taken to, for example, the user interface 198 for subsequent use by binning. The user/operator of the cargo inspection system 100 uses (FIG. 7, block 722). For example, at least the conveyors 110, 120 may be operated in any suitable manner to retrieve or discard rejected-case goods and/or levers may be actuated to divert rejected-case goods to any suitable "rejected product" conveyor. In other aspects, the large "orientation angle" may be reduced by actuating any suitable component of the case inspection system 100, such as a guide rail or other product reorientation mechanism. In yet other aspects, the conveyors 110, 120 can be reversed so that the rejected case 102 can be rescanned. In other aspects, profile detection system 180 communicates its decision (accept or reject) and one or more of the various product measurements taken (e.g., product size, orientation, etc.) to flap detection system 170 to facilitate folding. Plate assay, as described in the text. In one or more aspects, user interface 198 receives one or more of the above-described information from contour detection system 180 and information from flap detection system 170 (as described herein).

Referring again to FIGS. 1 and 1A-1C and FIGS. 13A-13F , flap detection system 170 and contour detection system 180 are configured to operate in parallel and substantially simultaneously with each other, where both are integrated into boxed goods inspection system 100 middle. Flap detection system 170 is configured to detect one or more of open flaps, bumps, and indentations that may not otherwise be detected by contour detection system 180 as protrusions or case exterior protrusions 220 . The flap inspection system 170 inspects the flap by modeling the flap as a substantially uniform planar surface 1410 (see FIGS. 14A-14D ), wherein the flap has a shape similar to (eg, corresponding to) the flap as defined by, for example, the contour detection system. 180 The determined length/size of the corresponding product/box 102 has the same length/size. Sections or small flaps that are only a portion of the length of the flap or the side of the boxed item to which the section or small flap is attached may not be recognized as open flaps and may be listed in the "True Box-External" section above. detected by the contour detection system 180 under the "box" criterion. As will be described herein, the flap detection system 170 is configured to detect flaps on any outside (e.g., top, bottom, front (e.g., leading longitudinal side), rear (e.g., trailing longitudinal side) ), and lateral sides) on the flaps, projections, and/or depressions, including flaps attached to the product/case underside (eg, the bottom side of the product on the conveyor 110, 120).

As noted above, the flap detection system 170 imaging of the outside of the cased load 102 (as described above) is substantially simultaneous with the imaging of the outside of the cased load 102 using the contour detection system 180 . For example, the imaging of the outside using the flap detection system 170 is substantially simultaneous with the recording (by the processor 199P) of the dimensions of the boxed goods from the case image data obtained using the contour detection system 180 (see FIGS. 5-6 ). occurs in which the processor 199P resolves imaged cased goods into individual stock keeping units or SKUs (e.g., case identities with known dimensions stored in memory accessible by the processor 199P) and converts any case The outer protrusion 220 is identified as an open flap. Here, both the flap detection system 170 and the contour detection system 180 substantially simultaneously image the cased goods 102 as they pass through the cased goods inspection system 100, wherein the time it takes for the cased goods to pass through the cased goods inspection system 100 is On the order of about 0.1 second to about 0.01 second. For example, in one or more aspects in which the flap detection system 170 has no laser exposure, the illumination of the cased goods by the contour detection system 180 can be coordinated with the imaging by the flap detection system 170 such that by There is a slight offset between the illumination of the cased goods 102 by the contour detection system 180 and the imaging of the cased goods 102 by the flap detection system 170 to avoid distortion when the cased goods 102 are imaged by the flap detection system 170 However, it has been noted that for the time frame (e.g., on the order of about 0.1 seconds to about 0.01 seconds) for the cased goods 102 to pass through the cased goods inspection system 100, both the flap detection system 170 and the contour detection system 180 The imaging of the containerized goods 102 is substantially simultaneous. In one or more aspects, where flap detection system 170 includes illumination (such as from lasers 171L-173L), the illumination of flap detection system 170 may be substantially greater than the illumination of cased goods 102 by contour detection system 180. are continuously (or periodically—eg, opened and closed at predetermined intervals) pulsed simultaneously so that the imaging of the cased goods 102 by both the flap detection system 170 and the contour detection system 180 is substantially simultaneous . Note: In one or more aspects, one or more of lasers 171L-173L have a fixed or predetermined orientation such that scanning/imaging of cased goods 102 by flap detection system 170 is subject to 110, 120 is affected by the movement of the boxed goods; although in other aspects, one or more of the lasers 171L-173L is movable relative to the conveyors 110, 120, so that by the installation of the flap detection system 170 The scanning/imaging of case loads 102 is effected by one or more lasers 171L-173L and is independent (or decoupled) from the movement of case loads along the conveyors 110,120.

As described herein, the contour inspection system 180 analyzes the case inspection characteristics of the boxed goods 102 described above, wherein at least some of the flap detection, dent detection, and bump detection are performed by the flap detection system 170 . Similarly, the flap inspection system 170 resolves at least a portion of the flap inspection, dent inspection, and bump inspection, where the box inspection characteristics are resolved by the contour inspection system 180 . As will be described below, the controller 199/processor 199P is configured so that when confirmed (i.e., from image data obtained from the contour inspection system 180), the respective boxed goods 102 have the expected box shape; The controller 199/processor 199P judges from other image data (that is, from the folded plate detection system 170) the consistency of the matching characteristics of the respective boxed goods 102 and the predetermined box form, so as to facilitate boxing in the logistics facility 190 Handling, storage and loading of cargo 102 . As will be described in more detail herein, predetermined box form fit characteristics inform a predetermined assembly space or location at logistics facility 190 (e.g., storage space or other holding location for storage array 190SA, payload rack for automated transport vehicle 190ATV) , the pallet loading build position in the pallet build in the logistics facility 190, etc.) the assembly acceptance of the individual boxed goods 102. As described herein, in one or more aspects, the predetermined box form fit characteristic is an inward projection or depression (relative to flat box side).

In one or more aspects, boxed goods contour inspection and flap inspection (including dent inspection, and bump inspection) may be performed independently of each other but substantially simultaneously. For example, the contour inspection system 180 is not hindered by the condition of the flaps, dents, and/or bumps of the boxed goods 102, and is independent of flaps, dents, and/or bumps obstructing/outside of the box to the flap detection The system 170 sensors 171-173 blockages to resolve case inspection characteristics (for boxed goods that meet the inspection criteria of the contour inspection system 180).

Although the flap detection system 170 can be initiated from the contour inspection system 180, it resolves the box exterior 220 (FIGS. 2A and 2B) of the cased goods 102 that accept/pass the contour inspection criteria (i.e., do not meet the cased goods Boxes for contour inspection criteria are rejected in any appropriate manner, such as by switching to a reject conveyor, removed by trained personnel, etc., as described in the text), but determination of flaps, bumps, and depressions It is made by the flap detection system 170 . While bumps on the sides of boxed goods 102 can be determined by both the flap detection system 170 and the contour detection system 180, the flap detection system 170 can provide information related to case handling (e.g., by automated transport vehicle 190ATV, loader 190P). , etc.) and case placement (e.g., on pallets, in storage array 190SA, etc.) Inside. Suitable examples of storage and retrieval systems in which aspects of the disclosed embodiments may be deployed include, but are not limited to, those described in the following patent: Published October 13, 2020 US Patent No. 10800606 (Title "Material Handling System Using Automatic Transfer and Transport Vehicles"), US Patent No. 10556743 (Title "Storage and Retrieval System") published on February 11, 2020, April 28, 2020 U.S. Patent No. 10633184 (case title "Replenishment and Order Fulfillment System") published on October 25, 2016 (case title "Pickface Constructor for Storage and Retrieval System") and U.S. Patent No. 9475649 published on October 25, 2016 "), U.S. Patent No. 10106322 issued on October 23, 2018 (title "Bot Payload Alignment and Sensing"), and U.S. Patent No. 10703585 issued on July 7, 2020 (title "Pallet Construction System ”), and U.S. Patent No. 10781060 issued September 22, 2020 (“Storage and Retrieval System Transporter”), the disclosures of which are incorporated herein by reference in their entirety.

As an example, with regard to the detection of the condition of the flaps, for boxed goods 102 which are acceptable to the contour inspection system 180, and using the determined case exterior protrusion 220 (i.e., determined from the contour inspection system 180), the controller 199 utilizes the sensors 171 - 173 of the flap detection system 170 to initiate imaging of the boxed goods 102 . When the flap detection system 170 determines that the outer protrusion 220 of the box is an open flap, the controller 199 identifies it with one of the boxed goods 102 (for example, the boxed goods identification number shown in Tables 1 and 2 as described herein) ) record the flap condition in any suitable memory/database (note: cased goods 102 remain accepted by the contour inspection system 180) for use by any suitable cased goods handling equipment (e.g., loading Disposal of boxed goods 102 from a machine 190P, a robotic arm, an automated transport vehicle 190ATV, etc.). When the folded plate detection system 170 determines that the outer protrusion 220 of the box is not an open folded plate, the controller 199 may not process the box image data 1400 from the sensors 171-173 of the folded plate detection system 170 (see example image data in FIGS. 14A-14H ). ). In one or more aspects, controller 199 may initiate flap detection system 170 for inspection of boxed goods 102 via sensors 171-173 when contour inspection system 180 does not detect case exterior protrusion 220. imaging, which is substantially simultaneously with the inspection of the boxed goods 102 by the contour inspection system 180, wherein the flap detection system 170 images the sides of the boxed goods 102 to detect significant differences in each (or one or more) of the boxed goods 102 a) external protrusions on the visible side to verify the contour inspection system's findings regarding the presence or absence of case external protrusions 220 (note: boxed goods remain accepted by the contour inspection system 180).

As described herein, the flap detection system 170 is configured (using at least one sensor 171-173) to image all (five) visible/non-positioned sides of the cased load 102 (i.e., not disposed on the conveying side). 110, 120 and the five sides visible to sensors 171-173). At least one sensor 171-173 is configured to image each exposed case side 102T, 102L, 102R, 102F of each cased good 102 that is advanced through the cased goods inspection system 100 using at least one conveyor 110, 120. , with the case exterior protrusion 220 evident on each imaged exposed case side 102T, 102L, 102R, 102F. In one or more aspects, case image data 1400 (see example image data of FIGS. 14A-14H ) captured by sensors 171 - 173 of each cased item 102 represents the respective case exterior 102E ( FIG. 1 ) of each exposed box side 102T, 102L, 102R, 102F. In one or more aspects, case image data 1400 embodies case exterior protrusions 220, wherein case exterior protrusions 220 are evident on at least one exposed case side 102T, 102L, 102R, 102F, and the at least one exposed case side 102T, 102L, 102R, 102F are disposed in each exposed box side orientation of boxed goods 102 (eg, box image data 1400 identifying the side on which the flap was detected and/or the orientation of the flap). In one or more aspects, the imaged exposed case sides 102T, 102L, 102R, 102F are configured such that the open case flaps 1300 (see FIGS. 13A-13F ), resolved from the , 102L, 102R, 102F on the outside of the case protrusions 220, extending from the exposed case sides 102T, 102L, 102R, 102F, adjacent to the conveyor seat surface CSS on which the cased goods 102 are located (see FIG. 13E ).

13A-13F illustrate an example open flap configuration for which the flap detection system 170 is configured to detect. FIG. 13A shows a lateral side view of a boxed load 102 in which a leading edge flap 1300TA attached to (eg, hinged at) the edge of the top 102T is partially open at an angle α. Angle α is shown here as acute, but may be any angle in the range from about 1° to about 270°. 13B is a lateral side view of the containerized cargo 102, wherein the flap 1300TA on (or hinged to) the leading edge of the top 102T opens at an angle α, and the flap 1300TA on (or hinged to) the trailing edge of the top 102T. Plate 1300TV is at about 90° relative to top 102T opening. 13C is a lateral side view of the containerized cargo 102, wherein the flap 1300FA at (or hinged to) the leading edge of the top 102T is at an angle β, and the flap 1300FA at (or hinged to) the trailing edge of the top 102T. Plate 1300RH is at an angle Θ or about 180°. Here angle β is shown as the reflection angle and angle θ is shown as approximately 180°; however, in other aspects, angles β, θ may each range from about 1° to about 270°. Figure 13D is a lateral side view of a boxed load 102 with the leading and trailing edges 1300TA1, 1300TA2 each at a respective angle α1, α2 relative to the top, wherein the respective angles may range from 1° to about 270°. 13E is a lateral side view of the containerized cargo 102 wherein the flap 1300BA hinged at the leading edge of the bottom 102B of the containerized cargo 102 is hinged at the bottom 102B of the containerized cargo 102 at an angle β2 relative to the opening of the bottom 102B. The flap 1300BR at the trailing edge is at an angle θ2 of about 180º with respect to the bottom opening. Here angle β2 is shown as the reflection angle and angle θ2 is shown as approximately 180°; however, in other aspects, angles β, θ may each range from about 1° to about 270°. 13F is a plan view of the top 102T of the boxed load 102 with the flaps 1300VR on the lateral side edges of the rear or trailing side 102R of the boxed load 102 at an angle α3 relative to the rear 102R opening. Angle α3 is shown here as an acute angle, but may be any angle in the range from about 1° to about 270°. As noted above, FIGS. 130A-130F are non-limiting illustrative examples of flap orientations that flap detection system 170 is configured to detect. As can be appreciated, the products 102 shown in FIGS. 13A-13D may have any orientation on the conveyors 120, 110 such that the hinged sides of the flaps extend in a generally transverse direction relative to the conveyors 120, 110. Either extend in a generally longitudinal (ie, along the direction of travel of the conveyor) orientation relative to the conveyor 120, 110 orientation, or have any other orientation in between.

Still referring to FIG. 1 and also to FIGS. 13A-13F and 14A-14H, and as noted above, the flap detection system 170 includes at least one sensor/imaging device 171-173 configured to be detected by the at least one sensor The imaging devices 171-173 capture the product/case image data 1400 of each cased goods or products 102 pushed by the conveyors 110, 120 (refer to the example image data in FIGS. 14A-14H ). At least one sensor/imaging device 171-173 captures image data 1400 at any suitable resolution to enable flap determination, as described herein. For exemplary purposes only, the image resolution provided by the at least one sensor/imaging device is about 3 mm (about 0.1 in) in the X direction (e.g., substantially parallel to the direction of product flow along the conveyors 110, 120 direction), about 1.5 mm (about 0.05 in) in the Y direction (e.g., substantially perpendicular to the direction of product flow along the conveyors 110, 120, in the plane defined by the product support surfaces of the conveyors 110, 120 ), and about 1.5 mm (about 0.05 in) in the Z direction (eg, a direction substantially perpendicular to the product support surface CSS of the conveyors 110, 120). In other aspects, the resolution in one or more of the X, Y, and Z directions may be greater or less than those described above.

As mentioned above, the controller 199 (including its processor 199P) is coupled to the conveyors 110, 120 and is communicatively coupled to at least one sensor/imaging device 171-173 to receive data from at least one sensor/imaging device 171-173. Box image data 1400 of imaging devices 171-173. Here, triggering of the at least one sensor/imaging device 171 - 173 is achieved in the manner described above, such as by the contour detection system 180 , or in a manner substantially similar to that described above for the contour detection system 180 . In one or more aspects, flap inspection system 170 performs one or more image captures into an image cache (such as of controller 199, processor 199P), wherein the image captures are encoded by the conveyor or alternatively by a stepper motor drive circuit that advances at least one of the conveyors 110, 120. In other aspects, image capture may be accomplished in any suitable manner (such as using a motion sensor, etc.).

As will be described herein, the controller 199 is configured (e.g., via any suitable non-transitory computer program code) to project the case exterior 220 of the cased goods 102 from the case image data 1400 (see FIGS. 2A and 2B ). Characterized as flaps 1300TA, 1300TA1, 1300TA2, 1300TV, 1300FA, 1300RH, 1300BA, 1300BR, 1300VR (commonly referred to as flaps or box flaps 1300) in the open state (see, e.g., FIGS. 13A-13F ) ( For example, open box flaps). Controller 199 (through processor 199P) is configured to parse box image data 1400 and determine box exterior protrusion 220 to be a uniform flat surface 1410 . Processor 199P is programmed with a parameter array of physical property parameters 199A (FIG. 1 - also referred to herein as parameter array 199A), which describe box flap conformity properties, which determine a uniform flat surface 1410 defining an open box flap condition. Processor 199P is configured to, for each determined uniformly planar surface 1410, generate from box image data 1400 (e.g., using any suitable computer code implementing its generation) physical property array 199C, and apply parameter array 199A to the physical property Characteristic array 199C is an open-box flap with analytically uniform planar surface 1410, such as those depicted in Figures 13A-13F and 14A-14H. Here, the physical property array 199C describes the uniform flat surface as a box flap, and based on the parameter array of the physical property array 199A, it is determined that the box flap is in an open flap state.

Processor 199P is configured (in addition to or instead of analyzing open-box flap conditions) to parse box image data 1400 and determine that at least one box top 102T or at least one box side 102L, 102R, 102F has an inward variation (i.e., sunken). Processor 199P is programmed with a parameter array of physical property parameters 199A describing inward variation properties that determine the inward variation that defines the dishing condition. Processor 199P is configured to, for each determined inward variation, generate physical property array 199C from box image data 1400 and apply parameter array 199A to physical property array 199C to resolve the inward variation as a sink condition. Although parameter array 199A and physical property array 199C are described as including both flap and recess properties, in other aspects there may be separate parameter and physical property arrays for each of flap and recess properties.

A parameter array of physical property parameters 199A (also referred to herein as parameter array 199A—see FIG. 1 ) is programmed into controller 199 and is accessible by processor 199P. The parameter array of Physical Property Parameters 199A describes one or more box flap conformity properties or characteristics of a conforming plane that are determined and described relative to, for example, boxed item dimensions (from contour detection system 180 as determined by controller 199 The uniformity of the plane (eg, uniform planar surface 1410 ) of the length, width, and height of the individual cased goods received. The uniform planar surface 1410 defines the unpacked flap condition and includes any suitable physical characteristics of a given boxed cargo/product configuration and/or flap configuration. The uniform plane or uniform flat surface 1410 depends on the physical characteristics and is resolved through any suitable image processing by the controller 199, where the controller 199 determines (e.g., from one or more of the contour detection system 180 and the flap detection system 170 ) the presence or absence of box external protrusion 220 (FIGS. 2A and 2B), and then determine whether the box external protrusion is a consistent plane based on the physical properties of the consistent plane. For example, image data from flap detection system 170 is processed to determine whether coincident planes converge to define edges having at least one of box sides (eg, top, lateral, and longitudinal sides). When it is determined that there is an edge with at least one of the sides of the box and the physical characteristics or parameters of the physical characteristic array 199C are satisfied, the controller 199 determines that the opening flap exists and records this with the identity of the respective boxed goods 102 The flaps are opened for further processing of the individual boxed goods 102 .

In the example provided herein, the physical characteristics or parameters of the physical characteristic array 199C include five parameters (as described below), but it is understood that in other aspects more or less than five parameters may be employed in Judgment of the condition of the folded plate. These parameters are applied to each of the visible sides (e.g., top 102T, longitudinal sides 102, 102R, and lateral sides 102L) of containerized cargo 102 for determination of the condition of the flaps for each side, wherein the condition of the flaps The records can be related not only to the identity of the respective containerized goods but also to the side of the respective containerized goods on which the flaps are present. Knowing on which side the flap is present facilitates the further processing of the individual boxed goods by automated equipment or the decision of the rejection of the boxed goods.

It has been noted that the physical properties of physical property array 199C and parameter array 199A are properties of cased goods 102 that are different from those of cased goods 102 imaged by contour detection system 180 (as described above). For example, referring also to FIGS. 15-20 , parameter array 199A and physical property array 199C each include (but are not limited to) five threshold parameters (again, more or less than five may be employed), which are:

The minimum opening angle of the flap (e.g., the minimum angle α _MH from the horizontal edge of the boxed goods 102 and the minimum angle α _MV from the vertical edges of the boxed goods 102 - see Figures 15 and 16),

The minimum flap depth MFD relative to the base of the flap (e.g. the distance from the hinged side HS or base of the flap to the opposite free side FS of the flap - see Figure 18), in some aspects this parameter can be expressed as the ratio,

Minimum flap length MFL to product box length PBL ratio (e.g. MFL/PBL) (see Figure 17),

Minimum product box length (or width) plus flap L (for example, L is total length MPBLF of product with open flap 1300 minus product box length PBL - see Figure 19), note: minimum product box length (or Width) is a function of the minimum angle α _MH from the horizontal edge of the containerized goods 102 and/or the minimum angle α _MV from the vertical edges of the containerized goods 102, and

Minimum product box height plus flaps BH (e.g. BH is total product height MPBHF minus product box height PBH with flaps 1300 - see Figure 20), note: minimum product box height is from boxed load 102 A function of the minimum angle α _MH of the horizontal edge of the container and/or the minimum angle α _MV of the vertical edge of the packaged goods 102.

The detection system 170 is configured to reject the boxed shipment 102 when one or more of these parameters/thresholds are exceeded. In one or more aspects, flap detection system 170 is configured to reject boxed load 102 when any or all of the following are exceeded: minimum flap opening angles α _MH , α _MV , minimum flap depth MFD, the ratio of the minimum flap length MFL to the product box length PBL, and the minimum product box length (or width) MPBLF with the flap (or the minimum product box height MPBHF with the flap - depending on whether the flap is located on the product) vertical or horizontal side). In yet other aspects, the flap detection system 170 is configured to reject the boxed load 102 when any or all of the following are exceeded: minimum flap opening angles α _MH , α _MV , minimum flap depth MFD, The ratio of the minimum flap length MFL to the product box length PBL, and the minimum product box length (or width) MPBLF with the flap (MPBLF depends on the minimum opening angle α _MH , α _MV ), and the minimum product with the flap Box height MPBHF (MPBHF depends on minimum opening angle α _MH , α _MV ). The rejected case 102 can be removed from the conveyor and/or the operator can be notified of the rejection through the user interface 198 , in a manner substantially similar to that described above with respect to the contour detection system 180 .

For demonstration purposes only, the minimum opening angle of the flap α _MH , α _MV is about 15º, the minimum flap depth MFD is about 20 mm (about 0.7 in), the ratio of the minimum flap length MFL to the product box length PBL is about 50 %, the minimum product box length (or width) MPBLF plus the flap is about 20 mm (about 0.7 in), and the minimum product box height MPBHF plus the flap is about 20 mm (about 0.7 in). In other forms, the minimum opening angle of the flap α _MH , α _MV , the minimum flap depth MFD, the ratio of the minimum flap length MFL to the product box length PBL, plus the minimum product box length (or width) MPBLF of the flap , and the minimum product box height MPBHF with flaps can be greater or less than the above.

As described herein, flap detection system 170 and contour detection system 180 operate in parallel, with at least some information (case image data) being shared between the systems. For example, in order to determine whether at least some of the above parameters are exceeded, the profile detection system 180 transmits information about the physical characteristics of any given case (e.g., length, width, height, orientation on the conveyors 110, 120, and in some state Existence of box external protrusion 220) to the flap detection system 170, so that the flap detection system 170 determines whether the parameter/threshold is exceeded. For example, referring to FIGS. 1 and 21 , in operation, a stream of products 102P1 , 102P2 , 102P3 is moved along conveyors 110 , 120 through contour detection system 180 and flap detection system 170 . As each cased item 102P1, 102P2, 102P3 passes through the profile detection system 180, the profile detection system 180 detects product characteristics (e.g., length, width, height on the conveyor) of each of these cased items 102P1, 102P2, 102P3 , protrusion, orientation, etc., as described herein), and transmit at least some of the detected information to the flap detection system 170 . For example, the folded plate detection system 170 can use the length, width, height, and orientation of each packaged goods 102P1, 102P2, 102P3, combined with the image data 1400 captured by the folded plate detection system 170, to determine the open folded plate existence. Flap detection system 170 may also employ any detection of protrusions by contour detection system 180 to identify relevant areas for respective boxed goods 102P1, 102P2, 102P3 on which open flaps may be present.

Referring also to FIGS. 14A-14H , the physical properties obtained by the folded plate detection system 170 from the profile detection system 180 are compared (in one or more aspects) with the image data captured by the folded plate detection system 170 , To, for example, confirm or verify the position of each product in the product flow (e.g., the products pass through the flap detection system 170 in the same order as they passed through the contour detection system 180), and determine which products have passed through the contour detection system 180 Suitability for storage, handling and loading in logistics facility 190 (FIG. 1). The physical characteristics obtained by profile inspection system 180 may also be employed by flap inspection system 170 to verify at least some of the physical characteristics of products 102P1, 102P2, 102P3, as determined by flap inspection system 170 from image data 1400.

Referring to FIG. 14A , image data 1400 captured by the flap inspection system 170 is depicted. For purposes of illustration, the image data 1400 depicted in FIG. 14A is a plan or top view of the boxed item 102P1. Here, the image data is point cloud data, but may be any suitable image data to enable image analysis for detecting features of packaged goods/products. In this example, the flap detection system 170 determines (via any suitable image processing algorithm/program) its protrusions or case exterior protrusions 1450, 1451 (which may have been identified by the contour detection system 180 as case exterior protrusions but were not identified is the flap) is a uniform planar surface 1410 and identifies these box exterior protrusions 1450, 1451 as the flaps 1300A, 1300B. The flap detection system 170 is based on the image data 1400 to establish a physical characteristic array 199C (see FIG. 1 , Table 1 and Table 2 below) of the packaged goods 102P1, wherein the physical characteristic array 199C includes, for example, the flap angle α _VD (from vertical side of the product) and the length of the flap L _D (from the vertical side). The controller 199 compares the data in the physical property array 199C with the corresponding data in the parameter array 199A to determine whether any thresholds/parameters in the parameter array 199A are exceeded. For example, in FIG. 14A, the flap angle α _VD may be greater than the minimum angle α _MV , while the length LD of the flaps 1300A, _1300B is smaller than the length L. Here, based on the insight that at least these two parameters when compared with the corresponding values of parameter array 199A (and if more than one of the following are exceeded, the case is rejected: minimum opening angle α _MH of the flap, α _MV , the minimum folding depth MFD, the ratio of the minimum folding length MFL to the product box length PBL, the minimum product box length (or width) L with the folding plate, and the minimum product box height BH with the folding plate), loading Case load 102P1 is acceptable and not rejected (eg, depending on whether other parameters are exceeded and/or how many and which parameters are considered in the rejection decision).

FIG. 14B is another example illustration of image data 1400 captured by the flap detection system 170 . For purposes of illustration, the image data 1400 depicted in FIG. 14B is a lateral side view of the boxed item 102P2. Here, the image data is point cloud data, but may be any suitable image data for implementing image analysis for detecting product features. In this example, flap detection system 170 determines (via any suitable image processing algorithm/program) its protrusion or case exterior protrusion 1452 (which may have been identified by contour detection system 180 as case exterior protrusion 220 but not as Flap) is a uniform flat surface 1410 and identifies the case exterior protrusion 1452 as a flap 1300 (eg, the flap hinged to the bottom side 102B of the boxed item 102P2). The flap detection system 170 establishes a physical property array 199C ( FIG. 1 ) of the boxed goods 102P2 based on the image data 1400 , wherein the physical property array 199C includes at least a flap length _{LD and a flap angle α VD .} For example, in FIG. 14B , the flap angle α _VD may be greater than the minimum angle α _MV , and the length L _D of the flap 1300 is greater than the length L. Here, based on the insight that at least these two parameters when compared with the corresponding values of parameter array 199A (and if more than one of the following are exceeded, the case is rejected: minimum opening angle α _MH of the flap, α _MV , the minimum folding depth MFD, the ratio of the minimum folding length MFL to the product box length PBL, the minimum product box length (or width) L with the folding plate, and the minimum product box height BH with the folding plate), loading Case load 102P2 may be rejected (eg, depending on whether other parameters are exceeded and/or how many and which parameters are considered in the rejection decision).

FIG. 14C is another example illustration of image data 1400 captured by the flap inspection system 170 . For purposes of illustration, the image data 1400 depicted in FIG. 14B is a front (or rear/back) side view of the boxed item 102P3. Here, the image data is point cloud data, but may be any suitable image data to enable image analysis for detecting features of packaged goods/products. In this example, the flap detection system 170 determines (via any suitable image processing algorithm/program) its protrusions or case exterior protrusions 1453, 1454 (which may have been identified by the contour detection system 180 as case exterior protrusions but were not identified is the flap) is a uniform flat surface 1410 and identifies the box exterior protrusions 1453, 1454 as the flaps 1300A, 1300B (eg, hinged to the top side 102T of the boxed cargo 102P3). The flap detection system 170 establishes a physical characteristic array 199C ( FIG. 1 ) of the boxed goods _102P3 based on the image data 1400 , wherein the physical characteristic array 199C includes at least the flap height BHD and the flap angle α _HD . For example, in FIG. 14C , the folded plate angle α _HD of the folded plate 1300A can be smaller than the minimum angle α _MH , the folded plate angle α _HD of the folded plate 1300B can be greater than the minimum angle α _MH , the height of the folded plate 1300A is smaller than the height BH, and The height BH _D of the flap 1300B is greater than the height BH. For example, here, based on the insight that at least the parameter of the flap 1300B when compared with the corresponding value of the parameter array 199A (and that the package is rejected if more than one of the following is exceeded: minimum opening angle of the flap α _MH , α _MV , the minimum folding depth MFD, the ratio of the minimum folding length MFL to the product box length PBL, the minimum product box length (or width) L with the folding plate, and the minimum product box height BH with the folding plate ), the packaged shipment 102P2 may be rejected (eg, depending on whether other parameters are exceeded and/or how many and which parameters are considered in the rejection decision).

23A-23C are illustrations of other examples of image data 1400 captured by the flap detection system 170 . For purposes of explanation, the image data 1400 depicted in FIG. 23A is a front (or rear/back) perspective view of the boxed item 102, where the side recess 2300 exists, for example, on the top of the boxed item 102 (note : The box side depression can exist on any visible side of the boxed goods 102 to facilitate detection by the flap detection system 170). Here, the image data 1400 is a photographic image data of the boxed goods 102, but may be any suitable image data for implementing image analysis for detecting the characteristics of the boxed goods/products. FIG. 23B shows that the image data 1400 of the boxed goods 102 in FIG. 23A is point cloud data.

In this example, flap detection system 170 determines (via any suitable image processing algorithm) the presence of box side indentation 2300 by analyzing one or more sides of boxed goods 102 and, if box side indentation 2300 exists, then The flap detection system 170 determines the depth of the depression 2300 . As an example, the flap detection system 170 determines one or more flat surfaces that describe a consistent flat surface within predetermined flat surface threshold criteria (e.g., in a manner opposite to that described above with respect to the box exterior protrusion 220) by determining The failure of each box side (ie, the lack of a consistent flat surface on one or more sides) determines (eg, from a three-dimensional analysis of boxed goods 102 ) the presence of box side depressions 2300 . For example, the absence of a uniform flat surface (or the presence of a non-uniform surface) on one side of the boxed goods 102 may be determined by detecting one or more apertures 2310 which may be formed by, for example, the box flaps 1300 . The lack of a consistent flat surface can be determined by the flap detection system 170 when the side indentation 2300 is on the side of the boxed cargo 102 that has no flaps (or has flaps that have not been separated to form the aperture 2310 therebetween) (eg, three-dimensional analysis of self-contained goods 102 ), by determining the presence of one or more of recesses 2340 , creases 2320 , and apertures (perforations) 2330 on the sides of the cased goods 102 . The box side recess 2300 may be formed in any suitable area on the side of the boxed item 102 . For example, the box side recess can be substantially in the middle of the side (see, e.g., recess 2340, aperture 2330, and box side recess 2300), at the edge of the side (see, e.g., corrugation 2320 and box side recess 2300), and and/or extend across the side to transition from the edge to the middle of the side (or beyond) (see, eg, corrugation 2320 and box side indentation 2300).

For demonstration purposes only, to determine side sag: longitudinal dimension (for example, relative to the length, width, and/or height of the boxed goods), widthwise dimension (for example, related to the length, width, and/or height of the boxed goods ), or whether the diameter of the aperture 2310 (e.g., formed by the flap 1300) is greater than 2 inches (in other aspects, the criteria for determining box side depression may be greater than about 2 inches or less than about 2 inches) . Similar appropriate criteria are applied to the determination of box side recess 2300 , based on recess 2340 , corrugation 2320 , and aperture (perforation) 2330 .

When a case side depression 2300 is present, the flap detection system 170 determines the depth 2399 of the non-uniform surface (e.g., depression, recess, wrinkle, etc.), where the depth 2399 is measured from, for example, from the side of the boxed good ( There are non-uniform surfaces thereon) and the edge 2323 of the cased goods formed by the adjacent sides of the cased goods (where depth 2399 is measured free from the top 102T of the cased goods and one or more vertical sides (e.g., transverse side 102L and/or longitudinal sides 102F, 102R)—see also FIG. 11A ). In other aspects, the depth 2399 may be measured from any other suitable reference point of the crated cargo, such as the bottom or the opposite side relative to the side on which the non-uniform surface exists.

Here, if the depth 2399 of the non-uniform surface is greater than a predetermined threshold (such as, for example, approximately 1 inch (approximately 25 mm)), then the cased item 102 is classified as unsuitable (i.e., due to failure to meet the respective predetermined case form fit characteristics) are used for case handling, storage, and loading within logistics facility 190, and are removed from automated handling within logistics facility 190 in the manner described above. In addition to or in lieu of depth criteria, unsuitability of cased goods for case handling, storage, and loading within logistics facility 190 may be caused by the side on which there is a non-uniform surface and/or non-uniform surfaces on the side of the cased goods The position (eg, the area of the side) (and/or other appropriate criteria affecting the stability of the case when the stacked or automated transport/handling of the cased goods) is determined. As an example, the vertical sides of the boxed goods 102 may have stricter unsuitability criteria (e.g., tolerances/tolerances for reduction of dents) than the horizontal sides of the boxed goods 102, because the vertical sides act more tightly than the horizontal sides. High load bearing member (when cased goods are stacked for loading). With respect to the location (e.g., area of the side) of the non-uniform surface (e.g., depressions, recesses, creases, apertures, etc.) on the side of the cased goods, the non-uniform surface at the edge of the cased goods 102 Is held to stricter misfit criteria (eg, tolerance/tolerance for reduction of depressions) than non-uniform surfaces in the middle/center of sides. For example, non-uniform surfaces at the edges of the cased goods 102 may provide less stability when the cased goods are stacked for loading, or may cause "stuck" or "snags" on the cased goods 102 A feature that would otherwise interfere with box disposition.

FIG. 24A is another example illustration of image data 1400 captured by the flap inspection system 170 . For purposes of explanation, the image data 1400 depicted in FIG. 24 is a front (or rear/back) perspective view of the boxed goods 102, where box bumps 2400 are present, for example, on top of the boxed goods 102 (note : bump 2400 may exist on any visible side of boxed goods 102 to facilitate detection by flap detection system 170). Here, the image data 1400 is a photographic image data of the boxed goods 102, but may be any other suitable image data for implementing image analysis for detecting the characteristics of the boxed goods/products. In a manner similar to that described above, three-dimensional analysis of the cased goods 102 by the flap detection system 170 determines that the top side 102T of its cased goods 102, for example, is a non-uniform surface; when the top side 102T is used as an example , non-uniform surfaces may exist and be determined to be any one or more of the top, lateral and longitudinal sides 102T, 102L, 102R, 102F of the boxed goods 102 . In one or more aspects, bumps may be detected on the bottom surface 102B of the cased goods 102, such as from the bumps between the bottom surface 102B of the cased goods 102 and the conveyors 110, 120. Determination of formed space 2450 (eg, by flap detection system 170 and/or contour detection system 180 ) (see FIG. 24B ).

Based on the three-dimensional analysis of the boxed goods 102, the flap inspection system 170 determines the height 2499 of the bump 2400 formed by the non-uniform surface. The height 2499 is measured from, for example, the edge 2424 of the cased goods formed by the side of the cased goods on which there is a non-uniform surface and the adjacent side of the cased goods (here, the height 2499 is measured free from the case The edge formed by the top 102T of the cargo and one or more vertical sides (e.g., lateral sides 102L and/or longitudinal sides 102F, 102R) (see also Figures 11A-11C). In other aspects, height 2499 may be measured Any other suitable reference point or datum for self-containing goods, such as the bottom or the opposite side relative to the side on which the non-uniform surface exists. In other aspects, instead of or in addition to the bump by the flap detection system 170 In addition to the determination of 2400, the bump 2400 can be determined by the contour detection system 180, and the image data from the contour detection system 180 can be used by the flap detection system 170, in a manner similar to that described above, to facilitate the bump size (eg , the three-dimensional profile of the bump) and the conformity of the individual boxed goods 102 with predetermined form-fit characteristics to substantially ensure proper handling, storage, and loading of the individual boxed goods 102 within the logistics facility 190.

Here, if the height 2499 of the non-uniform surface is greater than a predetermined threshold (e.g., such as a bump of about 1 inch (about 25 mm); or more than about 1 inch (about 25 mm) in other aspects or less), the cased goods 102 are classified as unsuitable (i.e., rejected for not meeting the respective predetermined case form fit characteristics) for case handling, storage, and loading within the logistics facility 190, and Removed from automated handling within logistics facility 190 in the manner described herein. In addition to or in lieu of height criteria, unsuitability of cased goods for case handling, storage, and loading within logistics facility 190 may be caused by the side on which there is a non-uniform surface and/or a non-uniform surface on the side of the cased goods The position (eg, the area of the side) (and/or other appropriate criteria affecting the stability of the case when the stacked or automated transport/handling of the cased goods) is determined. As an example, the vertical sides of the cased goods 102 may have stricter criteria than the horizontal sides of the cased goods 102 because the vertical sides act as higher load bearing members than the horizontal sides (when the cased goods 102 are stacked to for loading). A non-uniform (expanding) surface at one corner, a diagonal corner, or the middle/center of the cased goods 102 relative to the location of the bumps may provide less stability when the cased goods are stacked for loading , or may create "stuck" or "snag"-inducing features on the boxed goods 102 that would otherwise interfere with box handling, and may be held to a stricter incompatibility than the inflated surface along substantially the entire edge guidelines.

In addition to or instead of determining one or more of the above-mentioned characteristics of the box goods, (for example, dents, open flaps, real boxes, largest boxes, largest bumps (such as by one or more of the box inspection system 180 and the flap detection system 170) determined by the operator), outer box, length of protrusion/flap, orientation angle, distance from one side of the conveyor, etc.), case inspection system 180 and/or flap detection system 170 (using 180) is configured to determine one or more of the following: multiple box detection (FIG. 29), vertical item verification inside the boxed item (FIG. 26), at the top and/or bottom of the boxed item The maximum narrowing of (Figure 11C, 25, and 27), and the supporting surface of the tapered box goods (Figures 25 and 26), are used to determine the conformity of the respective boxed goods with the predetermined box form adaptation characteristics.

Referring to FIG. 29 , an example plan/top image of a plurality of cased goods 102A, 102B traveling along a conveyor 110 , 120 is provided. The images depicted in FIG. 29 may be provided by one or more of case inspection system 180 and flap inspection system 170 . Controller 199 is configured (using image data obtained from case inspection system 180 and/or flap detection system 170) to distinguish each of the plurality of cased goods 102A, 102B and determine (in the manner described herein) The text-described caseload characteristics for each of the caseloads 102A, 102B.

Referring to FIG. 25 , an example image (such as acquired by the flap detection system 170 and/or the case inspection system 180 ) is provided and depicts the top cone TP3 of the cased load 102 . NOTE: The example image shown in FIG. 25 is a side view (longitudinal axis) of boxed goods 102 with substantially zero orientation angle. In other aspects where the orientation angle is substantially 90 degrees, similar side view (widthwise axis) images are acquired. When the orientation angle of the cased goods 102 on the conveyors 110, 120 does not provide a frontal (e.g., substantially straight side) view, but rather an isometric view of the cased goods 120, then the three-dimensional Image data (which in some aspects is used in conjunction with data from case inspection system 180) may be employed by controller 199 to determine the top taper of the case along one or more of the longitudinal and width axes. Object TP3. The top cone TP3 is measured from, for example, a plane defined by the bottom side 102B (i.e., the seating surface) of the cased load 102, which rests on the surface of the conveyors 110, 120 (or otherwise on a support surface in a storage/holding position or on another container in a stack of containerized items). When the top cone TP3 exceeds a predetermined threshold (e.g., which is based on the stability of other crates stacked on top of the crate 102, such as, for example, about 1 inch (about 25 mm) - at Where the threshold may be greater or less than about 1 inch (about 25 mm) in other versions, the packaged shipment is rejected in the manner described herein.

Controller 199 is configured to present tip cone TP3 information to a user/operator in any suitable manner, such as through user interface 198 . For example, the amount of taper of the controller (along one or more of the longitudinal and width axes), the axis along which the taper is determined (e.g., longitudinal or width), and the orientation angle of the packaged goods . When it is determined that the top cone TP3 cannot be obtained, the controller 199 provides (eg, through the user interface 198 ) an indication that the top cone cannot be obtained to the user. Top cones may be employed at least when determining (using controller 199) a pallet build plan.

Referring also to FIG. 25 , an example image (obtained from one or more of the case inspection system 180 and the flap detection system 170 ) illustrates the top narrowing of the boxed load 102 in the form of its tray 2520 containing round bottles. An example image is a substantially two-dimensional image of the containerized goods 102; however in other aspects a three-dimensional image may be provided. Here, top narrowing indicates a reduction in the value (ie, surface area) of the top 102T relative to the bottom 102B of the boxed load 102 . Here, the leading longitudinal side 102F of the cased load 102 includes a taper having an angle TP1 as measured from, for example, a plane defined by the non-tapered portion of the longitudinal side 102F. The trailing longitudinal side 102R of the cased load 102 includes a taper having an angle TP2, as measured from, for example, a plane defined by the non-tapered portion of the longitudinal side 102R. These tapers TP1 , TP2 switch to narrowing values DP1 , DP2 which inform the reduced surface area of the top 102T of the boxed goods relative to the bottom 102B.

The narrowing values DP1, DP2 may affect the ability of the cased goods to be loaded such that the reduced surface area (i.e., support surface) obtained from the top 102T of the cones TP1, TP2 cannot stably support items stacked thereon. Other packing goods 102. When the case 102 is substantially symmetrical, such as is the case for a case containing round bottles as in FIG. Both; and in other aspects, the cones TP1, TP2 and the resulting narrowing values DP1, DP2 can be determined (such as from the three-dimensional image data from the fold detection system 170 or from the fold detection system 170 and box Combination of the image data of the inspection system 180) on each side 102F, 102R, 102L1, 102L2 of the boxed goods 102. In other aspects, such as where the boxed item 102 includes asymmetric contents (such as, for example, a salad dressing bottle with one flat side and one side that includes the neck cone), narrowing values DP1, DP2 are provided for longitudinal and Only one of the widthwise axes, but the larger of the narrowing values DP1, DP2 is assumed for both the longitudinal and widthwise axes. In the case of a bottle, the maximum narrowing value may be substantially the same as the expected distance EDP (see FIG. In other aspects, the maximum narrowing value may be greater or less than the expected distance EDP.

Referring to FIG. 27 , an example image (obtained from one or more of case inspection system 180 and flap detection system 170 ) depicts top narrowing of boxed goods 102 in their box form. An example image is a substantially two-dimensional image of the containerized goods 102; however in other aspects a three-dimensional image may be provided. In the example depicted, the narrowing values DP1, DP1 inform the tilted/distorted box; however, in other aspects, the narrowing values DP1, DP2 may indicate the relative height of the top 102T of the boxed load 102 relative to the bottom 102B. A reduction in value (ie, surface area), such as where the top 102T of the boxed goods is wrinkled (see FIG. 23 ) or otherwise deformed. Here, the top edge TEF of the cased goods 102 on the leading lateral side 102L1 is offset by the narrowing of the DP1 relative to the bottom edge BEF of the cased goods 102 on the leading lateral side 102L1 . Here, the top edge TER of the cased goods 102 on the trailing lateral side 102L2 is offset by the narrowing value of the DP2 of the cased goods on the trailing lateral side 102L2 relative to the bottom edge BER to the extent of the top edge TEF same direction. The narrowing of the top edges TEF, TER in the same direction informs the inclination of the boxed goods 102, which may affect the stability of the boxed goods 102, such as when loading, because the tilt may cause the center of gravity of the boxed goods to change from CG1 to Repositioning of CG2. In one or more aspects, the greater of the narrowing values DP1 , DP2 that inform the inclination of the cased load 102 is assumed for both the width direction and the longitudinal axis. In the case of boxed goods 102 in the form of boxes, the maximum narrowing value may be about 1 inch (about 25mm); while in other aspects, the maximum narrowing value may be greater or less than about 1 inch (about 25mm).

In the above example, if the narrowing values DP1, DP2 exceed the predetermined maximum narrowing value, then the boxed good 102 is rejected in the manner described herein. In a manner similar to that described above, the maximum narrowing value may be based on the stability of the cased goods when loaded. In one or more aspects, the determined narrowing values DP1, DP1 of the top 102T and/or bottom 102B of the cased load 102 are presented to the operator by the controller 199 through the user interface 198 in any suitable manner. . Narrowing values (eg, to inform one or more of sloped and supported surfaces) may be employed at least when utilizing the controller 199 to generate a pallet build plan. Narrowing values (eg, notification of tilt) can be used to at least reject situations which would otherwise be mishandled (cannot be picked, cannot be stably supported, etc.), by automation within logistics facility 190 .

Referring also to FIG. 11C , some of the containerized cargo characteristics described herein may not be mutually exclusive. For example, as can be seen in Figure 11C, the narrowing and expansion of the boxed cargo 102 may not be mutually exclusive (eg, the narrowing and expansion may be mutually compatible). In instances where more than one mutual containment characteristic is determined, the controller 199 is configured to identify the mutual containment characteristic as described above. For example, while the narrowing exists in the cased cargo 102 in FIG. 11C , the top edge TEF substantially delineates the boundary of the narrowing. The controller 199 is configured to distinguish between a substantially flat surface (or substantially constant pitch) of the narrowed portion of the trailing longitudinal side 102R and a variable pitch that informs the bumps in the top 102T of the cased goods 102 . Here, the controller 199 is configured to determine expansion from the top edge TE identified by a change in pitch of the trailing longitudinal side 102R. In other aspects, the controller 199 is configured to differentiate in any suitable manner the different containerized cargo characteristics described herein.

Referring to FIG. 26 , an example image (obtained from one or more of case inspection system 180 and flap inspection system 170 ) illustrating vertical item verification inside a boxed load is provided. An example image is a substantially two-dimensional image of containerized goods 102; however, in other aspects three-dimensional images may be provided. Vertical Item Validation provides one or more of the following: an indication of the number of distinct vertical items that can be observed for an inspection axis (e.g., a longitudinal axis and/or a widthwise axis), such as a vertical item observed for an inspection axis An indication of the average width 2610 of the tops of the tops (such as bottle caps 2530 ) and the average width 2620 of the gap between the tops of adjacent vertical items (such as bottle caps 2530 ) as observed for the inspection axis. The above information obtained from the vertical item verification can be used by the controller 199 at least when generating the pallet construction plan. In the example shown, the cased goods 102 are round bottles similar to those depicted in FIG. 25 .

Here controller 199 is configured to determine (from image data obtained from one or more of case inspection system 180 and flap detection system 170 ) the number of vertical items within boxed goods 102 (in the example shown In this case, there are four vertical items arranged along the longitudinal axis; however, in other aspects, the 3D image data from the flap inspection system 180 may be used in addition to or instead of the 2D image data from the box inspection system 180 to determine The number of vertical items along one or more of the vertical and width axes). Note that the number of vertical items may be presented to the operator by the controller 199 through the user interface 198 in any suitable manner (note that the vertical item number of boxed goods in the form of boxes is indicated as a vertical item).

Controller 199 is configured to determine (from image data obtained from one or more of case inspection system 180 and flap inspection system 170) the top of a vertical item (such as bottle cap 2530) as viewed for the inspection axis (In the example shown, the inspection axis is the longitudinal axis; however, in other aspects, the three-dimensional image data from the flap inspection system 180 may be used in place of or in place of the two-dimensional images from the box inspection system 180 data to determine the average width of the top of a vertical item along one or more of the longitudinal and width axes 2610). Note that the average width 2610 of the top of one of the vertical items may be presented to the operator by the controller 199 through the user interface 198 in any suitable manner (note that the top of one of the vertical items of boxed goods in the form of boxes The average width 2610 is substantially equal to the entire top surface of the box).

Controller 199 is configured to determine (from image data obtained from one or more of case inspection system 180 and flap inspection system 170 ) the tops of adjacent vertical items (such as bottle caps 2530 ) as observed for the inspection axis. ) between the gaps 2620 (the inspection axis is the longitudinal axis in the illustrated example; but in other aspects, the three-dimensional image data from the flap inspection system 180 may be used in place of or in place of the two from the case inspection system 180 dimensional image data to determine the average width of the gap between the tops of adjacent vertical items 2620). Note that the average width 2620 of the gap between the tops of adjacent vertical items can be presented to the operator by the controller 199 through the user interface 198 in any suitable manner (note that adjacent verticals of boxed goods in the form of boxes The average width 2620 of the gaps between tops of items is substantially equal to zero).

As described above, the flap detection system 170 (using data from the case inspection system 180) and the contour detection system 180 determine whether the cased goods 102 that have passed the contour detection system 180 are suitable for storage, handling, and loading. For example, at least one conveyor 110 , 120 advances cased goods 102 into logistics facility 190 , as described above. Case inspection station 180 is configured to communicate with at least one conveyor 110 , 120 such that cased goods 102 are advanced through case inspection system 180 . Case inspection system 180 has at least one case inspection camera (eg, sensor/imaging devices 181 , 184 ) configured to capture images of the shadow of each cased item 102 advancing through case inspection system 180 . At least one other camera 171 - 173 (eg, flap inspection system 170 ) is connected to case inspection station 180 , separate from and distinct from at least one sensor/imaging device 181 , 184 . At least one other camera 171-173 is configured to capture other case image data of each cased item 102 in addition to the case image data captured by the at least one sensor/imaging device 181, 184, which is advanced through Box inspection system 180 .

Here, the processor 199P of the controller 199 is operatively coupled to at least one conveyor 110 , 120 . Processor 199P is also communicatively coupled to at least one sensor/imaging device 181 , 184 to receive box image data from at least one sensor/imaging device 181 , 184 . The processor 199P is further communicatively coupled to at least one other camera 171-173 to receive other case image data of each cased item 102 from the at least one other camera 171-173. Here, the processor 199P (and thus the controller 199) is configured to determine the identity of each case 102 from the shadow image (imaged by at least one sensor/imaging device 181, 184) of each case 102. Predetermined characteristics, such as those described above, which determine the form of the box conforming to the respective boxed goods having the shape of the box. The predetermined characteristics of each boxed item 102 that determine the form of the box include one or more of the following: box length, box width, box height, angle between sides of the box, box dimensions (see FIGS. 13A-20, 25, 25A , 27, 28A and 28B), and any other appropriate physical properties of the containerized goods, such as those described herein, which determine the form of the container.

The processor 199P/controller 199 is configured such that when the respective boxed goods 102 are confirmed to have a box shape, it is determined from other image data (e.g., from the flap detection system 170) that the respective boxed goods 102 conform to the predetermined box form. matching characteristics (such as those described above). As described herein, predetermined box form fit characteristics inform predetermined assembly spaces or locations at logistics facility 190 (e.g., storage spaces or other holding locations for storage arrays 190SA, payload racks for automated transport vehicles 190ATV, formed in logistics facilities Assembly acceptance of individual cased loads 102 in a palletized build in facility 190 , etc.).

For example, with reference to Figures 28A and 28B, any given boxed goods stored/handled by a logistics facility has corresponding expected dimensions in at least box length, box width, and box height (note that the narrowing and/or taper amount, number of individual items held, gaps between individual items, and width of tops of individual items also have expected dimensions). These expected dimensions define the predetermined box shape and form fit for the corresponding cased goods 102 to be inserted into the logistics facility 190 - note that each identical stock keeping unit (SKU) that is admitted/inserted into the logistics facility 190 has a form that defines that SKU The expected box size to fit. The expected dimensions are measured from a predetermined reference datum of the cased goods 102 such that consistency of the cased goods exists between cased goods of the same type (ie, same SKU). For example, as depicted in Figure 28A, the box length dimension is measured from the length judgment reference plane and the box width dimension is measured from the width judgment reference plane. The length determination reference plane and the width determination reference plane are located, for example, in a vertical plane defined by one of the lateral sides (eg, side 102L1 ) and a vertical plane defined by one of the longitudinal sides (eg, side 102R). As can be seen in FIG. 28B , the box height dimension is measured from its height determination reference plane defined by the bottom side 102B (or seating surface) of the boxed load 102 . These datum planes enable case location determination, such as by (but not limited to) controller 199, loader 190P, and automated transport vehicle 190ATV, for positioning case 102 in (but not limited to) the storage array On storage racks in 190SA, on pallets loaded with pallets, on automated transport vehicles 190ATV (for grabbing by robots from loaders 190P), and face builders (e.g., configured to Any suitable case handling equipment for logistics facilities that form a pick, including but not limited to automated transport vehicles 190ATV and pick builders, such as those issued October 25, 2016 in U.S. Patent No. 9,475,649 ("Used for Storage and Retrieval System's Face Builder"), the full text of which has been previously incorporated herein by reference, is used for the formation of a face, where the face includes its being transported/disposed at a logistics facility 190 more than one packaged goods as a single unit, etc.

The expected box length, expected box width, and expected box height include tolerances that allow the actual dimensions of the boxed goods to be a predetermined amount above the expected value and a predetermined amount below the expected value. The tolerance can be based on the size of the storage space in the storage array 190SA, the size of the payload rack of the automated transport vehicle 190ATV, the stability of the boxed goods in a palletized box configuration, storage space height constraints or by the logistics facility 190 Any other appropriate structural restrictions imposed on the packaged goods by the structure and operation of the container. These expected dimensions of a given case type (eg, SKU) including its tolerances define the predetermined case form fit characteristics of the case 102 . The determined box goods characteristics determined by the box inspection system 180 and/or the flap inspection system 170 inform the actual box form adaptation characteristics of the predetermined boxed goods inspected by the inspection system 100, and the controller 199 determines the predetermined boxed goods characteristics. The matching of the actual box form fit characteristics of the cargo with the predetermined box form fit characteristics as defined by the expected dimensions.

As described herein, when one or more of the determined dimensions of a case 102 exceed the expected dimensions of the case 102 (including any tolerances), the case is rejected and not accepted at the logistics facility 190 storage, handling and loading procedures. Tolerances (e.g., which establish a yes or no type criterion for admission into the logistics facility 190 for the type of cased goods) applied to the expected size are determined such that the fit of the cased goods 102 into the storage space of the storage array 190SA or other holding The location, the payload rack of the automated transport vehicle 190ATV, the pallet loading configuration location in the pallet configuration formed in the logistics facility 190, and any other suitable location of the logistics facility 190 are (in one aspect) substantially ensuring that the cased goods 102 fall within about two standard deviations of a Gaussian distribution of the cased goods 102 handled by the logistics facility 190 for a given number of cased goods inspected by the cased goods inspection system 100; While in other aspects, assembly of cased goods 102 is substantially ensured that cased goods 102 fall within about three standard deviations of a Gaussian distribution of cased goods handled/inspected by logistics facility 190 . Here, it is substantially ensured that the form fit or fit of the cased goods falls within about two standard deviations (or in some aspects, three standard deviations) provides for each cased item 102 within a logistics facility: virtually always recordable in a building, available on a shelf (or other suitable location for holding a cased item for storage) Positioned, pick-and-place for cased goods at the end of the arm tooling of the loading robot by loader 190P recordable, and/or substantially always stackable in pallet loading formed by loader 190P of.

In operation, the flap detection system provides a binary result regarding the presence of a flap (i.e., flap: yes/no), while the length, width, and height of the boxed goods are detected by the contour detection system 180 Measurement. As an example, when the dimensions of the boxed goods 102 are recorded in the controller 199 as width 8 units, length 10 units, and height 6 units and the boxed goods inspection system 100 returns its boxed goods 102 from the inspection boxed goods 102 When there is a result of 8 units of width, 13 units of length and 6 units of height, the result of the flap detection is true. Note: Acceptable tolerances for case size (e.g., with and without the presence of flaps) may depend on the packing of downstream (i.e., after case inspection system 100) automated case handling equipment Cargo handling capacity. For example, Table 1 below illustrates pass/fail rates for boxed goods that pass through the boxed goods inspection system 100, where the boxed goods size tolerance is set to 1 unit (e.g., about 1 inch or about 25 mm—in Table 1 where the linear dimension is millimeters and the angular dimension is degrees), while a 1 in the pass/fail column indicates a rejected box 102 and a 0 in the pass/fail column indicates an accepted box 102.

As can be seen in Table 1 above, boxed goods 102 are rejected when, for example, a tolerance of 1 inch or 25.4 mm is used. However, as noted above, acceptable tolerances for box load dimensions (e.g., with and without the presence of flaps) may depend on downstream (i.e., after box load inspection system 100) automated box load handling equipment The handling capacity of packed goods. As such, when the downstream automated case handling equipment is able to handle cases with a tolerance of approximately 2 inches or 50 mm, the acceptance rate for the same cased load is increased as shown in Table 2 below:

It has been noted with respect to Table 2 that the indication of the flaps for the same case has been changed from the indications in Table 1 due to the condition that it has to fulfill the minimum number of parameters required in order to detect the flaps. In the example of Table 1 and Table 2, all parameters (note: the flap depth parameter counts the flap length to the box length parameter) should be satisfied before the flap is inspected. In the case of Table 2, the increased tolerance reduces the number of flaps tested and increases the number of boxed goods accepted.

The program can also determine whether the flaps extend in the longitudinal direction, width direction, One or more of height directions. This and any other appropriate information may be presented to operations through user interface 198, as described herein. Flap detection system 170 supports open flap detection on any of the five visible sides of cased goods 102 that are not located on conveyors 110 , 120 . In one or more aspects, the flap detection system 170 uses box image data to estimate the core dimensions of the boxed goods (e.g., the length, width, and height of the flaps without any box exterior protrusions or openings), even with openings. Flap and/or box exterior protrusions exist. Here, the flap detection system 170 includes any suitable number of sensors 171-173 (such as more than two or employing mirrors to view the boxed goods from more than two angles) so that the imaging of the side of the boxed goods is not disturbed. Hindered or obstructed by the flap. The estimation of the core dimensions of the case 102 by the flap detection system 170 may verify the acceptance or rejection of any given case by the contour detection system 180 . For example, when a boxed item is out of tolerance (e.g., one or more of length, width, and/or height exceeds the corresponding predetermined (e.g., expected) length, width, and/or height) When rejected by the contour detection system 180 (i.e., the core dimension of the packaged goods is within the tolerance but the presence of the open flap causes the out-of-tolerance condition to be detected by the contour detection system 180), the flap detection system 170 verifies Its out-of-tolerance condition is due to the flap and whether the flap can be handled by downstream (ie, after the box inspection system 100 ) automated equipment. When the packaged goods with flaps cannot be processed by the downstream automation equipment, the packaged goods can be rejected.

Referring to FIGS. 1 , 1A-1C and 22 , a method for inspecting the packaged goods 102 in one or more aspects of the disclosed embodiments will be described. According to the method, cased goods 102 are advanced through the cased goods inspection system 100 using at least one conveyor 110, 120 (FIG. 22, block 2200). At least one sensor 171-173 captures case image data 1400 of each cased goods 102 that are pushed through the cased goods inspection system 100 using at least one conveyor 110, 120 (FIGS. 14A-14D and FIG. 22, section block 2210). Processor 199P is provided (FIG. 22, block 2220), wherein (in one or more aspects) processor 199P characterizes box exterior protrusion 220 (FIGS. 2A and 2B) of boxed goods 102 from box image data is the box flap in the open state (FIG. 22, block 2230), where the processor 199P is configured to parse the box image data 1400 and determine that the box exterior protrusion 220 is a uniform flat surface 1410 (FIGS. 14A-14D), and is Programmed with a parameter array of physical property parameters 199A that describe the box-fold conformity properties that determine the consistent planar surface 1410 (which defines the open-box-fold condition). In one or more aspects, the processor 199P parses the box image data 1400 and determines that the box exterior protrusion 220 is a uniform flat surface 1410 (FIG. 22, block 2240). Processor 199P generates physical property array 199C (FIG. 22, block 2250) from box image data 1400 (for each identified uniformly planar surface 1410), and applies parameter array 199A to physical property array 199C to resolve uniformly planar surface 1410 as Unpack the flaps.

Referring now to Figures 1, 1A-1C, 2B, 23A, and 29, a method in an inspection apparatus for inspection of packaged goods will be described. In the method, at least one conveyor 110, 120 advances cased goods 102 through inspection apparatus 100 (FIG. 30, block 3000). At least one camera 171-173 captures case image data of each cased item 102 that is pushed through the inspection apparatus 100 using at least one conveyor 110, 120 (FIG. 30, block 3010). Processor 199P is provided (FIG. 30, block 3020) and receives box image data 1400 from at least one camera 171-173. As described herein, processor 199P is operatively coupled to at least one conveyor 110, 120 and communicatively coupled to at least one camera 171-173, and processor 199P is configured to generate images from at least one camera 171 - The box image data 1400 of the common image of the boxed goods 102 captured at 173 and parsed by the processor 199P (FIG. 30, block 3040) shows at least one feature of the side of the boxed goods being recessed and the outside of the box protruding Turn into box flaps in the open state (FIG. 30, blocks 3030 and 3045).

Processor 199P parses the box image data (see FIG. 30, block 3040) and determines that box exterior protrusion 220 is a uniform flat surface. The box-folded-plate consistency attribute. The processor generates the physical property array 199C (FIG. 30, block 3050) from the bin image data 1400 (for each determined uniformly flat surface) and applies the parameter array 199A to the physical property array 199C to resolve the uniformly flat surface as an unboxing fold plate.

In the method, at least one camera 171-173 is configured to capture case image data 1400 of each cased item that is pushed through the inspection apparatus 100 using at least one conveyor 110, 120 such that the case image data 1400 is embedded At least one of the box side recess 2300 and the box exterior protrusion 220, wherein at least one of the box side recess 2300 and the box exterior protrusion 220 is evident on at least one exposed box side 102T, 102L, 102F, 120R, and the at least one exposed box side Sides 102T, 102L, 102F, 120R are configured in each exposed box side orientation of the boxed goods. In this method, another imaging system (eg, contour detection system 180 ) is provided. Contour detection system 180 is separate from and different from at least one camera 171-173, imaging boxed goods 102, separate from and different from at least one camera 171-172 imaging of boxed goods 102, for except box side depression and box opening The inspection of the boxed goods 102 other than the inspection of at least one of the flaps is as described herein.

According to one or more aspects of the disclosed embodiments, an inspection device for inspecting packaged goods is provided. The inspection equipment includes:

at least one conveyor configured to advance the cased goods through the inspection device;

at least one camera configured to capture case image data of each of the cased goods being propelled through the inspection device by the at least one conveyor;

a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera for receiving the box image data from the at least one camera,

wherein the processor is configured to characterize from the case image data a case exterior protrusion of the packaged goods as a case flap in an open condition, wherein the processor is configured to parse the case image data and determine the exterior of the box protrudes as a uniform flat surface and is programmed with a parameter array of physical property parameters describing the box flap conformity properties of the uniform flat surface that define an open box flap condition, and

Wherein the processor is configured to generate an array of physical properties from the box image data for each determined uniform flat surface, and apply the array of parameters to the array of physical properties to resolve the uniform flat surface as an open box flap.

In accordance with one or more aspects of the disclosed embodiments, the at least one camera is configured to image each exposed case side of each of the cased goods that are advanced through the inspection apparatus using the at least one conveyor to The imagery prominently protrudes outside the box on each imaged exposed box side.

In accordance with one or more aspects of the disclosed embodiments, the imaged exposed box side is configured such that the resolved open box flap extends from the exterior of the box evident on the imaged exposed box side From the exposed case side, abutting a conveyor seat surface on which the cased goods are located.

In accordance with one or more aspects of the disclosed embodiments, the at least one camera is configured to capture exposed case sides of each of the cased goods that are advanced through the inspection device using the at least one conveyor. The box image data is such that the captured box image data of each of the boxed goods reflects the exposed box sides of a respective box exterior.

In accordance with one or more aspects of the disclosed embodiments, the imaged exposed box side is configured such that the resolved open box flap extends from the exterior of the box evident on the imaged exposed box side From the exposed case side, abutting a conveyor seat surface on which the cased goods are located.

According to one or more aspects of the disclosed embodiments, the at least one camera is configured to capture image data of each of the boxed goods that are pushed through the inspection device by the at least one conveyor, so that the The case image data exhibits the case exterior protrusion, wherein the case exterior protrusion is evident on at least one exposed case side and the at least one exposed case side is disposed in each exposed case side orientation of the packaged goods.

In accordance with one or more aspects of the disclosed embodiments, the at least one exposed case side imaged by the at least one camera is configured such that the resolved The case opening flap extends from the at least one exposed case side adjacent to a conveyor seat surface on which the cased goods are located.

According to one or more aspects of embodiments of the present disclosure, the inspection apparatus further includes another imaging system separate from and different from the at least one camera, wherein the other imaging system images images that are advanced by the at least one conveyor A different characteristic of the packaged goods passing the inspection device that is a physical characteristic different from the array of physical characteristics.

According to one or more aspects of the disclosed embodiments, the at least one camera captures box image data substantially simultaneously with the other imaging system imaging the different characteristics of the boxed goods.

According to one or more aspects of the disclosed embodiments, the inspection device further includes another imaging system separate from and different from the at least one camera, and the other imaging system images the packaged goods, separate from and different from Imaging the packaged goods at the at least one camera is used for inspection of the packaged goods except for the detection of the unpacking flap.

According to one or more aspects of the disclosed embodiments, the other imaging system images the containers for the identity of each of the containers and the relationship between each of the containers and the authenticated container. Compliant processor validation for bin size parameters.

According to one or more aspects of the disclosed embodiments, the processor is configured such that the inspection of the container based on the image of the container from the other imaging system is separate from and different from the analysis from the at least one camera. The unboxing flap of the box image data is analyzed.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the case from imaging of the another imaging system that is separate from and different from the case image data captured by the at least one camera. The presence of the external protrusion and resolving the case external protrusion as an open box flap from the at least one camera image data of the case separate from and different from the image of the other imaging system.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the presence of protrusions outside the box from image data of the box captured by the at least one camera independently of the presence of protrusions from the other imaging system. The captured images of the packaged goods.

According to one or more aspects of the disclosed embodiments, an inspection device for inspecting packaged goods is provided. The inspection equipment includes:

at least one conveyor configured to advance the cased goods through the inspection device;

at least one camera configured to capture case image data of each of the cased goods propelled through the inspection device by the at least one conveyor;

a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera for receiving the case image data from the at least one camera,

wherein the processor is configured to protrude from the exterior of a box of the boxed goods that the box image data characterizes as an opener flap, wherein the processor is configured to:

parsing the box image data and determining that the exterior of the box protrudes as a uniform flat surface, and

For each determined uniform flat surface, a physical property array of physical properties of the uniform flat surface is generated from the box image data such that the physical property array describes the uniform flat surface as a box flap, and based on the parameter physical properties A parameter array determines that the box flap is in an open flap state.

According to one or more aspects of the disclosed embodiments, the parametric array of parametric physical properties describes a box flap conformity property that determines the uniform planar surface defining the open box flap condition.

In accordance with one or more aspects of the disclosed embodiments, the at least one camera is configured to image each exposed case side of each of the cased goods that are advanced through the inspection apparatus using the at least one conveyor to The imagery prominently protrudes outside the box on each imaged exposed side of the box.

In accordance with one or more aspects of the disclosed embodiments, the imaged exposed box side is configured such that the resolved open box flap extends from the exterior of the box evident on the imaged exposed box side From the exposed case side, abutting a conveyor seat surface on which the cased goods are located.

According to one or more aspects of the disclosed embodiments, the at least one camera is configured to capture the exposed case sides of each of the cased goods that are advanced through the inspection device using the at least one conveyor. The box image data enables the captured box image data of each of the boxed goods to reflect each exposed box side of a respective box exterior.

In accordance with one or more aspects of the disclosed embodiments, the imaged exposed box side is configured such that the resolved open box flap extends from the exterior of the box evident on the imaged exposed box side From the exposed case side, abutting a conveyor seat surface on which the cased goods are located.

According to one or more aspects of the disclosed embodiments, the at least one camera is configured to capture image data of each of the boxed goods that are pushed through the inspection device by the at least one conveyor, so that the The case image data exhibits the case exterior protrusion, wherein the case exterior protrusion is evident on at least one exposed case side and the at least one exposed case side is disposed in each exposed case side orientation of the packaged goods.

In accordance with one or more aspects of the disclosed embodiments, the at least one exposed case side imaged by the at least one camera is configured such that the resolved The case opening flap extends from the at least one exposed case side adjacent to a conveyor seat surface on which the cased goods are located.

According to one or more aspects of embodiments of the present disclosure, the inspection apparatus further includes another imaging system separate from and different from the at least one camera, wherein the another imaging system images images that are advanced by the at least one conveyor A different characteristic of the packaged goods passing the inspection device that is a physical characteristic different from the array of physical characteristics.

According to one or more aspects of the disclosed embodiments, the at least one camera captures box image data substantially simultaneously with the other imaging system imaging the different characteristics of the boxed goods.

According to one or more aspects of the disclosed embodiments, the inspection device further includes another imaging system separate from and different from the at least one camera, and the other imaging system images the packaged goods, separate from and different from Imaging the packaged goods at the at least one camera is used for inspection of the packaged goods except for the detection of the unpacking flap.

According to one or more aspects of the disclosed embodiments, the other imaging system images the containers for the identity of each of the containers and the relationship between each of the containers and the authenticated container. Compliant processor validation for bin size parameters.

According to one or more aspects of the disclosed embodiments, the processor is configured such that the inspection of the container based on the image of the container from the other imaging system is separate from and different from the analysis from the at least one camera. The unboxing flap of the box image data is analyzed.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the case from imaging of the another imaging system separate from and different from the case image data captured by the at least one camera. The presence of the external protrusion and resolving the case external protrusion as an open box flap from the case image data of the at least one camera separate from and different from the image of the other imaging system.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the presence of protrusions outside the box from image data of the box captured by the at least one camera independently of the presence of protrusions from the other imaging system. The captured images of the packaged goods.

According to one or more aspects of the disclosed embodiments, a method for inspecting packaged goods is provided. This method contains:

utilizing at least one conveyor to advance the cased goods through an inspection facility;

using at least one camera to capture case image data of each of the cased goods being pushed through the inspection device using the at least one conveyor;

providing a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera to receive the case image data from the at least one camera, and wherein the processor:

Characterizing a case exterior protrusion of the packaged goods as a case flap in an open condition from the case image data, wherein the processor is configured to parse the case image data and determine that the case exterior protrusion is a coincidence a planar surface programmed with a parameter array of physical property parameters describing a box-fold conformity attribute for determining the conforming planar surface defining an open-box-fold condition, and

Wherein the processor generates a physical characteristic array from the box image data for each determined uniform flat surface, and applies the parameter array to the physical characteristic array to resolve the uniform flat surface as an open box flap.

In accordance with one or more aspects of the disclosed embodiments, the at least one camera is configured to image each exposed case side of each of the cased goods that are advanced through the inspection apparatus using the at least one conveyor to The imagery prominently protrudes outside the box on each imaged exposed side of the box.

In accordance with one or more aspects of the disclosed embodiments, the imaged exposed box side is configured such that the resolved open box flap extends from the exterior of the box evident on the imaged exposed box side From the exposed case side, abutting a conveyor seat surface on which the cased goods are located.

According to one or more aspects of the disclosed embodiments, the at least one camera is configured to capture the exposed case sides of each of the cased goods that are advanced through the inspection device using the at least one conveyor. The box image data enables the captured box image data of each of the boxed goods to reflect each exposed box side of a respective box exterior.

In accordance with one or more aspects of the disclosed embodiments, the imaged exposed box side is configured such that the resolved open box flap extends from the exterior of the box evident on the imaged exposed box side From the exposed case side, abutting a conveyor seat surface on which the cased goods are located.

According to one or more aspects of the disclosed embodiments, the at least one camera is configured to capture image data of each of the boxed goods that are pushed through the inspection device by the at least one conveyor, so that the The case image data exhibits the case exterior protrusion, wherein the case exterior protrusion is evident on at least one exposed case side and the at least one exposed case side is disposed in each exposed case side orientation of the packaged goods.

In accordance with one or more aspects of the disclosed embodiments, the at least one exposed case side imaged by the at least one camera is configured such that the resolved The case opening flap extends from the at least one exposed case side adjacent to a conveyor seat surface on which the cased goods are located.

According to one or more aspects of the disclosed embodiments, the method further includes:

providing another imaging system separate from and distinct from the at least one camera; and

With the other imaging system, a different characteristic of the cased goods that are advanced through the inspection apparatus using the at least one conveyor is imaged that is different from the physical characteristic of the array of physical characteristics.

According to one or more aspects of the disclosed embodiments, the at least one camera captures box image data substantially simultaneously with the other imaging system imaging the different characteristics of the boxed goods.

According to one or more aspects of the disclosed embodiments, the method further includes:

providing another imaging system separate from and distinct from the at least one camera; and

imaging the cased goods with the other imaging system, which is separate from and distinct from the at least one camera imaging of the cased goods, for the detection of the cased goods in addition to the detection of the opening flap test.

According to one or more aspects of the disclosed embodiments, the other imaging system images the containers for the identity of each of the containers and the relationship between each of the containers and the authenticated container. Compliant processor validation for bin size parameters.

According to one or more aspects of the disclosed embodiments, the processor is configured such that the inspection of the container based on the image of the container from the other imaging system is separate from and different from the analysis from the at least one camera. The unboxing flap of the box image data is analyzed.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the case from imaging of the another imaging system separate from and different from the case image data captured by the at least one camera. The presence of the external protrusion and resolving the case external protrusion as an open box flap from the case image data of the at least one camera separate from and different from the image of the other imaging system.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the presence of protrusions outside the box from image data of the box captured by the at least one camera independently of the presence of protrusions from the other imaging system. The captured images of the packaged goods.

According to one or more aspects of the disclosed embodiments, a method for inspecting packaged goods is provided. This method contains:

utilizing at least one conveyor to advance the cased goods through an inspection facility;

using at least one camera to capture case image data of each of the cased goods being pushed through the inspection device using the at least one conveyor;

providing a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera to receive the case image data from the at least one camera, and wherein the processor:

an exterior protrusion of a box of the boxed goods that is characterized from the box image data as an opener flap;

analyzing the box image data and determining that the exterior of the box protrudes as a uniform flat surface; and

For each determined uniform flat surface, a physical property array of physical properties of the uniform flat surface is generated from the box image data such that the physical property array describes the uniform flat surface as a box flap, and based on the parameter physical properties A parameter array determines that the box flap is in an open flap state.

According to one or more aspects of the disclosed embodiments, the parametric array of parametric physical properties describes a box flap conformity property that determines the uniform planar surface defining the open box flap condition.

In accordance with one or more aspects of the disclosed embodiments, the at least one camera is configured to image each exposed case side of each of the cased goods that are advanced through the inspection apparatus using the at least one conveyor to The imagery prominently protrudes outside the box on each imaged exposed side of the box.

In accordance with one or more aspects of the disclosed embodiments, the imaged exposed box side is configured such that the resolved open box flap extends from the exterior of the box evident on the imaged exposed box side From the exposed case side, abutting a conveyor seat surface on which the cased goods are located.

According to one or more aspects of the disclosed embodiments, the at least one camera is configured to capture the exposed case sides of each of the cased goods that are advanced through the inspection device using the at least one conveyor. The box image data is such that the captured box image data of each of the boxed goods reflects the exposed box sides of a respective box exterior.

In accordance with one or more aspects of the disclosed embodiments, the imaged exposed box side is configured such that the resolved open box flap extends from the exterior of the box evident on the imaged exposed box side From the exposed case side, abutting a conveyor seat surface on which the cased goods are located.

According to one or more aspects of the disclosed embodiments, the at least one camera is configured to capture image data of each of the boxed goods that are pushed through the inspection device by the at least one conveyor, so that the The case image data exhibits the case exterior protrusion, wherein the case exterior protrusion is evident on at least one exposed case side and the at least one exposed case side is disposed in each exposed case side orientation of the packaged goods.

In accordance with one or more aspects of the disclosed embodiments, the at least one exposed case side imaged by the at least one camera is configured such that the resolved The case opening flap extends from the at least one exposed case side adjacent to a conveyor seat surface on which the cased goods are located.

According to one or more aspects of the disclosed embodiments, the method further includes:

providing another imaging system separate from and distinct from the at least one camera; and

With the other imaging system, a different characteristic of the cased goods that are advanced through the inspection apparatus using the at least one conveyor is imaged that is different from the physical characteristic of the array of physical characteristics.

According to one or more aspects of the disclosed embodiments, the at least one camera captures box image data substantially simultaneously with the other imaging system imaging the different characteristics of the boxed goods.

According to one or more aspects of the disclosed embodiments, the method further includes:

providing another imaging system separate from and distinct from the at least one camera; and

imaging the cased goods with the other imaging system, which is separate from and distinct from the at least one camera imaging of the cased goods, for the detection of the cased goods in addition to the detection of the opening flap test.

According to one or more aspects of the disclosed embodiments, the other imaging system images the containers for the identity of each of the containers and the relationship between each of the containers and the authenticated container. Compliant processor validation for bin size parameters.

According to one or more aspects of the disclosed embodiments, the processor is configured such that the inspection of the container based on the image of the container from the other imaging system is separate from and different from the analysis from the at least one camera. The unboxing flap of the box image data is analyzed.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the case from imaging of the another imaging system separate from and different from the case image data captured by the at least one camera. The presence of the external protrusion and resolving the case external protrusion as an open box flap from the case image data of the at least one camera separate from and different from the image of the other imaging system.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the presence of protrusions outside the box from image data of the box captured by the at least one camera independently of the presence of protrusions from the other imaging system. The captured images of the packaged goods.

According to one or more aspects of the disclosed embodiments, an inspection device for inspecting packaged goods is provided. The inspection equipment includes:

at least one conveyor configured to advance the cased goods through the inspection device;

at least one camera configured to capture case image data of each of the cased goods being propelled through the inspection device by the at least one conveyor;

a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera to receive the case image data from the at least one camera; and

wherein the processor is configured to depress a side of the boxed goods and protrude from an exterior of a box from the box image data that produces a common image of the boxed goods captured by the at least one camera At least one is characterized as a box flap in an open condition.

According to one or more aspects of the disclosed embodiments, the processor is configured to analyze the box image data and determine that the outside of the box protrudes as a uniform flat surface, and is programmed with a parameter array of physical property parameters, It describes the box flap conformity properties that determine the uniform planar surface that defines an open box flap condition.

In accordance with one or more aspects of the disclosed embodiments, the processor is configured to generate an array of physical properties from the box image data for each determined uniform planar surface, and apply the array of parameters to the array of physical properties to The uniform flat surface is resolved as an open box flap.

In accordance with one or more aspects of embodiments of the present disclosure, the at least one camera is configured to image each exposed case side of each cased good that is advanced through the apparatus using the at least one conveyor to obtain The common image of the side of the imaging box is evident in the at least one of the side of the box being recessed and the box exterior protruding on each side of the imaging box.

According to one or more aspects of the embodiments of the present disclosure, the at least one camera is configured to capture image data of the boxes of each of the boxed goods that are pushed through the inspection device by using the at least one conveyor, such that The case image data embodies the at least one of the case side depression and the case exterior protrusion, wherein the at least one of the case side depression and the case exterior protrusion is evident on at least one exposed case side and the at least one exposed case Sides are configured in each exposed box side orientation of the boxed goods.

In accordance with one or more aspects of embodiments of the present disclosure, the at least one exposed case side imaged by the at least one camera is configured such that the case side recesses apparent on the imaged at least one exposed case side and the the at least one of the box side recess resolved by the at least one of box exterior protrusions and the box flap in the open condition extends from the at least one exposed box side adjacent to which the boxed goods are located One of the conveyor seat surfaces.

According to one or more aspects of the disclosed embodiments, the inspection device further includes another imaging system separate from and different from the at least one camera, and the other imaging system images the packaged goods, separate from and different from The at least one camera image of the packaged goods is used for inspection of the packaged goods except for the detection of at least one of the box side recess and the box opening flap.

According to one or more aspects of the disclosed embodiments, the other imaging system images the cases for the identity of each of the cases and the relationship between each of the cases and the authenticated cases. Compliant processor verification of bin size parameters.

According to one or more aspects of the disclosed embodiments, the processor is configured such that the inspection of the container based on the image of the container from the other imaging system is separate from and different from the analysis from the at least one The at least one of the box side depression and the box opening flap of the box image data of the camera is analyzed.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the the presence of at least one of the box side depression and the box exterior protrusion of the boxed goods, and resolving the box side depression from the box image data of the at least one camera separate from and different from the image of the other imaging system The at least one protruding from the outside of the box is a respective box recess and box opening flap.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine from the box image data captured by the at least one camera that the box side depression and the box exterior protrusion of the boxed goods The existence of the at least one of is independent of the images of the packaged goods captured by the other imaging system.

According to one or more aspects of the disclosed embodiments, an inspection device for inspecting packaged goods is provided. The inspection equipment includes:

at least one conveyor configured to advance the cased goods through the inspection device;

at least one camera configured to capture case image data of each of the cased goods being propelled through the inspection device by the at least one conveyor;

a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera for receiving the case image data from the at least one camera,

in:

The processor is configured to characterize at least one box top or at least one box side having a sunken condition from the box image data of the boxed goods captured by the at least one camera, wherein the processor is programmed to resolve an inward variation of the at least one case top or the at least one case side from a predetermined planar conformance characteristic of the case top or case side from the image data; and

The processor is configured to determine, for each resolved inward variation presence, from the image data a physical characteristic describing the recessed condition of the at least one case top or the at least one case side.

According to one or more aspects of the disclosed embodiments, the processor is configured to analyze the box image data and determine that the at least one box top or the at least one box side has an inward variation, and is programmed with physical characteristic parameters An array of parameters describing the inversion properties that determine the inversion that bounds the sag condition.

In accordance with one or more aspects of the disclosed embodiments, the processor is configured to generate an array of physical properties from the bin image data for each determined inward variation, and apply the array of parameters to the array of physical properties to The inward mutation is resolved to the sunken condition.

In accordance with one or more aspects of embodiments of the present disclosure, the at least one camera is configured to image each exposed case side of each cased good that is advanced through the inspection apparatus using the at least one conveyor to obtain images from each The common image of the imaged pod sides manifests the recessed condition on each imaged pod side.

According to one or more aspects of the embodiments of the present disclosure, the at least one camera is configured to capture image data of the boxes of each of the boxed goods that are pushed through the inspection device by using the at least one conveyor, such that The case image data reflects the recessed condition, wherein the recessed condition is evident on at least one exposed case side and the at least one exposed case side is configured in each exposed case side orientation of the packaged goods.

According to one or more aspects of the disclosed embodiments, the at least one exposed case side imaged by the at least one camera is configured such that the The recessed condition extends from the at least one exposed case side adjacent to a conveyor seat surface on which the cased goods are located.

According to one or more aspects of the disclosed embodiments, the inspection device further includes another imaging system separate from and different from the at least one camera, and the other imaging system images the packaged goods, separate from and different from The at least one camera image of the packaged goods is used for inspection of the packaged goods in addition to the detection of the dented condition.

According to one or more aspects of the disclosed embodiments, the other imaging system images the cases for the identity of each of the cases and the relationship between each of the cases and the authenticated cases. Compliant processor verification of bin size parameters.

According to one or more aspects of the disclosed embodiments, the processor is configured such that the inspection of the container based on the image of the container from the other imaging system is separate from and different from the analysis from the at least one The sunken condition of the box image data of the camera is analyzed.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the depression from imaging of the another imaging system separate from and different from the case image data captured by the at least one camera The existence of the condition boxed goods, and the condition of the depression is resolved as a box depression from the at least one camera's image data of the box separated from and different from the image of the other imaging system.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine the presence of the dented condition of the boxed goods from the box image data captured by the at least one camera, independently of the presence of the packaged goods in the dented condition. The images of the packaged goods captured by the imaging system.

According to one or more aspects of the disclosed embodiments, an inbound conveyor system for guiding cased goods in a logistics facility is provided. The system includes:

at least one conveyor configured to advance cased goods into the logistics facility;

A case inspection station configured to communicate with the at least one conveyor such that cased goods are advanced through the case inspection station, the case inspection station having at least one case inspection camera configured to capture an image of a shadow of each such containerized goods;

at least one other camera, coupled to the case inspection station, separate from and distinct from the at least one case inspection camera, and configured to capture image data of the case it is advanced through in addition to the image data captured by the at least one case inspection camera Image data of other boxes of each of the boxed goods at the box inspection station; and

A processor, operatively coupled to the at least one conveyor, communicatively coupled to the at least one case inspection camera, for receiving image data of the case from the at least one case inspection camera, and communicatively coupled to the at least one case inspection camera at least one other camera for receiving other box image data of each of the boxed goods from the at least one other camera, wherein the processor is the image of the shadow of the case determines a predetermined characteristic of each of the cases which determines the form of the case, confirms that a respective case has the shape of a case, and

Wherein the processor is configured to determine from the other image data whether the respective packaged goods match a predetermined box form matching characteristic when confirming that the respective packaged goods have the shape of the box.

According to one or more aspects of the disclosed embodiments, the predetermined case form fit characteristic informs the assembly acceptance of the respective cased goods within a predetermined assembly space or location of a storage array of a logistics facility.

According to one or more aspects of the disclosed embodiments, the predetermined assembly space or location is a pallet loading construction location formed in a pallet construction in the logistics facility.

According to one or more aspects of the disclosed embodiments, the predetermined box form fitting characteristic is an inward protrusion or depression of at least one side of the box shape of the respective packaged goods, as opposed to a flat box side.

According to one or more aspects of the disclosed embodiments, the predetermined characteristics of each of the boxed goods that determine the form of the box include a box length, box width, box height, angle between sides of the box, a box size one or more.

According to one or more aspects of the embodiments of the present disclosure, the processor includes:

an image acquisition assembly configured to acquire more than one digitized image from the case inspection station for each of the cased goods that are advanced through the case inspection station; and

an image combiner configured to selectively combine a plurality of acquired digitized images different from the more than one digitized images into a combined image based on a continuous input beam space below a first threshold Intensity decreases during the more than one duration of the acquired digitized images.

In accordance with one or more aspects of the disclosed embodiments, the processor is configured to confirm the presence of the boxed item based on a sustained reduction in the spatial intensity of the input beam below a second threshold, distinguished by its configuration in The presence of translucent shrink-wrap on the products in the boxed shipment.

According to one or more aspects of the disclosed embodiments, the image combiner is configured to selectively combine the acquired digitized images into a potential product combination image, wherein the image combiner has a value below the first predetermined threshold. A number of digitized pixels in an image with reduced intensity define an image width greater than a second threshold.

According to one or more aspects of the disclosed embodiments, the image combiner is configured to selectively combine the acquired digitized images to form the combined image, wherein the stride has a value below the first predetermined threshold. The number of pixels digitized from sequential images of reduced intensity and a second threshold value represents a predetermined combined image length.

According to one or more aspects of the disclosed embodiments, the at least one conveyor is configured to advance the cased goods at a propulsion rate, and the image acquisition component is configured to propel the cased goods at a rate proportional to the speed of the cased goods. An acquisition rate of the advance rate acquires the digitized images.

According to one or more aspects of the disclosed embodiments, the image acquisition rate is synchronized by using an encoder or by a stepper motor drive circuit.

According to one or more aspects of the disclosed embodiments, the image acquisition component includes an image cache.

According to one or more aspects of the disclosed embodiments, the at least one bin inspection camera is configured to determine an ambient light intensity from a sample buffer of cached images.

In accordance with one or more aspects of the disclosed embodiments, the processor is configured to determine dimensions from the combined image of: a first shape best fit in the combined image, bounding one of the combined images A second shape, and a difference between the first shape and the second shape.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine an orientation angle of the cased items relative to the at least one conveyor from the combined image.

According to one or more aspects of the disclosed embodiments, the processor is configured to determine a distance of the boxed items from the combined image to a side of the at least one conveyor.

In accordance with one or more aspects of the disclosed embodiments, the case inspection station is configured to identify one of the debris on an input window of the at least one case inspection camera based on common pixels of the same intensity across the plurality of digitized images. exist.

According to one or more aspects of the disclosed embodiments, a method in an inspection device for inspection of packaged goods is provided. This method contains:

utilizing at least one conveyor to advance the cased goods through the inspection facility;

using at least one camera to capture case image data of each of the cased goods being pushed through the inspection facility using the at least one conveyor; and

providing a processor and utilizing the processor to receive the box image data from the at least one camera,

in

the processor is operatively coupled to the at least one conveyor and is communicatively coupled to the at least one camera, and

The processor is configured to, from the box image data that produces a common image of the boxed goods captured by the at least one camera, at least One is characterized as a box flap in the open state.

According to one or more aspects of the disclosed embodiments, the processor parses the box image data and determines that the exterior of the box protrudes as a uniform flat surface, the processor is programmed with a parameter array of physical characteristic parameters, which describe A box flap conformity property of the uniform planar surface defining an open box flap condition is determined.

According to one or more aspects of the disclosed embodiments, the processor generates a physical property array from the box image data for each determined uniform flat surface, and applies the parameter array to the physical property array to resolve the uniform flat surface The surface is an open box flap.

In accordance with one or more aspects of embodiments of the present disclosure, the at least one camera is configured to image each exposed case side of each cased good that is advanced through the apparatus using the at least one conveyor to obtain The common image of the side of the imaging box is evident in the at least one of the side of the box being recessed and the box exterior protruding on each side of the imaging box.

According to one or more aspects of the embodiments of the present disclosure, the at least one camera is configured to capture image data of the boxes of each of the boxed goods that are pushed through the inspection device by using the at least one conveyor, such that The case image data embodies the at least one of the case side depression and the case exterior protrusion, wherein the at least one of the case side depression and the case exterior protrusion is evident on at least one exposed case side and the at least one exposed case Sides are configured in each exposed box side orientation of the boxed goods.

In accordance with one or more aspects of embodiments of the present disclosure, the at least one exposed case side imaged by the at least one camera is configured such that the case side recesses apparent on the imaged at least one exposed case side and the the at least one of the box side recess resolved by the at least one of box exterior protrusions and the box flap in the open condition extends from the at least one exposed box side adjacent to which the boxed goods are located One of the conveyor seat surfaces.

According to one or more aspects of the disclosed embodiments, the method further comprises imaging the containerized items with another imaging system separate from and different from the at least one camera, separate from and different from the containerized items The at least one camera imaging is used for the inspection of the packaged goods except for the detection of the at least one of the box side recess and the box opening flap.

According to one or more aspects of the disclosed embodiments, the other imaging system images the cases for the identity of each of the cases and the relationship between each of the cases and the authenticated cases. Compliant processor verification of bin size parameters.

According to one or more aspects of the disclosed embodiments, the processor is configured such that the inspection of the container based on the image of the container from the other imaging system is separate from and different from the analysis from the at least one The at least one of the box side depression and the box opening flap of the box image data of the camera is analyzed.

According to one or more aspects of the disclosed embodiments, the processor determines the identity of the boxed goods from the imaging of the another imaging system that is separate from and different from the image data of the box captured by the at least one camera. The presence of at least one of the box side depression and the box exterior protrusion and resolving the box side depression and the box exterior from the box image data of the at least one camera separate from and different from the image of the other imaging system The at least one protruding is a respective box depression and box opening flap.

According to one or more aspects of the embodiments of the present disclosure, the processor determines from the image data of the box captured by the at least one camera that the side depression of the boxed goods and the at least one protrusion protruding from the outside of the box exists independently of the images of the packaged goods captured by the other imaging system.

Although a reference is made herein to "vision systems," aspects of the disclosed embodiments are not limited to any single camera system operating in the millimeter wave, infrared, vision, microwave, X-ray, gamma ray, etc. spectrum. Limited to any combination of camera systems. While a composite camera may be used, separate spectroscopic cameras may also be used in plurality or in combination. Any reference to containerized goods containing food material (or otherwise) is incidental and is not intended to limit the scope of any appended claims thereto.

It should be understood that: the foregoing description is only an illustrative content of the aspects of the disclosed embodiments. Various substitutions and modifications may be devised by those skilled in the art without departing from the aspects of the disclosed embodiments. Accordingly, aspects of the disclosed embodiments are intended to embrace all such alternatives, modifications and variations that fall within the scope of any appended claims. Furthermore, the mere fact that different features are set forth in mutually different dependent or independent claims does not indicate that a combination of these features cannot be used to advantage, and such a combination remains within the scope of aspects of the disclosed embodiments.

100: Packed Goods Inspection System 101: Inspection system opening 102: product/box 102E: Box exterior 102T: top side 102B: Bottom 102L, 102L1, 102L2: lateral side 102R: Trailing or "rear" longitudinal side 102F: Leading side 102P1, 102P2, 102P3: Products 110: input conveyor 110S, 120S: conveyor seat surface 120: output conveyor 150:Vision system 170: Vision system 170M: Pillar 171-173: Sensors/Imaging Devices 171L, 172L, 173L: laser 180:Contour detection system 181, 184: Sensors/imaging devices 181C: Camera 181M: Mirror 181D: Diffuse screen 182,183: light source 184C: camera 184M: Mirror 184D: Diffuse screen 190: Logistics facilities 190SA: storage array 190ATV: Automatic Transport Vehicle 190P: Loader 195: Inbound Conveyor System 198: User interface 199: Controller 199A: Physical characteristic parameters 199C: Arrays of physical properties 199P: Processor 199PC: combiner 200: Shrink film packaging products 210: Boxed products 220: Outer protrusion of the box 900A, 900B: processed image 1000A, 1000B: Image 1100A, 1100B: Image 1200A: suture 1200D: constant pixel intensity 1300,1300A,1300B,1300TA,1300TA1,1300TA2,1300TV 1300FA,1300RH,1300BA,1300BR,1300VR: box folding plate 1400: box image data 1410: Consistent flat surface 1450, 1451, 1452, 1453, 1454: Protruding outside the box 2300: box side depression 2310: Aperture 2320: wrinkle 2323: edge 2330: Aperture 2340: Concave 2399: Depth 2400: Bump 2424: edge 2450: space 2499:height 2510: edge 2520: tray/package 2530: bottle cap 2610: average width 2620: average width

The aforementioned aspects and other features of the disclosed embodiments are explained in the following description, accompanied by the accompanying drawings, in which:

[FIGS. 1, 1A, 1B, and 1C] are schematic illustrations of a box inspection system according to an aspect of the disclosed embodiment;

[FIGS. 2A and 2B] are schematic representations of perspective views of examples of product boxes tested in accordance with aspects of the present disclosure;

[ FIG. 3 ] is a general diagram illustrating a flow chart of a product testing procedure according to an aspect of the disclosed embodiment;

[ FIG. 4 ] is a graph showing a general acquired image without a product seen by the camera vision system, according to an aspect of an embodiment of the present disclosure.

[FIG. 5] is a graph showing the relevant region analyzed from the general image shown in FIG. 4, according to the aspect of the embodiment of the present disclosure;

[ FIG. 6 ] is an enlarged graph showing an analyzed region from FIG. 5 , according to an aspect of an embodiment of the present disclosure;

[FIG. 7] is a general diagram illustrating a flow chart of a product measurement procedure, according to the aspect of the disclosed embodiment;

[ FIG. 8 ] is a side view and a top view showing a general view of product measurement results obtained through the procedures of FIGS. 3 and 7 , according to the aspect of the disclosed embodiment;

[FIGS. 9, 9A, 9B, and 9C] are side view and top view diagrams illustrating the measurements of real box products obtained by the procedures of FIGS. 3 and 7, according to aspects of the disclosed embodiments;

[ FIG. 10 ] is a side view and a top view showing a general view of the measurement of the outer box product obtained by the procedures of FIGS. 3 and 7 , according to the aspect of the disclosed embodiment;

[ FIG. 11 ] is a side view and a top view showing a schematic view of the maximum bump (bulge) measurement obtained by the procedures of FIGS. 3 and 7 , according to an aspect of the disclosed embodiment, and [ FIGS. 11A, 11B , and 11C] are other schematic examples of bumps on one or more sides of a product, according to aspects of embodiments of the present disclosure;

[ FIG. 12 ] is a graph illustrating the detection of the presence of debris on the camera system window, according to an aspect of an embodiment of the present disclosure.

[FIGS. 13A-13F] are schematic illustrations showing examples of boxed goods with open flaps, according to aspects of the disclosed embodiments;

[FIGS. 14A-14D] are schematic illustrations showing examples of box image data obtained by using the box inspection system shown in FIGS. 1 and 1A-1C, according to the aspect of the disclosed embodiment;

[Figs. 15-20] schematically depict the exemplary parameters used in the box inspection system of Figs. 1 and 1A-1C for judging the folded plate, according to the aspect of the disclosed embodiment;

[FIG. 21] is a schematic illustration of the operation of the box inspection system in FIGS. 1 and 1A-1C, according to the aspect of the disclosed embodiment;

[FIG. 22] is an exemplary flow chart of the method according to the aspect of the disclosed embodiment;

[FIG. 23A] is a schematic perspective illustration of the image data obtained by using the box inspection system of FIGS. 1 and 1A-1C, which shows the packaged goods with a concave surface according to the aspect of the disclosed embodiment;

[ FIG. 23B ] is a schematic diagram showing an example of box image data (corresponding to the concave surface of FIG. 23A ) obtained by using the box inspection system of FIGS. 1 and 1A-1C , according to the aspect of the disclosed embodiment;

[ FIG. 23C ] is a schematic perspective illustration of a containerized cargo having a combination of containerized cargo characteristics that may affect the handling, storage, and delivery of the containerized cargo, according to aspects of embodiments of the present disclosure;

[FIG. 24A] is a perspective illustration of the image data of the boxed goods obtained by using the box inspection system of FIGS. 1 and 1A-1C, which shows the bumps on the top surface of the boxed goods, according to the embodiment of the present disclosure Sample;

[ FIG. 24B ] is a schematic side view of an example of the image data of the boxed goods with bumps on the bottom surface of the boxed goods, according to the aspect of the disclosed embodiment;

[FIGS. 25 and 25A] are schematic representations of boxed cargo data obtained using the box inspection system of FIGS. 1 and 1A-1C, showing one or more cones or gradually narrowing in one of the boxed goods A side view of the boxed goods on one or more sides, according to aspects of embodiments of the present disclosure;

[ FIG. 26 ] is a schematic illustration of the boxed cargo data obtained using the box inspection system of FIGS. 1 and 1A-1C , which shows a side view of a boxed cargo with more than one product therein, according to an embodiment of the present disclosure the state of

[FIG. 27] is a schematic illustration of boxed goods data obtained using the box inspection system of FIGS. The side view of the packaged goods, according to the aspect of the disclosed embodiment;

[FIG. 28A and FIG. 28B] are schematic top and side views of expected packaged cargo dimensions, according to aspects of the disclosed embodiments;

[ FIG. 29 ] is a diagrammatic top view illustration of a plurality of cased goods traveling substantially side by side along a conveyor, in accordance with aspects of embodiments of the present disclosure;

[ FIG. 30 ] is an exemplary flow chart of the method according to aspects of the disclosed embodiments.

100: Packed Goods Inspection System

101: Inspection system opening

102: product/box

102E: Box exterior

102T: top side

102L: Lateral side

102R: Trailing or "rear" longitudinal side

102F: Leading side

110: input conveyor

110S, 120S: conveyor seat surface

120: output conveyor

150:Vision system

170: Vision system

170M: Pillar

171-173: Sensors/Imaging Devices

171L, 172L, 173L: laser

180:Contour detection system

181, 184: Sensors/imaging devices

181C: Camera

181M: Mirror

181D: Diffuse screen

182,183: light source

184C: camera

184M: Mirror

184D: Diffuse screen

190: Logistics facilities

190SA: storage array

190ATV: Automatic Transport Vehicle

190P: Loader

195: Inbound Conveyor System

198: User interface

199: Controller

199A: Physical characteristic parameters

199C: Arrays of physical properties

199P: Processor

199PC: combiner

LS: Light Shaper

GP: gap

Claims (71)

An inspection equipment for inspection of packaged goods, the inspection equipment includes: at least one conveyor configured to advance the cased goods through the inspection device; at least one camera configured to capture case image data of each of the cased goods being propelled through the inspection device by the at least one conveyor; a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera for receiving the case image data from the at least one camera, wherein the processor is configured to characterize from the case image data a case exterior protrusion of the packaged goods as a case flap in an open condition, wherein the processor is configured to parse the case image data and determine the exterior of the box protrudes as a uniform flat surface and is programmed with a parameter array of physical property parameters describing the box flap conformity properties of the uniform flat surface that define an open box flap condition, and Wherein the processor is configured to generate an array of physical properties from the box image data for each determined uniform flat surface, and apply the array of parameters to the array of physical properties to resolve the uniform flat surface as an open box flap. The inspection device of claim 1, wherein the at least one camera is configured to image each exposed box side of each of the boxed goods that are pushed through the inspection device by using the at least one conveyor, to image the sides of the boxes that are clearly visible on each The exterior of the box on the side of the box was exposed protruding as imaged. The inspection apparatus of claim 2, wherein the imaged exposed box side is configured such that the resolved open box flap protrudes from the outside of the box evident on the imaged exposed box side extends from the exposed box side The case side adjoins a conveyor seat surface on which the cased goods are located. The inspection device according to claim 1, wherein the at least one camera is configured to capture image data of the box of each exposed box side of each of the boxed goods pushed through the inspection device by using the at least one conveyor , so that the captured image data of the box of each of the packaged goods reflects each exposed box side of the exterior of a respective box. The inspection apparatus of claim 4, wherein the imaged exposed box side is configured such that the resolved open box flap protrudes from the outside of the box evident on the imaged exposed box side extending from the exposed box side The case side adjoins a conveyor seat surface on which the cased goods are located. The inspection device according to claim 1, wherein the at least one camera is configured to capture image data of boxes of each of the packaged goods that are pushed through the inspection device by using the at least one conveyor, so that the image data of the boxes reflect The box exterior protrusion, wherein the box exterior protrusion is evident on at least one exposed box side and the at least one exposed box side is disposed in each exposed box side orientation of the boxed goods. The inspection device of claim 6, wherein the at least one exposed box side imaged by the at least one camera is configured so that the resolved open box protrudes from the outside of the box evidently on the imaged at least one exposed box side A flap extends from the at least one exposed case side adjacent a conveyor seat surface on which the cased goods are located. The inspection device of claim 1, further comprising another imaging system separate from and different from the at least one camera, wherein the another imaging system images the devices that are pushed through the inspection device using the at least one conveyor A distinct property of the container load that is a physical property different from the array of physical properties. The inspection device according to claim 8, wherein the at least one camera captures box image data substantially simultaneously with the other imaging system imaging the different characteristics of the boxed goods. The inspection device according to claim 1, further comprising another imaging system separate from and different from the at least one camera, and the other imaging system images the packaged goods, separate from and different from the other imaging system of the packaged goods At least one camera imaging is used for the inspection of the boxed goods except for the detection of the opening flap. The inspection device as claimed in claim 10, wherein the other imaging system images the boxed goods for identification of each of the boxed goods and the identification of each of the boxed goods with the box size parameters of the verified boxed goods Compliant processor verification. The inspection device of claim 10, wherein the processor is configured such that inspection of the box based on the image of the box from the other imaging system is separate from and distinct from parsing the image of the box from the at least one camera This unboxing flap of the data is parsed. The inspection device of claim 10, wherein the processor is configured to determine the presence of the case exterior protrusion from imaging of the other imaging system that is separate from and different from the case image data captured by the at least one camera , and from the case image data of the at least one camera that is separated from and different from the image of the another imaging system, the exterior of the case is resolved as an open case flap. The inspection device of claim 10, wherein the processor is configured to determine the presence of protrusions outside the box from the box image data captured by the at least one camera, independent of the presence of protrusions captured by the other imaging system the images of the packaged goods. An inspection equipment for inspection of packaged goods, the inspection equipment includes: at least one conveyor configured to advance the cased goods through the inspection device; at least one camera configured to capture case image data of each of the cased goods being propelled through the inspection device by the at least one conveyor; a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera for receiving the case image data from the at least one camera, wherein the processor is configured to protrude from the exterior of a box of the boxed goods that the box image data characterizes as an opener flap, wherein the processor is configured to: parsing the box image data and determining that the exterior of the box protrudes as a uniform flat surface, and For each determined uniform flat surface, a physical property array of physical properties of the uniform flat surface is generated from the box image data such that the physical property array describes the uniform flat surface as a box flap, and based on the parameter physical properties A parameter array determines that the box flap is in an open flap state. The inspection apparatus of claim 15, wherein the parameter array of parametric physical properties describes a box flap conformity property that determines the uniform planar surface defining the open box flap condition. A method for inspection of packaged goods, the method comprising: utilizing at least one conveyor to advance the cased goods through an inspection facility; using at least one camera to capture case image data of each of the cased goods being pushed through the inspection device using the at least one conveyor; providing a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera to receive the case image data from the at least one camera, and wherein the processor: Characterizing a case exterior protrusion of the packaged goods as a case flap in an open condition from the case image data, wherein the processor is configured to parse the case image data and determine that the case exterior protrusion is a coincidence a planar surface programmed with a parameter array of physical property parameters describing a box-fold conformity attribute for determining the conforming planar surface defining an open-box-fold condition, and Wherein the processor generates a physical characteristic array from the box image data for each determined uniform flat surface, and applies the parameter array to the physical characteristic array to resolve the uniform flat surface as an open box flap. The method of claim 17, wherein the at least one camera is configured to image each of the exposed box sides of each of the boxed goods that are pushed through the inspection device by the at least one conveyor, to image the sides that are evident in each of the boxed goods. The imaging protrudes through the exterior of the box on the exposed side of the box. The method of claim 18, wherein the imaged exposed box side is configured such that the resolved open box flap protrudes from the outside of the box evident on the imaged exposed box side extends from the exposed box side, adjacent to a conveyor seat surface on which the cased goods are located. The method of claim 17, wherein the at least one camera is configured to capture image data of the box of each exposed box side of each of the boxed goods pushed through the inspection device using the at least one conveyor, The captured image data of the box of each of the boxed goods reflects each exposed box side of the exterior of a respective box. The method of claim 20, wherein the imaged exposed box side is configured such that the resolved open box flap protrudes from the outside of the box evident on the imaged exposed box side extends from the exposed box side, adjacent to a conveyor seat surface on which the cased goods are located. The method of claim 17, wherein the at least one camera is configured to capture image data of boxes of each of the boxed goods that are pushed through the inspection device by using the at least one conveyor, so that the image data of the boxes reflect the A case exterior protrusion, wherein the case exterior protrusion is evident on at least one exposed case side and the at least one exposed case side is disposed in each exposed case side orientation of the cased goods. The method of claim 22, wherein the at least one exposed box side imaged by the at least one camera is configured such that the resolved open box fold protrudes from the exterior of the box evident on the imaged at least one exposed box side A panel extends from the at least one exposed case side adjacent a conveyor seat surface on which the cased goods are located. Such as the method of claim 17, further comprising: providing another imaging system separate from and distinct from the at least one camera; and With the other imaging system, a different characteristic of the cased goods that are advanced through the inspection apparatus using the at least one conveyor is imaged that is different from the physical characteristic of the array of physical characteristics. The method of claim 24, wherein the at least one camera captures box image data substantially simultaneously with the other imaging system imaging the different characteristics of the boxed goods. Such as the method of claim 17, further comprising: providing another imaging system separate from and distinct from the at least one camera; and imaging the cased goods with the other imaging system, which is separate from and distinct from the at least one camera imaging of the cased goods, for the detection of the cased goods in addition to the detection of the opening flap test. The method of claim 26, wherein the other imaging system images the packaged goods for the identity of each of the packaged goods and the conformity of each of the packaged goods with the box size parameters of the verified packaged goods processor authentication. The method of claim 26, wherein the processor is configured such that box inspection based on box image images from the other imaging system is separate from and distinct from parsing the box image data from the at least one camera The unboxing flap of the . The method of claim 26, wherein the processor is configured to determine the presence of the case exterior protrusion from imaging of the other imaging system separate from and different from the case image data captured by the at least one camera, And from the case image data of the at least one camera that is separate from and different from the image of the another imaging system, the exterior of the case protrudes as an open case flap is resolved. The method of claim 26, wherein the processor is configured to determine the presence of protrusions outside the box from the box image data captured by the at least one camera independently of the box captured by the other imaging system. Such images of the packaged goods. A method for inspection of packaged goods, the method comprising: utilizing at least one conveyor to advance the cased goods through an inspection facility; using at least one camera to capture case image data of each of the cased goods being pushed through the inspection device using the at least one conveyor; providing a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera to receive the case image data from the at least one camera, and wherein the processor: an exterior protrusion of a box of the boxed goods that is characterized from the box image data as an opener flap; analyzing the box image data and determining that the exterior of the box protrudes as a uniform flat surface; and For each determined uniform flat surface, a physical property array of physical properties of the uniform flat surface is generated from the box image data such that the physical property array describes the uniform flat surface as a box flap, and based on the parameter physical properties A parameter array determines that the box flap is in an open flap state. The method of claim 31, wherein the parameter array of parametric physical properties describes a box flap conformity attribute determining the uniform planar surface defining the open box flap condition. An inspection equipment for inspection of packaged goods, the inspection equipment includes: at least one conveyor configured to advance the cased goods through the inspection device; at least one camera configured to capture case image data of each of the cased goods being propelled through the inspection device by the at least one conveyor; a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera to receive the case image data from the at least one camera; and wherein the processor is configured to depress a side of the boxed goods and protrude from an exterior of a box from the box image data that produces a common image of the boxed goods captured by the at least one camera At least one is characterized as a box flap in an open condition. The inspection device as claimed in claim 33, wherein the processor is configured to analyze the box image data and determine that the outside of the box protrudes as a uniform flat surface, and is programmed with a parameter array of physical characteristic parameters, which describe the determination definition The flap conformity property of the uniform flat surface for an open flap condition. The inspection apparatus of claim 34, wherein the processor is configured to generate an array of physical properties from the box image data for each determined uniform flat surface, and apply the array of parameters to the array of physical properties to resolve the uniform flat surface The surface is an open box flap. The inspection apparatus of claim 33, wherein the at least one camera is configured to image each exposed case side of each cased good that is pushed through the apparatus using the at least one conveyor to obtain images from each imaged case side The common image is evident on at least one of the case side recess and the case exterior protrusion on each imaged case side. The inspection equipment as claimed in claim 33, wherein the at least one camera is configured to capture the box image data of each of the boxed goods that are pushed through the inspection equipment by using the at least one conveyor, so that the box image data embodying the at least one of the box side depression and the box exterior protrusion, wherein the at least one of the box side depression and the box exterior protrusion is evident on at least one exposed box side and the at least one exposed box side is disposed on Each of the exposed box sides of the packaged goods is oriented in the center. The inspection apparatus of claim 37, wherein the at least one exposed box side imaged by the at least one camera is configured so that the side protrudes from the box side and the box exterior that are evident on the imaged at least one exposed box side The at least one of the resolved case side recess and the case flap in the open condition extends from the at least one exposed case side adjacent a conveyor on which the cased goods are located seat surface. The inspection device according to claim 33, further comprising another imaging system separate from and different from the at least one camera, and the other imaging system images the packaged goods, separate from and different from the other imaging system of the packaged goods At least one camera imaging is used for the inspection of the boxed goods except for the detection of the at least one of the box side recess and the box opening flap. The inspection device as claimed in claim 39, wherein the other imaging system images the packaged goods for identification of each of the packaged goods and the identification of each of the packaged goods with the box size parameters of the verified packaged goods Compliant processor verification. The inspection device of claim 39, wherein the processor is configured such that inspection of the case based on images of the case from the other imaging system is separate from and distinct from parsing the case from the at least one camera The at least one of the box side depression and the box opening flap of the image data is analyzed. The inspection device of claim 39, wherein the processor is configured to determine the identity of the boxed goods from the imaging of the other imaging system that is separate from and different from the imaging data of the box captured by the at least one camera The presence of at least one of the box side depression and the box exterior protrusion and resolving the box side depression and the box exterior from the box image data of the at least one camera separate from and different from the image of the other imaging system The at least one protruding is a respective box depression and box opening flap. The inspection device as claimed in claim 39, wherein the processor is configured to determine from the box image data captured by the at least one camera to determine the box side depression of the boxed goods and the at least one protruding outside of the box exists independently of the images of the packaged goods captured by the other imaging system. An inspection equipment for inspection of packaged goods, the inspection equipment includes: at least one conveyor configured to advance the cased goods through the inspection device; at least one camera configured to capture case image data of each of the cased goods being propelled through the inspection device by the at least one conveyor; a processor operatively coupled to the at least one conveyor and communicatively coupled to the at least one camera for receiving the case image data from the at least one camera, in: The processor is configured to characterize at least one box top or at least one box side having a sunken condition from the box image data of the boxed goods captured by the at least one camera, wherein the processor is programmed to resolve an inward variation of the at least one case top or the at least one case side from a predetermined planar conformance characteristic of the case top or case side from the image data; and The processor is configured to determine, for each resolved inward variation presence, from the image data a physical characteristic describing the recessed condition of the at least one case top or the at least one case side. The inspection device of claim 44, wherein the processor is configured to parse the box image data and determine that the at least one box top or the at least one box side has an inward variation, and is programmed with a parameter array of physical characteristic parameters , which describes the inward variation attribute that determines the inward variation that bounds the sag condition. The inspection device of claim 45, wherein the processor is configured to generate a physical property array from the box image data for each determined inward variation, and apply the parameter array to the physical property array to resolve the inward variation Variants for this sunken condition. The inspection device of claim 44, wherein the at least one camera is configured to image each exposed case side of each cased good that is pushed through the inspection device using the at least one conveyor to obtain images from each imaged case side The common image imaging is evident in the recessed condition on each imaged box side. The inspection equipment as claimed in claim 44, wherein the at least one camera is configured to capture the box image data of each of the boxed goods that are pushed through the inspection equipment by using the at least one conveyor, so that the box image data Embodying the recessed condition, wherein the recessed condition is evident on at least one exposed case side and the at least one exposed case side is disposed in each exposed case side orientation of the cased goods. The inspection device of claim 44, further comprising another imaging system separate from and different from the at least one camera, and the other imaging system images the packaged goods, separate from and different from the other imaging system of the packaged goods At least one camera imaging is used for the inspection of the packaged goods except for the detection of the dented condition. An inbound conveyor system for the guidance of cased goods in a logistics facility, the system comprising: at least one conveyor configured to advance cased goods into the logistics facility; A case inspection station configured to communicate with the at least one conveyor such that cased goods are advanced through the case inspection station, the case inspection station having at least one case inspection camera configured to capture an image of a shadow of each such containerized goods; at least one other camera, coupled to the case inspection station, separate from and distinct from the at least one case inspection camera, and configured to capture image data of the case it is advanced through in addition to the image data captured by the at least one case inspection camera Image data of other boxes of each of the boxed goods at the box inspection station; and A processor, operatively coupled to the at least one conveyor, communicatively coupled to the at least one case inspection camera, for receiving image data of the case from the at least one case inspection camera, and communicatively coupled to the at least one case inspection camera at least one other camera for receiving other box image data of each of the boxed goods from the at least one other camera, wherein the processor is the image of the shadow of the case determines a predetermined characteristic of each of the cases which determines the form of the case, confirms that a respective case has the shape of a case, and Wherein the processor is configured to determine from the other image data whether the respective packaged goods match a predetermined box form matching characteristic when confirming that the respective packaged goods have the shape of the box. The inbound conveyor system of claim 50, wherein the predetermined case form fit characteristic informs assembly acceptance of the respective cased goods within a predetermined assembly space or location of a storage array of the logistics facility. The inbound conveyor system of claim 51, wherein the predetermined assembly space or location is a pallet loading construction location formed in a pallet construction in the logistics facility. 51. The inbound conveyor system of claim 50, wherein the predetermined case form fitting characteristic is an inward projection or depression of at least one side of the case shape of the respective cased goods, as opposed to a flat case side. The inbound conveyor system of claim 50, wherein the predetermined characteristics of each of the boxed goods that determine the form of the box include a box length, box width, box height, angle between sides of the box, a box size one or more. The inbound conveyor system of claim 50, wherein the processor comprises: an image acquisition assembly configured to acquire more than one digitized image from the case inspection station for each of the cased goods that are advanced through the case inspection station; and an image combiner configured to selectively combine a plurality of acquired digitized images different from the more than one digitized images into a combined image based on a continuous input beam space below a first threshold Intensity decreases during a duration of the more than one of the acquired digitized images. The inbound conveyor system of claim 55, wherein the processor is configured to confirm the presence of the cased item based on a sustained reduction in the spatial intensity of the input beam below a second threshold, distinct from its configuration in the Presence of translucent shrink wrap on products in boxed goods. The inbound conveyor system of claim 56, wherein the image combiner is configured to selectively combine the captured digitized image into a potential product combination image, wherein the image has a value below the first predetermined threshold The digitized number of pixels in an image with reduced intensity define an image width greater than a second threshold. The inbound conveyor system of claim 56, wherein the image combiner is configured to selectively combine acquired digitized images to form the combined image, wherein a span having a value below the first predetermined threshold and The number of pixels digitized for the sequential image of reduced intensity of a second threshold represents a predetermined combined image length. The inbound conveyor system of claim 55, wherein the at least one conveyor is configured to advance the cased goods at a push rate, the image acquisition assembly is configured to be proportional to the An acquisition rate of the advance rate acquires the digitized images. The inbound conveyor system of claim 59, wherein the image acquisition rate is synchronized by using an encoder or by a stepper motor drive circuit. The inbound conveyor system of claim 55, wherein the image acquisition component includes an image cache. The inbound conveyor system of claim 55, wherein the at least one case inspection camera is configured to determine an ambient light intensity from a sample buffer of cached images. The inbound conveyor system of claim 55, wherein the processor is configured to determine dimensions from the combined image of: a first shape best fit in the combined image, a first shape constraining the combined image Two shapes, and a difference between the first shape and the second shape. The inbound conveyor system of claim 55, wherein the processor is configured to determine an orientation angle of the cased goods relative to the at least one conveyor from the combined image. The inbound conveyor system of claim 55, wherein the processor is configured to determine a distance of the cased goods from the combined image to a side of the at least one conveyor. The inbound conveyor system of claim 50, wherein the case inspection station is configured to identify debris on an input window of the at least one case inspection camera based on common pixels of the same intensity across the plurality of digitized images existence. A method in an inspection device for inspection of packaged goods, the method comprising: utilizing at least one conveyor to advance the cased goods through the inspection facility; using at least one camera to capture case image data of each of the cased goods that are pushed through the inspection facility using the at least one conveyor; and providing a processor and utilizing the processor to receive the box image data from the at least one camera, in the processor is operatively coupled to the at least one conveyor and is communicatively coupled to the at least one camera, and The processor is configured to, from the box image data that produces a common image of the boxed goods captured by the at least one camera, at least One is characterized as a box flap in the open state. The method of claim 67, wherein the processor parses the box image data and determines that the exterior of the box protrudes as a uniform flat surface, the processor is programmed with a parameter array of physical property parameters that describe the determination to define an open box The box-fold conformity property of the uniform flat surface of the flap condition. The method of claim 67, wherein the at least one camera is configured to image each exposed case side of each cased good that is pushed through the apparatus using the at least one conveyor to obtain the exposed case from each imaged case side. Common image imaging is evident on each imaged side of the box at least one of the box side recess and the box exterior protrusion. The method according to claim 67, wherein the at least one camera is configured to capture the box image data of each of the boxed goods that are pushed through the inspection device by using the at least one conveyor, so that the box image data reflects The at least one of the case side recess and the case exterior protrusion, wherein the at least one of the case side recess and the case exterior protrusion is evident on at least one exposed case side and the at least one exposed case side is disposed on the Each of the exposed box sides of the packaged goods is oriented. The method of claim 67, further comprising, imaging the boxed goods using another imaging system separate from and different from the at least one camera, imaging the at least one camera separate from and different from the boxed goods, using Inspection of the boxed goods other than the inspection of at least one of the box side recess and the box opening flap.

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