PL430920A1 - Methods and system for estimation of a container filling level - Google Patents

Methods and system for estimation of a container filling level

Info

Publication number
PL430920A1
PL430920A1 PL43092016A PL43092016A PL430920A1 PL 430920 A1 PL430920 A1 PL 430920A1 PL 43092016 A PL43092016 A PL 43092016A PL 43092016 A PL43092016 A PL 43092016A PL 430920 A1 PL430920 A1 PL 430920A1
Authority
PL
Poland
Prior art keywords
cargo container
container
point cloud
methods
volume
Prior art date
Application number
PL43092016A
Other languages
Polish (pl)
Other versions
PL239620B1 (en
Inventor
Yan Zhang
Jay J Williams
Kevin J O'connell
Cuneyt M Taskiran
Original Assignee
Symbol Technologies Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US14/944,860 external-priority patent/US9940730B2/en
Priority claimed from US14/978,367 external-priority patent/US10713610B2/en
Application filed by Symbol Technologies Llc filed Critical Symbol Technologies Llc
Publication of PL430920A1 publication Critical patent/PL430920A1/en
Publication of PL239620B1 publication Critical patent/PL239620B1/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/77—Retouching; Inpainting; Scratch removal
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20021—Dividing image into blocks, subimages or windows
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20036—Morphological image processing

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Quality & Reliability (AREA)
  • Geometry (AREA)
  • Fluid Mechanics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Measurement Of Levels Of Liquids Or Fluent Solid Materials (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Image Analysis (AREA)

Abstract

Przedmiotem wynalazku są sposoby i układ do szacowania napełnienia pojemnika. W sposobie otrzymuje się trójwymiarową (3D) chmurę punktów z czujnika głębokości skierowanego w stronę otwartego końca pojemnika ładunkowego (102), przy czym chmura punktów zawiera wiele punktów, z których każdy ma określoną wartość głębokości. Segmentacja trójwymiarowej chmury punktów pomiędzy wiele elementów siatkowych umożliwia obliczanie odpowiedniej objętości elementu siatkowego załadowanej części pojemnika dla każdego elementu siatkowego. Obliczone objętości elementów siatkowych służą do obliczenia objętości części załadowanej pojemnika w pojemniku ładunkowym oraz do obliczenia szacowanego napełnienia pojemnika ładunkowego w oparciu o obliczoną objętość i ładowność pojemnika oraz mogą być przesyłane obliczone szacowane napełnienie pojemnika ładunkowego.The invention relates to methods and a system for estimating the filling of a container. The method obtains a three-dimensional (3D) point cloud from a depth sensor facing the open end of the cargo container (102), the point cloud comprising a plurality of points each having a predetermined depth value. Segmentation of the three-dimensional point cloud between a plurality of mesh elements enables the computation of the appropriate mesh element volume of the loaded container portion for each mesh element. The calculated volumes of the mesh elements are used to calculate the volume of the loaded part of the cargo container in the cargo container and to calculate the estimated filling of the cargo container based on the calculated volume and loading capacity of the cargo container, and the calculated estimated filling of the cargo container can be transmitted.

PL430920A 2015-11-18 2016-11-10 Methods and system for estimation of a container filling level PL239620B1 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US14/944,860 US9940730B2 (en) 2015-11-18 2015-11-18 Methods and systems for automatic fullness estimation of containers
US14/944,860 2015-11-18
US14/978,367 US10713610B2 (en) 2015-12-22 2015-12-22 Methods and systems for occlusion detection and data correction for container-fullness estimation
US14/978,367 2015-12-22
PCT/US2016/061279 WO2017087244A1 (en) 2015-11-18 2016-11-10 Methods and systems for container fullness estimation

Publications (2)

Publication Number Publication Date
PL430920A1 true PL430920A1 (en) 2019-11-04
PL239620B1 PL239620B1 (en) 2021-12-20

Family

ID=57389569

Family Applications (2)

Application Number Title Priority Date Filing Date
PL430920A PL239620B1 (en) 2015-11-18 2016-11-10 Methods and system for estimation of a container filling level
PL426752A PL426752A1 (en) 2015-11-18 2016-11-10 Method and systems for estimating a container filling level

Family Applications After (1)

Application Number Title Priority Date Filing Date
PL426752A PL426752A1 (en) 2015-11-18 2016-11-10 Method and systems for estimating a container filling level

Country Status (6)

Country Link
CA (1) CA3005452C (en)
DE (1) DE112016005287T5 (en)
GB (1) GB2558507B (en)
MX (1) MX2018006105A (en)
PL (2) PL239620B1 (en)
WO (1) WO2017087244A1 (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10657666B2 (en) * 2017-12-22 2020-05-19 Symbol Technologies, Llc Systems and methods for determining commercial trailer fullness
US10628772B2 (en) * 2017-12-22 2020-04-21 Symbol Technologies, Llc Computing package wall density in commercial trailer loading
US10690533B2 (en) * 2017-12-29 2020-06-23 Symbol Technologies, Llc Illumination pattern system and methods for 3D-time of flight systems
US11010915B2 (en) 2019-07-11 2021-05-18 Zebra Technologies Corporation Three-dimensional (3D) depth imaging systems and methods for dynamic container auto-configuration
CN111442814B (en) * 2020-05-13 2022-01-18 武汉市异方体科技有限公司 Device for non-contact measurement of drainage volume of special-shaped object
WO2022054497A1 (en) * 2020-09-08 2022-03-17 パナソニックＩｐマネジメント株式会社 Filling rate measurement method, information processing device, and program
CN112874927B (en) * 2021-02-03 2023-07-07 四川物联亿达科技有限公司 Logistics packaging box type recommendation method
CN113657191A (en) * 2021-07-26 2021-11-16 浙江大华技术股份有限公司 Deposit recognition method, device and electronic device
DE102021127789A1 (en) 2021-10-26 2023-04-27 Zf Cv Systems Global Gmbh Procedure for registering cargo

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8009871B2 (en) * 2005-02-08 2011-08-30 Microsoft Corporation Method and system to segment depth images and to detect shapes in three-dimensionally acquired data
EP2302564A1 (en) * 2009-09-23 2011-03-30 Iee International Electronics & Engineering S.A. Real-time dynamic reference image generation for range imaging system
US9514522B2 (en) * 2012-08-24 2016-12-06 Microsoft Technology Licensing, Llc Depth data processing and compression
US20140372182A1 (en) * 2013-06-17 2014-12-18 Motorola Solutions, Inc. Real-time trailer utilization measurement

Also Published As

Publication number Publication date
CA3005452C (en) 2020-07-14
GB2558507B (en) 2022-04-20
GB2558507A (en) 2018-07-11
PL239620B1 (en) 2021-12-20
DE112016005287T5 (en) 2018-08-02
PL426752A1 (en) 2019-03-25
MX2018006105A (en) 2018-08-24
CA3005452A1 (en) 2017-05-26
WO2017087244A1 (en) 2017-05-26
GB201807994D0 (en) 2018-07-04

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