Virtual autocalibration of sensors

Patent metadata

Field	Value
Publication number	US-11809894-B2
Application number	US-202117530881-A
Country	US
Kind code	B2
Filing date	Nov 19, 2021
Priority date	Nov 6, 2017
Publication date	Nov 7, 2023
Grant date	Nov 7, 2023

Abstract

The present disclosure describes methods and systems for virtually calibrating geometric sensors with overlapping fields of view. In some embodiments, a geometric sensor may be virtually calibrated by applying a correction value to profile data obtained by the geometric sensor to generate adjusted profile data. The correction factor may be determined based at least in part on X-Y offsets and/or rotational offsets of prior profile data obtained by the geometric sensor relative to corresponding profile data obtained by a reference geometric sensor, and may be recalculated or updated as new sets of profile data are obtained. The adjusted profile data may be used in place of the original profile data in various data processing operations to functionally offset a positional error of the geometric sensor.

First claim

What is claimed is:

1. A method of functionally calibrating geometric sensors of a scanner system, wherein the scanner system is configured to obtain geometric profiles of objects moving along a flow path, the method comprising:
receiving a first set of profile data obtained by one or more first geometric sensors, and a reference set of profile data obtained by one or more second geometric sensors, for a first object, wherein the first set of profile data includes profile data for a first portion of the first object and the reference set of profile data includes profile data for said first portion of the object, such that the sets of profile data include overlapping profile data;
determining, based at least on the overlapping profile data, a first one or more offset values that represents a translational difference of the first set of profile data, or one or more portions thereof, relative to the reference set of profile data;
generating an adjusted set of profile data for the first object by applying one or more first correction values to the first set of profile data to thereby offset a positional error of the one or more first geometric sensors relative to the one or more second geometric sensors, wherein the one or more first correction values represents additional offset values for additional sets of profile data obtained by the first and second geometric sensors;
determining one or more second correction values based on the first one or more offset values and one or more of the additional offset values; and
causing a machine center to reposition or cut the first object based at least in part on the adjusted set of profile data.

2. The method of claim 1 , wherein the one or more first geometric sensors is a single first geometric sensor, and the first one or more offset values is a first offset value, and
wherein determining the first one or more offset values includes
aligning the first set of profile data to the reference set of profile data based at least in part on the overlapping profile data,
determining an offset of the first set of profile data relative the reference set of profile data based on the alignment, wherein the offset includes an X-Y offset and/or a rotational offset, and
storing the determined offset in a first buffer as the first offset value.

3. The method of claim 2 , further including:
receiving a second set of profile data obtained by the one or more first geometric sensors for a second object, and
applying the one or more second correction values to the second set of profile data to thereby generate an adjusted set of profile data.

4. The method of claim 3 , wherein the additional sets of profile data represent additional objects scanned by the first and second geometric sensors prior to the first object, and the one or more first correction values is an average of at least some of the additional offset values.

5. The method of claim 4 , wherein the one or more second correction values is an average of a second plurality of offset values, and the second plurality of offset values is the first offset value and a predetermined number of the most recent of the additional offset values.

6. The method of claim 3 , wherein the single first geometric sensor is positioned to scan the objects in a first scan zone, and the one or more second geometric sensors is positioned to scan the objects in a second scan zone that is spaced apart from the first scan zone along the flow path.

7. The method of claim 3 , wherein the single first geometric sensor and the one or more second geometric sensors are positioned to scan the objects in a first scan zone.

8. The method of claim 1 , wherein the one or more first geometric sensors is a plurality of first geometric sensors positioned to scan the objects in a first scan zone, each of said portions of the first set of profile data is a portion of profile data obtained by a corresponding one of the first geometric sensors, and the first one or more offset values is a plurality of first offset values, and
wherein determining the first offset values includes
aligning the portions of profile data to the reference set of profile data,
determining an offset of each of said portions of profile data relative to the reference set of profile data based on the alignment, wherein each of the offsets includes an X-Y offset and/or a rotational offset, and
storing the determined offsets as the offset values for corresponding ones of the first geometric sensors.

9. The method of claim 8 , further including receiving a second set of profile data obtained by the one or more first geometric sensors for a second object, and
applying the one or more second correction values to the second set of profile data to thereby generate an adjusted set of profile data for the second object.

10. The method of claim 9 , further including determining the one or more second correction values, wherein determining the one or more second correction values includes determining, for each of the first geometric sensors, an average of a plurality of offset values, and said plurality of offset values includes a corresponding one of the first offset values and at least some of the corresponding additional offset values, and wherein the determined averages are the second correction values for the respective first geometric sensors.

11. The method of claim 10 , wherein said at least some of the corresponding additional offset values is a desired number of the most recent of the additional offset values stored for a corresponding one of the first geometric sensors.

12. The method of claim 8 , wherein the one or more second geometric sensors is positioned to scan the objects in a second scan zone that is spaced apart from the first scan zone along a flow path.

13. The method of claim 8 , wherein the one or more second geometric sensors is positioned to scan the objects in the first scan zone.

14. The method of claim 1 , further including causing an output device to generate an alert based at least in part on one of the correction values, wherein causing the output device to generate the alert includes:
comparing said one of the correction values to a threshold value,
determining, based on the comparison, whether said one of the correction values exceeds the threshold value, and
in response to determining that said one of the correction values exceeds the threshold value, sending a command to an output device to generate an alert message to thereby alert an operator of a misalignment of one of the one or more first geometric sensors relative to one of the one or more second geometric sensors.

15. The method of claim 1 , wherein the objects are pieces of wood, the method further including causing one or more machine centers to cut and/or reposition the second object based at least in part on the adjusted set of profile data.

16. The method of claim 1 , wherein the objects are logs, the one or more first geometric sensors is a plurality of geometric sensors positioned to scan the logs in a first scan zone located near a log turner, and the one or more second geometric sensors is a plurality of geometric sensors positioned to scan the logs in a second scan zone located upstream of the first scan zone, the method further including:
comparing the adjusted set of geometric data to the reference set of scan data to determine a current position of the second object; and
controlling the log turner to reposition the second object based at least on a difference between the current position and a desired position.

17. The method of claim 1 , wherein the obj

Assignees

• Usnr Llc

Inventors

• Strasky Douglas G
• Kalf Erik W
• Walts Brian

Classifications

• G06F9/45558 Primary

  Hypervisor-specific management and integration aspects · CPC title

• G06F9/44505

  Configuring for program initiating, e.g. using registry, configuration files · CPC title

• G06F9/455

  Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines · CPC title

• G06F2009/45583

  Memory management, e.g. access or allocation · CPC title

• G06F2009/45591

  Monitoring or debugging support · CPC title