Dynamically calibrating one or more industrial line cameras simultaneously with a calibration target, packages, and running transport

Patent metadata

Field	Value
Publication number	US-12469171-B2
Application number	US-202217956670-A
Country	US
Kind code	B2
Filing date	Sep 29, 2022
Priority date	Sep 29, 2021
Publication date	Nov 11, 2025
Grant date	Nov 11, 2025

Abstract

A dynamic dimensioning system includes at least one camera, a range finder, and a tachometer. A computer may be used to perform a dynamic calibration operation for the cameras coupled over a communications network. The dynamic calibration operation includes a calibration estimate routine configured to generate default configuration parameters selected by a user from among a plurality of pre-defined user inputs via a graphical user interface, and a calibration refinement routine configured to refine the default configuration parameters to generate a completed set of calibration parameters that are set for the at least one camera. The dynamic calibration operation may be performed without first performing any static calibration operation.

First claim

What is claimed:

1 . A dynamic dimensioning system configured to scan one or more objects moving on a transport mechanism, the system comprising:
at least one camera having a field-of-view directed toward the transport mechanism; a range finder operably coupled with the at least one camera over a communications network; a tachometer operably coupled with the at least one camera over the communications network, the tachometer configured to configured to output a signal representative of the movement of the transport mechanism; and a computer operably coupled to the communications network, and configured to perform a dynamic calibration operation comprising:
a calibration estimate routine configured to generate default configuration parameters responsive to selections by a user from among a plurality of pre-defined user inputs via graphical user interface; and
a calibration refinement routine configured to refine the default configuration parameters to generate a completed set of calibration parameters that are set for the at least one camera by performing calculations for:
a refined camera angle for the at least one camera being calibrated;
a refined far working distance for the at least one camera being calibrated; and
a refined camera distance to a scanline for the at least one camera being calibrated.

2 . The system of claim 1 , wherein the transport mechanism includes one of a conveyor belt, a cross belt sorter, or a tilt tray.

3 . The system of claim 1 , wherein the at least one camera includes a plurality of cameras operably coupled to the communications network, and wherein the communications network is a synchronization network for an inter-camera network with distributed tachometer count signals among the plurality of cameras.

4 . The system of claim 3 , further comprising a photo sensor configured to provide an active high signal or an active low signal to indicate the is present on the transport mechanism.

5 . The system of claim 4 , wherein the tachometer is configured to generate a tach stamp that is multicast to the plurality of cameras on the sync network when the photo sensor transitions from blocked to unblocked or when the photo sensor transitions from unblocked to blocked.

6 . The system of claim 3 , further comprising a position sensor configured to provide an object position information at a predefined time interval.

7 . The system of claim 6 , wherein the tachometer is configured to generate a tach stamp that is multicast to the plurality of cameras on the sync network with the object position information provided by the position sensor.

8 . The system of claim 1 , wherein the range finder includes at least one of a time-of-flight sensor, a dimensioner, a light curtain, or a combination thereof.

9 . The system of claim 1 , wherein the plurality of pre-defined user inputs include at least one of:
an approximate mounting angle selected from among a plurality of different pre-defined mounting angle options; a mounting position selected from among a plurality of different pre-defined mounting position options; and a maximum package height selected from among a plurality of different pre-defined package height options.

10 . The system of claim 9 , wherein the default configuration parameters include a working transport width received by extracting the working transport width from a position sensor or receiving the working transport width through an input to the user interface from the user.

11 . The system of claim 10 , wherein the default configuration parameters include a default far working distance needed to cover the required field-of-view.

12 . The system of claim 11 , wherein the default far working distance is calculated using a maximum package height, the working transport width, a mounting position and approximate mounting angle for the at least one camera being calibrated.

13 . The system of claim 1 , wherein the dynamic calibration operation is performed without first performing any static calibration operation.

14 . A method for dynamically configuring one or more industrial line camera with a calibration target on a transport mechanism, the method comprising:
arranging at least one camera having a field-of-view directed toward the transport mechanism; and performing, via a computer, a dynamic calibration operation without first performing any static calibration operation, the dynamic calibration operation comprising:
generating default configuration parameters via a calibration estimate routine responsive to selections by a user from among a plurality of pre-defined user inputs via graphical user interface;
refining the default configuration parameters to generate a completed set of calibration parameters via a calibration refinement routine including:
calculating a refined camera angle for the at least one camera being calibrated;
calculating a refined far working distance for the at least one camera being calibrated; and
calculating a refined camera distance to a scanline for the at least one camera being calibrated; and

applying the refined configuration parameters to the at least one camera for subsequent operation.

15 . The method of claim 14 , wherein performing the dynamic calibration operation includes operation simultaneously calibrating all cameras of plurality of cameras operatively coupled over a network of a system.

16 . The method of claim 15 , further comprising the user selecting different pre-defined user inputs via the graphical user interface for each camera of the plurality of cameras that is being calibrated simultaneously.

17 . The method of claim 14 , further comprising:
transporting, via the transport mechanism, a first package and a second package during the calibration refinement routine, the first package and the second package having different heights; and capturing, via the one or more cameras, images and information used during the calibration refinement routine as the first package and the second package move along the transport mechanism to generate the completed set of calibration parameters.

18 . The method of claim 17 , wherein calculating the refined camera angle is based, at least in part, on a difference in package height and a difference in a tach distance from a system reference point (SRP) to a leading edge for the first package and the second package when moving on the transport mechanism through the field-of-view of the at least one camera being calibrated.

19 . The method of claim 18 , wherein calculating the refined far working distance is based, at least in part, one the refined camera angle, package height, and a camera range calculated using a dots per inch calculation for the first or second packages in images captured by the at least one camera being calibrated.

20 . The method of claim 19 , wherein calculating the refined camera distance to the scanline is based, at least in part, on the refined camera angle, package height, and a tach distance from the SRP to a leading edge for the first or second packages at the refined far working distance.

Assignees

• Datalogic Usa Inc

Inventors

• Drumheller Jason
• Gruss Bradley

Classifications

• G06T7/292

  Multi-camera tracking · CPC title

• G01B11/002

  for measuring two or more coordinates · CPC title

• G01B21/042

  Calibration or calibration artifacts (G01B3/30, G01B9/02072 take precedence) · CPC title

• G01B11/04

  specially adapted for measuring length or width of objects while moving · CPC title

• G06T2207/30208

  Marker matrix · CPC title