Systems and methods for onboard dimensioning

Patent metadata

Field	Value
Publication number	US-2022301215-A1
Application number	US-202217689214-A
Country	US
Kind code	A1
Filing date	Mar 8, 2022
Priority date	Mar 16, 2021
Publication date	Sep 22, 2022
Grant date	—

Abstract

The present disclosure provides an onboard object dimensioning system for a vehicle, such as a lift truck. The vehicle may have one or more sensors (e.g., a radar system, an acoustic sensor, an image capture system, LIDAR, microwave, etc.) to generate and transmit a signal toward an object on the vehicle, which is received as a feedback signal corresponding to a reflection from one or more surfaces of the object. Control circuitry receives data from the sensors including signal characteristics of the feedback signal. The data is converted into multiple dimensions corresponding to the one or more surfaces of the object, which are employed to determine a shape, volume, orientation, or area of the one or more surfaces of the object corresponding to the first and second dimensions.

First claim

What is claimed is:

1 . An object dimensioning system for a vehicle comprising:
a sensor configured to:
generate and transmit a signal toward an object on the vehicle; and
receive a feedback signal corresponding to a reflection of the signal from one or more surfaces of the object; and
control circuitry configured to:
receive data from the sensor comprising one or more signal characteristics of the feedback signal;
convert the data into dimensions corresponding to the one or more surfaces of the object; and
determine a shape, volume, orientation, or area of the one or more surfaces of the object corresponding to the first and second dimensions.

2 . The object dimensioning system of claim 1 , wherein the control circuitry is further configured to calculate or estimate a shape, volume, orientation, or area of the object based on the determined shape, volume, orientation, or area of the one or more surfaces.

3 . The object dimensioning system of claim 2 , wherein the control circuitry is further configured to:
determine endpoints of each of the one or more surfaces; determine a location of a greatest endpoint in one or more axes; generate a plane corresponding to each of six sides of a cuboid based on each greatest endpoint; and estimate a shape, volume, orientation, or area of the cuboid comprising the planes corresponding to each of the six sides.

4 . An object dimensioning system for a lift truck comprising:
a radar system comprising:
a signal transmitter to generate a plurality of radio signals and transmit the plurality of radio signals toward an object loaded onto the lift truck; and
an antenna to receive a plurality of feedback radio signals corresponding to a reflection of the plurality of radio signals from one or more surfaces of the object; and
control circuitry configured to:
receive data from the radar system comprising a plurality of signal characteristics corresponding to the plurality of feedback radio signals; and
determine one or more dimensions of the one or more surfaces of the object based on the plurality of signal characteristics corresponding to the data.

5 . The object dimensioning system of claim 4 , wherein the plurality of signal characteristics comprise one or more of a frequency, a signal strength, signal time of flight, Doppler shift, angle of arrival, signal polarization, or a change thereof.

6 . The object dimensioning system of claim 4 , wherein the antenna is arranged on one or more load handling fixtures mounted to the lift truck.

7 . The object dimensioning system of claim 4 , wherein the signal generator is a first signal generator and the antenna is a first antenna, the radar system further comprising a second signal generator and a second antenna.

8 . The object dimensioning system of claim 4 , wherein the first antenna is arranged at a first location of the lift truck, and the second antenna is arranged at a second location of the lift truck.

9 . The object dimensioning system of claim 5 , wherein the first location corresponds to a lift truck carriage of the lift truck, and the second location corresponds to a cab of the lift truck.

10 . The object dimensioning system of claim 4 , wherein the control circuitry is further configured to:
convert the plurality of signal characteristics into one or more measurements corresponding to the one or more surfaces of the object; calculate the one or more dimensions of the one or more surfaces of the object based on the one or more measurements; and calculate or estimate a shape, volume, orientation, or area of the object based on the calculated one or more dimensions of the one or more surfaces.

11 . An object dimensioning system for a lift truck comprising:
a first sensor arranged on the lift truck and configured to measure a first characteristic of the object; a second sensor arranged on the lift truck and configured to measure a second characteristic of the object; and control circuitry configured to:
receive first and second measurements corresponding to the first and second characteristics, respectively;
convert the first and second measurements into first and second dimensions, respectively, corresponding to one or more surfaces of the object; and
determine a shape, volume, orientation, or area of the one or more surfaces of the object corresponding to the first and second dimensions.

12 . The object dimensioning system of claim 11 , wherein the control circuitry is further configured to calculate or estimate a shape, volume, orientation, or area of the object based on the determined shape, volume, orientation, or area of the one or more surfaces.

13 . The object dimensioning system of claim 11 , wherein the control circuitry is further configured to compare the first or second characteristics to a list associating signal characteristics to object dimensions to calculate or estimate one or more dimensions of the object.

14 . The object dimensioning system of claim 11 , wherein the control circuitry is further configured to compare the first or second dimensions to a list associating dimensions to one or more of a shape, a volume, an orientation, or an area of an object to calculate or estimate one or more dimensions of the object.

15 . The object dimensioning system of claim 11 , wherein the first sensor is arranged at a first location on the lift truck, and the second sensor is arranged at a second location on the lift truck.

16 . The object dimensioning system of claim 11 , wherein the control circuitry is further configured to transmit one or more of dimensions, shape, volume, orientation, or area of the object to a remote computing system.

17 . The object dimensioning system of claim 11 , wherein the first or second sensor comprises one or more of a radar system, an acoustic sensor, an image capture system, a laser based system, an acoustic sensor, a LIDAR system, a microwave system, or a combination thereof.

18 . The object dimensioning system of claim 11 , wherein the antenna is embedded within a load handling fixture.

19 . The object dimensioning system of claim 11 , wherein the first location corresponds to a lift truck carriage of the lift truck, and the second location corresponds to a cab of the lift truck.

20 . The object dimensioning system of claim 11 , wherein the control circuitry is further configured to:
calculate or estimate a first shape, volume, orientation, or area of the object based on the first measurements; calculate or estimate a second shape, volume, orientation, or area of the object based on the second measurements; map the first shape, volume, orientation, or area of the object to the second shape, volume, orientation, or area of the object; and generate a composite shape, volume, orientation, or area of the object based on the first and second measurements.

Assignees

• Illinois Tool Works

Inventors

• Detert Kevin
• Green Jacob
• Sukalski Andrew
• Whittier Benjamin
• Packer Aaron

Classifications

• G06T2207/20076

  Probabilistic image processing · CPC title

• G06T7/521 Primary

  from laser ranging, e.g. using interferometry; from the projection of structured light · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06T2207/10004

  Still image; Photographic image · CPC title