Boxed cargo inspection and method therefor

Abstract

A logistics imaging module for reading logistics icons on cargo containers of different sizes includes: a frame; a conveyor coupled to the frame to transport each container through the frame at a predetermined continuous throughput rate; at least one illumination source connected to the frame and configured to illuminate the container with diffused light; and at least one camera having a fixed depth of field arranged to image the transported container substantially simultaneously with the container being illuminated. A controller is connected to the conveyor to determine a posture of the transported container relative to the frame. The controller is configured to trigger the at least one camera and the at least one illumination source to image the container based on the determined attitude being an optimal attitude for an imaging parameter of the at least one camera.

Description

[0001] Cross-reference to related applications This application is a non-provisional application filed on December 30, 2022, U.S. Provisional Patent Application No. 63 / 477,858, and on January 10, 2023, U.S. Provisional Patent Application No. 63 / 479,263, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0002] This disclosure generally relates to product inspection, and more particularly to boxed cargo inspection systems and methods for using them. Background Technology

[0003] There is a need to improve boxed cargo inspection systems and methods. For example, barcode readers generally require high-definition imaging with magnification (e.g., approximately 10 MP or higher). Some barcode reading stations used in logistics facilities employ cameras with deep depth of field mounted in fixed locations and use white light to illuminate the barcodes on the sides of product packaging or boxed goods. The depth of field is, for example, approximately 3700 mm (approximately 145 inches) or deeper. However, in the case of deep depth-of-field cameras, white light illumination of the barcodes can cause chromatic aberration (also known as color distortion and spherical chromatic aberration) lens failure. Therefore, white light illumination of barcodes is detrimental to reading barcodes using deep depth-of-field cameras.

[0004] Other barcode readers used in logistics facilities employ cameras with liquid lenses and shallower depth of field than those described above. These readers use red, white, blue, infrared, or ultraviolet light to illuminate the barcode and position a large number of cameras (e.g., 21 cameras) at fixed locations within the barcode reading station to enable scanning of all six sides of product packaging or boxed goods. Here, the number of cameras increases the complexity and cost of the barcode scanning station.

[0005] It would be advantageous to have a barcode reading station that at least compensates for the deficiencies described above and decouples barcode scanning from cameras with deep depth of field and autofocus. It would also be advantageous to read barcodes simultaneously (e.g., substantially simultaneously) with reading hazardous material icons placed on the same type of cargo. Attached Figure Description

[0006] The foregoing aspects and other features of this disclosure are explained in the following description taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a schematic diagram of a logistics facility incorporated into a logistics imaging module according to aspects of this disclosure; Figure 2 Based on aspects of this disclosure Figure 1 A schematic perspective view of a portion of the logistics imaging module; Figure 3 A schematic plan view of a logistics facility, showing a logistics imaging module communicating with a container inspection station according to aspects of this disclosure; Figure 4 Based on aspects of this disclosure Figure 3 A schematic side view of a portion of the logistics facility shown in the image; Figure 5 , Figure 5A , Figure 5B and Figure 5C Based on aspects of this disclosure Figure 1 A schematic diagram of the container inspection station; Figure 6 Based on aspects of this disclosure Figure 1 A high-level schematic diagram of the processing flow of the logistics imaging module; Figure 7 Based on aspects of this disclosure Figure 1 An exemplary illustration of an image captured by a logistics imaging module and by... Figure 1 The logistics imaging module implements the post-processing illustration of the same image; Figure 8 This is an exemplary flowchart of a method based on an aspect of this disclosure; Figure 9 This is an exemplary flowchart of a method according to an aspect of this disclosure; and Figure 10 This is an exemplary flowchart of a method based on an aspect of this disclosure. Detailed Implementation

[0007] Figure 1 An exemplary logistics facility 190 is shown incorporating aspects of this disclosure into a logistics imaging module 200 (also referred to herein as a logistics icon reading module). Although aspects of this disclosure will be described with reference to figures, it should be understood that aspects of this disclosure may be embodied in many forms. Furthermore, elements or materials of any suitable size, shape, and type may be used.

[0008] According to aspects of this disclosure, the logistics imaging module 200 is configured to read both barcode symbols or icons 180 (also referred to herein as barcode 180) and hazardous material (dangerous goods) symbols or icons (including hazard graphic symbols 181A and product orientation (e.g., upward arrow) symbols or icons 181B—also referred herein as hazard icon 181A and product orientation icon 181B) in a shared (e.g., a single) tunnel 201 through which boxed cargo 102 (also referred herein as a container) enters the logistics facility 190. Exemplary barcodes 180 include, but are not limited to, UPC, Code 39, Code 128, ITF-14, interleaved 25-digit code, data array, QR, MaxiCode, and Aztec. Exemplary hazard icons 181A and packaging orientation icons 181B include, but are not limited to, icons conforming to Sections 100-185 of Chapter 49 of the Federal Regulations of the United States and similar hazardous materials regulations in other countries.

[0009] The logistics imaging module 200 is configured to read the barcode 180, the hazard symbol 181A, and the product orientation symbol 181B together, regardless of the orientation of the boxed cargo 102 through the tunnel 201 (e.g., symbol reading is decoupled from boxed cargo orientation). Here, the boxed cargo 102 travels through the tunnel 201 on at least one feed conveyor 110, wherein the logistics imaging module 200 is configured to image all six sides of the hexahedral-shaped boxed cargo 102 (in other respects, the boxed cargo may have any suitable shape), such that for a variety of box sizes, the symbols on approximately 97% (or more) of the boxed cargo 102 passing through the logistics imaging module 200 are successfully read. Variations in box size (e.g., length, width, and height) have a substantially random distribution, with the smallest boxed cargo having a size of approximately 6.4 inches × 5 inches × 2 inches and the largest boxed cargo having a size of approximately 36 inches × 24 inches × 28 inches (but in other respects, the boxed cargo may be larger or smaller than the exemplary sizes mentioned above).

[0010] According to aspects of this disclosure, the logistics imaging module 200 decouples icon reading from the depth-of-field camera and the autofocus lens. As described herein, the logistics imaging module 200 uses one or more of white light and monochromatic light to illuminate the boxed cargo 102, and employs (refer to...) Figure 3Two side cameras 324 and 325 (positioned with an imaging direction transverse to the travel direction TD of the feed conveyor 110), a front camera 326 and a rear camera 321 (each positioned with an imaging direction parallel to the travel direction TD of the feed conveyor 110), two top cameras (each positioned with an imaging direction transverse to the travel direction TD of the feed conveyor 110), and a line scan camera 370 (e.g., positioned below the feed conveyor 110 and with an imaging direction transverse to the travel direction TD of the feed conveyor 110). Each of the cameras 321-326 has a fixed focal length, wherein the fixed shallow depth of field is about 14 inches (about 355 mm), but in other respects, the shallow depth of field may be greater than or less than about 14 inches (the line scan camera may have any suitable fixed focal length and fixed depth of field for imaging the bottom of a boxed cargo traveling on the conveyor 110 in the manner described herein). The two top cameras 322 and 323 have a combined shallow depth of field of approximately 28 inches (approximately 660 mm – each of the top cameras has only a portion of the 28-inch depth of field, with the focus of one top camera above the focus of the other, and each camera having a depth of field of approximately 14 inches), but in other respects, the total shallow depth of field (with or without overlap between the depths of field of the top cameras) may be greater than or less than approximately 28 inches. As described herein, the logistics imaging module 200 utilizes box attitude information and box identification information obtained by the box inspection system 500 or other suitable sensing devices (e.g., including but not limited to a simple single 3D camera, 2D camera, raster scanning laser, etc.) to trigger the corresponding camera among the six cameras to capture the icon of the boxed cargo 102 and to correct (e.g., adjust – align it with orthogonal / normal to the reference frame) the image perspective relative to the reference frame of the imaging camera as normal (e.g., substantially no chromatic aberration and correction of the image being normal to the reference frame of the imaging camera are substantially decisive for the imaged icon).

[0011] Still refer to Figure 1 The logistics facility includes an inbound section and an order fulfillment section. The inbound section includes one or more of a truck loading dock 121 and a depalletizer 122. The truck loading dock 121 provides for substantially direct removal of boxed goods 102 from trucks (or other conveyors) to the inbound conveyor system 195. The depalletizer 122 provides for automated removal of boxed goods 102 from pallets to the inbound conveyor system 195. The inbound conveyor system 195 includes at least one inbound conveyor 110 that transports boxed goods 102 to an automated storage array 190AS.

[0012] The feeding section also includes a box inspection system 500 and a logistics imaging module 200, wherein the feeding conveyor 110 transports boxed goods 102 through each of the box inspection system 500 and the logistics imaging module 200. Boxed goods information obtained by the box inspection system 500 and the logistics imaging module 200 is used to guide the boxed goods into the automated storage array 190AS. Here, downstream automated components 190DC of the automated storage array 190AS receive boxed goods 102 from the feeding conveyor 110 and transport the boxed goods to storage location 190SL. Examples of downstream automated components 190DC include elevators 190L (for transporting boxed goods to and from the stacking levels of the automated storage array) and autonomous transport vehicles 190ATVs (for transporting boxed goods from and from the corresponding storage levels to storage location 190SL). As may be appreciated, ordered boxed goods are transported from storage location 190SL to palletizer 190P (or other packaging stations, which are further examples of downstream automated components 190DC) for shipment from logistics facility 190.Suitable examples of automated storage and retrieval systems with storage arrays that can employ aspects of this disclosure can be found in (but are not limited to) those storage and retrieval systems described in the following U.S. patents: U.S. Patent No. 10,800,606, issued October 13, 2020 (titled "Material-Handling System Using Autonomous Transfer and Transport Vehicles"), U.S. Patent No. 10,556,743, issued February 11, 2020 (titled "Storage and Retrieval System"), U.S. Patent No. 10,633,184, issued April 28, 2020 (titled "Replenishment and Order Fulfillment System"), U.S. Patent No. 9,475,649, issued October 25, 2016 (titled "Pickface Builder for Storage and Retrieval Systems"), and U.S. Patent No. 10,106,322, issued October 23, 2018 (titled "Bot Payload Alignment and..."). The disclosures of the following patents are incorporated herein by reference in their entirety: Patent No. 10703585 (titled “Pallet Building System”) issued on 7 July 2020, and Patent No. 10781060 (titled “Storage and Retrieval System Transport Vehicle”) issued on 22 September 2020.

[0013] Also refer to Figure 5 and Figures 5A-5CThe Cased Goods Inspection System or Equipment 500 includes at least a portion of a feed conveyor 110, a vision system 550, a controller 599, and a user interface 598. Suitable examples of Cased Goods Inspection Systems that can be employed in conjunction with aspects of the disclosed embodiments can be found in U.S. Patent Application No. 17 / 648,171, filed January 17, 2022 (titled “Cased Goods Inspection and Method Therefor”) and U.S. Patent No. 11,449,978, granted September 20, 2022 (titled “Cased Goods Inspection System and Method”), the disclosures of which are incorporated herein by reference in their entirety. The Cased Goods Inspection System 500 at least determines the Cased Goods orientation and Cased Goods identification information, which are employed by the logistics imaging module 200 for imaging icons on the Cased Goods 102 as described herein.

[0014] The boxed cargo inspection system 500 is at least partially formed in or additionally included in the inbound conveyor system 195 for guiding boxed cargo 102 into the logistics facility 190. For illustrative purposes only, the boxed cargo inspection system 500 communicates with at least one feeder conveyor 110 and receives boxed cargo 102 arriving individually on the feeder conveyor 110 in any orientation and location, wherein the boxed cargo 102 is passed by the feeder conveyor 110 through the boxed cargo inspection system 500 to the logistics imaging module 200. The output of the boxed cargo inspection system 500 includes various (quantitative) measurements characterizing each boxed cargo (e.g., a case of cargo). Examples of quantitative measurements include: “actual case size”, “maximum case size”, “maximum bulge”, “orientation angle”, “distance from one side of the conveyor”, open flaps, dents (e.g., inward bulges), etc.

[0015] The "actual container" measurements include the dimensions of the best-fit shape, which can be determined based on or obtained from images of the assembled containerized cargo. For example, the shape used in the fitting is a container with length, width, and height. Alternatively, the shape used could be a sphere with a center and radius. Various other shapes can be used in the fitting, such as, but not limited to, cylinders, ovals, cones, etc.

[0016] The “external box” measurement includes the dimensions of the smallest shape encompassing the entire product, which can be determined based on or obtained from a composite product image (which may include protrusions seen by a vision system, including damaged product portions, labels, and packaging). For example, the shape used in the fitting is a box having the length, width, and height of the maximum rectangular area occupied by the boxed goods 102 on the feed conveyor 110. Alternatively, the shape used could be a sphere with a center and a radius. Various other shapes can be used in the fitting, such as, but not limited to, cylinders, ovals, cones, etc.

[0017] The "maximum bulge" measurement is the longest dimension obtained from the inspected boxed cargo 102. When the product orientation is determined, the "maximum bulge" is the maximum caliper measurement in width, length, and height.

[0018] The product's "orientation angle" is the angle between the product's main axis and the direction of travel TD of the boxed goods 102 on the feed conveyor 110. For illustrative purposes, when an oval shape is used in the fitting, the "orientation angle" measurement can be the major axis.

[0019] "Distance from one side of the conveyor" is defined as the minimum distance between the boxed cargo 102 and any of the predetermined conveyor sides.

[0020] At least one feed conveyor 110 is configured to advance boxed goods 102 through boxed goods inspection system 500. For example, at least one feed conveyor 110 is one or more of a conveyor belt (e.g., a mat-top high-friction conveyor), a roller conveyor, or any other suitable product conveyor (configured to transport boxed goods 102 from any suitable equipment (e.g., automated equipment or others) or warehouse workers (e.g., people). At least one feed conveyor 110 is configured to move boxed goods 102 into and through vision system 550 and minimize vibration and slippage (e.g., vibration and slippage are below any suitable predetermined thresholds for vibration and slippage, which may depend on the resolution of the components of vision system 550).

[0021] Reference Figure 5 and Figures 5A-5C The vision system 550 is positioned (e.g., mounted) at least partially around and around the feed conveyor 110 for observing and measuring the characteristics of boxed goods 102 (as described above) that are advancing through the boxed goods inspection system 500 via the feed conveyor 110. As described herein, the vision system 550 includes at least one camera (such as, for example, at least one sensor / imaging device 571-573) arranged to capture box image data of each of the boxed goods 102 advancing through the boxed goods inspection system 500 via at least one feed conveyor 110.

[0022] According to aspects of this disclosure, the vision system 550 includes at least a flap detection system 570, which includes at least one sensor / imaging device 571-573 (referred to herein as sensor 571-573) for detecting an open flap (or additionally implementing detection of an open flap), bulge, and / or dent of the container cargo 102. The sensor is any suitable sensor configured to detect / sensor at least a flap, bulge, and / or dent of the container cargo 102, and includes, but is not limited to, cameras (three are shown for illustrative purposes only, and it should be understood that more or fewer cameras may be present), laser detection systems, or any other suitable optical or acoustic detection systems for detecting flaps of the container cargo 102. Sensors 571-573 may be any suitable camera, such as, for example, a 3D camera, which includes, but is not limited to, a time-of-flight camera or any other suitable 3D imaging camera. In one or more aspects of this disclosure, sensors 571-573 are positioned near at least one conveyor 110 for detecting open flaps, bulges, and / or dents in boxed goods 102. (As can be seen in...) Figures 5A-5C As seen in one or more aspects of this disclosure, the flip-board detection system 570 includes lasers, wherein each sensor 571-572 (in) Figure 1 For illustrative purposes, only two cameras are shown in A-1C (and it should be understood that more or fewer cameras may be provided) paired with lasers 572L and 573L (note that sensor 571 can also be paired with laser 571L; for clarity, in...). Figure 1 (Not shown in A-1C). Lasers 571L, 572L, and 573L are configured to emit sheet-like illumination that provides corresponding scan lines on the container cargo 102, wherein the scan lines illuminate the outline of the container cargo 102. In one or more aspects, the use of scan lines to illuminate the outline facilitates (e.g., by image recognition of container image data from sensors 572, 573) the detection of open flaps, bulges, and / or dents in the container cargo 102. In other aspects, one or more of sensors 571-573 are paired with corresponding lasers, while other sensors 571-573 do not have associated lasers. In one or more aspects, lasers 571L, 572L, and 573L are substantially similar to light sources 582, 583 described herein.

[0023] The vision system 550 may further include another imaging system (e.g., a contour detection system 580, also known as a box inspection system or station), separate from and distinct from at least one sensor 571-573 of the flip-board detection system 570. Separate from and distinct from the imaging of the boxed goods 102 by the at least one sensor 571-573, the contour detection system 580 images the boxed goods 102 for inspection purposes other than dent detection. The contour detection system 580 may be substantially similar to the system described in U.S. Patent No. 10,964,007, issued March 30, 2021, entitled “Cased Goods Inspection System and Method”, the disclosure of which is incorporated herein by reference in its entirety.

[0024] The contour detection system 580 includes at least one sensor / imaging device 581, 584 positioned near at least one conveyor 110 and configured to detect / sensor the top and side contours of the product 102. The at least one sensor / imaging device 581, 584 of the contour detection system 580 is configured to capture images of the shadows of each of the boxed goods 102 advancing past the box inspection station 500. The at least one sensor 581, 584 of the contour detection system 580 is separate from and distinct from the flip-top detection system 570, and also separate from and distinct from at least one sensor 571-573 of the flip-top detection system 570, image the boxed goods 102 for inspection of the boxed goods 102 in addition to flip-top opening detection. Here, the contour detection system 580 images the boxed goods 102 for the controller 599 / processor 599P to verify the identity of each of the boxed goods 102 (e.g., having a predetermined or expected identity for each of the boxed goods) and the consistency of each of the boxed goods 102 with the (e.g., predetermined or expected) box size parameters of the verified boxed goods 102.

[0025] According to aspects of this disclosure, the contour detection system 580 includes a first light source 582 that emits a first sheet-like light, for example, substantially parallel / collimated light in a continuous plane, within a small gap GP between at least one portion of the conveyor 110. For example, the first light source 582 may be positioned above at least one conveyor 110 (e.g., Figure 5 (as shown elsewhere) or below at least one conveyor 110. In one or more aspects, the first light source 582 may be shared by both the contour detection system 580 and the flip-board detection system 570 (i.e., shared between them) (for example, the first light source may be used as one of the lasers 572L, 573L described above, or vice versa).

[0026] The contour detection system 580 further includes a first camera system 584, which is positioned opposite to the first light source 582, for example, relative to at least one conveyor 110. The first camera system 584 is positioned to receive parallel / collimated light emitted by the first light source 582 via, for example, a gap GP. For example, if the first light source 582 is positioned above at least one conveyor 110, the first camera system 584 is positioned below at least one conveyor 110. In other respects, the orientation of the first light source 582 and the first camera system 584 can be rotated as desired about an axis defined by the travel direction of at least one conveyor 110 to maintain the relationship between the light source 582 (e.g., a light emitter) and the camera system 584 (e.g., a light receiver).

[0027] The second light source 583 emits a second sheet-like light, namely, substantially parallel / collimated light in a continuous plane, within a small gap between the conveyor sections. For example, the second light source 583 may be positioned on one side of at least one conveyor 110 (the transmission of the parallel / collimated second sheet-like beam is substantially orthogonal to the parallel / collimated light in a continuous plane of the first sheet-like light). In one or more aspects, the second light source 583 may be shared by both the contour detection system 580 and the flip-board detection system 570 (i.e., shared between them) (for example, the second light source may be used as one of the lasers 572L, 573L described above, or vice versa).

[0028] The second camera system 581 is correspondingly positioned (e.g., opposite to the second light source 583) to receive illumination from the second light source 583 relative to at least one conveyor 110. The second camera system 581 is positioned to receive parallel / collimated light emitted by the second light source 583. For example, if the second light source 583 is positioned on one side of at least one conveyor 110, the second camera system 581 is positioned on the opposite side of the conveyors 110, 120.

[0029] According to one or more aspects of this disclosure, at least one light source 582 or 583 may include a light shaper LS made of a lens or mirror, which achieves a collimated output beam. The light source is any suitable light source and may include (but is not limited to) one or more of the following: a laser, a light-emitting diode (LED), a gas lamp, and any other means suitable for electromagnetically illuminating a target object and whose reflection or transmission of electromagnetic radiation can be captured by a suitable imaging system (to generate an image or pseudo-image of the illuminated target object).

[0030] The collimated output beams of light sources 582 and 583 provide parallel-propagating sheet-like light. When this sheet-like light is obstructed by the boxed cargo 102, orthographically projected shadows are cast onto the input windows of corresponding camera systems 584 and 581, opposite to the corresponding light sources 582 and 583. In this respect, camera systems 584 and 581 receive incident collimated input beams output from the corresponding light sources. Alternatively, the orthographically projected shadows can be formed differently, such as by illuminating the cargo with a diffuse (monochromatic) light source so that the shadows are projected onto a suitable beam shaper (such as a Fresnel lens) through which camera systems 584 and 581 observe the cargo.

[0031] At least one sensor / imaging device 571-573, separate from and different from at least one camera 581, 584, is connected to the container inspection station 500. The at least one sensor / imaging device 571-573 is arranged to capture container image data, in addition to the container image data captured by at least one camera 581, 584, for each of the containerized goods 102 advancing through the container inspection station 500. Figure 5 and Figures 5A-5C In the example shown, the flip-board detection system 570 utilizes box image data or any other suitable data from the contour detection system 580. Here, the flip-board detection system 570 is positioned downstream of the contour detection system 580 relative to the direction in which the product travels along at least one conveyor 110 (e.g., the product 102 passes through the contour detection system 580 before passing through the flip-board detection system 570); however, in other respects, the flip-board detection system 570 may be positioned upstream of the contour detection system 580. The relative positioning of the flip-board detection system 570 and the contour detection system 580 such that the flip-board detection system 570 images one or more outer sides of the boxed goods 102 (in one or more respects, all visible outer sides not abutting, for example, those positioned by one or more conveyors 110) substantially simultaneously with the contour detection system 580 imaging the boxed goods 102.

[0032] Reference Figure 5 The flip-board detection system 570 includes one or more platforms, supports, or other suitable supports positioned near at least one conveyor 110, and sensor / imaging devices 571-573 (and in one or more aspects, lasers 571L-573L) positioned on them. Again, note that although... Figure 5 The diagram shows three sensors 571-573, but in other respects, more or fewer than three sensors may be arranged (e.g., for example, Figures 5A-5CThe two sensors shown are used to image all five visible outer surfaces of a boxed cargo 102 that is not positioned against at least one conveyor 110. Sensor / imaging devices 571-573 are arranged relative to at least one conveyor 110 to image any suitable number of surfaces of each boxed cargo 102 as the product passes through the flip-board detection system 570; however, in other respects, a single sensor / imaging device with a suitable prism or mirror may also provide images of a suitable number of surfaces of each boxed cargo 102.

[0033] exist Figure 5 In this configuration, sensors 571-573 are arranged such that each sensor 571-573 images at least one or more corresponding outer sides of the container cargo 102. For example, sensor 571 images the lateral side (and the contours of the longitudinal and top sides) of the container cargo 102, sensor 573 images the top of the container cargo 102 (and the contours of the lateral and longitudinal sides), and sensor 572 is angled to image the lateral, top, and longitudinal sides of the container cargo 102. Figures 5A-5C In this system, sensors 572 and 573 are angled relative to each other and positioned on opposite sides of at least one conveyor 110 to image the two lateral sides, two longitudinal sides, and top of the boxed cargo 102 (e.g., the two sensors image the five visible sides of the boxed cargo 102). In some aspects of this disclosure, the flip-board detection system is equipped with any suitable illumination (e.g., a laser / collimating light source such as described above) to facilitate imaging of the boxed cargo 102 moving along conveyors 110 and 120. In one aspect, the exposure (e.g., ISO and / or shutter speed) of the sensors / imaging devices 571-573 is such that the boxed cargo 102 moving along at least one conveyor 110 appears stationary, and the resulting image of the boxed cargo 102 moving along the conveyor is not blurred; in other aspects, a "stop-motion effect" of the boxed cargo 102 moving along at least one conveyor 110 can be produced by any suitable strobe illumination.

[0034] As described above, sensor / imaging devices 571-573 are any suitable sensor / imaging devices capable of generating, for example, three-dimensional depth maps or point clouds of each box of cargo 102 traveling along conveyors 110, 120, such as, for example, time-of-flight cameras or any other suitable imagers. Figure 5In this configuration, a sensor / imaging device 572 is positioned near at least one conveyor 110 to image at least the front side 102F of the boxed cargo 102 (e.g., the front or longitudinal side of each boxed cargo 102 relative to the direction of travel of at least one conveyor 110—note that the term “front” is used herein for illustrative purposes only and any spatial terminology may be used). For example, the sensor / imaging device 572 may be mounted to a support 570M in any suitable manner to face a direction substantially opposite to the direction of travel of at least one conveyor 110 in order to image the boxed cargo 102 traveling toward the sensor / imaging device 572. Sensor / imaging device 573 is also mounted on support column 570M and positioned above at least one conveyor 110 to provide a head-up image of at least the top side 102T of the boxed cargo 102 traveling along at least one conveyor 110 (e.g., "top" side is relative to the side of the boxed cargo 102 positioned on at least one conveyor 110—note that the term "top" is used herein for illustrative purposes only and any spatial terminology may be used). Sensor / imaging device 571 is mounted on any suitable surface near at least one conveyor 110 to image the lateral side 102L of the boxed cargo 102 traveling along at least one conveyor 110. See also... Figures 5A-5C Sensor 572 is installed (to match) Figure 5 (In a similar manner) positioned relative to at least one conveyor 110 for perspective imaging of a boxed cargo 102, which includes a lateral side 102L1, a top side 102T, and a rear longitudinal side or "rear" longitudinal side 102R of the boxed cargo 102. Sensor 573 is mounted (to be connected with...) Figure 5 The sensors (in a similar manner) are positioned relative to at least one conveyor 110 for perspective imaging of the boxed cargo 102, which includes the opposite lateral side 102L2, top side 102T, and front or front longitudinal side 102F of the boxed cargo 102. Each of the sensor / imaging devices 571-573 is positioned to generate an image of at least a corresponding side of the boxed cargo 102, and it is understood that the number of cameras may depend on the specific boxed cargo being inspected.

[0035] At least one camera (e.g., sensor / imaging device 571-573) is arranged to image each exposed box side 102T, 102F, 102R, 102L1, 102L2 of each boxed cargo 102 that advances through inspection equipment 500 via at least one conveyor 110, so as to image at least one of the box side recesses (or inward variations) and external protrusions of each box side 102T, 102F, 102R, 102L1, 102L2 as shown in the common image of each imaged box side 102T, 102F, 102R, 102L1, 102L2. At least one sensor / imaging device 571-573 is arranged to capture box image data of each of the boxed goods 102 that are advancing through the inspection equipment 500 via at least one conveyor 110, such that the box image data reflects at least one of a box side recess and a box external protrusion, wherein at least one of the box side recess and the box external protrusion is visible on at least one exposed box side 102F, 102R, 102T, 102L1, 102L2, and at least one exposed box side 102F, 102R, 102T, 102L1, 102L2 is arranged with each exposed box side of the boxed goods 102 oriented.

[0036] In other respects, at least one sensor / imaging device 571-573 is arranged to capture box image data of each of the boxed goods 102 that are advancing through the inspection equipment 500 via at least one conveyor 110, such that the box image data reflects a concave condition (or an inwardly changing condition), wherein the concave condition is manifested on at least one exposed box side 102T, 102L, 102F, 102R (and in some respects, as described herein, the bottom 102B), and at least one exposed box side is oriented to each exposed box side of the boxed goods 102. In addition to identifying external protrusions of the box, or instead of identifying external protrusions of the box, at least one exposed box side 102T, 102L, 102F, 102R imaged by at least one sensor / imaging device 571-573 is configured such that the depression condition resolved from the depression condition shown on the at least one exposed box side 102T, 102L, 102R, 102F extends from the at least one exposed box side 102T, 102L, 102R, 102F to the vicinity of the conveyor mounting surface 110S on which the boxed cargo 102 is placed.

[0037] The boxed cargo inspection system 500 includes any suitable controller 599 (which includes any suitable processor 599P, such that reference to the controller 599 performing or being configured to perform the tasks / functions described herein implies operation of the processor 599P) or any other device or system (local or remote) including computer-readable medium containing non-transitory computer program code stored thereon, which configures the controller 599 to register and analyze box image data from the vision system 550 to calculate desired measurements or other suitable characteristics of the boxed cargo 102 (as described herein). The controller 599 is operatively coupled to at least one conveyor 110 and communicatively coupled in any suitable manner (such as via any suitable wired or wireless connection) to at least one sensor 571-573, 581, 584 of the vision system 550 to receive box image data from at least one sensor 571-573.

[0038] Note that the controller 599 (e.g., via processor 599P) is configured such that the resolution of the boxed cargo inspection based on the boxed cargo image from the contour detection system 580 is separate from and distinct from the resolution of box side dents (also referred to as box side dent conditions) and box flap opening from box image data from at least one sensor 571-573 of the flap detection system 570. The controller 599 is also configured to determine the presence of any box side dents and any external protrusions of the boxed cargo 102 from the image data of the contour detection system 580, which is separate from and distinct from the box image data captured by at least one sensor 571-573 of the box detection system 570, and to resolve at least one of the box side dents and external protrusions 220 as corresponding box side dents and box flap openings from the box image data of at least one sensor 571-573 of the flap detection system 570, which is separate from and distinct from the image data of the contour detection system 580. In one or more aspects, the controller 599 is configured to determine the presence of at least one of a side depression and an external protrusion of the box from box image data captured by at least one sensor 571-573 of the flap detection system 570, regardless of the image of the boxed cargo 102 captured by the contour detection system 580.

[0039] In one or more aspects, the controller 599 is configured to characterize at least one of the following: a box side recess 2300 and an external protrusion (as a box flap in the open state) of the boxed cargo 102, based on box image data generated from a common image of the boxed cargo 102 captured by at least one sensor 571-573 (e.g., an image from one of the at least one sensor 571-573 or a combined image from more than one of the at least one sensor 571-573). Here, at least one exposed box side 102F, 102R, 102T, 102L1, 102L2 imaged by at least one sensor 571-573 is configured such that at least one of the box side recesses and external protrusions shown on the imaged at least one exposed box side 102F, 102R, 102T, 102L1, 102L2, and at least one of the box side recesses and the box flaps being in an open state, as resolved from at least one exposed box side 102F, 102R, 102T, 102L1, 102L2, extends from at least one exposed box side 102F, 102R, 102T, 102L1, 102L2 to the conveyor mounting surface 110S on which the boxed goods 102 are placed. Figure 1 )nearby.

[0040] When the processor is configured to characterize at least one box top 102T or at least one box side 102L, 102R, 102F with a dented condition based on box image data of boxed goods captured by at least one sensor 571-573, the processor 599P is programmed to analyze, based on the image data, the inward variation (or dent) of at least one box top 102T or at least one box side 102L, 102R, 102F from a predetermined planar consistency characteristic (e.g., such as an inward variation based on the expected box size and type of boxed goods, such as an inventory unit (SKU) as described herein). The processor 599P is configured to, for each analyzed inward variation, determine, based on the image data, the physical characteristics describing the dented condition of at least one box top 102T or at least one box side 102L, 102R, 102F.

[0041] As described herein, the feed conveyor 110 transports boxed goods 102 from the boxed goods inspection system 500 to the logistics imaging module 200. (Refer to...) Figure 1-4 The logistics imaging module 200 includes a frame 202, a conveyor (e.g., a portion of a feed conveyor 110) connected to the frame 202, at least one illumination source 301-310, at least one camera 321-326, and a controller 599.

[0042] A portion of the feed conveyor 110 forms part of the logistics imaging module 200 and transports each box of goods through the frame 202 at a predetermined continuous throughput rate 110R. In one or more aspects, the predetermined continuous throughput rate 110R is equivalent to a predetermined input rate of the logistics facility 190, corresponding to a conveyor steady-state speed of approximately 2 feet / second (approximately 609 mm / second) or any other suitable steady-state speed greater than or less than approximately 2 feet / second. In one or more aspects, the predetermined continuous throughput rate is also equivalent to at least one other downstream automation component 190DC (see...). Figure 1 Matching the throughput of ), at least one other downstream automation component 190DC loads boxed goods 102 supplied by feed conveyor 110 into automated storage array 190AS (see Figure 1 Storage location 190SL (see) Figure 1 Load from or from that storage location.

[0043] At least one lighting source 301-310 is connected to the frame and configured to illuminate the boxed cargo 102 transported through the frame 202 using diffused light. In one or more aspects, at least one lighting source 301-310 is configured to provide flash illumination of the boxed cargo 102 using diffused light. At least one lighting source 301-310 is positioned on the frame such that substantially all sides (e.g., the entirety) of the boxed cargo 120 transported through the frame are illuminated. For example, one or more of at least one lighting source 301-308 are provided at each vertical corner of the frame 202 to illuminate at least the front side 102F, rear side 102R, and lateral side 102L of the boxed cargo 102 (note that the spatial identifiers front side, rear side, and lateral side are relative to the boxed cargo 102 supported on the feed conveyor 110 and traveling in the direction of travel TD, see...). Figure 5 —Note that other spatial terms may be used to describe the side of the boxed cargo 102. At least one or more of the following lighting sources 309, 310 may be mounted on the frame above the feed conveyor 110 to illuminate at least the top side 102T of the boxed cargo supported on the feed conveyor and traveling in the direction of travel TD. Regarding the illumination of the bottom side 102B of the boxed cargo, a line scan camera 370 is mounted on the frame and includes its own lighting source 370L, which illuminates through a gap GPR in the feed conveyor 110 (the gap GPR is substantially similar to...). Figure 5 The gap GP in the middle is used to illuminate the bottom side 102B.

[0044] At least one illumination source 301-310 is a white or multicolor light source, positioned on frame 202 relative to the container cargo 102 to substantially eliminate specular reflections, and cameras 321-326, 370 are positioned relative to at least one illumination source 301-310 to image and resolve icons on the container cargo 102, regardless of any possible specular reflections. Here, at least one illumination source 301-310 may be configured to illuminate the container cargo 102 using dark-field illumination, bright-field illumination, or a combination of both. In one or more aspects, dark-field illumination is used at the boundaries of the bright-field illumination to substantially avoid specular reflections.

[0045] At least one camera 321-326 is configured to image the container cargo 102 transported through the frame 202 substantially simultaneously with illuminating the container cargo 102. In one or more aspects, at least one camera 321-326 is configured to image the container cargo 102 transported through the frame 202 substantially simultaneously with flash illumination of the container cargo 102. At least one camera 321-326, 370 includes a plurality of cameras 321-326, 370 configured such that each plane (e.g., all six sides such as the container cargo 102) of the hexahedron 102H (e.g., all six sides 102T, 102R, 102F, 102L, 102B) is imaged by a separate and different camera 321-326, 370, which is different from each other camera 321-326, 370 that images each other plane of the hexahedron. Here, each plane of the hexahedron is imaged by only one of the multiple cameras 321-326, 370 (e.g., a single camera). As described herein, at least one of the cameras 321-326, 370 has a fixed depth of field.

[0046] As an example, at least one camera 321-326, 370 includes side cameras 324, 325 disposed on frame 202, such that each of the side cameras 324, 325 corresponds to a respective lateral side 102L of the boxed cargo 102 (see...). Figure 5 Imaging. Each of the side cameras 324 and 325 has a fixed depth-of-field (DOFS) (see...). Figure 3The depth of field (DOFS) is approximately half the width W of the feed conveyor 110, but in other respects, it may be less than approximately half the width W of the feed conveyor 110. In some respects, the DOFS of the side cameras 324, 325 may overlap. To maintain a minimum width for the logistics imaging module 200, mirrors 271, 272 are positioned on the frame 202 relative to the respective side cameras 324, 325 such that the DOFS of each side camera 324, 325 is positioned relative to the feed conveyor 110 in the manner described above (e.g., the side cameras 324, 325 image the boxed goods 102 reflected in the mirrors, rather than directly image the boxed goods, where the depth of field of each camera covers approximately half the width of the conveyor 110). In other respects, the side cameras 324, 325 may be positioned on cantilever supports extending from the frame to position the DOFS as described above for direct imaging of the boxed goods 102. Depth of field (DOFS) is set at a known position relative to conveyor 110 (e.g., along the length of conveyor 110).

[0047] At least one camera 321-326, 370 includes a front camera 326 and a rear camera 321. The front camera 326 is mounted on the frame to image the front 102F of the boxed cargo 102 traveling through the frame 202 (see...). Figure 5 —Relative to the direction of travel TD of the boxed cargo 102. A rear camera 321 is mounted on the frame to monitor the rear 102R of the boxed cargo 102 traveling through the frame 202 (see Figure 5 Imaging. The front camera 326 has a fixed depth of field DOFF, and the rear camera 321 has a fixed depth of field DOFR (see...). Figure 4 ), wherein the depth of field DOFF and DOFR are set at known positions relative to the conveyor 110 (e.g., along the length of the conveyor 110).

[0048] At least one camera 321-326, 370 includes two top cameras 322, 323. The top cameras are mounted on frame 202 to monitor the top 102T (see [reference needed]) of the boxed cargo 102 traveling through frame 202. Figure 5 Imaging. Here, in order to cover the entire range of the box size of the boxed cargo 102, each of the top cameras 322, 323 has a depth of field DOFT1, DOFT2, positioned to image a corresponding elevation range within the tunnel 201 (e.g., formed by the frame 202). For example, the top camera 322 has a depth of field DOFT2, which can be referred to as a "far" depth of field relative to the depth of field DOFT1. Conversely, the depth of field DOFT1 of the top camera 323 can be referred to as a "near" depth of field relative to the depth of field DOFT2. Figure 4As seen in the image, the elevation range covered by DOFT2 (e.g., relative to the box support surface of feed conveyor 110) extends from or near the box support surface of feed conveyor 110 to approximately half the height of the largest boxed cargo 102 traveling through tunnel 201. The elevation range covered by DOFT1 extends from approximately half the height of the largest boxed cargo 102 to the height of the largest boxed cargo 102 or above, in order to image the top 102T of the largest boxed cargo 102. In some respects, there may be some vertical overlap between DOFT1 and DOFT2. DOFT1 and DOFT2 may be referred to as (vertically) staggered or stacked depths of field. As will be described herein, a top camera 322 with a depth of field DOFT2 can be employed by a controller 599 to image the top of a boxed cargo 102 having a height of less than or equal to about 16 inches (about 406 mm), while a top camera 323 with a depth of field DOFT1 can be employed by a controller 599 to image the top of a boxed cargo 102 having a height greater than about 16 inches (about 406 mm). The depths of field DOFT1 and DOFT2 are positioned at known locations relative to the conveyor 110 (e.g., along the length of the conveyor 110).

[0049] Line scan camera 370 (see) Figure 3 The line scan camera 370 is mounted on a frame 202 below the feed conveyor 110. The gap GPR between the line scan camera 370 and the portion of the feed conveyor 110 (see...) Figure 3 The line scan camera 370 is positioned to image the bottom 102B of the boxed cargo 102 as it travels along the feed conveyor 110 and crosses the gap GPR. As described herein, the line scan camera 370 includes an illumination source 370L for illuminating the bottom 102B of the boxed cargo 102 via the gap GPR substantially during imaging using the line scan camera 370. The line scan camera 370 is positioned at a known location relative to the conveyor 110 (e.g., along the length of the conveyor 110).

[0050] At least one of the cameras 321-326, 370 each has an image sensor 321S-326S, 370S (see Figure 1 and Figure 2 ), which includes the corresponding frame of reference (see, for example, Figure 4 The reference frame of camera 321 is similar to that of image sensors in other cameras. For illustrative purposes only, refer to camera 321 and image sensor 321S, with image sensor 321S relative to the conveyor surface 110S of feed conveyor 110 (see [reference frame]). Figure 4The reference frame (e.g., reference system) of the image sensor 321S is calibrated such that, for each carton 102, the captured image of the face (e.g., side 102R in this example) of the carton 102 registered by the controller 599 is corrected relative to the reference frame of the image sensor 321S via calibration data (e.g., by removing errors such as image perspective and the resulting distortion) to be true (as if the camera were positioned directly in front of the side of the image) (e.g., independent of distortion effects), regardless of the size and position of the icons on the face / side of the carton 102 and regardless of the size differences between the cartons 102. Note that the conveyor reference frame is defined by the frame 202 such that it is shared by both the frame 202 and the feed conveyor 110.

[0051] Calibration determination transformation of image sensor 321S (see) Figure 4 and Figure 7 This transformation corrects the camera image to be aligned with or orthogonal to the reference frame of the image sensor 321S (e.g., any perspective transformation of a boxed cargo in a captured image to a true (planar) view of the side of the boxed cargo relative to the image sensor reference frame, and corrects any distortions so that the icons on the boxed cargo appear substantially orthogonal to the camera's image / sensor plane in the resulting transformed image—see...). Figure 7 This transformation also informs or further characterizes the optimal attitude or position of the container cargo 102 (which is optimal for the camera's imaging parameters). Other image sensors 322S-326S-370S of the other cameras 322-326, 370 are calibrated in a similar manner to determine the corresponding transformation, which corrects the corresponding camera image relative to the reference frame of the corresponding image sensor 322S-326S, 370S to the true (as described herein).

[0052] Image correction is performed using one or more of the following: boxed cargo size data, the orientation of the boxed cargo on the conveyor, and (if desired) boxed cargo identification data obtained by the box inspection system 500, to remove image perspective and any distortion derived therefrom. For example, referencing... Figure 7 500 boxes at the inspection station Figure 1At least the dimensions, orientation, and markings (e.g., product pre-marking data, which helps indicate the position of icons on the packaging relative to the packaging dimensions and orientation) are determined. Here, the carton cargo is determined to have a length LC, a height HC, and a width WC. Knowing the carton dimensions and orientation, the controller 599 is programmed with a suitable imaging processing algorithm to correct (e.g., adjust or correct) the captured image via a defined transformation to remove image perspective, such that the perspective width dimensions WCPL and WCPH of the imaged carton cargo 102 are corrected to match the width WC, and the perspective height dimension HCP is corrected to match the height HC (note that in this example, given the imaging of the rear side 102R, correction of the perspective length is not necessary), so that the side (e.g., side 102R) appears realistic relative to the image sensor reference frame in the transformed image (e.g., aligned parallel to the image plane of the image sensor, as if the camera were directly in front of the side 102R).

[0053] In one or more aspects, controller 599 is operatively connected to feed conveyor 110 to transport boxed cargo 102 relative to frame 202. Controller 599 is also communicatively connected to at least one illumination source 301-310, 370L and at least one camera 321-326, 370. Controller 599 is configured to trigger at least one camera 321-326, 370 and the corresponding at least one illumination source 301-310, 370L to image the boxed cargo 102 transported by feed conveyor 110 based on conveyor data positioning the boxed cargo 102 within frame 202. Controller 599 is configured to trigger at least one camera 321-326, 370 and the corresponding at least one illumination source 301-310, 370L based on determining that the position of the boxed cargo 102 is optimal for the camera's imaging parameters (e.g., at least depth of field). The controller 599 is configured to determine the optimal position based on conveyor encoder data (e.g., obtained by the controller 599 from the conveyor encoder 444) and at least the characteristics of the boxed cargo 102, such as the size and orientation of the container, as described herein and obtained from the box inspection system 500. The conveyor encoder data identifies the position of the boxed cargo 102 within the frame 202 along the length of the feed conveyor 110.

[0054] In one or more aspects, controller 599 is operatively connected to feed conveyor 110 to determine the orientation of boxed cargo 102 transported thereon relative to frame 202. Controller 599 is communicatively connected to at least one illumination source 301-310, 370L and at least one camera 321-326, 370. Controller 599 is configured to trigger at least one camera 321-326, 370 and the corresponding at least one illumination source 301-310, 370L to image the boxed cargo 102 transported by feed conveyor 110 based on the determined orientation being the optimal orientation for imaging parameters of at least one camera 321-326, 370 (e.g., the side of the imaged boxed cargo 102 falls within the depth of field of the camera capturing the image). The controller 599 is configured to determine the optimal orientation based on conveyor encoder data (e.g., obtained by the controller 599 from the conveyor encoder 444) that identifies the position of the boxed cargo 102 in the frame 202 and based on characteristics of the boxed cargo 102 that at least identify (as described herein and obtained from the box inspection system 500) the size and orientation of the boxed cargo 102.

[0055] Controller 599 is configured to register images of boxed goods 120 transported on feed conveyor 110 captured by at least one camera 321-326, 370 (e.g., such as memory 599M) in a memory such as memory 599M. Figure 7 (As shown in the diagram). Controller 599 is configured to resolve and identify each icon on the surface of the imaged container cargo 102 from registered container images from a shared camera among at least one of the cameras 321-326, 370 (e.g., the registered container images are captured by a single camera among at least one of the cameras 321-326, 370—note that more than one camera can be triggered to register separate corresponding images of the respective container sides, such as when icons are positioned on more than one side of the container cargo 102). The registered images may be... Figure 7 Transformed images; however, in other respects, captured (original or untransformed) images may also be registered.

[0056] The controller 599 is configured to trigger at least one camera 321-326, 370 and a corresponding at least one illumination source 301-310, 370L to image each boxed cargo 102 transported through the frame 202 by the feed conveyor 110, and to resolve and identify each icon on the face of each imaged boxed cargo 102 (regardless of the size of the icon if the icon has a different size), regardless of the size difference between each boxed cargo 102 transported through the frame 202 at a predetermined continuous throughput 110R and each other boxed cargo 102. For example, at least one camera 321-326, 370 and the corresponding depth-of-field DIFF, DOFR, DOFS, DOT1, DOT2 (and the depth of field of the line scan camera 370) are arranged such that all sizes of boxed cargo expected to pass through the frame 202 are in focus relative to the camera capturing the image. At least one camera 321-326, 370 is configured, and the controller 599 is configured to resolve and recognize each icon of the imaged boxed cargo 102, regardless of the position and size of the icon on the face (e.g., side) of the imaged boxed cargo 102.

[0057] Reference Figure 1-4 and Figure 6 The exemplary operation of the logistics imaging module 200 will be described below. Boxed goods unloaded from trucks at truck loading dock 121 or from pallets at depalletizer 122 are placed on feed conveyor 110. Figure 10 Box 1000). Containerized cargo 102 is transported through container inspection system 500 to determine containerized cargo data ( Figure 10(See box 1010). For example, the dimensions and other information (such as those described herein) of the boxed cargo 102 are obtained by the boxed cargo inspection system 500, and the obtained boxed cargo information 620 is communicated to the programmable logic controller 610. The programmable logic controller 610 may be part of the controller of the logistics facility 190, which includes a list of boxed cargoes and their corresponding attributes (stored in a suitable table registered in a suitable memory, wherein the attributes include at least the box size, the icon included on the box, and the side of the box where the icon is located). In other respects, the icon is automatically located and decoded by the logistics imaging module 200 and / or the controllers 599, 610, wherein the box size and orientation are communicated from the boxed cargo inspection system 500 to the logistics imaging module 200 for image transformation of each of the boxed cargo surfaces. Based on the box information 620 obtained from the box inspection system 500, the programmable logic controller 610 identifies a box identifier 621 from the list of boxed goods. The box identifier 621 indicates or further characterizes the icon and icon location of the boxed goods 102M being inspected; wherein, in other respects, as described above, the location and decoding / characterization of the icon are implemented by the logistics imaging module 200. The programmable logic controller 610 communicates the box identifier 621 to the box inspection system 500, and the box inspection system 500 communicates the box information 622 (including the dimensions and identification of the boxed goods) to the controller 599 of the logistics imaging module 200. Here, the controller 599 may include an industrial PC or other computing device / processor 599PC, which receives the box information 622 and is configured to perform image processing on pairs of captured images.

[0058] The container information 622 is associated with or matched with the corresponding containerized cargo 102 generated from it. Figure 10 (Frame 1020). For example, boxed goods 102 are spaced one after another along the feed conveyor 110, such that box information 622 is generated and associated with the boxed goods from which box information 622 is generated. Here, the logistics imaging module 200 includes a phototube 600 disposed at the entrance of the tunnel 201 (which is formed by frame 202). The logistics imaging module 200 uses data from the conveyor encoder 444 and the phototube 600 via the controller 599 to detect boxed goods 102 entering the logistics imaging module 200 from the box inspection station 500 and associates box information 622 with the corresponding boxed goods 102. As described herein, the box information 622 is sent to and used by the controller 599 to trigger at least one camera 321-326, 370 and at least one light source 301-310 to image the side of the boxed goods 102 on which the icon is set (where the side is located within the depth of field of the triggered camera).

[0059] As the container cargo 102 enters the tunnel 201, the controller 599 determines the optimal image capture position for the container cargo 102. Figure 10 (frame 1030). For example, controller 599 learns the position of boxed cargo 102 along the length of frame 202 in the direction of travel TD based on the detection of boxed cargo 102 by phototube 600 and data from conveyor encoder 444. Controller 599 also learns one or more boxed cargo characteristics (e.g., one or more of box posture, size, icon position, etc.) from box information 622; while in one or more aspects, the position and size of the icon are not included in box information 622 (e.g., unknown) and are determined by logistics imaging module 200. It is also noted that at least one camera 321-326, 370 is in a known position on frame 202 and, as described herein, has been calibrated relative to conveyor 110 (and frame 202) such that the depths of field DOFS, DOFR, DOFF, DOFT1, DOFT2 (the depth of field of line scan camera 370 is learned based on the position of conveyor surface 110S) are known relative to conveyor 110. Based on the container information 622, the controller 599 determines which of at least one of the cameras 321-326, 370 is to image the containerized cargo. After knowing which camera is to image the containerized cargo 102, the controller 599 determines the position of the containerized cargo to be positioned on the conveyor 110 (e.g., in the direction of travel TD) for imaging by the determined camera.

[0060] As a simplified example of determining the camera and optimal capture position, see also... Figure 7 The boxed cargo 102 travels along the feed conveyor 110 in the direction of travel TD. Box information 622 specifies the orientation of the boxed cargo on the feed conveyor 110, such that the boxed cargo 102 is biased towards the side S1 (see...). Figure 3The container 102 has a length LC, a width WC, and a height HC (and in which the icon position is included in the container information 622, which specifies that the icon to be imaged (in this example, a hazardous materials icon) is positioned on the rear side 102R of the container 102—otherwise, the icon position is unknown as input to the controller 599). If the icon position is provided in the container information 622, the controller 599 determines, based on the container information 622, to illuminate and image the rear side 102R of the container 102 for capturing an image of the icon. When the rear camera 321 is selected for imaging, the controller 599 also determines to employ at least one illumination source 303-306 for illuminating the rear side 102R of the container 102 for imaging. If the icon is not included in the container information 622, the controller 599 triggers the line scan camera 370, and at least five of 321-326 (where the top cameras 322 and 323 are selected as described herein) and the corresponding at least one illumination source 303-306. In some respects, some of the cameras 321-326, 370 and at least one corresponding illumination source 303-306 can be triggered more than once for imaging the same box (e.g., a camera can capture more than one image of a single side of the box).

[0061] Controller 599 positions the boxed cargo 102 within the frame by detecting the leading edge of the boxed cargo 102 (relative to the direction of travel TD), and based on attitude information and the dimensions of the boxed cargo (e.g., provided in the box information 622), controller 599 determines the position and orientation of each of the six sides of the boxed cargo relative to the conveyor 110. Controller 599 uses data from conveyor encoder 444 to position the boxed cargo 102 on conveyor 110 such that the rear side 102R of the boxed cargo 102 is within the depth of field (DOFR) of the rear camera 321. In the example shown, the rear side 102R is substantially orthogonal to the direction of travel TD; however, in other examples, the rear side may be skewed at an angle relative to the direction of travel TD (this angle can be obtained from the box information 622). The controller 599 may include a real-time (e.g., data is processed to provide a near-instantaneous output) controller 599RT, to which the processor 599PC communicates a determined position of the container 102 (in other respects, the real-time controller 599RT may be integrated with the processor 599PC). When the container 102 reaches a determined position on the feed conveyor 110, the real-time controller 599RT illuminates the rear side 102R using at least one or more of illumination sources 303-306, and triggers the rear camera 321 substantially simultaneously with the illumination to image the rear side 102R of the container 102. Figure 10(Box 1040). Although in this example the icon exists only on the rear side 102R of the boxed cargo, in other examples the icon may exist on more than one side, such that an image of each side on which the icon exists is captured by the corresponding camera, wherein the imaged side is set within the depth of field of the corresponding camera, and wherein each side is imaged using only one (e.g., a single) corresponding camera.

[0062] In the event of image capture, the real-time controller 599RT communicates an image capture notification to the processor 599PC. The image capture notification may provide the processor 599PC with information (e.g., metadata) indicating which camera captured the image, the container for which the image was captured, and / or any other suitable information for matching the captured image with the corresponding container 102. As described herein, the processor 599PC receives the captured image (e.g., identified by the image capture notification) and processes the captured image. Figure 10 (Box 1050). For example, the processor 599PC corrects the geometry of the image in order to remove elements as referenced herein. Figure 7 The described perspective and distortion are then addressed by recognizing or further resolving icons (such as barcode 180 and (hazardous goods + arrow) symbols). As described herein, the removal of perspective and distortion is achieved by the container information 622 provided by the container inspection station 500 and the calibration of at least one camera 321-326, 370, resulting in an image of the side of the containerized cargo displayed as if the camera were directly in front of the side of the image being captured and analyzed. Using the calibrated image, the processor 599PC recognizes the icons in the calibrated image, noting that both the original and calibrated images provide the resolution for reading 10MIL barcodes, while smaller and larger barcodes can be read in other respects. In the case of icon recognition, reading, and association for the corresponding containerized cargo 102, the processor 599PC communicates the icon detection results to the programmable logic controller 610, causing the containerized cargo 102 to be processed within the automated storage array 190AS based on the icon detection results. Figure 10 (See box 1060). In one or more aspects, when the determined icon (or missing icon) does not match the expected icon for the identified boxed cargo 102, the programmable logic controller 610 may identify that the boxed cargo 102 is defective (e.g., a non-limiting example of a defective boxed cargo is one that includes a hazard symbol on any face and also has an incorrectly oriented directional arrow (i.e., the arrow is not pointing upwards) on any face), and transfer the boxed cargo 102 from the feed conveyor 110 (in any suitable manner) for operator inspection and correction.

[0063] Reference Figure 1-4 and Figure 8This document describes an exemplary method for reading logistics icons on cargo containers (e.g., boxed goods) of different sizes. The method includes providing a logistics imaging module 200 (…). Figure 8 Frame 800), comprising frame 202, conveyor 110 coupled to frame 202, at least one lighting source 301-310 coupled to frame 202, and at least one camera 321-326, 370. Each boxed cargo or container 102 is transported by conveyor 110 through frame 202 at a predetermined continuous throughput rate 110R. Figure 8 (Frame 810). At least one light source 301-310 is used to illuminate the boxed goods 102 transported through frame 202 using diffused light. Figure 9 (Frame 820). While illuminating the boxed cargo 102, at least one camera 321-326, 370 images the boxed cargo 102 transported through frame 202. Figure 9 (Frame 830), wherein at least one camera 321-326, 370 has a fixed depth of field DOFF, DOFR, DOFS, DOFT1, DOFT2. The orientation of the transported boxed cargo 102 relative to frame 202 is determined. Figure 8 (frame 840), wherein controller 599 is operatively connected to conveyor 110, wherein controller 110 is communicatively connected to at least one illumination source 301-310 and at least one camera 321-326, 370. Controller 599 triggers at least one camera 31-326, 370 based on a determined pose that is optimal for imaging parameters of at least one camera 321-326, 370. Figure 8 (Frame 850) Image the boxed cargo 102 transported through the frame.

[0064] Reference Figure 1-4 and Figure 9 This document describes an exemplary method for reading logistics icons on cargo containers (e.g., boxed goods) of different sizes. The method includes providing a logistics icon reading module 200. Figure 9 Frame 900), comprising frame 202, conveyor 110 coupled to frame 110, at least one lighting source 301-310 coupled to frame, and at least one camera 321-326, 370. Each box of goods 102 is transported through the frame by conveyor 110 at a predetermined continuous throughput rate 110R. Figure 9 (Frame 910). Using at least one light source 301-310, diffuse light is used to provide flash illumination to the boxed goods 102 transported through frame 202. Figure 9 (Frame 920). While providing flash illumination to the boxed cargo 102, at least one camera 321-326, 370 images the boxed cargo 102 transported through frame 202. Figure 9 (frame 930), wherein at least one camera 321-326, 370 has fixed depth of field DOFF, DOFR, DOFS, DOFT1, DOFT2. Controller 599 triggers at least one camera 321-326, 370 (frame 930). Figure 9 The frame 940 images the containerized cargo 102 transported through the frame 202. At least one camera 321-326, 370 is triggered based on conveyor data (such as those described herein) positioning the containerized cargo 102 within the frame 202. A controller 599 is operatively connected to the conveyor 110 to transport the container relative to the frame and communicatively connected to at least one illumination source 301-310 and at least one camera 321-326, 370. The controller 599 registers images of the containerized cargo 102 transported through the frame 202 captured by at least one camera 321-326, 370 (e.g., captured images). Figure 9 (Frame 950). Controller 599 resolves and identifies each icon on the surface of the imaged boxed cargo from registered container images of a shared camera among at least one camera 321-326, 370 (as described herein). Figure 9 (frame 960).

[0065] As can be seen above, aspects of this disclosure provide a logistics imaging module 200 that supports reading both barcodes and hazard symbols in a shared tunnel 201, using fewer cameras than conventional barcode reading systems. The logistics imaging module 200 may also have an occupancy area such that the logistics imaging module has a length equivalent to approximately one conveyor section length (e.g., approximately 52 inches (approximately 1328 mm) in length). The size and reduced number of components in the logistics imaging module 200 provide lower cost and lower complexity compared to conventional systems (such as those described above).

[0066] According to one or more aspects of this disclosure, a logistics imaging module for reading logistics icons on cargo containers of different sizes includes: a frame; a conveyor coupled to the frame to transport each container through the frame at a predetermined continuous throughput rate; at least one illumination source coupled to the frame and configured to illuminate the containers transported through the frame using diffuse light; at least one camera configured to image the transported containers substantially simultaneously with the illumination of the containers, wherein the at least one camera has a fixed depth of field; and a controller operatively coupled to the conveyor to determine the orientation of the transported containers relative to the frame, the controller being communicatively connected to the at least one illumination source and the at least one camera, wherein the controller is configured to trigger the at least one camera to image the transported containers based on the determined orientation being the optimal orientation for imaging parameters of the at least one camera.

[0067] According to one or more aspects of this disclosure, the controller is configured to determine the optimal orientation based on conveyor encoder data that identifies the position of the container in the frame and container characteristics that identify the size of the container.

[0068] According to one or more aspects of this disclosure, the controller is configured to register container images captured by at least one camera of a transported container, and to parse and identify each icon on the surface of the imaged container from the registered container images of a shared camera among at least one camera.

[0069] According to one or more aspects of this disclosure, the controller is configured to trigger at least one camera to image each container being transported through the frame, and to resolve and identify each icon on the face of each imaged container, regardless of the size and position of the icons on the face, and regardless of the size difference between each container being transported through the frame at a predetermined continuous throughput rate and each other container.

[0070] According to one or more aspects of this disclosure, the predetermined continuous throughput is equivalent to the predetermined input rate of a logistics facility corresponding to a conveyor steady-state speed of about 2 feet per second.

[0071] According to one or more aspects of this disclosure, at least one camera is configured and the controller is configured to parse and recognize each icon on the imaging container, regardless of the position of the icon on the surface of the imaging container.

[0072] According to one or more aspects of this disclosure, at least one camera includes a plurality of cameras arranged such that each plane of a hexahedron is imaged by a separate camera, which is different from each of the plurality of cameras that image each other plane of the hexahedron.

[0073] According to one or more aspects of this disclosure, each plane is imaged by only one of a plurality of cameras.

[0074] According to one or more aspects of this disclosure, the icon includes at least one of a barcode, a danger graphic symbol, and an upward arrow symbol.

[0075] According to one or more aspects of this disclosure, at least one camera has an image sensor that is calibrated relative to a reference frame of the conveyor surface of the conveyor, such that captured images of the face of the container registered by the controller are corrected to be true via calibration data relative to the reference frame of the image sensor of each container, regardless of size differences.

[0076] According to one or more aspects of this disclosure, camera calibration determines a transformation that corrects the camera image relative to a reference frame of the image sensor to a true representation of the optimal pose of the container.

[0077] According to one or more aspects of this disclosure, at least one lighting source is a white light source or a multicolor light source.

[0078] According to one or more aspects of this disclosure, the conveyor is a feed conveyor for an automated storage array, and a predetermined continuous throughput rate matches the throughput rate of at least one other downstream automated component that loads containers supplied by the conveyor into storage locations of the automated storage array.

[0079] According to one or more aspects of this disclosure, a logistics icon reading module for reading logistics icons on cargo containers of different sizes includes: a frame; a conveyor coupled to the frame to transport each container through the frame at a predetermined continuous throughput rate; at least one illumination source coupled to the frame and configured to provide flash illumination of the containers transported through the frame using diffused light; at least one camera configured to image the transported containers substantially simultaneously with the flash illumination of the containers, wherein the at least one camera has a fixed depth of field; and a controller operatively coupled to the conveyor to transport the containers relative to the frame and communicatively coupled to the at least one illumination source and the at least one camera, wherein the controller is configured to trigger the at least one camera and the at least one illumination source to image the transported containers based on conveyor data positioning the containers in the frame; wherein the controller is configured to register container images of the transported containers captured by the at least one camera, and to parse and identify each icon on the surface of the imaged container from the registered container images of a shared camera among the at least one camera.

[0080] According to one or more aspects of this disclosure, the controller is configured to trigger at least one camera based on determining that the position of the container is optimal for the imaging parameters of the camera.

[0081] According to one or more aspects of this disclosure, the controller is configured to determine the optimal position based on conveyor encoder data that identifies the position of the container in the frame and container characteristics that identify the size of the container.

[0082] According to one or more aspects of this disclosure, the controller is configured to trigger at least one camera to image each container being transported through the frame, and to resolve and identify each icon on the face of each imaged container, regardless of the size and position of the icons on the face, and regardless of the size difference between each container being transported through the frame at a predetermined continuous throughput rate and each other container.

[0083] According to one or more aspects of this disclosure, the predetermined continuous throughput is equivalent to the predetermined input rate of a logistics facility corresponding to a conveyor steady-state speed of about 2 feet per second.

[0084] According to one or more aspects of this disclosure, at least one camera is configured and the controller is configured to parse and recognize each icon on the imaging container, regardless of the position of the icon on the surface of the imaging container.

[0085] According to one or more aspects of this disclosure, at least one camera includes a plurality of cameras arranged such that each plane of a hexahedron is imaged by a separate camera, which is different from each of the plurality of cameras that image each other plane of the hexahedron.

[0086] According to one or more aspects of this disclosure, each plane is imaged by only one of a plurality of cameras.

[0087] According to one or more aspects of this disclosure, the icon includes at least one of a barcode, a danger graphic symbol, and an upward arrow symbol.

[0088] According to one or more aspects of this disclosure, at least one camera has an image sensor that is calibrated relative to a reference frame of the conveyor surface of the conveyor, such that captured images of the face of the container registered by the controller are corrected to be true via calibration data relative to the reference frame of the image sensor of each container, regardless of size differences.

[0089] According to one or more aspects of this disclosure, camera calibration determines a transformation that corrects the camera image relative to a reference frame of the image sensor to be true and characterizes the optimal position of the container.

[0090] According to one or more aspects of this disclosure, at least one lighting source is a white light source or a multicolor light source.

[0091] According to one or more aspects of this disclosure, the conveyor is a feed conveyor for an automated storage array, and a predetermined continuous throughput rate matches the throughput rate of at least one other downstream automated component that loads containers supplied by the conveyor into storage locations of the automated storage array.

[0092] According to one or more aspects of this disclosure, a method for reading logistics icons on cargo containers of different sizes is provided. The method includes: providing a logistics imaging module having a frame, a conveyor coupled to the frame, at least one illumination source connected to the frame, and at least one camera; transporting each container through the frame using the conveyor at a predetermined continuous throughput rate; illuminating the containers transporting through the frame with diffuse light using the at least one illumination source; substantially simultaneously with illuminating the containers, imaging the transported containers using the at least one camera, wherein the at least one camera has a fixed depth of field; determining the orientation of the transported containers relative to the frame using a controller operably connected to the conveyor, wherein the controller is communicatively connected to the at least one illumination source and the at least one camera; and triggering the at least one camera to image the transported containers using the controller based on the determined orientation being an optimal orientation for imaging parameters of the at least one camera.

[0093] According to one or more aspects of this disclosure, the method further includes using the controller to determine the optimal orientation based on conveyor encoder data identifying the position of the container in the frame and container characteristics based on the size of the identified container.

[0094] According to one or more aspects of this disclosure, the method further includes utilizing a controller to: register container images captured by at least one camera of the transported container; and to resolve and identify each icon on the surface of the imaged container from the registered container images of a shared camera among at least one camera.

[0095] According to one or more aspects of this disclosure, the method further includes utilizing a controller to: trigger at least one camera to image each container being transported through the frame; and to resolve and identify each icon on the face of each imaged container, regardless of the size and position of the icons on the face, and regardless of the size difference between each container being transported through the frame at a predetermined continuous throughput rate and each other container.

[0096] According to one or more aspects of this disclosure, the predetermined continuous throughput is equivalent to the predetermined input rate of a logistics facility corresponding to a conveyor steady-state speed of about 2 feet per second.

[0097] According to one or more aspects of this disclosure, at least one camera is configured and the controller is configured to parse and recognize each icon on the imaging container, regardless of the position of the icon on the surface of the imaging container.

[0098] According to one or more aspects of this disclosure, at least one camera includes a plurality of cameras arranged such that each plane of a hexahedron is imaged by a separate camera, which is different from each of the plurality of cameras that image each other plane of the hexahedron.

[0099] According to one or more aspects of this disclosure, each plane is imaged by only one of a plurality of cameras.

[0100] According to one or more aspects of this disclosure, the icon includes at least one of a barcode, a danger graphic symbol, and an upward arrow symbol.

[0101] According to one or more aspects of this disclosure, at least one camera has an image sensor that is calibrated relative to a reference frame of the conveyor surface of the conveyor, such that captured images of the face of the container registered by the controller are corrected to be true via calibration data relative to the reference frame of the image sensor of each container, regardless of size differences.

[0102] According to one or more aspects of this disclosure, camera calibration determines a transformation that corrects the camera image relative to a reference frame of the image sensor to a true representation of the optimal pose of the container.

[0103] According to one or more aspects of this disclosure, at least one lighting source is a white light source or a multicolor light source.

[0104] According to one or more aspects of this disclosure, the conveyor is a feed conveyor for an automated storage array, and a predetermined continuous throughput rate matches the throughput rate of at least one other downstream automated component that loads containers supplied by the conveyor into storage locations of the automated storage array.

[0105] According to one or more aspects of this disclosure, a method for reading logistics icons on cargo containers of different sizes is provided. The method includes: providing a logistics icon reading module having a frame, a conveyor coupled to the frame, at least one lighting source connected to the frame, and at least one camera; transporting each container through the frame using the conveyor at a predetermined continuous throughput rate; using the at least one lighting source to flash illuminate the containers transporting through the frame with diffused light; simultaneously with the flash illumination of the containers, image the transported containers using the at least one camera, wherein the at least one camera has a fixed depth of field; triggering the at least one camera to image the transported containers using a controller based on conveyor data positioning the containers in the frame, wherein the controller is operatively connected to the conveyor to transport the containers relative to the frame and communicatively connected to the at least one lighting source and the at least one camera; registering container images of the transported containers captured by the at least one camera using the controller; and resolving and identifying each icon on the surface of the imaged container from the registered container images of a shared camera among the at least one camera using the controller.

[0106] According to one or more aspects of this disclosure, the method further includes: using a controller to trigger at least one camera based on determining that the position of the container is optimal for the imaging parameters of the camera.

[0107] According to one or more aspects of this disclosure, the method further includes using a controller to determine an optimal position based on conveyor encoder data identifying the position of the container in the frame and container characteristics based on the size of the identified container.

[0108] According to one or more aspects of this disclosure, the method further includes utilizing a controller to: trigger at least one camera to image each container being transported through the frame; and to resolve and identify each icon on the face of each imaged container, regardless of the size and position of the icons on the face, and regardless of the size difference between each container being transported through the frame at a predetermined continuous throughput rate and each other container.

[0109] According to one or more aspects of this disclosure, the predetermined continuous throughput is equivalent to the predetermined input rate of a logistics facility corresponding to a conveyor steady-state speed of about 2 feet per second.

[0110] According to one or more aspects of this disclosure, at least one camera is configured and the controller is configured to parse and recognize each icon on the imaging container, regardless of the position of the icon on the surface of the imaging container.

[0111] According to one or more aspects of this disclosure, at least one camera includes a plurality of cameras arranged such that each plane of a hexahedron is imaged by a separate camera, which is different from each of the plurality of cameras that image each other plane of the hexahedron.

[0112] According to one or more aspects of this disclosure, each plane is imaged by only one of a plurality of cameras.

[0113] According to one or more aspects of this disclosure, the icon includes at least one of a barcode, a danger graphic symbol, and an upward arrow symbol.

[0114] According to one or more aspects of this disclosure, at least one camera has an image sensor that is calibrated relative to a reference frame of the conveyor surface of the conveyor, such that captured images of the face of the container registered by the controller are corrected to be true via calibration data relative to the reference frame of the image sensor of each container, regardless of size differences.

[0115] According to one or more aspects of this disclosure, camera calibration determines a transformation that corrects the camera image relative to a reference frame of the image sensor to be true and characterizes the optimal position of the container.

[0116] According to one or more aspects of this disclosure, at least one lighting source is a white light source or a multicolor light source.

[0117] According to one or more aspects of this disclosure, the conveyor is a feed conveyor for an automated storage array, and a predetermined continuous throughput rate matches the throughput rate of at least one other downstream automated component that loads containers supplied by the conveyor into storage locations of the automated storage array.

[0118] It should be understood that the foregoing description is merely illustrative of aspects of this disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from these aspects. Therefore, these aspects are intended to cover all such alternatives, modifications, and variations that fall within the scope of any of the appended claims. Furthermore, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that combinations of these features cannot be used advantageously, and such combinations remain within the scope of these aspects.

Claims

1. A logistics imaging module for reading logistics icons on cargo containers of different sizes, the logistics imaging module comprising: frame; A conveyor connected to the frame to transport each container through the frame at a predetermined continuous throughput rate; At least one lighting source, the at least one lighting source being connected to the frame and configured to illuminate the container being transported through the frame using diffused light; At least one camera, the at least one camera being configured to image the container being transported while the container is substantially illuminated, wherein the at least one camera has a fixed depth of field; as well as A controller operatively connected to the conveyor to determine the orientation of the transported container relative to the frame, the controller communicatively connected to the at least one illumination source and the at least one camera, wherein the controller is configured to trigger the at least one camera and the at least one illumination source to image the transported container based on the determined orientation being the optimal orientation for imaging parameters of the at least one camera.

2. The logistics imaging module according to claim 1, wherein, The controller is configured to determine the optimal orientation based on conveyor encoder data that identifies the position of the container in the frame and container characteristics that identify the size of the container.

3. The logistics imaging module according to claim 1, wherein, The controller is configured to register container images captured by the at least one camera of the transported container, and to parse and identify each icon on the surface of the imaged container from the registered container images of a shared camera among the at least one camera.

4. The logistics imaging module according to claim 1, wherein, The controller is configured to trigger the at least one camera and the at least one illumination source to image each container being transported through the frame, and to resolve and identify each icon on the face of each imaged container, regardless of the size and position of the icons on the face, and regardless of the size difference between each container being transported through the frame at a predetermined continuous throughput rate and each other container.

5. The logistics imaging module according to claim 1, wherein, The predetermined continuous throughput rate is equivalent to the predetermined input rate of the logistics facility corresponding to a conveyor steady-state speed of approximately 2 feet per second.

6. The logistics imaging module according to claim 1, wherein, The at least one camera is configured, and the controller is configured, to parse and recognize each icon on the imaging container, regardless of the position of the icon on the surface of the imaging container.

7. The logistics imaging module according to claim 1, wherein, The at least one camera includes a plurality of cameras arranged such that each plane of the hexahedron is imaged by a separate camera, the separate camera being different from each of the plurality of cameras that image each other plane of the hexahedron.

8. The logistics imaging module according to claim 7, wherein, Each plane is imaged by only one of the plurality of cameras.

9. The logistics imaging module according to claim 1, wherein, The icon includes at least one of a barcode, a danger graphic symbol, and an upward arrow symbol.

10. The logistics imaging module according to claim 1, wherein, The at least one camera has an image sensor that is calibrated relative to a reference frame of the conveyor surface of the conveyor, such that captured images of the surface of the container registered by the controller are corrected to be true relative to the reference frame of the image sensor of each container via calibration data, regardless of size differences.

11. The logistics imaging module according to claim 10, wherein, Camera calibration determines a transformation that corrects the camera image relative to the reference frame of the image sensor to be true and characterizes the optimal pose of the container.

12. The logistics imaging module according to claim 1, wherein, The at least one lighting source is a white light source or a multicolor light source.

13. The logistics imaging module according to claim 1, wherein, The conveyor is a feed conveyor for an automated storage array, and the predetermined continuous throughput rate matches the throughput rate of at least one other downstream automated component that loads containers supplied by the conveyor into the storage location of the automated storage array.

14. A logistics icon reading module for reading logistics icons on cargo containers of different sizes, the logistics icon reading module comprising: frame; A conveyor connected to the frame to transport each container through the frame at a predetermined continuous throughput rate; At least one lighting source, the at least one lighting source being connected to the frame and configured to provide flash illumination to the container being transported through the frame using diffused light; At least one camera, the at least one camera being configured to image the container being transported while the container is being flash-illuminated, wherein the at least one camera has a fixed depth of field; as well as A controller operably connected to the conveyor to transport the container relative to the frame, and communicatively connected to the at least one lighting source and the at least one camera, wherein the controller is configured to trigger the at least one camera and the at least one lighting source to image the transported container based on conveyor data positioning the container in the frame; The controller is configured to register container images captured by the at least one camera of the transported container, and to parse and identify each icon on the surface of the imaging container from the registered container images of a shared camera among the at least one camera.

15. The logistics icon reading module according to claim 14, wherein, The controller is configured to trigger the at least one camera and the at least one illumination source based on determining that the position of the container is optimal for the imaging parameters of the camera.

16. The logistics icon reading module according to claim 15, wherein, The controller is configured to determine the optimal position based on conveyor encoder data that identifies the position of the container in the frame and container characteristics that identify the size of the container.

17. The logistics icon reading module according to claim 14, wherein, The controller is configured to trigger the at least one camera and the at least one illumination source to image each container being transported through the frame, and to resolve and identify each icon on the face of each imaged container, regardless of the size and position of the icons on the face, and regardless of the size difference between each container being transported through the frame at a predetermined continuous throughput rate and each other container.

18. The logistics icon reading module according to claim 14, wherein, The predetermined continuous throughput rate is equivalent to the predetermined input rate of the logistics facility corresponding to a conveyor steady-state speed of approximately 2 feet per second.

19. The logistics icon reading module according to claim 14, wherein, The at least one camera is configured, and the controller is configured, to parse and recognize each icon on the imaging container, regardless of the position of the icon on the surface of the imaging container.

20. The logistics icon reading module according to claim 14, wherein, The at least one camera includes a plurality of cameras arranged such that each plane of the hexahedron is imaged by a separate camera, the separate camera being different from each of the plurality of cameras that image each other plane of the hexahedron.

21. The logistics icon reading module according to claim 20, wherein, Each plane is imaged by only one of the plurality of cameras.

22. The logistics icon reading module according to claim 14, wherein, The icon includes at least one of a barcode, a danger graphic symbol, and an upward arrow symbol.

23. The logistics icon reading module according to claim 14, wherein, The at least one camera has an image sensor that is calibrated relative to a reference frame of the conveyor surface of the conveyor, such that captured images of the surface of the container registered by the controller are corrected to be true relative to the reference frame of the image sensor of each container via calibration data, regardless of size differences.

24. The logistics icon reading module according to claim 23, wherein, Camera calibration determines a transformation that corrects the camera image relative to the reference frame of the image sensor to be true and characterizes the optimal position of the container.

25. The logistics icon reading module according to claim 14, wherein, The at least one lighting source is a white light source or a multicolor light source.

26. The logistics icon reading module according to claim 14, wherein, The conveyor is a feed conveyor for an automated storage array, and the predetermined continuous throughput rate matches the throughput rate of at least one other downstream automated component that loads containers supplied by the conveyor into the storage location of the automated storage array.

27. A method for reading logistics icons on cargo containers of different sizes, the method comprising: A logistics imaging module is provided, the logistics imaging module having a frame, a conveyor connected to the frame, at least one lighting source connected to the frame, and at least one camera; Each container is transported through the frame using the conveyor at a predetermined continuous throughput rate; Using the at least one light source, the container being transported through the frame is illuminated with diffused light; While illuminating the container, the container being transported is imaged using the at least one camera, wherein the at least one camera has a fixed depth of field. The orientation of the transported container relative to the frame is determined using a controller operably connected to the conveyor, wherein the controller is communicatively connected to the at least one lighting source and the at least one camera; as well as The controller triggers the at least one camera to image the transported container based on a determined pose that is optimal for the imaging parameters of the at least one camera.

28. The method of claim 27, further comprising using the controller to determine an optimal orientation based on conveyor encoder data identifying the position of the container in the frame and container characteristics identifying the size of the container.

29. The method of claim 27, further comprising utilizing the controller: Images of the containers being transported, captured by the at least one camera; and Each icon on the surface of the imaging container is parsed and identified from the registered container image of the shared camera in the at least one camera.

30. The method of claim 27, further comprising utilizing the controller: Trigger the at least one camera to image each container being transported through the frame; and Each icon on the face of each imaging container is parsed and identified, regardless of the size and position of the icon on the face, and regardless of the size difference between each container transported through the frame at the predetermined continuous throughput rate and each other container.

31. The method according to claim 27, wherein, The predetermined continuous throughput rate is equivalent to the predetermined input rate of the logistics facility corresponding to a conveyor steady-state speed of approximately 2 feet per second.

32. The method according to claim 27, wherein, The at least one camera is configured, and the controller is configured, to parse and recognize each icon on the imaging container, regardless of the position of the icon on the surface of the imaging container.

33. The method according to claim 27, wherein, The at least one camera includes a plurality of cameras arranged such that each plane of the hexahedron is imaged by a separate camera, the separate camera being different from each of the plurality of cameras that image each other plane of the hexahedron.

34. The method according to claim 33, wherein, Each plane is imaged by only one of the plurality of cameras.

35. The method according to claim 27, wherein, The icon includes at least one of a barcode, a danger graphic symbol, and an upward arrow symbol.

36. The method according to claim 27, wherein, The at least one camera has an image sensor that is calibrated relative to a reference frame of the conveyor surface of the conveyor, such that captured images of the surface of the container registered by the controller are corrected to be true relative to the reference frame of the image sensor of each container via calibration data, regardless of size differences.

37. The method of claim 36, wherein, Camera calibration determines a transformation that corrects the camera image relative to the reference frame of the image sensor to be true and characterizes the optimal pose of the container.

38. The method according to claim 27, wherein, The at least one lighting source is a white light source or a multicolor light source.

39. The method according to claim 27, wherein, The conveyor is a feed conveyor for an automated storage array, and the predetermined continuous throughput rate matches the throughput rate of at least one other downstream automated component that loads containers supplied by the conveyor into the storage location of the automated storage array.

40. A method for reading logistics icons on cargo containers of different sizes, the method comprising: A logistics icon reading module is provided, the logistics icon reading module having a frame, a conveyor connected to the frame, at least one lighting source connected to the frame, and at least one camera; Each container is transported through the frame using the conveyor at a predetermined continuous throughput rate; Using the at least one light source, diffuse light is used to illuminate the container being transported through the frame; While the container is being illuminated by flash, the container being transported is imaged using at least one camera, wherein the at least one camera has a fixed depth of field. The controller triggers at least one camera to image the transported container based on conveyor data that positions the container within the frame, wherein the controller is operatively connected to the conveyor to transport the container relative to the frame and communicatively connected to at least one lighting source and at least one camera; The controller is used to register images of the containers being transported, captured by the at least one camera. as well as The controller is used to parse and identify each icon on the surface of the imaging container from the registered container image of a shared camera in at least one of the cameras.

41. The method of claim 40, further comprising using the controller to trigger the at least one camera based on determining that the position of the container is optimal for the imaging parameters of the camera.

42. The method of claim 41, further comprising using the controller to determine the optimal position based on conveyor encoder data identifying the position of the container in the frame and container characteristics identifying the size of the container.

43. The method of claim 40, further comprising utilizing the controller: Trigger the at least one camera to image each container being transported through the frame; and Each icon on the face of each imaging container is parsed and identified, regardless of the size and position of the icon on the face, and regardless of the size difference between each container transported through the frame at the predetermined continuous throughput rate and each other container.

44. The method of claim 40, wherein, The predetermined continuous throughput rate is equivalent to the predetermined input rate of the logistics facility corresponding to a conveyor steady-state speed of approximately 2 feet per second.

45. The method according to claim 40, wherein, The at least one camera is configured, and the controller is configured, to parse and recognize each icon on the imaging container, regardless of the position of the icon on the surface of the imaging container.

46. ​​The method of claim 40, wherein, The at least one camera includes a plurality of cameras arranged such that each plane of the hexahedron is imaged by a separate camera, the separate camera being different from each of the plurality of cameras that image each other plane of the hexahedron.

47. The method according to claim 46, wherein, Each plane is imaged by only one of the plurality of cameras.

48. The method of claim 40, wherein, The icon includes at least one of a barcode, a danger graphic symbol, and an upward arrow symbol.

49. The method according to claim 40, wherein, The at least one camera has an image sensor that is calibrated relative to a reference frame of the conveyor surface of the conveyor, such that captured images of the surface of the container registered by the controller are corrected to be true relative to the reference frame of the image sensor of each container via calibration data, regardless of size differences.

50. The method according to claim 49, wherein, Camera calibration determines a transformation that corrects the camera image relative to the reference frame of the image sensor to be true and characterizes the optimal position of the container.

51. The method according to claim 40, wherein, The at least one lighting source is a white light source or a multicolor light source.

52. The method according to claim 40, wherein, The conveyor is a feed conveyor for an automated storage array, and the predetermined continuous throughput rate matches the throughput rate of at least one other downstream automated component that loads containers supplied by the conveyor into the storage location of the automated storage array.

Images