Inspection of cased goods and methods therefor

Abstract

A logistics imaging module for reading logistics symbols on containers of different sized goods, the logistics imaging module including: a frame; a conveyor coupled to the frame for transporting 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 diffuse light; and at least one camera having a fixed depth of field positioned to image the transported container substantially simultaneously with the illumination of the container. A controller is connected to the conveyor for determining a pose 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 pose, which is a pose that best suits the imaging parameters of the at least one camera.

Description

[Technical Field]

[0001] [CROSS-REFERENCE TO RELATED APPLICATIONS] This application is a nonprovisional application of and claims the benefit of U.S. Provisional Patent Application No. 63 / 477,858, filed December 30, 2022, and U.S. Provisional Patent Application No. 63 / 479,263, filed January 10, 2023, the entire disclosures of which are incorporated herein by reference.

[0002] [Technical field] FIELD OF THE DISCLOSURE The present disclosure relates generally to product inspection, and more particularly to a cased item inspection system and method therefor. [Background technology]

[0003] A brief description of related developments There is a need for improved cased item inspection systems and methods. For example, barcode readers generally require high-resolution imaging (e.g., about 10 MP or greater) with magnification capabilities. Some barcode reading stations for logistics facilities utilize fixed-mounted cameras with a deep depth of field and a white light that illuminates the barcode on the side of the product packaging or cased item. A deep depth of field is, for example, about 3700 mm (about 145 inches) or greater. However, in cameras with a deep depth of field, the white light illumination of the barcode can cause chromatic aberration (also known as color distortion or spherochromatism) and cause lens failure. Thus, the white light illumination of the barcode can adversely affect barcode reading by cameras with a deep depth of field.

[0004] Other barcode readers for logistics facilities utilize liquid lenses and cameras with shallower depths of field than those described above. These readers utilize red, white, blue, infrared, or ultraviolet illumination of the barcode and position multiple cameras (e.g., 21 cameras) at fixed locations in the barcode reading station to enable scanning of all six sides of a product package or cased item. However, the multiple cameras increase the complexity and cost of the barcode scanning station.

[0005] It would be advantageous to have a barcode reading station that ameliorates at least the above-mentioned deficiencies and separates barcode scanning from a point-and-shoot camera with a large depth of field. It would also be advantageous to read barcodes simultaneously (e.g., at approximately the same time) with reading pictorial symbols for hazardous materials located on the same merchandise case. Summary of the Invention

[0006] The foregoing aspects and other features of the present disclosure are explained in the following description taken in conjunction with the accompanying drawings. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic diagram of a logistics facility incorporating a logistics imaging module according to aspects of the present disclosure. [Figure 2] 2 is a schematic perspective view of a portion of the logistics imaging module of FIG. 1 according to an embodiment of the present disclosure. [Figure 3] 1 is a schematic plan view of a portion of a logistics facility illustrating a logistics imaging module in communication with a case inspection station according to an aspect of the present invention; [Figure 4] FIG. 4 is a schematic side view of a portion of the logistics facility shown in FIG. 3 according to an embodiment of the present disclosure. [Figure 5] FIG. 2 is a schematic diagram of the case inspection station of FIG. 1 according to an embodiment of the present disclosure. [Figure 5A] FIG. 2 is a schematic diagram of the case inspection station of FIG. 1 according to an embodiment of the present disclosure. [Figure 5B]FIG. 2 is a schematic diagram of the case inspection station of FIG. 1 according to an embodiment of the present disclosure. [Figure 5C] FIG. 2 is a schematic diagram of the case inspection station of FIG. 1 according to an embodiment of the present disclosure. [Figure 6] FIG. 2 is a high-level schematic diagram of a process flow for the logistics imaging module of FIG. 1 according to an embodiment of the present disclosure. [Figure 7] 2A-2C are exemplary diagrams of images captured by the logistics imaging module of FIG. 1 and post-processing diagrams of the same images resulting from the logistics imaging module of FIG. 1, according to aspects of the present disclosure. [Figure 8] FIG. 1 is an exemplary flow diagram of a method according to an aspect of the present disclosure. [Figure 9] FIG. 1 is an exemplary flow diagram of a method according to an aspect of the present disclosure. [Figure 10] FIG. 1 is an exemplary flow diagram of a method according to an aspect of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0008] 1 illustrates an exemplary logistics facility 190 incorporating a logistics imaging module 200 (also referred to herein as a logistics iconography reading module) according to embodiments of the present disclosure. While embodiments of the present disclosure are described with reference to the drawings, it should be understood that they may be embodied in many forms. Furthermore, any suitable size, shape, or type of elements or materials may be used.

[0009] According to aspects of the present disclosure, logistics imaging module 200 is configured to read both barcode symbologies or graphics 180 (also referred to herein as barcodes 180) and hazardous material (hazmat) symbologies or graphics (including hazardous material symbol 181A and product handling direction (e.g., up arrow) symbologies or graphics 181B—also referred to herein as hazardous material symbol 181A and product handling direction symbol 181B) within a common (e.g., single) tunnel 201 through which cased goods 102 (also referred to herein as containers) enter logistics facility 190. Exemplary barcodes 180 include, but are not limited to, UPC, Code 39, Code 128, ITF-14, Interleaved 2 of 5, Data Matrix, QR, MaxiCode, and Aztec. Exemplary hazardous materials and package handling direction symbols 181A, 181B include, but are not limited to, those conforming to the United States Code of Federal Regulations, Title 49, Parts 100-185, and similar hazardous materials regulations of other countries.

[0010] Logistics imaging module 200 is configured to universally read barcodes 180, hazardous material symbols 181A, and product handling direction symbols 181B (e.g., symbol reading is decoupled from the orientation of the cased items) regardless of the orientation of the cased items 102 passing through tunnel 201. Here, cased items 102 move through tunnel 201 on at least one in-feed conveyor 110, and logistics imaging module 200 is configured to image all six sides of hexahedral-shaped cased items 102 such that approximately 97% (or more) of the symbols on cased items 102 passing through logistics imaging module 200 are successfully read for a variety of case sizes (although in other embodiments, cased items may have any suitable shape). The variation in case size (e.g., length, width, and height) has a substantially stochastic distribution, with the smallest cased item size being approximately 6.4 inches by 5 inches by 2 inches and the largest cased item size being approximately 36 inches by 24 inches by 28 inches (although in other embodiments, the cased items may be larger or smaller than the exemplary sizes discussed above).

[0011] According to aspects of the present disclosure, logistics imaging module 200 decouples symbol reading from deep depth-of-field cameras and autofocus lenses. As described herein, logistics imaging module 200 illuminates cased items 102 with one or more of white light and monochromatic light and utilizes (with reference to FIG. 3 ) two side cameras 324, 325 (positioned to have an imaging direction transverse to the direction of movement TD of in-feed conveyor 110), a front camera 326 and a rear camera 321 (each positioned to have an imaging direction parallel to the direction of movement TD of in-feed conveyor 110), two top cameras (each positioned to have an imaging direction transverse to the direction of movement TD of in-feed conveyor 110), and a line scan camera 370 (e.g., positioned below in-feed conveyor 110 and with an imaging direction transverse to the direction of movement TD of in-feed conveyor 110). Each of cameras 321-326 has a fixed focal length with a fixed, shallow depth of field of approximately 14 inches (approximately 355 mm), although in other embodiments the shallow depth of field may be greater or less than approximately 14 inches (the line scan cameras may have any suitable fixed focal length and fixed depth of field for imaging the bottom of cased goods moving on conveyor 110 in the manner described herein). The two top cameras 322, 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, where the focal point of one top camera is above the focal point of the other top camera, and each camera has a depth of field of approximately 14 inches), although in other embodiments the total shallow depth of field may be greater or less than approximately 28 inches (with or without overlap between the depths of field of the top cameras).As described herein, the logistics imaging module 200 leverages case pose information and case identification information obtained by the case inspection system 500 or other suitable perceptual sensing device (e.g., including, but not limited to, a simple single three-dimensional camera, a two-dimensional camera, a raster-scan laser, etc.) to trigger each of the six cameras, capture graphical symbols on the cased items 102, and correct (e.g., adjust, i.e., align with, or orthogonal / perpendicular to) the image pose so that it is perpendicular to the reference frame of the imaging camera (e.g., correcting the image so that it is substantially free of chromatic aberration and perpendicular to the reference frame of the imaging camera is substantially determinative of the captured graphical symbol).

[0012] Still referring to FIG. 1 , the logistics facility includes an infeed portion and an order fulfillment portion. The infeed portion includes one or more of a truck loading dock 121 and a depalletizer 122. At the truck loading dock 121, the cased items 102 are removed from trucks (or other transportation means) substantially directly to an inbound conveyor system 195. At the depalletizer 122, the cased items 102 are automatically removed from pallets onto the inbound conveyor system 195. The inbound conveyor system 195 includes at least one inbound conveyor 110 that transports the cased items 102 to an automated storage array 190AS.

[0013] The infeed portion also includes a case inspection system 500 and a logistics imaging module 200, where an infeed conveyor 110 transports cased items 102 through each of the case inspection system 500 and the logistics imaging module 200. Cased item information obtained by the case inspection system 500 and the logistics imaging module 200 is utilized for introduction of the cased items into the automated storage array 190AS, where downstream automated component(s) 190DC of the automated storage array 190AS receive the cased items 102 from the infeed conveyor 110 and transport the cased items to storage locations 190SL. Examples of downstream automated component(s) 190DC include a lift 190L (for transporting cased items to / from stacked levels of the automated storage array) and an autonomous guided vehicle 190ATV (for transporting cased items to / from storage locations 190SL at each storage level). As can be appreciated, the ordered cased goods are transported from storage location 190SL to one or more palletizers 190P (or other packing stations, which are further examples of downstream automation components 190DC) and shipped from logistics facility 190.Suitable examples of automated storage and retrieval systems having storage arrays in which aspects of the present disclosure may be utilized include, but are not limited to, U.S. Pat. No. 10,800,606, issued October 13, 2020 (entitled "Material-Handling System Using Autonomous Transfer and Transport Vehicles"), U.S. Pat. No. 10,556,743, issued February 11, 2020 (entitled "Storage and Retrieval System"), U.S. Pat. No. 10,633,184, issued April 28, 2020 (entitled "Replenishment and Order Fulfillment System"), U.S. Pat. No. 9,475,649, issued October 25, 2016 (entitled "Pickface Builder for Storage and Retrieval Systems"), U.S. Pat. No. 10,106,322, issued October 23, 2018 (entitled "Bot Payload Alignment and Sensing"), U.S. Pat. No. 10,106,322, issued October 23, 2018 (entitled "Pallet Building Systems"), and ...556,743, issued February 11, 2020 (entitled "Storage and Retrieval System"), and U.S. Pat. No. 10,633,184, issued April 28, 2020 (entitled "Replenishment and Order Fulfillment System"). No. 10,703,585, issued July 7, 2020 (entitled "Storage and Retrieval System"), and U.S. Pat. No. 10,781,060, issued September 22, 2020 (entitled "Storage and Retrieval System Transport Vehicle"), the entire disclosures of which are incorporated herein by reference.

[0014] 5 and 5A-5C, the cased item inspection system or apparatus 500 includes at least a portion of one in-feed conveyor 110, a vision system 550, a controller 599, and a user interface 598. Suitable examples of cased item inspection systems that may be utilized with aspects of the disclosed embodiments can be found in U.S. patent application Ser. No. 17 / 648,171, filed January 17, 2022, entitled "Cased Goods Inspection and Method Therefor," and U.S. Patent No. 1,144,9978, issued September 20, 2022, entitled "Cased Goods Inspection System and Method," the entire disclosures of which are incorporated herein by reference. The cased item inspection system 500 determines at least the pose of the cased items and the identification information of the cased items, which are utilized by the logistics imaging module 200 to image the graphical symbols on the cased items 102 as described herein.

[0015] The cased item inspection system 500 at least partially forms or is otherwise included in the inbound conveyor system 195 for the introduction of the cased items 102 into the logistics facility 190. By way of example only, the cased item inspection system 500 is in communication with at least one infeed conveyor 110 and receives the cased items 102 arriving individually on the infeed conveyor 110 at any orientation and position, where the cased items 102 are transported by the infeed conveyor 110 through the cased item inspection system 500 and to the logistics imaging module 200. The output of the cased item inspection system 500 includes various (quantitative) measurements characterizing each cased item, e.g., a case of item. Examples of quantitative measurements include "real box," "max box," "max bulge," "orientation angle," "distance from one side of the conveyor," open flaps, concavity (e.g., inward bulge), etc.

[0016] The "real box" measurements include dimensions of the best-fit shape that can be determined based on or derived from the composite cased product image. For example, the shape utilized for the fit is a box having a length, width, and height. Alternatively, the shape utilized can be a sphere having a center and a radius. A variety of other shapes can be utilized for the fit, such as, but not limited to, a cylinder, an oval, a cone, etc.

[0017] The "outer box" measurements include the dimensions of the smallest shape that contains the entire product, which can be determined based on or derived from a composite product image (which may include protrusions visible to a vision system, including broken product portions, labels, and packaging). For example, the shape utilized for fitting is a box having a length, width, and height that represents the largest rectangular footprint of the cased goods 102 on the in-feed conveyor 110. Alternatively, the shape utilized can be a sphere having a center and a radius. Various other shapes can be utilized for fitting, such as, but not limited to, a cylinder, an oval, a cone, etc.

[0018] The "max bulge" measurement is the longest dimension obtained from the cased goods 102 being inspected. With the product orientation determined, "max bulge" is the largest caliper measurement of width, length, and height.

[0019] The "orientation angle" of a product is the angle of the product's major axis relative to the direction of movement TD of the cased goods 102 on the in-feed conveyor 110. For illustrative purposes, if an elliptical shape is utilized for the fit, the measurement of the "orientation angle" may be the major axis.

[0020] The "distance from one side of the conveyor" is determined as the smallest distance obtainable between the cased items 102 and either side of a given conveyor.

[0021] The at least one in-feed conveyor 110 is configured to advance the cased items 102 through the cased item inspection system 500. For example, the at least one in-feed conveyor 110 is one or more of a conveyor belt (e.g., a mat-top high-grip conveyor), a roller conveyor, or any other suitable product conveying device configured to transport incoming cased items 102 from any suitable equipment (e.g., automated or otherwise) or warehouse personnel (e.g., human). The at least one in-feed conveyor 110 is configured to move the cased items 102 to and through the vision system 550 with minimal vibration and slippage (e.g., below any suitable predetermined threshold for vibration and slippage, which may depend on the resolution of the components of the vision system 550).

[0022] 5 and 5A-5C, a vision system 550 is positioned (e.g., mounted) at least in part around and about the in-feed conveyor 110 to observe and measure characteristics of the cased items 102 (described above) advanced on the in-feed conveyor 110 and past the cased item inspection system 500. As described herein, the vision system 550 includes at least one camera (e.g., at least one sensor / imager 571-573, etc.) positioned to capture case image data for each of the cased items 102 advanced on the at least one in-feed conveyor 110 and past the cased item inspection system 500.

[0023] According to aspects of the present disclosure, the vision system 550 includes a flap detection system 570 including at least one sensor / imager 571-573 (herein referred to as sensors 571-573) for detecting (or otherwise providing detection of) an open flap, bulge, and / or depression on the cased items 102. The sensor may be any suitable sensor configured to detect / sense at least a flap, bulge, and / or depression on the cased items 102, including, but not limited to, a camera (three shown for illustrative purposes only, it being understood that there may be more or less than three), a laser detection system, or any other suitable optical or acoustic detection system for detecting a flap on the cased items 102. The sensors 571-573 may be any suitable camera, such as, for example, a three-dimensional camera, including, but not limited to, a time-of-flight camera or any other suitable three-dimensional imaging camera. In one or more embodiments of the present disclosure, sensors 571-573 are positioned adjacent to at least one conveyor 110 to detect open flaps, bulges, and / or depressions on the cased items 102. As seen in FIGS. 5A-5C , in one or more embodiments of the present disclosure, the flap detection system 570 includes lasers, where each sensor 571-572 (for illustrative purposes, only two cameras are illustrated in FIGS. 1A-1C , but it should be understood that more or fewer than two cameras may be provided) is paired with a laser 572L, 573L (it is noted that sensor 571 may also be paired with laser 571L, which is not illustrated in FIGS. 1A-1C for clarity). The lasers 571L, 572L, 573L are configured to emit illumination sheets that provide respective scan lines on the cased items 102, where the scan lines illuminate a profile of the cased items 102. Illuminating the profile with the scan line, in one or more embodiments, facilitates detection of open flaps, bulges, and / or depressions in the cased goods 102 (e.g., via image recognition of case image data from sensors 572, 573).In yet other embodiments, one or more of the sensors 571-573 are paired with a respective laser, while one or more other sensors 571-573 do not have an associated laser. In one or more embodiments, the lasers 571L, 572L, 573L are generally similar to the light sources 582, 583 described herein.

[0024] Vision system 550 may further include another imaging system (e.g., profile detection system 580, also referred to as a case inspection system or station) that is separate and distinct from at least one sensor 571-573 of flap detection system 570. Profile detection system 580 images cased goods 102 separately and differently from the imaging of cased goods 102 by at least one sensor 571-573, for inspection of the cased goods other than detecting dent conditions. Profile detection system 580 may be generally similar to that described in U.S. Pat. No. 10,964,007 (entitled "Cased Goods Inspection System and Method"), issued March 30, 2021, the entire disclosure of which is incorporated herein by reference.

[0025] The profile detection system 580 includes at least one sensor / imager 581, 584 positioned adjacent to the at least one conveyor 110 and configured to detect / sense the top and side profiles of the products 102. The at least one sensor / imager 581, 584 of the profile detection system 580 is configured to capture an image of the shadow of each of the cased items 102 as they are advanced through the case inspection station 500. The at least one sensor 581, 584 of the profile detection system 580 is separate and distinct from the at least one sensor 571-573 of the flap detection system 570, which images the cased items 102 for inspection of the cased items 102 other than detecting open case flaps. Here, the profile detection system 580 images the cased items 102 for verification by the controller 599 / processor 599P of the identity of each of the cased items 102 (e.g., having a predetermined or expected identity of each of the cased items) and verification of the compatibility (e.g., predetermined or expected) of each of the cased items 102 with the case size parameters for the verified cased items 102.

[0026] According to embodiments of the present disclosure, the profile detection system 580 includes a first light source 582 that emits a first sheet of light, e.g., a continuous surface of substantially parallel / collimated light, within the small gap GP between portions of the at least one conveyor 110. For example, the first light source 582 can be positioned above the at least one conveyor 110 as otherwise shown in FIG. 5 or below the at least one conveyor 110. In one or more embodiments, the first light source 582 can be common to (i.e., shared between) both the profile detection system 580 and the flap detection system 570 (e.g., the first light source can function as one of the lasers 572L, 573L described above, or vice versa).

[0027] The profile detection system 580 further includes a first camera system 584 disposed, for example, on an opposite side of the first light source 582 with respect to the at least one conveyor 110. The first camera system 584 is positioned to receive parallel / collimated light emitted by the first light source 582, for example, through the gap GP. For example, if the first light source 582 is disposed above the at least one conveyor 110, the first camera system 584 is disposed below the at least one conveyor 110. In other embodiments, 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 direction of movement of the at least one conveyor 110, while maintaining a relationship between the light source 582 (e.g., light emitter) and the camera system 584 (e.g., light receiver).

[0028] The second light source 583 emits a second sheet of light, i.e., a continuous surface of substantially parallel / collimated light, across the small gap between the conveyor sections. For example, the second light source 583 can be positioned on one side of at least one conveyor 110 (with the transmission of the second sheet's parallel / collimated light beam substantially perpendicular to the continuous surface of parallel / collimated light of the first sheet of light). In one or more embodiments, the second light source 583 can be common to (i.e., shared between) both the profile detection system 580 and the flap detection system 570 (e.g., the second light source can function as one of the lasers 572L, 573L described above, or vice versa).

[0029] The second camera system 581 is disposed correspondingly (e.g., opposite the second light source 583) with respect to the at least one conveyor 110 to receive illumination from the second light source 583. 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 disposed on one side of the at least one conveyor 110, the second camera system 581 is disposed on the other opposite side of the conveyors 110, 120.

[0030] According to one or more embodiments of the present disclosure, at least one light source 582 or 583 may include a light shaper LS made of lenses or mirrors that provides a collimated output beam. The light source may be any suitable light source, including but not limited to, one or more of a laser, a light emitting diode (LED), a gas lamp, and any other device of electromagnetic radiation suitable for electromagnetic illumination of a target object, the reflection or transmission of which may be captured by a suitable imaging system to generate an image or pseudo-image of the illuminated target object.

[0031] The collimated output light beam(s) of the light source(s) 582, 583, when obstructed by the cased goods 102, provide a sheet(s) of parallel-propagating light that casts an orthogonal shadow on the input window of the corresponding camera system 584, 581 opposite the corresponding light source 582, 583. In this regard, the camera systems 584, 581 receive the incident collimated input beam(s) output by the corresponding light source(s). Alternatively, the orthogonal shadow may be formed in a different manner, such as by illuminating the goods with a diffuse (monochromatic) light source, such that the camera systems 584, 581 cast an orthogonal shadow on an appropriate beam shaper, such as a Fresnel lens, through which the goods are viewed by the goods.

[0032] At least one sensor / imager 571-573 of flap detection system 570 is separate and distinct from at least one camera 581, 584 and connected to case inspection station 500. At least one sensor / imager 571-573 is positioned to capture other case image data for each of cased items 102 advanced through case inspection station 500 than the case image data captured by at least one camera 581, 584. In the example illustrated in FIGS. 5 and 5A-5C, flap detection system 570 utilizes case image data or any other suitable data from profile detection system 580. Here, flap detection system 570 is positioned downstream from profile detection system 580 with respect to the direction of product movement along at least one conveyor 110 (e.g., products 102 pass profile detection system 580 before passing flap detection system 570), although in other embodiments, flap detection system 570 may be positioned upstream from profile detection system 580. The relative positioning of the flap detection system 570 and the profile detection system 580 is such that the flap detection system 570 images one or more outer sides of the cased items 102 (in one or more embodiments, for example, all visible outer sides that are not seated relative to the conveyor(s) 110) at approximately the same time that the profile detection system 580 images the cased items 102.

[0033] 5, flap detection system 570 includes one or more platforms, posts, or other suitable supports positioned adjacent at least one conveyor 110, upon which sensors / imagers 571-573 (and in one or more embodiments, lasers 571L-573L) are positioned. It is again noted that while three sensors 571-573 are illustrated in FIG. 5, in other embodiments, more or fewer sensors (such as, for example, the two sensors illustrated in FIGS. 5A-5C) may be positioned to image all five visible outer sides of cased items 102 that are not seated relative to at least one conveyor 110. The sensors / imagers 571-573 are positioned relative to at least one conveyor 110 to image any suitable number of surfaces of each cased item 102 as the products pass through the flap detection system 570, although in other embodiments a single sensor / imager equipped with a suitable prism or mirror may provide images of any suitable number of surfaces of each cased item 102.

[0034] 5, sensors 571-573 are positioned such that each sensor 571-573 images at least one or more respective exterior sides of cased items 102. For example, sensor 571 images the side (and longitudinal and top profiles) of cased items 102, sensor 573 images the top (and side and longitudinal profiles) of cased items 102, and sensor 572 is angled to image the side, top, and longitudinal sides of cased items 102. In FIGS. 5A-5C, sensors 572, 573 are angled relative to each other and positioned on opposite sides of at least one conveyor 110 to image both side, both longitudinal, and top sides of cased items 102 (e.g., two sensors image five visible sides of cased items 102). In some embodiments of the present disclosure, the flap detection system is provided with any suitable lighting (e.g., laser / collimated light source as described above, etc.) that facilitates imaging of the cased items 102 moving along the conveyors 110, 120. In one embodiment, the exposure (e.g., ISO and / or shutter speed) of the sensors / imagers 571-573 is such that the cased items 102 moving along the at least one conveyor 110 appear stationary and the resulting images of the cased items 102 moving along the conveyor are not blurred, while in other embodiments, a "stop-motion effect" of the cased items 102 moving along the at least one conveyor 110 may be created by any suitable strobe lighting.

[0035] As discussed above, sensors / imagers 571-573 may be any suitable sensors / imagers, such as, for example, time-of-flight cameras or any other suitable imagers capable of generating a three-dimensional depth map or point cloud of each cased item 102 moving along conveyors 110, 120. In Figure 5, sensor / imager 572 is positioned adjacent at least one conveyor 110 to image at least the leading edge 102F of the cased items 102 (e.g., the front or longitudinal edge of each cased item 102 relative to the direction of movement along at least one conveyor 110; it being noted that the term "front" is used herein for illustrative purposes only, and any spatial terminology may be used). For example, sensor / imager 572 is mounted to post 570M in any suitable manner so as to face in a direction substantially opposite the direction of movement along at least one conveyor 110 to image cased items 102 moving toward sensor / imager 572. Sensor / imager 573 is also mounted to support post 570M and positioned above at least one conveyor 110 to image a plan view of at least the top surfaces 102T (e.g., the "top" surface is relative to the side of the cased items 102 seated on the at least one conveyor 110; it is noted that the term "top" is used herein for illustrative purposes only and any spatial terminology may be used) of the cased items 102 moving along the at least one conveyor 110. Sensor / imager 571 is mounted to any suitable surface adjacent to the at least one conveyor 110 to image the side surfaces 102L of the cased items 102 moving along the at least one conveyor 110. 5A-5C, the sensor 572 is mounted (in a manner similar to that of FIG. 5) to be positioned relative to at least one conveyor 110 to capture an oblique view of the cased goods 102, including one side surface 102L1, the top surface 102T, and the rear or "back" longitudinal surface 102R of the cased goods 102.Sensors 573 are mounted (in a manner similar to FIG. 5) to be positioned relative to at least one conveyor 110 to image a perspective view of cased items 102, including opposing side surfaces 102L2, top surface 102T, and leading or front longitudinal surface 102RF of cased items 102. Each of sensors / imagers 571-573 is positioned to generate an image of at least a respective side of cased items 102, and as can be appreciated, the number of cameras can depend on the particular cased items being inspected.

[0036] At least one camera (e.g., sensor / imaging device 571-573) is positioned to image each exposed case side 102T, 102F, 102R, 102L1, 102L2 of each cased item 102 advanced on at least one conveyor 110 and passing through the inspection device 500, thereby imaging, from a common image of each imaged case side 102T, 102F, 102R, 102L1, 102L2, the concave condition (or inward variance) of the case side and at least one of the outward case protrusions seen on each imaged case side 102T, 102F, 102R, 102L1, 102L2. At least one sensor / imaging device 571-573 is positioned to capture case image data for each of the cased items 102 advanced on at least one conveyor 110 and passing through the inspection device 500, whereby the case image data embodies at least one of the case side recesses and the case exterior protrusions, the at least one case side recesses and the case exterior protrusions being visible on at least one exposed case side 102F, 102R, 102T, 102L1, 102L2, and the at least one exposed case side 102F, 102R, 102T, 102L1, 102L2 being positioned in the orientation of each exposed case side of the cased items 102.

[0037] In other embodiments, at least one sensor / imaging device 571-573 is positioned to capture case image data for each of the cased items 102 advanced on at least one conveyor 110 and passing through the inspection device 500, whereby the case image data embodies a dented state (or inwardly changed state), the dented state being observed on at least one exposed case side 102T, 102L, 102F, 102R (and in some embodiments, the bottom surface 102B, as described herein), and the at least one exposed case side is positioned in the orientation of each exposed case side of the cased items 102. In addition to or instead of determining the outer case protrusion, the at least one exposed case side 102T, 102L, 102F, 102R imaged by the at least one sensor / imager 571-573 is positioned such that a concave condition, as determined from a concave condition seen on the imaged at least one exposed case side 102T, 102L, 102R, 102F, extends from the at least one exposed case side 102T, 102L, 102R, 102F adjacent to the conveyor seating surface 110S on which the cased item 102 is seated.

[0038] The cased item inspection system 500 includes any suitable controller 599 (including any suitable processor 599P, such that references to a controller 599 performing or configured to perform tasks / functions described herein refer to the operation of the processor 599P) or any other device or system (local or remote) including a computer-readable medium having stored thereon non-transitory computer program code that configures the controller 599 to register and analyze case image data from the vision system 550 to calculate desired measurements (as described herein) or other suitable characteristics of the cased items 102. The controller 599 is operably coupled to the at least one conveyor 110 and communicatively coupled to the at least one sensor 571-573, 581, 584 of the vision system 550 in any suitable manner, such as via any suitable wired or wireless connection, to receive case image data from the at least one sensor 571-573.

[0039] It is noted that controller 599 (e.g., via processor 599P) is configured such that inspection of cased items based on case item images from profile detection system 580 is resolved separately and differently from the resolution of at least one of a case side dent (also referred to as a case side dent condition) and an open case flap from case image data from at least one sensor 571-573 of flap detection system 570. Controller 599 is also configured to determine the presence of any case side dent and any external case protrusion of cased items 102 from the image data of profile detection system 580 that is separate and different from the case image data captured by at least one sensor 571-573 of case detection system 570, and to resolve at least one of a case side dent and an external case protrusion 220 as a case side dent and an open case flap, respectively, from the case image data of at least one sensor 571-573 of flap detection system 570 that is separate and different from the image of profile detection system 580. In one or more embodiments, the controller 599 is configured to determine the presence of at least one of a case side indentation and an outer case protrusion from case image data captured by at least one sensor 571-573 of the flap detection system 570 without relying on an image of the cased product 102 captured by the profile detection system 580.

[0040] In one or more embodiments, the controller 599 is configured to characterize at least one of the case side indentations 2300 and the case exterior protrusions of the cased product 102 as case flaps in an open state from case image data generated from a common image of the cased product 102 captured by at least one sensor 571-573 (e.g., an image from one of the at least one sensors 571-573 or a composite image from more than one of the at least one sensors 571-573). Here, at least one exposed case side 102F, 102R, 102T, 102L1, 102L2 imaged by at least one sensor 571-573 is positioned such that at least one of the case side recesses and open case flaps, as revealed from at least one of the case side recesses and case outer protrusions visible on the imaged at least one exposed case side 102F, 102R, 102T, 102L1, 102L2, extends adjacent to the conveyor seating surface 110S (FIG. 1) on which the cased items 102 are seated.

[0041] When the processor is configured to characterize at least one case top surface 102T or at least one case side surface 102L, 102R, 102F in a concave state from case image data of cased items captured by at least one sensor 571-573, the processor 599P is programmed to ascertain from the image data an inward variation (or concavity) of the at least one case top surface 102T or at least one case side surface 102L, 102R, 102F from predetermined planar coherence characteristics of the case top surface 102T or case side 102L, 102R, 102F (e.g., from expected case dimensions and cased item type, e.g., stock keeping unit (SKU) as described herein, etc.). The processor 599P is configured to determine from the image data physical characteristics describing the recessed state of at least one case top surface 102T or at least one case side surface 102L, 102R, 102F for the presence of each resolved inward change.

[0042] As described herein, the in-feed conveyor 110 transports the cased items 102 from the cased item inspection system 500 to the logistics imaging module 200. With reference to FIGS. 1-4 , the logistics imaging module 200 includes a frame 202, a conveyor (e.g., part of the in-feed conveyor 110) coupled to the frame 202, at least one illumination source 301-310, at least one camera 321-326, and a controller 599.

[0043] A portion of in-feed conveyor 110 forms part logistics imaging module 200 and transports each cased item through frame 202 at a predetermined continuous throughput rate 110R. In one or more embodiments, predetermined continuous throughput rate 110R corresponds to a predetermined input rate of logistics facility 190 corresponding to a steady-state conveyor speed of about 2 feet / second (about 609 mm / second) or any other suitable steady-state rate greater than or less than about 2 feet / second. In one or more embodiments, the predetermined continuous throughput rate is matched to the throughput rate of at least another downstream automated component 190DC (see FIG. 1) that loads or removes cased items 102 supplied by in-feed conveyor 110 into or from storage locations 190SL (see FIG. 1) of automated storage array 190AS (see FIG. 1).

[0044] At least one illumination source 301-310 is connected to the frame and configured to illuminate with diffuse light the cased goods 102 transported through the frame 202. In one or more embodiments, the at least one illumination source 301-310 is configured to flash illuminate with diffuse light the cased goods 102. The at least one illumination source 301-310 is positioned on the frame such that substantially all sides (e.g., the entirety) of the cased goods 120 transported through the frame are illuminated. For example, one or more of the at least one illumination source 301-308 may be positioned at each vertical corner of the frame 202 to illuminate at least the front 102F, rear 102R, and side 102L of the cased items 102. (Note that the spatial identifiers front, rear, and side are relative to the cased items 102 supported on the in-feed conveyor 110 and moving in the direction of travel TD (see FIG. 5). Note that other spatial terms may be used to describe the sides of the cased items 102.) One or more of the at least one illumination source 309, 310 may be positioned on the frame above the in-feed conveyor 110 to illuminate at least the top 102T of the cased items supported on the in-feed conveyor and moving in the direction of travel TD. With respect to illumination of the bottom surface 102B of the cased goods, a line scan camera 370 is positioned on the frame and includes its own illumination source 370L that illuminates the bottom surface 102B through a gap GPR in the in-feed conveyor 110 (the gap GPR is generally similar to the gap GP in Figure 5).

[0045] At least one illumination source 301-310 is a white or polychromatic light source positioned on frame 202 relative to cased goods 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 distinguish graphical symbols on cased goods 102 even in the presence of specular reflections, where at least one illumination source 301-310 may be configured to illuminate cased goods 102 with dark field illumination, bright field illumination, or a combination of both dark field and bright field illumination. In one or more embodiments, dark field illumination is utilized at the border of bright field illumination to substantially avoid specular reflections.

[0046] At least one camera 321-326 is positioned to image the cased items 102 conveyed through the frame 202 substantially simultaneously with illumination of the cased items 102. In one or more embodiments, at least one camera 321-326 is positioned to image the cased items 102 conveyed through the frame 202 substantially simultaneously with illumination of the cased items 102 with a flash. The at least one camera 321-326, 370 may comprise a plurality of cameras 321-326, 370 arranged such that each plane (e.g., all six faces 102T, 102R, 102F, 102L, 102B) of the hexahedron 102H (e.g., all six faces of the cased goods 102) is imaged by a separate camera 321-326, 370 that is different from each of the other cameras 321-326, 370 of the plurality of cameras 321-326, 370 that image each other plane of the hexahedron. Here, each plane of the hexahedron is imaged by only one (e.g., a single camera) of the plurality of cameras 321-326, 370. As described herein, each of the at least one camera 321-326, 370 has a fixed depth of field.

[0047] By way of example, at least one of cameras 321-326, 370 includes side cameras 324, 325 positioned on frame 202 such that each camera images a respective side 102L (see FIG. 5) of cased goods 102. Each of side cameras 324, 325 has a fixed depth of field DOFS (see FIG. 3) that is approximately half the width W of in-feed conveyor 110, although in other embodiments, the depth of field DOFS may be less than approximately half the width W of in-feed conveyor 110. In some embodiments, the depths of field DOFS of side cameras 324, 325 may overlap. To keep the width of the logistics imaging module 200 to a minimum, mirrors 271, 272 are positioned on the frame 202 for each side camera 324, 325 such that the depth of field DOFS of each side camera 324, 325 is positioned relative to the in-feed conveyor 110 in the manner described above (e.g., the side cameras 324, 325 image the cased items 102 reflected in the mirror rather than directly imaging the cased items 102, where the depth of field of each camera covers approximately half the width of the conveyor 110). In other embodiments, the side cameras 324, 325 may be positioned on cantilevered supports extending from the frame to position the depth of field DOFS as described above for directly imaging the cased items 102. The depth of field DOFS are positioned at known locations relative to the conveyor 110 (e.g., along the length of the conveyor 110).

[0048] The at least one camera 321-326, 370 includes a front camera 326 and a rear camera 321. The front camera 326 is positioned on the frame 202 to image the front 102F of the cased items 102 (see FIG. 5—relative to the direction of movement TD of the cased items 102) as they move through the frame 202. The rear camera 321 is positioned on the frame 202 to image the rear 102R of the cased items 102 (see FIG. 5) as they move through the frame 202. The front camera 326 has a fixed depth of field DOFF, and the rear camera 321 has a fixed depth of field DOFR (see FIG. 4), where the depths of field DOFF, DOFR are positioned at known locations relative to the conveyor 110 (e.g., along the length of the conveyor 110).

[0049] At least one camera 321-326, 370 includes two top cameras 322, 323. The top cameras are positioned on the frame 202 to image the top 102T (see FIG. 5) of the cased goods 102 moving through the frame 202. Here, to cover the full range of case sizes of the cased goods 102, each of the top cameras 322, 323 has a depth of field DOFT1, DOFT2 positioned to image a respective 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 that may be referred to as a "far" depth of field relative to the depth of field DOFT1. Conversely, the top camera 323 has a depth of field DOFT1 that may be referred to as a "near" depth of field relative to the depth of field DOFT2. As seen in FIG. 4 , depth of field DOFT2 covers a height range (e.g., relative to the case support surface of infeed conveyor 110) ranging from at or near the case support surface of infeed conveyor 110 to approximately half the height of the largest cased item 102 moving through tunnel 201. Depth of field DOFT1 covers a height range ranging from approximately half the height of the largest cased item 102 to the height of or above the largest cased item 102, so as to image the tops 102T of the largest cased items 102. In some embodiments, vertical overlap may occur between depth of field DOFT1 and depth of field DOFT2. Depths of field DOFT1, DOFT2 may be referred to as (vertically) staggered or stacked depths of field. As described herein, top camera 322 having depth of field DOFT2 may be utilized by controller 599 to image the tops of cased items 102 having heights equal to or less than approximately 16 inches (approximately 406 mm), while top camera 323 having depth of field DOFT1 may be utilized by controller 599 to image the tops of cased items 102 having heights greater than approximately 16 inches (approximately 406 mm). Depths of field DOFT1, DOFT2 are positioned at known locations relative to conveyor 110 (e.g., along the length of conveyor 110).

[0050] A line scan camera 370 (see FIG. 3) is positioned on the frame 202 below the in-feed conveyor 110. The line scan camera 370 is positioned relative to a gap GPR (see FIG. 3) between portions of the in-feed conveyor 110 so as to image the bottoms 102B of the cased items 102 as the cased items move along the in-feed conveyor 110 past and across the gap GPR. As described herein, the line scan camera 370 includes an illumination source 370L for illuminating the bottoms 102B of the cased items 102 through the gap GPR at approximately the same time as they are imaged by the line scan camera 370. The line scan camera 370 is positioned at a known position relative to the conveyor 110 (e.g., along the length of the conveyor 110).

[0051] Each of at least one camera 321-326, 370 has an image sensor 321S-326S, 370S (see Figures 1 and 2) that includes a respective reference frame (see, for example, Figure 4 and the reference frame of camera 321, the image sensors of the other cameras also have similar reference frames). Referring to camera 321 and image sensor 321S for illustrative purposes only, image sensor 321S is calibrated to a frame of reference (e.g., a reference frame) of conveyor surface 110S (see FIG. 4) of in-feed conveyor 110 such that captured images of a face (e.g., side 102R in this example) of a cased item 102, registered by controller 599 (as described herein), are corrected (e.g., corrected or adjusted by removing errors such as image projection and distortion caused thereby) to be true relative to the reference frame of image sensor 321S (e.g., as if the camera were positioned directly in front of the face being imaged) for the cased item 102 (e.g., independent of distortion effects) via calibration data, independent of the size and location of the graphic symbols on the face / side of the cased item 102 and independent of size differences between the cased items 102. It is noted that the conveyor reference frame is defined by frame 202 such that the conveyor reference frame is common to both frame 202 and in-feed conveyor 110 .

[0052] Calibration of the image sensor 321S determines a transformation (see FIGS. 4 and 7) that corrects the camera image to be aligned with or orthogonal to the reference frame of the image sensor 321S (e.g., any projection of the cased item in the captured image is transformed to a true (planar) view image of the side of the cased item relative to the image sensor reference frame, corrected for distortions, so that graphical symbols on the cased item appear approximately orthogonal to the camera's image / sensor plane in the resulting transformed image—see FIG. 7). This transformation also informs or otherwise characterizes the optimal pose or location of the cased item 102 (the optimal pose or location is optimal for the camera's imaging parameters). The other image sensors 322S-326S, 370S of the other cameras 322-326, 370 are calibrated in a similar manner to determine respective transformations that correct the respective camera images to be true (as described herein) relative to the reference frame of the respective image sensor 322S-326S, 370S.

[0053] Correcting the image through transformation utilizes one or more of the cased item dimensional data, the pose of the cased items on the conveyor, and, if necessary, the cased item identification data obtained by case inspection system 500 to remove image projection and resulting distortion. For example, with reference to Figure 7, case inspection station 500 (Figure 1) determines at least the dimension, pose, and identification (e.g., product pre-identification data, which may assist in informing the location of graphical symbols on the packaging relative to the packaging's dimension and pose). Here, the cased item is determined to have a length LC, a height HC, and a width WC. Knowing the dimensions and pose of the case, the controller 599 is programmed with appropriate image processing algorithms to remove the image projection and correct (e.g., adjust or correct) the captured image via the determined transformation so that the projected width dimensions WCPL, WCPH of the imaged cased goods 102 are corrected to match the width WC and the projected height dimension HCP is corrected to match the height HC (it is noted that no projected length correction is necessary in this example given that the rear face 102R is being imaged) so that the side (e.g., side face 102R) appears true to the image sensor's frame of reference 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 side face 102R).

[0054] In one or more embodiments, a controller 599 is operatively connected to the in-feed conveyor 110 to transport the cased items 102 relative to the frame 202. The controller 599 is also communicatively connected to at least one illumination source 301-310, 370L and at least one camera 321-326, 370. The controller 599 is configured to trigger the at least one camera 321-326, 370 and the corresponding at least one illumination source 301-310, 370L to image the cased items 102 transported by the in-feed conveyor 110 based on conveyor data locating the cased items 102 within the frame 202. The controller 599 is configured to trigger the at least one camera 321-326, 370 and the corresponding at least one illumination source 301-310, 370L based on a determination of a location of the cased items 102 that is optimal for the camera's imaging parameters (e.g., a location with at least a depth of field). The controller 599 is configured to determine the optimal location based on conveyor encoder data (e.g., obtained by the controller 599 from the conveyor encoder 444) and characteristics of the cased items 102 that identify at least the size and pose of the container (as described herein and obtained from the case inspection system 500). The conveyor encoder data identifies the location of the cased items 102 within the frame 202 along the length of the in-feed conveyor 110.

[0055] In one or more embodiments, a controller 599 is operatively connected to the in-feed conveyor 110 to determine a pose of the cased items 102 transported thereon relative to the frame 202. The controller 599 is communicatively connected to the at least one illumination source 301-310, 370L and the at least one camera 321-326, 370. The controller 499 is configured to trigger the at least one camera 321-326, 370 and the corresponding at least one illumination source 301-310, 370L to image the cased items 102 transported by the in-feed conveyor 110 based on the determined pose that is optimal for the imaging parameters of the at least one camera 321-326, 370 (e.g., the side of the cased items 102 being imaged is within the depth of field of the camera capturing the image). The controller 599 is configured to determine the optimal pose based on conveyor encoder data (e.g., obtained by the controller 599 from the conveyor encoder 444) that identifies the location of the cased items 102 within the frame 202, and based on characteristics of the cased items 102 that identify at least the size and pose of the cased items 102 (as described herein and obtained from the case inspection system 500).

[0056] The controller 599 is configured to register, such as in memory 599M, images of the cased goods 120 (e.g., such as those illustrated in FIG. 7 ) captured by at least one camera 321-326, 370 of the cased goods 120 transported on the in-feed conveyor 110. The controller 599 is configured to resolve and identify each graphic symbol on the imaged face of the cased goods 102 from the registered container image of a common one of the at least one camera 321-326, 370 (e.g., a registered container image is captured by one of the at least one camera 321-326, 370, although it is noted that more than one camera may be triggered to cause registration of a separate respective image of each case side, such as when a graphic symbol is located on more than one side of the cased goods 102). The registered image may be the transformed image of FIG. 7 , although in other embodiments, a captured (raw or untransformed) image may be registered.

[0057] The controller 599 is configured to trigger the at least one camera 321-326, 370 and the corresponding at least one illumination source 301-310, 370L to image each cased item 102 transported by the in-feed conveyor 110 through the frame 202 and to resolve and identify each graphic symbol on the face of each imaged cased item 102 (independent of the size of the graphic symbol, if different) independent of size differences between each cased item 102 and other cased items 102 transported through the frame 202 at the predetermined continuous through-out speed 110R. For example, the at least one camera 321-326, 370 and their respective depths of field DIFF, DOFR, DOFS, DOT1, DOT2 (and the depth of field of the line scan camera 370) are positioned such that cased items of all sizes expected to pass through the frame 202 are in focus for the camera capturing an image. At least one camera 321-326, 370 is positioned, and controller 599 is configured, to resolve and identify each graphic symbol on the imaged cased product 102, regardless of the location and size of the graphic symbol on the surface (e.g., side) of the imaged cased product 102.

[0058] 1-4 and 6, an exemplary operation of logistics imaging module 200 is described. Cased items are placed on infeed conveyor 110 from truck unloading at truck loading dock 121 or pallet unloading at depalletizer 122 (FIG. 10, block 1000). Cased items 102 are transported through case inspection system 500 for determination of cased item data (FIG. 10, block 1010). For example, dimensional and other information (such as that described herein) of cased items 102 is obtained by cased item inspection system 500, and the resulting case information 620 is communicated to programmable logic controller 610. Programmable logic controller 610 may be part of a controller for logistics facility 190, including a list of cased items and their respective attributes (stored in appropriate tables registered in appropriate memory, where the attributes include at least case dimensions, graphical symbols contained in the case, and the side of the case on which the graphical symbols are located). In other embodiments, the graphic symbols are automatically located and decoded by logistics imaging module 200 and / or controllers 599, 610, where case dimensions and pose are communicated from cased item inspection system 500 to logistics imaging module 200 for image conversion of each of the cased item's faces. Based on the resulting case information 620 from case inspection system 500, programmable logic controller 610 identifies, from the list of cased items, a case identifier 621 that signals or otherwise characterizes the graphic symbol and location of the graphic symbol for the inspected cased item 102M, where, in other embodiments, the locating and decoding / characterizing of the graphic symbol is provided by logistics imaging module 200, as described above. Programmable logic controller 610 communicates the case identifier 621 to case inspection system 500, which communicates box information 622 (including cased item dimensions and identification) to controller 599 of logistics imaging module 200.Here, the controller 599 may include an industrial PC or other computing device / processor 599PC configured to receive the box information 622 and for image processing of the captured images.

[0059] Box information 622 is associated with or adapted to each cased item 102 after the box information is generated ( FIG. 10 , block 1020). For example, cased items 102 are spaced one after the other along in-feed conveyor 110 so that box information 622 is generated and associated with the generated cased items. Here, logistics imaging module 200 includes photocell 600 positioned at the entrance to tunnel 201 (the tunnel is formed by frame 202). Logistics imaging module 200, via controller 599, utilizes data from conveyor encoder 444 and photocell 600 to detect cased items 102 entering logistics imaging module 200 from case inspection station 500 and associate box information 622 with each cased item 102. This box information 622 is transmitted to the controller 599 as described herein and is used by the controller 599 to trigger at least one camera 321-326, 370 and at least one light source 301-310 to capture an image of the side of the cased product 102 on which the graphic symbol is located (the side being positioned within the depth of field of the triggered camera).

[0060] As the cased items 102 enter the tunnel 201, the controller 599 determines the optimal image capture location(s) for the cased items 102 ( FIG. 10 , block 1030). For example, the position of the cased items 102 along the length of the frame 202 in the direction of travel TD is known to the controller 599 based on detection of the cased items 102 by the photocells 600 and data from the conveyor encoder 444. One or more characteristics of the cased items (e.g., one or more of the case pose, dimensions, symbol location, etc.) are also known by the controller 599 from the box information 622, while in one or more embodiments, the symbol location and size are not included in (e.g., are not known from) the box information 622 and are determined by the logistics imaging module 200. It is also noted that at least one camera 321-326, 370 is at a known location on the frame 202 and is calibrated relative to the conveyor 110 (and frame 202) as described herein such that the locations of the depths of field DOFS, DOFR, DOFF, DOFT1, DOFT2 (the depth of field of the line scan camera 370 is known based on the location of the conveyor surface 110S) are known relative to the conveyor 110. Based on the box information 622, the controller 599 determines which of the at least one camera 321-326, 370 will image the cased items, and knowing which camera will image the cased items 102, the controller 599 determines the location on the conveyor 110 (e.g., in the direction of travel TD) where the cased items will be placed for imaging by the determined camera.

[0061] 7, as a simplified example of cameras and optimal capture location determination, cased items 102 travel along in-feed conveyor 110 in travel direction TD. Box information 622 identifies the cased items 102 as having a pose on in-feed conveyor 110 such that the cased items 102 are biased toward side S1 (see FIG. 3), and as having a length LC, a width WC, and a height HC. (In embodiments where box information 622 includes a symbol location, the box information also identifies that the symbol to be imaged (in this example, a hazard symbol) is located on rear surface 102R of cased items 102; otherwise, the symbol location is not recognized as an input to controller 599.) If the symbol location is provided in box information 622, controller 599 determines from box information 622 that rear surface 102R of cased items 102 is to be illuminated and imaged to capture an image of the symbol. If the rear camera 321 is selected for imaging, the controller 599 also determines that at least one illumination source 303-306 is utilized to illuminate the rear 102R of the cased goods 102 for imaging. If the box information 622 does not include a graphic symbol, the controller 599 triggers the line scan cameras 370 and at least five of 321-326 (wherein the top camera(s) 322, 323 are selected as described herein) and the corresponding at least one illumination source 303-306. In some embodiments, some of the cameras 321-326, 370 and the corresponding at least one illumination source 303-306 may be triggered multiple times to image the same case (e.g., one camera may capture images of a single side of the case multiple times).

[0062] The controller 599 locates the cased items 102 within the frame via detection of the leading edge (relative to the direction of travel TD) of the cased items 102, and based on the pose information and the dimensions of the cased items (e.g., provided in box information 622), the controller 599 determines the location and orientation of each of the six sides of the cased items relative to the conveyor 110. The controller 599 uses data from the conveyor encoder 444 to determine the position of the cased items 102 on the conveyor 110 such that the rear side 102R of the cased items 102 is within the depth of field DOFR of the rear camera 321. In the illustrated example, the rear side 102R is approximately perpendicular to the direction of travel TD, although in other examples the rear side may be tilted at an angle relative to the direction of travel TD (the angle being known from box information 622). The controller 599 may include a real-time (e.g., data processed and near-instantaneous output provided) controller 599RT, to which the processor 599PC communicates the determined position of the cased items 102. (In other embodiments, the real-time controller 599RT may be integrated with the processor 599PC.) When the cased items 102 reach the determined position on the in-feed conveyor 110, the real-time controller 599RT illuminates the rear surface 102R with at least one or more of the illumination sources 303-306 and substantially simultaneously triggers the rear camera 321 to image the rear surface 102R of the cased items 102 ( FIG. 10 , block 1040). In this example, the graphic symbol is present only on the rear surface 102R of the cased product, but in other examples, the graphic symbol may be present on more than one side, in which case an image of each side on which the graphic symbol is present is captured by a respective camera with the side positioned within the depth of field of the respective camera, and each side is imaged by only one (e.g., a single) respective camera.

[0063] Upon capturing an image, real-time controller 599RT communicates an image capture notification to processor 599PC that an image has been captured. The image capture notification may provide information (e.g., metadata) to processor 599PC indicating which camera captured the image, the cased item from which the image was captured, and / or any other suitable information that results in a match between the captured image and the respective cased item 102. Processor 599PC receives the captured image (e.g., identified by the image capture notification) and processes the captured image as described herein ( FIG. 10 , block 1050). For example, processor 599PC corrects the image geometry to remove projections and distortions as described herein with respect to FIG. 7, and then identifies or otherwise resolves graphical symbols (e.g., barcode 180 and (hazardous material + arrow) symbologies). As described herein, removal of projections and distortions is provided by the box information 622 provided by the case inspection station 500 and calibration of at least one camera 321-326, 370, resulting in an image showing the side of the cased items as if the camera were directly in front of the side being imaged and analyzed. Once the image is corrected, the processor 599PC identifies symbols within the corrected image, it being noted that while the raw and corrected images provide the resolution to read 10 mil barcodes, smaller and larger barcodes may be read in other embodiments. Once the symbols have been identified, read, and associated with each cased item 102, the processor 599PC communicates the symbol detection results to the programmable logic controller 610 so that the cased items 102 are processed within the automated storage array 190AS according to the symbol detection results ( FIG. 10 , block 1060).In one or more embodiments, if the determined graphic symbol (or lack thereof) does not match what is expected for the identified cased item 102, the programmable logic controller 610 may identify the cased item 102 as defective (e.g., a non-limiting example of a defective cased item is one that includes a hazardous material symbol on any side and has a directional arrow on any side that is not properly oriented (i.e., the arrow is not pointing up)) and may divert (in any suitable manner) the cased item 102 from the in-feed conveyor 110 for inspection and correction by an operator.

[0064] 1-4 and 8, an exemplary method for reading logistics symbols on containers of different sized items (e.g., cased items) is described. The method includes providing a logistics imaging module 200 (FIG. 8, block 800) having a frame 202, a conveyor 110 coupled to the frame 202, at least one illumination source 301-310 connected to the frame 202, and at least one camera 321-326, 370. Each cased item or container 102 is transported by the conveyor 110 through the frame 202 at a predetermined continuous throughput rate 110R (FIG. 8, block 810). The cased items 102 transported through the frame 202 are illuminated by at least one illumination source 301-310 using diffused light (FIG. 9, block 820). The cased items 102 transported through the frame 202 are imaged by at least one camera 321-326, 370 substantially simultaneously with illumination of the cased items 102 (FIG. 9, block 830), where the at least one camera 321-326, 370 has a fixed depth of field DOFF, DOFR, DOFS, DOFT1, DOFT2. The pose of the transported cased items 102 relative to the frame 202 is determined (FIG. 8, block 840) with a controller 599 operably connected to the conveyor 110, the controller 110 being communicatively connected to the at least one illumination source 301-310 and the at least one camera 321-326, 370. The controller 599 triggers at least one camera 321-326, 370 to capture images of the cased items 102 transported through the frame based on the determined pose, which is the pose that best suits the imaging parameters of the at least one camera 31-326, 370 (FIG. 8, block 850).

[0065] 1-4 and 9, an exemplary method for reading logistics symbols on containers of different sized items (e.g., cased items) is described. The method includes providing a symbol reading module 200 (FIG. 9, block 900) having a frame 202, a conveyor 110 coupled to the frame 110, at least one illumination source 301-310 connected to the frame, and at least one camera 321-326, 370. Each cased item 102 is transported through the frame 202 at a predetermined continuous throughput rate 110R using the conveyor 110 (FIG. 9, block 910). The cased items 102 transported through the frame 202 are flash-illuminated by at least one illumination source 301-310 using diffused light (FIG. 9, block 920). Cased items 102 transported through the frame 202 are imaged by at least one camera 321-326, 370 (FIG. 9, block 930) substantially simultaneously with flash illumination of the cased items 102, where the at least one camera 321-326, 370 has a fixed depth of field DOFF, DOFR, DOFS, DOFT1, DOFT2. The controller 599 triggers the at least one camera 321-326, 370 to image the cased items 102 transported through the frame (FIG. 9, block 940). The at least one camera 321-326, 370 is triggered based on conveyor data (such as that described herein) locating the cased items 102 within the frame 202. A controller 599 is operatively connected to the conveyor 110 for transporting containers relative to the frame, and is 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 cased items 102 (e.g., captured images) captured by the at least one camera 321-326, 370 of the cased items 102 transported through the frame 202 (FIG. 9, block 950).The controller 599 resolves and identifies each graphic symbol on the face of the imaged cased product from the registered container image of the common camera of at least one of the cameras 321-326, 370 (as described herein) (FIG. 9, block 960).

[0066] As can be seen from the above, aspects of the present disclosure provide a logistics imaging module 200 that supports reading both barcodes and hazardous material symbols within a common tunnel 201 and utilizes fewer cameras than conventional barcode reading systems. The logistics imaging module 200 may also have a footprint having a length equivalent to the length of about one conveyor section (e.g., about 52 inches in length (about 1328 mm)). The reduced size and component count of the logistics imaging module 200 results in a system that is lower in cost and complexity than conventional systems (such as those described above).

[0067] According to one or more aspects of the present disclosure, a logistics imaging module for reading logistics symbols on containers of different sized goods includes a frame; a conveyor coupled to the frame for transporting 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 containers transported through the frame with diffuse light; at least one camera positioned to image the transported containers substantially simultaneously with the illumination of the containers, the at least one camera having a fixed depth of field; and a controller operably connected to the conveyor for determining a pose 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, the controller configured to trigger the at least one camera to image the transported container based on the determined pose, which is a pose that best suits the imaging parameters of the at least one camera.

[0068] According to one or more aspects of the present disclosure, the controller is configured to determine an optimal pose based on conveyor encoder data identifying a location of the container within the frame and a container characteristic identifying a size of the container.

[0069] According to one or more aspects of the present disclosure, the controller is configured to register container images captured by at least one camera of the transported container and resolve and identify each graphic symbol on the surface of the imaged container from the registered container image of a common camera of the at least one camera.

[0070] According to one or more aspects of the present disclosure, the controller is configured to trigger at least one camera to image each container transported through the frame and is configured to resolve and identify each symbol on the face of each imaged container independently of the size and location of the symbol on the face and independently of the size difference between each container and each other container transported through the frame at a predetermined continuous throughput rate.

[0071] According to one or more aspects of the present disclosure, the predetermined continuous throughput rate corresponds to a predetermined input rate for the logistics facility corresponding to a steady state conveyor speed of approximately 2 feet per second.

[0072] According to one or more aspects of the present disclosure, at least one camera is positioned to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the surface of the imaged container, and the controller is configured to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the surface of the imaged container.

[0073] According to one or more aspects of the present disclosure, the at least one camera comprises a plurality of cameras arranged such that each plane of the hexahedron is imaged by a separate camera, different from each of the other cameras of the plurality of cameras, that images each of the other planes of the hexahedron.

[0074] According to one or more aspects of the present disclosure, each plane is imaged by only one camera of the multiple cameras.

[0075] According to one or more aspects of the present disclosure, the graphical symbol includes at least one of a bar code, a hazard graphic symbol, and an up arrow symbol.

[0076] According to one or more aspects of the present disclosure, at least one camera has an image sensor that is calibrated to a frame of reference of the conveyor surface of the conveyor such that captured images of the container faces registered by the controller are corrected to be true relative to the reference frame of the image sensor for each container via calibration data, independent of size differences.

[0077] According to one or more aspects of the present disclosure, camera calibration corrects the camera image to be true to the reference frame of the image sensor and determines a transformation that characterizes the optimal pose of the container.

[0078] According to one or more embodiments of the present disclosure, the at least one illumination source is a white light source or a polychromatic light source.

[0079] According to one or more aspects of the present disclosure, the conveyor is an infeed conveyor for an automated storage array, and the predetermined continuous throughput rate is compatible with the throughput rate of at least another downstream automated component that loads containers supplied by the conveyor into storage locations in the automated storage array.

[0080] According to one or more aspects of the present disclosure, a logistics symbol reading module for reading logistics symbols on containers of different sized goods includes a frame; a conveyor coupled to the frame for transporting each container through the frame at a predetermined continuous throughput rate; at least one illumination source connected to the frame and configured to flash the containers transported through the frame with diffused light; at least one camera positioned to image the transported containers substantially simultaneously with the flashing of the containers, the at least one camera having a fixed depth of field; and a controller operably connected to the conveyor for transporting the containers relative to the frame, the controller communicatively connected to the at least one illumination source and the at least one camera, the controller configured to trigger the at least one camera and the at least one illumination source to image the transported containers based on conveyor data locating the containers within the frame, the controller being configured to register container images of the transported containers captured by the at least one camera and to resolve and identify each graphical symbol on a surface of the imaged container from the registered container images of a common one of the at least one camera.

[0081] According to one or more aspects of the present disclosure, the controller is configured to trigger at least one camera based on determining a location of the container that is optimal for the imaging parameters of the camera.

[0082] According to one or more aspects of the present disclosure, the controller is configured to determine the optimal location based on conveyor encoder data identifying the location of the container within the frame and container characteristics identifying the size of the container.

[0083] According to one or more aspects of the present disclosure, the controller is configured to trigger at least one camera to image each container transported through the frame and is configured to resolve and identify each symbol on the face of each imaged container independently of the size and location of the symbol on the face and independently of the size difference between each container and each other container transported through the frame at a predetermined continuous throughput rate.

[0084] According to one or more aspects of the present disclosure, the predetermined continuous throughput rate corresponds to a predetermined input rate for the logistics facility corresponding to a steady state conveyor speed of approximately 2 feet per second.

[0085] According to one or more aspects of the present disclosure, at least one camera is positioned to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the surface of the imaged container, and the controller is configured to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the surface of the imaged container.

[0086] According to one or more aspects of the present disclosure, the at least one camera comprises a plurality of cameras arranged such that each plane of the hexahedron is imaged by a separate camera, different from each of the other cameras of the plurality of cameras, that images each of the other planes of the hexahedron.

[0087] According to one or more aspects of the present disclosure, each plane is imaged by only one camera of the multiple cameras.

[0088] According to one or more aspects of the present disclosure, the graphical symbol includes at least one of a bar code, a hazard graphic symbol, and an up arrow symbol.

[0089] According to one or more aspects of the present disclosure, at least one camera has an image sensor that is calibrated to a frame of reference of the conveyor surface of the conveyor such that captured images of the container faces registered by the controller are corrected to be true relative to the reference frame of the image sensor for each container via calibration data, independent of size differences.

[0090] According to one or more aspects of the present disclosure, camera calibration corrects the camera image to be true to the frame of reference of the image sensor and determines a transformation that characterizes the optimal location of the container.

[0091] According to one or more embodiments of the present disclosure, the at least one illumination source is a white light source or a polychromatic light source.

[0092] According to one or more aspects of the present disclosure, the conveyor is an infeed conveyor for an automated storage array, and the predetermined continuous throughput rate is compatible with the throughput rate of at least another downstream automated component that loads containers supplied by the conveyor into storage locations in the automated storage array.

[0093] According to one or more aspects of the present disclosure, a method for reading logistics symbols on containers of goods of different sizes is provided, the method including: 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 at a predetermined continuous throughput rate using the conveyor; illuminating the transported container through the frame with diffuse light using the at least one illumination source; imaging the transported container using the at least one camera substantially simultaneously with illuminating the container, the at least one camera having a fixed depth of field; determining a pose of the transported container with respect to the frame using a controller operably connected to the conveyor, the controller being communicatively connected to the at least one illumination source and the at least one camera; and triggering, using the controller, the at least one camera to image the transported container based on the determined pose, the pose being optimal for the imaging parameters of the at least one camera.

[0094] According to one or more aspects of the present disclosure, the method further includes using a controller to determine an optimal pose based on conveyor encoder data identifying a location of the container within the frame and a container characteristic identifying a size of the container.

[0095] According to one or more aspects of the present disclosure, the method further includes using a controller to register container images of the transported container captured by at least one camera, and resolving and identifying each graphic symbol on the surface of the imaged container from the registered container image of a common camera of the at least one camera.

[0096] According to one or more aspects of the present disclosure, the method further includes using a controller to trigger at least one camera to image each container transported through the frame, and resolving and identifying each symbol on the face of each imaged container independently of the size and location of the symbol on the face and independently of the size difference between each container and each other container transported through the frame at a predetermined continuous throughput rate.

[0097] According to one or more aspects of the present disclosure, the predetermined continuous throughput rate corresponds to a predetermined input rate for the logistics facility corresponding to a steady state conveyor speed of approximately 2 feet per second.

[0098] According to one or more aspects of the present disclosure, at least one camera is positioned to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the surface of the imaged container, and the controller is configured to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the surface of the imaged container.

[0099] According to one or more aspects of the present disclosure, the at least one camera comprises a plurality of cameras arranged such that each plane of the hexahedron is imaged by a separate camera, different from each of the other cameras of the plurality of cameras, that images each of the other planes of the hexahedron.

[0100] According to one or more aspects of the present disclosure, each plane is imaged by only one camera of the multiple cameras.

[0101] According to one or more aspects of the present disclosure, the graphical symbol includes at least one of a bar code, a hazard graphic symbol, and an up arrow symbol.

[0102] According to one or more aspects of the present disclosure, at least one camera has an image sensor that is calibrated to a frame of reference of the conveyor surface of the conveyor such that captured images of the container faces registered by the controller are corrected to be true relative to the reference frame of the image sensor for each container via calibration data, independent of size differences.

[0103] According to one or more aspects of the present disclosure, camera calibration corrects the camera image to be true to the reference frame of the image sensor and determines a transformation that characterizes the optimal pose of the container.

[0104] According to one or more embodiments of the present disclosure, the at least one illumination source is a white light source or a polychromatic light source.

[0105] According to one or more aspects of the present disclosure, the conveyor is an infeed conveyor for an automated storage array, and the predetermined continuous throughput rate is compatible with the throughput rate of at least another downstream automated component that loads containers supplied by the conveyor into storage locations in the automated storage array.

[0106] According to one or more aspects of the present disclosure, a method for reading logistics symbols on containers of goods of different sizes is provided, the method including the steps of: providing a logistics symbol reading module, the logistics symbol reading 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 at a predetermined continuous throughput rate using the conveyor; flashing the container transported through the frame with diffuse light using the at least one illumination source; and imaging the transported container using the at least one camera substantially simultaneously with the flashing of the container, the at least one camera having a fixed depth of field; The method includes using a controller to trigger at least one camera that images the transported container based on conveyor data locating the container within the frame, wherein the controller is operatively connected to the conveyor for transporting the container relative to the frame and communicatively connected to the at least one illumination source and the at least one camera; registering, using the controller, container images of the transported container captured by the at least one camera; and resolving and identifying, using the controller, each graphic symbol on the surface of the imaged container from the registered container image of a common camera of the at least one camera.

[0107] According to one or more aspects of the present disclosure, the method further includes using the controller to trigger at least one camera based on determining a location of the container that is optimal for the camera's imaging parameters.

[0108] According to one or more aspects of the present disclosure, the method further includes using a controller to determine an optimal location based on conveyor encoder data identifying the location of the container within the frame and container characteristics identifying the size of the container.

[0109] According to one or more aspects of the present disclosure, the method further includes using a controller to trigger at least one camera to image each container transported through the frame, and resolving and identifying each symbol on the face of each imaged container independently of the size and location of the symbol on the face and independently of the size difference between each container and each other container transported through the frame at a predetermined continuous throughput rate.

[0110] According to one or more aspects of the present disclosure, the predetermined continuous throughput rate corresponds to a predetermined input rate for the logistics facility corresponding to a steady state conveyor speed of approximately 2 feet per second.

[0111] According to one or more aspects of the present disclosure, at least one camera is positioned to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the surface of the imaged container, and the controller is configured to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the surface of the imaged container.

[0112] According to one or more aspects of the present disclosure, the at least one camera comprises a plurality of cameras arranged such that each plane of the hexahedron is imaged by a separate camera, different from each of the other cameras of the plurality of cameras, that images each of the other planes of the hexahedron.

[0113] According to one or more aspects of the present disclosure, each plane is imaged by only one camera of the multiple cameras.

[0114] According to one or more aspects of the present disclosure, the graphical symbol includes at least one of a bar code, a hazard graphic symbol, and an up arrow symbol.

[0115] According to one or more aspects of the present disclosure, at least one camera has an image sensor that is calibrated to a frame of reference of the conveyor surface of the conveyor such that captured images of the container faces registered by the controller are corrected to be true relative to the reference frame of the image sensor for each container via calibration data, independent of size differences.

[0116] According to one or more aspects of the present disclosure, camera calibration corrects the camera image to be true to the frame of reference of the image sensor and determines a transformation that characterizes the optimal location of the container.

[0117] According to one or more embodiments of the present disclosure, the at least one illumination source is a white light source or a polychromatic light source.

[0118] According to one or more aspects of the present disclosure, the conveyor is an infeed conveyor for an automated storage array, and the predetermined continuous throughput rate is compatible with the throughput rate of at least another downstream automated component that loads containers supplied by the conveyor into storage locations in the automated storage array.

[0119] It should be understood that the foregoing description is merely illustrative of aspects of the present disclosure. Various substitutions and modifications may be contemplated by those skilled in the art without departing from the aspects of the present disclosure. Accordingly, aspects of the present disclosure are intended to embrace all such substitutions, modifications, and variations that are within the scope of any claims appended hereto. Furthermore, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that a combination of these features cannot be used to advantage and that such combination remains within the scope of aspects of the present disclosure.

Claims

1. A logistics imaging module for reading logistics symbols on containers of goods of different sizes, the logistics imaging module comprising: The frame and a conveyor coupled to the frame for transporting 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 containers transported through the frame with diffused light; at least one camera positioned to image the transported container substantially simultaneously with illuminating the container, the at least one camera having a fixed depth of field; a controller operatively connected to the conveyor for determining a pose 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, the controller configured to trigger the at least one camera and the at least one illumination source to image the transported container based on the determined pose, the pose being an optimal pose for imaging parameters of the at least one camera; A logistics imaging module comprising:

2. The logistics imaging module of claim 1 , wherein the controller is configured to determine the optimal pose based on conveyor encoder data identifying a location of the container within the frame and a container characteristic identifying a size of the container.

3. 2. The logistics imaging module of claim 1, wherein the controller is configured to register container images captured by the at least one camera of the transported container, and to resolve and identify each graphic symbol on the imaged surface of the container from the registered container image of a common camera of the at least one camera.

4. 2. The logistics imaging module of 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 transported through the frame, and to resolve and identify each graphic symbol on a face of each imaged container independently of the size and location of the graphic symbol on the face and independently of size differences between each container and each other container transported through the frame at the predetermined continuous throughput rate.

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

6. 2. The logistics imaging module of claim 1, wherein the at least one camera is positioned to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the imaged surface of the container, and the controller is configured to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the imaged surface of the container.

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

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

9. The logistics imaging module of claim 1 , wherein the graphic symbol comprises at least one of a bar code, a graphic hazard symbol, and an up arrow symbol.

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

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

12. The logistics imaging module of claim 1 , wherein the at least one illumination source is a white light source or a polychromatic light source.

13. 2. The logistics imaging module of claim 1, wherein the conveyor is an infeed conveyor for an automated storage array, and the predetermined continuous throughput rate is matched to the throughput rate of at least another downstream automated component that loads containers supplied by the conveyor into storage locations in the automated storage array.

14. A logistics distribution symbol reading module for reading logistics distribution symbols on containers of goods of different sizes, the logistics distribution symbol reading module comprising: The frame and a conveyor coupled to the frame for transporting each container through the frame at a predetermined continuous throughput rate; at least one illumination source connected to the frame and configured to flash illuminate the containers conveyed through the frame with diffuse light; at least one camera positioned to image the transported container substantially simultaneously with flash illumination of the container, the at least one camera having a fixed depth of field; a controller operatively connected to the conveyor for transporting the container relative to the frame, the controller communicatively connected to the at least one illumination source and the at least one camera, the controller configured to trigger the at least one camera and the at least one illumination source to image the transported container based on conveyor data locating the container within the frame; Equipped with The controller is configured to register container images of the transported containers captured by the at least one camera, and to resolve and identify each graphic symbol on the imaged surface of the container from the registered container images of a common camera among the at least one camera, a logistics graphic symbol reading module.

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

16. 16. The logistics symbol reading module of claim 15, wherein the controller is configured to determine an optimal location based on conveyor encoder data identifying a location of the container within the frame and a container characteristic identifying a size of the container.

17. 15. The logistics symbol reading module of claim 14, wherein the controller is configured to trigger at least one camera and at least one illumination source to image each container transported through the frame, and to resolve and identify each symbol on a face of each imaged container independently of the size and location of the symbol on the face and independently of size differences between each container and each other container transported through the frame at the predetermined continuous throughput rate.

18. 15. The logistics symbol reading module of claim 14, wherein the predetermined continuous throughput rate corresponds to a predetermined input rate of the logistics facility corresponding to a steady state conveyor speed of approximately 2 feet per second.

19. 15. The logistics symbol reading module of claim 14, wherein the at least one camera is positioned to resolve and identify each symbol on the imaged container independently of the location of the symbol on the surface of the imaged container, and the controller is configured to resolve and identify each symbol on the imaged container independently of the location of the symbol on the surface of the imaged container.

20. 15. The logistics symbol reading module of claim 14, wherein the at least one camera comprises a plurality of cameras arranged such that each plane of the hexahedron is imaged by a separate camera different from each of the other cameras of the plurality of cameras that image each of the other planes of the hexahedron.

21. 21. The logistics symbol reading module of claim 20, wherein each plane is imaged by only one camera of the plurality of cameras.

22. The logistics symbol reading module of claim 14 , wherein the symbology includes at least one of a bar code, a graphic hazard symbol, and an up arrow symbol.

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

24. 24. The logistics symbol reading module of claim 23, wherein camera calibration corrects a camera image to be true to the reference frame of the image sensor and determines a transformation that characterizes an optimal location for the container.

25. 15. The logistics symbol reading module according to claim 14, wherein the at least one illumination source is a white light source or a polychromatic light source.

26. 15. The logistics symbol reading module of claim 14, wherein the conveyor is an infeed conveyor for an automated storage array, and the predetermined continuous throughput rate matches the throughput rate of at least another downstream automated component that loads containers supplied by the conveyor into storage locations in the automated storage array.

27. 1. A method for reading distribution symbols on containers of goods of different sizes, said method comprising: 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; using the conveyor to transport each container through the frame at a predetermined continuous throughput rate; using the at least one illumination source to illuminate the container conveyed through the frame with diffuse light; imaging the transported container with the at least one camera substantially simultaneously with illuminating the container, the at least one camera having a fixed depth of field; determining a pose of the transported container relative to the frame with a controller operatively connected to the conveyor, the controller communicatively connected to the at least one illumination source and the at least one camera; using the controller to trigger the at least one camera to image the transported container based on the determined pose, which is an optimal pose for imaging parameters of the at least one camera; A method comprising:

28. 28. The method of claim 27, further comprising using the controller to determine the optimal pose based on conveyor encoder data identifying a location of the container within the frame and a container characteristic identifying a size of the container.

29. Using the controller, registering container images captured by the at least one camera of the transported container; resolving and identifying each graphical symbol on the imaged surface of the container from the registered container images of a common one of the at least one camera; 28. The method of claim 27, further comprising:

30. Using the controller, triggering the at least one camera to image each container transported through the frame; resolving and identifying each graphical symbol on the face of each imaged container independently of the size and location of the graphical symbol on said face and independently of the size difference between each container and each other container conveyed through said frame at said predetermined continuous throughput rate; 28. The method of claim 27, further comprising:

31. 28. The method of claim 27, wherein the predetermined continuous throughput rate corresponds to a predetermined input rate for a logistics facility corresponding to a steady state conveyor speed of about 2 feet per second.

32. 28. The method of claim 27, wherein the at least one camera is positioned to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the imaged surface of the container, and the controller is configured to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the imaged surface of the container.

33. 28. The method of claim 27, wherein the at least one camera comprises a plurality of cameras arranged such that each plane of a hexahedron is imaged by a separate camera different from each other camera of the plurality of cameras that images each other plane of the hexahedron.

34. 34. The method of claim 33, wherein each plane is imaged by only one camera of the plurality of cameras.

35. 28. The method of claim 27, wherein the graphical symbol comprises at least one of a bar code, a graphic hazard symbol, and an up arrow symbol.

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

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

38. 28. The method of claim 27, wherein the at least one illumination source is a white light source or a polychromatic light source.

39. 28. The method of claim 27, wherein the conveyor is an infeed conveyor for an automated storage array, and the predetermined continuous throughput rate matches the throughput rate of at least another downstream automated component that loads containers supplied by the conveyor into storage locations in the automated storage array.

40. 1. A method for reading distribution symbols on containers of goods of different sizes, said method comprising: providing a physical distribution symbol reading module having a frame, a conveyor coupled to the frame, at least one illumination source connected to the frame, and at least one camera; using the conveyor to transport each container through the frame at a predetermined continuous throughput rate; using the at least one illumination source to flash the container with diffuse light as it is conveyed through the frame; imaging the transported container with the at least one camera substantially simultaneously with flash illumination of the container, the at least one camera having a fixed depth of field; using a controller to trigger the at least one camera to image the transported container based on conveyor data locating the container within the frame, the controller being operatively connected to the conveyor for transporting the container relative to the frame and communicatively connected to the at least one illumination source and the at least one camera; registering, with the controller, container images captured by the at least one camera of the transported container; using the controller to resolve and identify each graphical symbol on the imaged container surface from the registered container images of a common one of the at least one camera; A method comprising:

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

42. 42. The method of claim 41, further comprising using the controller to determine an optimal location based on conveyor encoder data identifying a location of the container within the frame and a container characteristic identifying a size of the container.

43. Using the controller, triggering the at least one camera to image each container transported through the frame; resolving and identifying each graphical symbol on the face of each imaged container independently of the size and location of the graphical symbol on said face and independently of the size difference between each container and each other container conveyed through said frame at said predetermined continuous throughput rate; 41. The method of claim 40, further comprising:

44. 41. The method of claim 40, wherein the predetermined continuous throughput rate corresponds to a predetermined input rate for a logistics facility corresponding to a steady state conveyor speed of about 2 feet per second.

45. 41. The method of claim 40, wherein the at least one camera is positioned to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the imaged surface of the container, and the controller is configured to resolve and identify each graphic symbol on the imaged container independent of the location of the graphic symbol on the imaged surface of the container.

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

47. 47. The method of claim 46, wherein each plane is imaged by only one camera of the plurality of cameras.

48. 41. The method of claim 40, wherein the graphical symbol comprises at least one of a bar code, a graphic hazard symbol, and an up arrow symbol.

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

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

51. 41. The method of claim 40, wherein the at least one illumination source is a white light source or a polychromatic light source.

52. 41. The method of claim 40, wherein the conveyor is an infeed conveyor for an automated storage array, and the predetermined continuous throughput rate matches the throughput rate of at least another downstream automated component that loads containers supplied by the conveyor into storage locations in the automated storage array.

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