Machine vision system and method for steerable mirrors

Abstract

To provide an imaging system including a machine vision system and an analysis method for acquiring and analyzing an image of an object by using an imaging device and a controllable mirror.SOLUTION: In an imaging system 20, a controllable mirror 30 is controlled to change a field of view for an imaging device 26, including acquiring images of different locations, of different parts of an object 22, or with different degrees of zoom.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

[0001] The present technology relates to imaging systems, including machine vision systems configured to acquire and analyze images of objects or symbols (e.g., barcodes). [Background technology]

[0002] Machine vision systems are generally configured for use in capturing images of objects or symbols and analyzing the images to identify the objects or decode the symbols. Thus, machine vision systems typically include one or more devices for image acquisition and image processing. In conventional applications, these devices can be used to acquire images and analyze the acquired images, including for decoding imaged symbols such as bar codes and text. In some situations, machine vision and other imaging systems can be used to acquire images of objects that may be larger than the field of view (FOV) of the corresponding imaging device or that may move relative to the imaging device. Summary of the Invention [Problem to be solved by the invention]

[0003] In some applications, including systems for imaging and decoding bar codes or other symbols, it may be useful to acquire multiple images of a target, including successive images with different fields of view (FOVs) or different degrees of zoom. For example, as an object passes through an imaging device on a conveyor, it may be useful to acquire images of the object at different locations on the conveyor, acquire images of different sides of the object, or acquire the object with different degrees of zoom, which may be useful, for example, to analyze symbols on a relatively small portion of the overall object.

[0004] In conventional approaches, multiple images of an object can be acquired in a variety of ways. As one example, in tunnel applications or other situations where images of multiple sides of an object are acquired, multiple imaging devices can be positioned with optical axes for acquiring images at different angles relative to the expected location of the object. For example, different sets of imaging devices can be angled to acquire images of the front of the object as it enters the tunnel, the rear of the object as it exits the tunnel, and the top and side of the object as it travels through the tunnel. As another example, a first imaging device can be positioned to acquire a first image of the object at a first position along the conveyor, and a second imaging device can be positioned to acquire a second image of the object at a second position further along the conveyor. Alternatively, a first imaging device can be positioned to acquire an image of a first portion of the object, and a second imaging device can be positioned to acquire an image of a second portion of the object.

[0005] While conventional approaches can provide useful information, including symbol identification and decoding, the installation, calibration, maintenance, and operation of multiple imaging devices are inherently relatively complex, time-consuming, expensive, and error-prone. Embodiments of the disclosed technology can address these and other issues. For example, some embodiments provide a system and corresponding method that uses a controllable (movable) mirror to change the field of view of a fixed-position imaging device (e.g., a camera) between an initial image and a subsequent image captured by the imaging device. In some embodiments, a controllable mirror can be used in combination with one or more fixed mirrors to provide a different field of view or to adjust the zoom of a particular image relative to another. For example, in the case of a single imaging device, a combination of fixed and controllable mirrors can be used to adjust the field of view to different positions on a conveyor or to different positions of an object (e.g., different sides of an object) or to provide different degrees of zoom of a particular object or position. In some embodiments, a combination of fixed and controllable mirrors can be used to adjust the field of view between an initial image and a subsequent image to measure object dimensions, thereby potentially eliminating the need for more complex, e.g., three-dimensional (3D), sensors.

[0006] Some embodiments disclosed herein are explicitly presented as systems, such as machine vision systems, including imaging devices and associated mirrors. Those skilled in the art will recognize that corresponding embodiments (and other embodiments) can be implemented as methods, such as computer-implemented methods involving automated control of image acquisition and, where appropriate, image analysis, according to the capabilities of the associated system. In this regard, unless otherwise specified, discussion herein of a disclosed system essentially includes a disclosure of a corresponding method (e.g., electronically controlled by one or more processor devices) that uses the disclosed system to perform the intended functions. Similarly, those skilled in the art will recognize that embodiments explicitly presented herein as methods can be implemented as systems, such as machine vision systems, including one or more imaging devices, one or more associated mirrors (including controllable mirrors), and one or more processor devices configured to perform one or more operations of the associated method, including operating the controllable mirrors and acquiring corresponding images. [Means for solving the problem]

[0007] Consistent with the above discussion, some embodiments of the technology include an imaging system (or method), such as a machine vision system, for acquiring an image of a first object. The imaging device may include an imaging sensor and a lens configuration. The first mirror may be configured (or may be tilted) to tilt about at least one axis. The control device may be configured to: use the imaging device to acquire a first image including the first object at a first location, the first image being acquired along a first optical path defined by the first mirror and a second mirror, tilt the first mirror about at least one axis to define a second optical path (e.g., not including the second mirror), and use the imaging device to acquire a second image including the first object at a second location (or may acquire the first image, tilt the first mirror, and acquire the second image). In some cases, the second image may be acquired along the second optical path, such that the first object is represented in a larger proportion of the second image than in the first image.

[0008] In some embodiments, the control device can be configured to focus the lens arrangement to acquire an image along the second optical path when the first mirror is tilted about at least one axis to define the second optical path.

[0009] In some embodiments, the control device can be configured to perform further operations. For example, after acquiring the second image, the first mirror can be tilted about at least one axis to align with the first optical path. A third image including the second object can be acquired using the imaging device.

[0010] In some embodiments, with the object configured to move forward along the conveyor, the first field of view may correspond to a first optical path and may extend across substantially the entire width of the conveyor at a first location along the conveyor. The second field of view may correspond to a second optical path. The first field of view may correspond to a second position along the conveyor, and may extend across a width of the conveyor that is narrower than the first field of view at the first position along the conveyor. In some cases, the center of the first field of view may not be aligned with the center of the second field of view along the direction of travel.

[0011] In some embodiments, the control device can be configured to tilt the first mirror about two axes to define a second optical path and a second field of view, and tilting the first mirror about the two axes can collectively shift the field of view of the imaging device along and across the direction of travel of the object.

[0012] In some embodiments, the first optical path can optionally or preferably be defined by at least two mirrors, including the first movable mirror. In some cases, the second optical path may not include at least one of the mirrors defining the first optical path.

[0013] In some embodiments, based on control of the mirror arrangement, a first position corresponding to a first image can coincide with a second position corresponding to a second image.

[0014] In some embodiments, a greater proportion of the first object may be represented in the first image than in the second image based on control of the mirror configuration.

[0015] In some embodiments, the control device can be further configured to perform other operations. For example, a region of interest can be identified on a first object in a first image. The first mirror can be tilted to define a second optical path such that the region of interest is included in the second image and is represented to a greater extent in the second image than in the first image. In some cases, the region of interest can be a symbol on the first object. In some embodiments, the imaging system can include a machine vision system configured to decode the symbol based on the second image.

[0016] In some embodiments, the control device may be further configured to perform other operations: a first pixel dimension of a feature of the first object may be determined based on the first image; a second pixel dimension of the feature of the first object may be determined based on the second image; and a dimension (e.g., a height dimension) of the first object may be determined based on the first and second pixel dimensions. In some embodiments, the control device may be configured to automatically focus the lens arrangement to acquire an image based on the determined dimension of the first object.

[0017] In some embodiments, the second image can substantially overlap the first image.

[0018] In some embodiments, the first optical path can be defined by at least two mirrors, and the second optical path can be free of at least one of the at least two mirrors. In some cases, the optical paths can include at least two fixed mirrors.

[0019] Some embodiments of the technology include an imaging system (or method), such as, for example, a machine vision system, for analyzing a symbol included on an object. The imaging device may include an imaging sensor and a lens arrangement. The control device may be configured to use the imaging device to acquire a first image of the object using a first field of view defined by the first mirror and the second mirror when the first mirror is in a first orientation, the first field of view providing a first degree of zoom, move the first mirror to a second orientation, and acquire a second image of the object using a second field of view defined by the first mirror and the second mirror when the first mirror is in the second orientation, the second field of view providing a second degree of zoom different from the first degree of zoom (or alternatively, acquire the first image of the object, move the first mirror to a second orientation, and acquire the second image of the object).

[0020] In some embodiments, a first pixel dimension of a feature of the first object can be determined based on the first image, a second pixel dimension of the feature of the first object can be determined based on the second image, and a height dimension of the first object can be determined based on the first pixel dimension and the second pixel dimension.

[0021] In some embodiments, the second image can be acquired without using the fixed mirror used to acquire the first image. The control device can be configured to acquire the first image while the object is positioned at a first position along the conveyor and to acquire the second image while the object is positioned at a second position along the conveyor different from the first position.

[0022] Some embodiments of the technology include a method (or system) for analyzing a symbol on an object using an imaging system including an imaging device with an imaging sensor and lens arrangement, a first mirror, and a second mirror. The imaging device can be used to acquire a first image of the object along a first optical path that includes the first mirror and the second mirror. The first mirror can be moved to define a second optical path that does not include the second mirror. The imaging device can be used to acquire a second image of the object along the second optical path such that the object appears to occupy a larger proportion of the second field of view of the second image than in the first field of view of the first image.

[0023] In some embodiments, determining a first pixel dimension of a feature of the object can be determined based on the first image. A second pixel dimension of the feature of the object can be determined based on the second image. A distance from the object to the imaging device or a dimension of the object can be determined based on the first and second pixel dimensions. In some cases, the lens arrangement can be automatically focused to acquire an image based on the determined distance from the object to the imaging device.

[0024] Some embodiments of the technology include an imaging system for acquiring an image of a first object, the first object configured to move along a transport system in a traveling direction. The imaging arrangement may include at least one imaging sensor and at least one lens arrangement. The mirror arrangement may include a first mirror, which may be controllably movable, and optionally or preferably a second mirror. The control device may be configured to perform an operation as the first object moves along the traveling direction. The operation may include acquiring a first image including the first object at a first position using the at least one imaging sensor and the at least one lens arrangement, the first image being acquired along a first optical path, which is optionally or preferably at least partially defined by the mirror arrangement or the second mirror. In some cases, a first field of view corresponding to the first optical path extends across substantially the entire width of the conveyor at a first position along the conveyor.

[0025] The operations may further include moving the first mirror to define a second optical path that optionally or preferably does not include the second mirror. In some cases, the second field of view corresponding to the second optical path may extend across a narrower width of the conveyor at a second position along the conveyor than the first field of view at the first position along the conveyor.

[0026] The operations may further include acquiring a second image including the first object at a second location using the at least one imaging sensor and the at least one lens arrangement, the second image being acquired along a second optical path with respect to the first object at a different zoom degree than the first image.

[0027] In some embodiments, the control device can be configured to selectively control the first mirror to define the second optical path such that the second optical path intersects with a set of mirrors including only the first mirror or one of the plurality of mirrors.

[0028] In some embodiments, the control device can be configured to selectively move the first mirror to define the second optical path based on a determination of the height of the first object.

[0029] In some embodiments, the control device can be configured to perform further operations. For example, multiple images of the first object can be acquired, each along a different optical path, using at least one of the different optical paths defined by controlled movement of one or more mirrors. Pixel dimensions of features of the first object can be determined in each of the multiple images. Dimensions (e.g., height) of the first object can be determined based on the determined pixel dimensions of the features.

[0030] In some embodiments, the second light path can be determined based on the position of the object on the transport system in the first image.

[0031] In some embodiments, an imaging system for analyzing a symbol included in an object can include an imaging arrangement including at least one imaging sensor and at least one lens arrangement. The mirror arrangement can include a controllably movable first mirror and, optionally or preferably, a second mirror. The control device can be configured to perform certain operations. For example, a first image can be acquired using the imaging arrangement with a first field of view providing a first degree of zoom, the first field of view being, optionally or preferably, defined at least in part by a second mirror. The first mirror can be moved from a first orientation to a second orientation. The imaging arrangement can be used to acquire a second image of the object with a second field of view defined at least in part by the first mirror in a second orientation, the second field of view providing a second degree of zoom different from the first degree of zoom.

[0032] In some embodiments, a first pixel dimension of a feature of the object can be determined based on the first image, a second pixel dimension of the feature of the object can be determined based on the second image, and a dimension (e.g., height dimension) of the object can be determined based on the first and second pixel dimensions.

[0033] In some embodiments, a method is provided for analyzing a symbol on an object using an imaging system including an imaging arrangement with at least one imaging sensor and at least one lens arrangement, and a mirror arrangement including a first mirror and optionally or preferably a second mirror. Using the imaging arrangement, a first image of the object can be acquired along a first optical path, optionally or preferably including at least a second mirror. The first mirror can be moved to define a second optical path that is different from the first optical path and optionally or preferably does not include the second optical path. Using the imaging arrangement, a second image of the object can be acquired along a second optical path. Based on the first image, a first pixel dimension of a feature of the object can be determined. Based on the second image, a second pixel dimension of the feature of the object can be determined. Based on the first and second pixel dimensions, one or more of a distance from the object to the image configuration or a dimension of the object (e.g., a height dimension) are determined. Optionally, or preferably, the second image can provide a different degree of zoom relative to the object than the first image.

[0034] Some embodiments provide a system for scanning multiple sides of an object. An assist structure can be configured to assist the object. The one or more imaging devices can collectively include a first imaging sensor and a second imaging sensor. The mirror arrangement can include at least one controllable mirror. The processor device can be configured to perform operations using the one or more imaging devices and mirror arrangements. For example, a first image of a first side of the object can be acquired using a first imaging sensor and mirror arrangement, including moving at least one controllable mirror to direct a first field of view (FOV) of the first imaging sensor to a first region of interest on the first side. A second image of a second side of the object can be acquired using a second imaging sensor and mirror arrangement, including moving at least one controllable mirror to direct a second FOV of the second imaging sensor to a second region of interest on the second side.

[0035] In some embodiments, the mirror configuration can include a first controllable mirror and a second controllable mirror. Acquiring the first image can include moving the first controllable mirror to direct the first FOV. Acquiring the second image can include moving the second controllable mirror to direct the second FOV.

[0036] In some embodiments, the first and second images may be acquired as part of a single trigger event.

[0037] In some embodiments, a respective additional image can be acquired for each of a plurality of other sides of the object using a respective imaging sensor, and acquiring each of the respective additional images can include moving at least one controllable mirror to direct a respective additional FOV of the respective additional imaging sensor toward a respective additional region of interest on a respective one of the plurality of other sides.

[0038] In some embodiments, acquiring respective images of the sides of the object may include moving respective different controllable mirrors of the mirror arrangement to direct the respective FOVs toward respective additional regions of interest.

[0039] In some embodiments, an image of the underside of the object may be acquired.

[0040] In some embodiments, the support structure can include a support platform with a transparent or open structure for supporting an object from below.

[0041] In some embodiments, the images may be acquired while the object is stationary.

[0042] In some embodiments, the first image may not include the entire first side of the object.

[0043] In some embodiments, a composite image can be generated for a first side of the object using a first image and a subsequent image of a subsequent region of interest on the first side of the object, the subsequent image using at least one constraint to orient the FOV to the subsequent region of interest. The image can be acquired using a first imaging sensor, including moving a controllable mirror.

[0044] In some embodiments, at least one controllable mirror can be moved to acquire one or more initial images using a first imaging sensor, and a first region of interest can be identified based on the one or more initial images.

[0045] In some embodiments, the initial image may be acquired based on a predetermined initial scan area (eg, as identified based on user input).

[0046] In some embodiments, a first region of interest may be identified based on identifying one or more symbols in one or more initial images.

[0047] In some embodiments, the one or more initial images may include multiple overlapping images.

[0048] In some embodiments, the one or more initial images may include a set of non-overlapping images.

[0049] In some embodiments, if identifying the first region of interest based on the set of non-overlapping images fails, a set of overlapping images can be obtained and the first region of interest can be identified based on the overlapping images.

[0050] Some embodiments of the technology provide a system for scanning six sides of an object. An assist structure can be configured to assist the object. The mirror configuration can include a plurality of controllable mirrors (e.g., at least six controllable mirrors) associated with a plurality of imaging sensors (e.g., at least six imaging sensors). The processor device can be configured to perform operations using the plurality of imaging sensors and the plurality of controllable mirrors. The controllable mirrors can be moved to direct a respective field of view (FOV) for image acquisition toward each of the six sides of the object. A respective image of each of the respective FOVs can be acquired using a respective imaging sensor of the plurality of imaging sensors.

[0051] In some embodiments, the one or more sensors can be configured to identify three-dimensional features of one or more sides of the object, which can be combined (e.g., overlaid) with one or more images associated with the one or more sides of the object to provide a three-dimensional representation of the object.

[0052] Some embodiments of the technology may provide a method for scanning multiple sides of an object. A first image of a first side of the object may be acquired using a mirror arrangement including a first imaging sensor and at least one controllable mirror, and may include moving the at least one controllable mirror to direct a first field of view (FOV) of the first imaging sensor to a first region of interest on the first side. A second image of a second side of the object may be acquired using a second imaging sensor and mirror arrangement, and may include moving the at least one controllable mirror to direct a second FOV of the second imaging sensor to a second region of interest on the second side.

[0053] Some embodiments of the technology may provide an imaging system including one or more imaging devices and a mirror arrangement. The one or more imaging devices may include at least one imaging sensor and at least one lens arrangement. The mirror The arrangement may include at least one controllable mirror. A processor device configured to perform the operations of the one or more imaging devices and mirror arrangement. For example, a first image of a first object at a first position may be acquired using a first optical path, the first object having a first height, and the first optical path does not include a first fixed mirror of the mirror arrangement. The at least one controllable mirror may be moved to define a second optical path that includes the first fixed mirror and provides a field of view (FOV) for acquisition of the image at the second height that is larger than the FOV along the first optical path at the second height. A second image of a second object having a second height may be acquired using the second optical path.

[0054] In some embodiments, the FOV provided by the second optical path may be larger at the top surface of the second object than the FOV at the top surface of the second object along the first optical path.

[0055] In some embodiments, the second optical path can include multiple fixed mirrors.

[0056] In some embodiments, the first optical path may not include a fixed mirror.

[0057] In some embodiments, the first optical path can pass between at least two of the plurality of fixed mirrors (eg, the second optical path).

[0058] In some embodiments, the first and second optical paths may correspond to capturing images of objects at the same location along the transportation system.

[0059] In some embodiments, the first optical path can be defined by a controllable mirror.

[0060] In some embodiments, the first optical path can be defined by a second fixed mirror of the mirror arrangement.

[0061] In some embodiments, prior to acquiring the first or second image, the one or more objects can be scanned along a third optical path, the third optical path corresponding to acquiring an image of the object at a second location along the transportation system preceding the first location. One of the first or second optical paths can be selected for acquiring a subsequent image based on the scanning of the one or more objects.

[0062] In some embodiments, scanning the one or more objects can include determining a height of the one or more objects, and selecting one of the first or second optical paths can be based on the height of the one or more objects.

[0063] In some embodiments, scanning the one or more objects may include scanning an area of ​​the transportation system using a distance sensor (e.g., a time-of-flight (ToF) sensor or other known distance sensor).

[0064] In some embodiments, scanning the one or more objects may include obtaining one or more initial images of the first or second object using one or more imaging devices.

[0065] In some embodiments, scanning one or more objects; and Obtaining at least one of the first image or the second image may be performed using the same imaging device.

[0066] In some embodiments, determining the height of the first or second object can be based on one or more initial images, and selecting one of the first or second light paths can be based on the determined height.

[0067] In some embodiments, a region of interest may be identified on the first or second object based on one or more initial images, and selecting one of the first or second light paths may be based on the identified region of interest.

[0068] In some embodiments, the third optical path can include a third fixed mirror of the mirror arrangement.

[0069] Some embodiments of the technology may provide an imaging system for use with a transportation system configured to move an object. The one or more imaging devices may include at least one imaging sensor and at least one lens arrangement. The mirror arrangement may include at least one controllable mirror and multiple fixed mirrors. A processor device may be configured to perform an operation using the one or more imaging devices and mirror arrangement. A height of the object may be determined. If the height is a first height, the at least one controllable mirror may be moved to define a first optical path including the at least one controllable mirror and not including the first fixed mirror of the mirror arrangement, and an image of the object may be acquired using the first optical path and one or more imaging devices. If the height is a second height greater than the first height, the at least one controllable mirror may be moved to define a second optical path including the at least one controllable mirror and the first fixed mirror, and an image of the object may be acquired using the second optical path and one or more imaging devices.

[0070] In some embodiments, the first optical path may not include a fixed mirror.

[0071] In some embodiments, the second optical path can include at least two fixed mirrors.

[0072] In some embodiments, determining the height of the object can be based on scanning the object using a second fixed mirror and at least one of a distance sensor or one or more imaging devices before acquiring an image of the object using the first or second optical path.

[0073] Some embodiments of the technology provide a method for acquiring an image of an object on a transportation system. The height of the object on the transportation system can be determined. Based on the determined height, a first optical path for acquiring the image or a second optical path for acquiring the image can be selected. The second optical path can include a fixed mirror not included in the first optical path. The fixed mirror can effectively increase the imaging distance between an imaging sensor of an imaging device and the transportation system along the second optical path compared to the first optical path. The controllable mirror can be moved to align with the selected first or second optical path. The image of the object can be acquired along the selected first or second optical path using the imaging sensor.

[0074] Some embodiments of the technology involve capturing an image of an object moving forward along a conveyor. An imaging system for acquiring an image is provided. The imaging system may include at least one imaging sensor and at least one lens arrangement, a mirror arrangement including a controllably movable first mirror, and a control device. The control device may be configured to acquire a first image, which may include the first object at a first position along the conveyor, using the at least one imaging sensor and the at least one lens arrangement as the first object moves along a traveling direction. The first image may be acquired along a first optical path defined by the mirror arrangement. A first field of view corresponding to the first optical path may extend across substantially the entire width of the conveyor at the first position. The control device may be configured to move the first mirror as the first object moves along the traveling direction to define a second optical path by the mirror arrangement. The second optical path may be different from the first optical path. A second field of view corresponding to the second optical path may extend across a narrower width of the conveyor at a second position along the conveyor than the first field of view at the first position along the conveyor. The control device can be configured to acquire, using the at least one imaging sensor and the at least one lens arrangement, a second image, which can include the first object at a second position, as the first object moves along the direction of travel. The second image can be acquired along a second optical path.

[0075] In some embodiments, the second image may be acquired at a different zoom level relative to the first object than the first image.

[0076] In some embodiments, the control device may be further configured to selectively move the first mirror to define a second optical path, such that the second optical path intersects only the first mirror or a set of mirrors that may include one of a plurality of mirrors, including at least one fixed mirror.

[0077] In some embodiments, the set of mirrors that intersect the second optical path does not include a fixed mirror that intersects the first optical path.

[0078] In some embodiments, the control device can be configured to move the first mirror to define the second optical path based on a determination of the height of the first object.

[0079] In some embodiments, the control device may be further configured to acquire a plurality of images of the first object, each along a different optical path, with at least one of the different optical paths defined by controlled movement of the one or more mirrors. The control device may be further configured to determine pixel dimensions of a feature of the first object in each of the plurality of images, and to determine a height of the first object based on the determined pixel dimensions of the feature.

[0080] In some embodiments, the control device may be further configured to determine the height of the first object using a distance sensor and one or more mirrors of the mirror arrangement.

[0081] In some embodiments, the control device can be configured to move the first mirror to define the second optical path based on a position of the first object on the conveyor in the first image.

[0082] In some embodiments, the control device may be further configured to automatically adjust the focus of the at least one lens arrangement to acquire a second image along the second optical path.

[0083] In some embodiments, the control device can be configured to automatically adjust the focus simultaneously with moving the first mirror.

[0084] In some embodiments, the control device can be configured to automatically adjust the focus based on controlled movement of the first mirror.

[0085] In some embodiments, the control device may be further configured to control the first mirror to acquire an image of a calibration target between acquiring successive images of the one or more objects on the conveyor, and to control the focus of the at least one lens arrangement based on the image of the calibration target.

[0086] Some embodiments of the technology provide an imaging system. The imaging system may include an imaging device that may include at least one imaging sensor and at least one lens arrangement. The imaging system may include a first mirror, a second mirror, and a control device. The control device may be configured to control the imaging device to acquire a first image of an object having a first field of view, the first field of view being at least partially defined by the second mirror and providing a first degree of zoom, with the first mirror configured to be in a first orientation. The control device may be configured to control the imaging device to move the first mirror from the first orientation to a second orientation and acquire a second image of the object using a second field of view, the second field of view being defined by the first mirror in the second orientation. The second field of view may be different from the first field of view and may provide a second degree of zoom. The control device may be configured to determine a first pixel dimension of a feature of the object based on the first image, determine a second pixel dimension of the feature of the object based on the second image, and determine a height dimension of the object based on the first pixel dimension and the second pixel dimension.

[0087] In some embodiments, the second mirror may be a fixed mirror.

[0088] In some embodiments, the second mirror may not be included in the optical path for acquiring the second image.

[0089] In some embodiments, the first pixel dimension and the second pixel dimension may be pixel dimensions of a top surface of the object.

[0090] In some embodiments, the imaging system can include a third mirror. The control device can be further configured to move the first mirror in a third orientation to define, via the first mirror and the third mirror, a third field of view, which can be different from the first and second fields of view. The control device can be further configured to acquire a third image of the object using the third field of view, the third image providing a third degree of zoom different from the first and second degrees of zoom.

[0091] In some embodiments, at least one of the first or second images may include the entire top surface of the object, and the third image may include only a portion of the top surface of the object.

[0092] Some embodiments of the technology provide a method for analyzing a symbol on an object using an imaging system that can include an imaging device with at least one imaging sensor and at least one lens arrangement, a first mirror, and a second mirror. The method includes acquiring a first image of the object along a first optical path that includes the second mirror. The method can include, in conjunction with an imaging device, moving the first mirror to define a second optical path that does not include the second mirror, and acquiring a second image of the object along the second optical path with the imaging device. The method can include determining a first pixel dimension of a feature of the object based on the first image, determining a second pixel dimension of the feature of the object based on the second image, and determining one or more of a distance from the object to the imaging device or a height of the object based on the first and second pixel dimensions.

[0093] In some embodiments, the second image may provide a different degree of zoom on the object than the first image.

[0094] To the accomplishment of the foregoing and related ends, embodiments of the technology include the features hereinafter fully described. The following description and the annexed drawings set forth in detail certain illustrative aspects of the technology. These aspects, however, are indicative of but a few of the various ways in which the principles of the technology may be employed. Other aspects, advantages, and novel features of the technology will become apparent from the following detailed description of the technology when considered in conjunction with the drawings. [Brief explanation of the drawings]

[0095] [Figure 1A] 1 is a schematic diagram of an imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology; [Figure 1B] 1 is a schematic diagram of an imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology; [Figure 1C] 1 is a schematic diagram of an imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology; [Figure 2] FIG. 1 is an isometric view of an imaging system (and method) with a controllable mirror and multiple fixed mirrors, in accordance with some embodiments of the technology. [Figure 3] 1 is a schematic diagram of a side view of another imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology. [Figure 4A] 1 is a schematic diagram of yet another imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology. [Figure 4B] 1 is a schematic diagram of yet another imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology. [Figure 4C] 1 is a schematic diagram of yet another imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology; [Figure 5A]1 is a schematic diagram of yet another imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology; [Figure 5B] 1 is a schematic diagram of yet another imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology; [Figure 6] 1 is a schematic diagram of yet another imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology. [Figure 7A] 1 is a schematic diagram of yet another imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology; [Figure 7B] 1 is a schematic diagram of yet another imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology; [Figure 7C] 1 is a schematic diagram of yet another imaging system (and method) including a controllable mirror, in accordance with some embodiments of the technology; [Figure 8A] 1 is a schematic diagram of an imaging system (and method) including controllable mirrors and configured as (or for use with) a tunnel for a conveyor, in accordance with some embodiments of the technology; [Figure 8B] 1 is a schematic diagram of an imaging system (and method) including controllable mirrors and configured as (or for use with) a tunnel for a conveyor, in accordance with some embodiments of the technology; [Figure 9A] FIG. 10 is a schematic diagram of another imaging system (and method) including controllable mirrors and configured as (or for use with) a tunnel for a conveyor, in accordance with some embodiments of the technology. [Figure 9B] FIG. 9B is a schematic diagram of a stitching operation of images acquired using the imaging system of FIG. 9A. [Figure 10] 1 is a schematic diagram of an image acquired using an imaging system or method, according to some embodiments of the technology; [Figure 11] 1 is a schematic diagram of an additional imaging system (and method), in accordance with some embodiments of the technology. [Figure 12] 1 is a schematic diagram of another imaging system (and calibration method), in accordance with some embodiments of the technology. [Figure 13] 1 is a schematic diagram of a further imaging system (and method) in accordance with some embodiments of the technology. [Figure 14] 1 is a schematic diagram of a further imaging system (and method) in accordance with some embodiments of the technology. [Figure 15] 1 is a schematic diagram of a calibration and scanning method (and system) in accordance with some embodiments of the technique; [Figure 16A] FIG. 1 is a schematic diagram of another imaging system, in accordance with some embodiments of the technology. [Figure 16B] FIG. 16B is a perspective view of a mirror of the imaging system of FIG. 16A, in accordance with some embodiments of the technology. [Figure 16C] FIG. 16B is another perspective view of another mirror of the imaging system of FIG. 16A, in accordance with some embodiments of the technology. [Figure 17] FIG. 1 is a perspective view of another imaging system for imaging multiple sides of an object, in accordance with some embodiments of the technology. [Figure 18] FIG. 18 is another perspective view of the imaging system of FIG. 17. [Figure 19] 18 is a schematic diagram of an exemplary composite image produced using the imaging system of FIG. 17. [Figure 20] 1 is a flowchart of a process for acquiring an image of an object using one or more controllable mirrors. [Figure 21] 1 is a flowchart of a process for scanning multiple sides of an object. [Figure 22] 1 is a flowchart of a process for obtaining multiple views of one or more objects. DETAILED DESCRIPTION OF THE INVENTION

[0096] While this technology is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood, however, that the description herein of specific embodiments is not intended to limit the technology to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the technology as defined by the appended claims.

[0097] Various aspects of the subject technology will now be described with reference to the accompanying drawings, where like reference numerals correspond to like elements throughout the several views. It should be understood, however, that the following drawings and the associated detailed description, including the description in the drawings of particular sequences of operations of particular methods, are not intended to limit the claimed subject matter to the particular forms disclosed. Rather, any particular embodiment of the invention will be construed as being within the spirit and scope of the claimed subject matter. This document is intended to cover all modifications, equivalents, and alternatives that relate to the subject matter disclosed herein.

[0098] In some embodiments, aspects of the present disclosure, including computerized implementations of methods according to the present disclosure, can be implemented as a system, method, apparatus, or article of manufacture using standard programming or engineering techniques to create software, firmware, hardware, or any combination thereof controlling a processor device, a computer (e.g., a processor device operably coupled to memory), or another electronically operated controller to implement aspects detailed herein. Thus, for example, embodiments of the present disclosure can be implemented as a set of instructions tangibly embodied on a non-transitory computer-readable medium such that a processor device can execute the instructions based on reading the instructions from the computer-readable medium. Some embodiments of the present disclosure can include (or utilize) a control device, such as an automation device, a special-purpose or general-purpose computer including various computer hardware, software, firmware, etc., consistent with the following description. As a specific example, a control device can include a processor, a microcontroller, a field-programmable gate array, a programmable logic controller, logic gates, etc., and other typical components known in the art for performing appropriate functions (e.g., memory, communication systems, power supplies, user interfaces, other inputs, etc.).

[0099] As used herein, the term "article of manufacture" is intended to encompass a computer program accessible from any computer-readable device, carrier (e.g., a non-transitory signal), or medium (e.g., a non-transitory medium). For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic strips, etc.), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., cards, sticks, etc.). Furthermore, it should be understood that carrier waves can be used to transmit computer-readable electronic data, such as those used to send and receive email or to access networks such as the Internet or local area networks (LANs). Those skilled in the art will recognize that many modifications can be made to these configurations without departing from the scope or spirit of the claimed subject matter.

[0100] Certain operations of methods according to the present disclosure, or systems for performing those methods, may be represented schematically in drawings or discussed herein. Unless otherwise specified or limited, the representation of certain operations in a particular spatial order in a drawing does not necessarily require that those operations be performed in a particular order corresponding to the particular spatial order. Correspondingly, certain operations shown in a drawing or disclosed herein may be performed in an order different from that explicitly illustrated or described, as appropriate for particular embodiments of the present disclosure. Furthermore, in some embodiments, certain operations may be performed in parallel, including by dedicated parallel processing devices or separate computing devices configured to interoperate as part of a larger system.

[0101] When used herein in the context of computer implementation, unless otherwise specified or limited, the terms “component,” “system,” “module,” and the like are intended to encompass hardware, software, a combination of hardware and software, or part or all of a computer-related system including running software. For example, a component may be, but is not limited to, a processor device, a process running (or executable by) a processor device, an object, an executable file, a thread of execution, a computer program, or a computer. Illustratively, both an application running on a computer and a computer can be a component. One or more components (or systems, modules, etc.) may reside within a process or thread of execution, may be localized on one computer, may be distributed between two or more computers or other processor devices, or may be included in another component (or system, module, etc.).

[0102] Generally, as described above, embodiments of the present disclosure may include systems and methods for acquiring images of an object using controllable (movable) mirrors. For example, some embodiments may include an imaging device configured to selectively acquire images along optical paths that intersect with one or more mirrors that can be controlled for movement in two degrees of freedom (e.g., rotation about two perpendicular axes). For example, even though the imaging device is a fixed-position imaging device, one or more mirrors may be appropriately controlled to direct the optical paths of different images in different directions, resulting in images being acquired by the imaging device with different FOVs. In this regard, for example, some embodiments may include configurations that enable images to be acquired with different zoom degrees, where the object occupies different proportions of each FOV, where the object is imaged at different locations (e.g., along a conveyor), where the object is imaged from various sides, or where different portions of the object are included in various FOVs. Similarly, some embodiments may enable the acquired images of an object to be collectively used to analyze the dimensions or other parameters of the object.

[0103] In some embodiments, one or more fixed (i.e., non-controllable) mirrors can be used in some or all of the optical paths implemented using one or more controllable mirrors. For example, multiple fixed mirrors can be positioned at different locations relative to a conveyor scanning tunnel. Controllable mirrors can then be used to define different optical paths for acquiring images through alignment with one or more fixed mirrors in different permutations. Thus, mirrors can be used to acquire images of different sides of an object as it enters, passes through, or exits the tunnel. In this way, for example, a single imaging device configured to acquire images in combination with controllable mirrors can replace multiple imaging devices (e.g., as used in conventional tunnel systems). Furthermore, in other embodiments, similar principles can also be applied in non-tunnel applications with different possible combinations of controllable or fixed mirrors.

[0104] Different embodiments may use different types of controllable mirrors. For example, as generally discussed above, some embodiments may use mirrors configured to tilt about multiple axes. In this regard, for example, various known approaches may be utilized to control the movement of the mirror to acquire an image. For example, some approaches are disclosed in U.S. Patent Application Publication No. 2018 / 0203249 and U.S. Patent Nos. 4,175,832 and 6,086,209, which are incorporated herein by reference.

[0105] 1A-1C illustrate an exemplary imaging system 20 for use in acquiring images of an object 22 (and other objects) on a conveyor 24, such as a conventional conveyor belt system. In the illustrated embodiment, the conveyor 24 is configured to move the object 22 linearly (over time) with a constant (local) direction of travel (i.e., from left to right as shown). In other embodiments, other configurations are possible, including configurations with conveyors that can move objects in a non-linear manner or with a locally varying direction of travel. Accordingly, those skilled in the art will recognize that the principles discussed herein can generally be adapted to various types of conveyors without undue experimentation. Additionally, some embodiments of the techniques may be used to image objects moved by other means. Operations can be performed on objects as they are being moved. For example, embodiments discussed with respect to object movement along a conveyor can be readily adapted by those skilled in the art to work with user-effected movements, such as may occur during pick-and-place operations, during "submit" mode scanning (where the user submits an object to be scanned by moving the object into a target area), and in a variety of other contexts.

[0106] In the illustrated embodiment, imaging system 20 includes an imaging device 26 fixed at a fixed position relative to conveyor 24. Generally, imaging devices discussed herein, including imaging device 26, include at least one imaging sensor (e.g., a CCD, CMOS, or other known sensor), at least one lens arrangement, and at least one control device (e.g., a processor device) configured to perform computational operations related to the imaging sensor. In some embodiments, the lens arrangement can include a fixed focus lens. In some embodiments, the lens arrangement can include an adjustable focus lens, such as a liquid lens or a known type of mechanically adjusted lens.

[0107] In some embodiments, the imaging device can be configured as an image processing device operable to process images acquired by an associated imaging sensor and lens arrangement. For example, the imaging device can be configured as a computing device or other arrangement of modules for decoding symbols in images received from an associated imaging sensor. In some embodiments, the imaging device can be configured to communicate image data (e.g., binary pixel values) to a remote processor device (e.g., in a cloud computing or local network system) for further processing.

[0108] In addition to the imaging device 26, the imaging system 20 also includes a mirror 30. In particular, the mirror 30 is a controllable mirror configured to tilt about at least one axis. For example, in the illustrated embodiment, the mirror 30 is controllable by a processor device to tilt (i.e., rotate) about an axis extending into the page of FIG. 1A in alignment with a pivot point of the mirror 30. In other embodiments, other types of controllable movement are possible, including multi-axis movement, as described above and further below. In some embodiments, the mirror 30 can be controlled by a processor device and associated software (or other) modules that form part of the imaging device 26. In some embodiments, the mirror 30 can be controlled by other devices (not shown), such as other devices configured to control the operation of the imaging device 26.

[0109] In some embodiments, the control device may be configured to operate the imaging device 26 and the mirror 30 based on information related to the conveyor 24. For example, a real or virtual encoder (not shown) associated with the conveyor 24 may be configured to provide a signal to a processor device of the imaging device 26. Based on the signal from the encoder, the processor device may then control the movement of the mirror 30 and the acquisition of images by the imaging device 26, including as described in further detail below.

[0110] 1A-1C, as object 22 moves along the direction of travel of conveyor 24, imaging device 26 may acquire a series of images of the object, e.g., a series of images including one image for each of the positions of object 22 along conveyor 24 shown in Figures 1A-1C. In particular, a control device (e.g., a processor device of imaging device 26) may operate to tilt mirror 30 between the angular orientations shown in Figures 1A-1C, such that an image of object 22 may be acquired for each of the positions in Figures 1A-1C, each of the images being acquired along a different optical path 32a, 32b, 32c defined by the respective orientation of mirror 30.

[0111] Thus, multiple images of object 22 can be acquired, with each image showing a unique FOV, without necessarily moving imaging device 26 itself. Furthermore, the mirror can be easily returned to the starting orientation (e.g., as in FIG. 1A ) to acquire images of subsequent objects (not shown). Thus, multiple views of object 22 can be acquired, providing corresponding advantages for monitoring and analysis.

[0112] In some embodiments, as facilitated by controllable mirror 30, the multiple views of object 22 may include views of multiple sides of object 22. For example, an image acquired using a configuration similar to that shown in FIG. 1A may sometimes include a front and top side of object 22, while an image acquired using a configuration similar to that shown in FIG. 1C may sometimes include a front and bottom side of object 22. Similar approaches may also be utilized in various other implementations, including acquiring images of multiple sides of an object, possibly including a left and right side, for each of the other embodiments explicitly discussed below.

[0113] In some embodiments, distinct predetermined orientations of the mirrors can be used. For example, in some implementations, the mirror 30 can be tilted between two or more (e.g., three) predetermined angular orientations, such that similar images of different objects can be independently acquired at two or more predetermined FOVs. In some embodiments, the mirrors can be moved to accommodate, and the particular orientation of the mirrors for acquiring a particular image is determined based on the position or other characteristics (e.g., size) of the object or its features, or other factors, as appropriate.

[0114] In some embodiments, a controllable mirror can be used to track an object along a particular path of movement, thereby facilitating the acquisition of multiple images of the object at multiple different locations. For example, imaging system 20 can be configured to process signals from an encoder and information regarding the initial position of object 22, as indicated by a light gate (not shown) or analysis of initial images, to thereby determine the expected position of object 22 along conveyor 24 at any given time. (Similar principles can be applied with respect to non-conveyor-driven motion.) Mirror 30 can then be controlled as needed to acquire multiple images of object 22 over time at multiple different positions along conveyor 24 (or elsewhere). In some embodiments, mirror 30 can be adjusted in steps, with images acquired at discrete intervals along conveyor 24. In some embodiments, mirror 30 can be adjusted continuously during image acquisition, for example, to enable the continuous acquisition of images of object 22 over time or to reduce motion blur.

[0115] In some embodiments, a controllable mirror can be used to adjust the FOV of the lens for object movements not caused by a mechanical conveyor. Also, as noted above, for example, some systems (e.g., those similar to imaging system 20) can be configured to acquire images at different locations based on the movements of a human operator. For example, a system similar to imaging system 20 can be configured to move a controllable mirror to capture one or more initial images of an object as the operator transports the object toward the scan area, and then adjust the controllable mirror to acquire subsequent images of the object within the scan area. In some embodiments, such a system can determine the expected movement of the object based on a given operator task or bounded imaging area, previous operator movements, or analysis of the initial images of the object or the operator, and then adjust the controllable mirror accordingly for the acquisition of subsequent images.

[0116] In some embodiments, the control device can be configured to adjust the focus of the lens arrangement depending on the orientation of the associated mirror. For example, the processor device of imaging device 26 can be configured to automatically adjust the focus of the lens arrangement of imaging device 26 depending on the orientation of mirror 30, such that an object can be captured in focused images of multiple FOVs. In this regard, for example, imaging device 26 can be configured to automatically adjust the focus for image capture for each orientation of mirror 30 shown in FIGS. 1A-1C (or other orientations). Such adjustments to the lens arrangement can generally be made in a variety of known manners, including electronic control of a liquid lens (not shown), electronic control or other control of a mechanically focused lens arrangement (not shown), etc.

[0117] In some embodiments, the appropriate focal plane can be determined in advance using pre-run calibration (e.g., as described below). In some embodiments, the appropriate focal plane can be more adaptively determined (e.g., in real time), including based on information from other sensors (e.g., 3D sensors) or from the acquisition of other images using controllable mirrors, as also described below.

[0118] In some embodiments, the focus adjustment can be synchronized with the controlled movement of the mirror, such that the associated lens configuration is automatically moved to the appropriate focus for capturing an image through the mirror with the mirror in any given orientation. In some embodiments, the focus adjustment can occur simultaneously with the controlled movement of the mirror to provide an efficient and rapid transition between FOVs. However, the speed of focus adjustment for some known types of lenses (e.g., liquid lenses) may be an order of magnitude (or more) faster than the speed of adjusting the mirror orientation. Thus, in some implementations, the focus of the lens can be adjusted before or after adjusting the mirror orientation without significantly degrading performance or user satisfaction.

[0119] Furthermore, in some embodiments, the relative speed of focus and mirror adjustments may be orders of magnitude faster than the associated conveyor movement. Thus, in some implementations, the relatively slow movement of an object along a conveyor (or otherwise) may be a significantly more time-limiting factor than the speed of lens or mirror adjustments. In this regard, as also described below, lens and focus adjustments can sometimes be made sufficiently quickly relative to the object's movement, such that the object can be successively imaged with different lens and mirror configurations while remaining effectively stationary relative to the associated imaging device.

[0120] 1A-1C, mirror 30 is located external to and remote from imaging device 26. In other embodiments, other configurations are possible. For example, some configurations may include a controllable mirror mounted within the housing of the imaging device, as shown for mirror 30 and exemplary imaging device 26a (see FIG. 1A).

[0121] As another example, some configurations may include a controllable mirror that is attached to the imaging device but is located outside the housing of the imaging device. 2, another exemplary imaging device 40 includes a housing 42 that encloses a lens arrangement (not shown), an imaging sensor (not shown), and a processor device of any of a variety of known (or other) configurations. In addition, the housing 42 supports a mounting structure 44 that supports a two-axis tiltable mirror 46 and a plurality of fixed mirrors 48.

[0122] In addition to other operations, the processor device of imaging device 40 can be configured to control the tilt of mirror 46, so that the optical axis for image acquisition by imaging device 40 can be directed in various directions via each of controllable mirror 46 and fixed mirror 48. In some embodiments, different numbers or orientations of fixed mirrors can be provided, resulting in corresponding effects on the possible FOVs. However, the illustrated configuration of four of mirrors 48 provides a useful balance between complexity and range, allowing imaging device 40 to selectively acquire images using multiple FOVs that collectively cover a relatively large total area in all four lateral directions from imaging device 40. In some embodiments, as also described below, fixed mirrors can additionally or alternatively be located remotely from the imaging device and selectively used in combination with controllable mirrors and, where appropriate, other fixed mirrors attached to the associated imaging device.

[0123] In the illustrated embodiment, imaging device 40 is configured as a top-mounted, downward-facing imaging device, which may be suitable for capturing images of objects moving, for example, along a conveyor, through a tunnel, or in a variety of other situations. In other embodiments, other configurations are possible. For example, an imaging device with a mirror configuration similar to imaging device 40 (or other mirror configurations) can be used as a side-facing or upward-facing mirror, and an imaging device with a different mirror configuration than imaging device 40 can be used as a downward-facing mirror.

[0124] In some embodiments, controllable mirrors can be used to move the FOV of an imaging device in multiple directions relative to a target area, for example, for a conveyor or a relatively large object. For example, FIG. 3 shows a schematic top view of a conveyor 60 moving multiple objects 62, 64 in a traveling direction (e.g., from bottom to top as shown). In some implementations, mirror 30 of imaging system 20 (see FIG. 1A) or a controllable mirror of another imaging system can be tilted about at least two axes to acquire images of separate FOVs that move relative to each other in multiple directions. For example, as shown in FIG. 3, mirror 30 (see FIG. 1A) can be controlled so that a first image is acquired in a first FOV 66 and a second image is acquired in a second FOV 68 that is not aligned with the first FOV 66. In particular, in the illustrated example, FOV 68 is shifted relative to FOV 66 by a first distance 70 along the direction of travel and a second distance 72 across the direction of travel, such that the geometric center and edges of FOV 66 are not aligned (or coincident) with the geometric center and edges of FOV 68, respectively. Thus, a single imaging device 26 (see FIG. 1A ) of both objects 62, 64 can be used to acquire suitable images, for example, without necessarily requiring a wide-angle lens or a conventional FOV expander. However, in other implementations, a controllable mirror can be moved to shift the FOVs between the separate images in a variety of other ways relative to each other (e.g., along only a single direction), including some edges or other regions of the two different FOVs that may be aligned or coincident with each other.

[0125] In some embodiments, the controllable mirrors can be moved to allow an imaging device with an FOV narrower than the target area to acquire an image of the full width (or other dimension) of the target area without necessarily having to move the imaging device or its lenses, and without necessarily having to use a conventional FOV expander or other similar conventional configuration. For example, as shown in Figure 3, the FOVs 66, 68 cover more than the entire width of the conveyor 60, so that any objects moving along the conveyor 60 can be easily imaged.

[0126] In some embodiments, an imaging system (e.g., imaging system 20) can be configured such that controllable mirrors enable acquisition of an image covering at least substantially the entire width of a conveyor or other target area, i.e., a width that includes all or nearly all (e.g., 95% or more) of the width of the conveyor or other target area. Thus, for example, any object of expected dimensions to be carried by the conveyor or placed in the target area may be fully included in the image, at least along the dimension of the object that corresponds to the width of the conveyor or other target area. Thus, as noted above, embodiments of the disclosed technology can be used to replace conventional FOV expanders or to selectively acquire images of objects at different lateral (i.e., widthwise) positions on a conveyor.

[0127] In some embodiments, using a controllable mirror to change the FOV for image capture can effectively provide a change in the degree of zoom between different images without necessarily requiring the use of a zoom lens or other similar optical configuration. For example, as shown in FIG. 4A , imaging system 78 can include an imaging device 80 with a movable mirror (not shown) installed in conjunction with another (e.g., fixed) mirror 82 to capture images of objects 84, 86 transported by a conveyor 88. In some implementations, imaging device 80 can control the movable mirror such that a first image of object 84 is captured, via the movable mirror and mirror 82, at a first position 92 along conveyor 88 with a first FOV 90 (see FIG. 4B ). Additionally, the movable mirror can also be controlled to capture a subsequent image of object 84 at a second position 96 along conveyor 88 with a second FOV 94 (see FIG. 4C ).

[0128] In the illustrated example, as shown in Figure 4A, the optical path 98 of a first image acquired through mirror 82 is longer than the optical path 100 of a second image acquired without mirror 82 (e.g., still using a controllable mirror). Thus, as shown in Figures 4B and 4C, FOV 94 is smaller than FOV 90, and object 84 is represented occupying a larger proportion of FOV 94 than FOV 90. This can be useful, for example, so that symbol 102 on object 84 occupies a relatively larger proportion of FOV 94, which can sometimes aid in more effective identification or decoding of symbol 102 or other image analysis operations.

[0129] In some embodiments, a method or system similar to those shown in FIGS. 4A-4C or otherwise disclosed herein can be used to identify a region of interest in a first image and adjust the FOV of a second image to zoom in on the region of interest in the second image. For example, because of the size of FOV 90, a first image of object 84 can be acquired at a first position 92 along conveyor 88 to cover substantially the entire width of conveyor 88. Thus, while the first image represents the entire width of object 84 and any features on object 84 across the imaged width, object 84 can be expected to be located on the conveyor at first position 92. Thus, the image acquired at FOV 90 can be used to identify the location of symbol 102 or another region of interest on object 84 anywhere across the width of conveyor 88 at first position 92. For example, using any of a variety of known symbol identification algorithms, imaging device 80 can identify the location of symbol 102 as represented in the first image at a particular position across the width of conveyor 88 at a particular time.

[0130] Subsequently, once the location of the symbol 102 is determined, the controllable mirrors of the imaging device can be selectively tilted for subsequent image acquisitions such that the small FOV 94 is aligned (e.g., centered) with the expected location of the symbol 102 at the time of subsequent image acquisition (e.g., as determined using the encoder). Furthermore, because the length of the optical path 100 is shorter, the symbol 102 can occupy a relatively larger proportion of the image acquired in the FOV 94, such that decoding (or other analysis) of the symbol 102 can proceed more efficiently or with a higher success rate or reliability.

[0131] In some implementations, it may be necessary to adjust the focus of the lens configuration of the imaging device to ensure that continuous images of adequate quality can be acquired despite changes in the length of the respective optical axes and changes in the size of the respective FOVs. In this regard, for example, as discussed above, the lens configuration of imaging device 80 can be adjusted before, simultaneously with, or after adjusting the controllable mirror. In some embodiments, for example, the liquid lens can be brought to a predetermined focus as or after the controllable mirror is moved, based on a prior focus calibration or a prior determination of the height (or other dimension) of the object being imaged. In some embodiments, an autofocus operation can be performed after moving the controllable mirror to properly focus imaging device 80.

[0132] In the example shown in Figures 4A-4C, FOVs 90, 94 do not overlap one another. However, in some embodiments, the first and second images can be acquired using overlapping FOVs. For example, in a different configuration, imaging device 80 can be configured to acquire an image of object 84 via optical path 104 (see Figure 4A) defined by a controllable mirror and excluding fixed mirror 82. Thus, object 84 can be imaged with a greater degree of zoom and a smaller FOV than the image acquired with FOV 90, but object 84 can be imaged at or near location 92 corresponding to FOV 90.

[0133] As another example, some embodiments may enable acquiring overlapping images at a different (e.g., reduced) angle of incidence for the second optical path than that shown for optical path 104. In some embodiments, overlapping FOVs with similar angles of incidence for each optical path can be acquired using multiple fixed (or other) mirrors in addition to controllable mirrors. For example, as shown in FIG. 5A , imaging system 110 includes imaging device 112 with a controllable mirror (not shown) and a set of remotely located fixed mirrors 114, 116, 118. Mirrors 114, 116, 118 and imaging device 112 are positioned with respect to conveyor 120 such that first optical path 122 defined by movable and fixed mirrors 114, 116 (vs. fixed mirror 118) is longer than second optical path 124 defined by movable and fixed mirror 118 (vs. fixed mirrors 114, 116).

[0134] 5B , the image acquired along the first optical path 122 may exhibit a larger FOV 126 than the FOV 128 of the image acquired along the second optical path 124, and the object 130 and associated symbol 132 may occupy a larger proportion of the FOV 128 than the FOV 126. Thus, similar to above, the object 130 and symbol 132 may be first imaged through the FOV 126 and then re-imaged through the FOV 128 to provide an increasing degree of zoom on the symbol 132.

[0135] Furthermore, with sufficiently fast adjustment of the focus of the movable mirror and lens arrangement of imaging device 112, images of object 130 can be acquired through both FOVs 126, 128, with FOVs 126, 128 substantially coinciding with one another on conveyor 120. In other words, substantially overlapping images can be acquired of the object 130 at substantially the same position on the conveyor 120 through both FOVs 126, 128. In some embodiments, this substantial overlap can be easily obtained because the possible adjustment time of the controllable mirrors and focus (e.g., using a liquid lens) is an order of magnitude (or more) shorter than the length of time it takes the object to move substantially along the conveyor. As used herein, two images are considered to be substantially overlapping if the FOV of one image is completely contained by or matches the FOV of the other image, or if the FOV of one of the images overlaps with the FOV of the other image by at least 90% (e.g., 95% or 99%). Similarly, an object is considered to be in substantially the same position relative to imaging at two different times if the object has not changed position between the two images or has only moved such that its later position differs from its previous position by less than 10% (e.g., 5% or 1%) of its length along the direction of movement.

[0136] Also, as noted above, it may sometimes be useful to determine the dimensions of an object. For example, in logistics operations, it may be useful to know one or more dimensions of a particular object moving along a conveyor. Or, for example, knowing the distance from the object to the imaging device, as may be determined based on a known (or measured) distance from the imaging device to the conveyor and a determined height of the object relative to the conveyor, may be useful in focusing operations for image acquisition.

[0137] In some embodiments, an imaging system with a controllable mirror can be operated to determine the dimensions of an object without necessarily requiring the use of a separate dimensioning instrument (e.g., a time-of-flight or triangulation device). For example, FIG. 6 shows an imaging system 140 that includes an imaging device 142 with a controllable mirror (not shown) and a remotely located fixed mirror 144 (e.g., similar to imaging device 80 and mirror 82 shown in FIG. 4A). Similar to imaging system 78, imaging system 140 can be controlled to capture different images of object 146 as it moves along conveyor 148 (e.g., at significantly different positions along conveyor 148, as shown).

[0138] Additionally, the processor device of imaging system 140 is configured to analyze the acquired images to identify, in the acquired images, pixel dimensions of a common feature of object 146 (e.g., the top surface of object 146). For example, using known edge identification techniques, imaging system 140 can identify the leading and trailing edges of the top surface of object 146 and the respective pixel distances 150, 152 therebetween, both for images acquired through a larger FOV 154 defined by mirror 144 and for images acquired through a smaller FOV 156 not defined by mirror 144.

[0139] Thus, for example, known trigonometric principles (e.g., triangle equivalents) can then be applied to determine the distances 164, 170 from the imaging device 142 or mirror 144 to the object 146, and correspondingly, the distance 172 that the object 146 extends away from the conveyor 148 (e.g., the height of the object). For example, any one of the distances 164, 170, 172 can be determined based on appropriate considerations of the determined pixel distances 150, 152, and one or more of the known (or determined) distance 158 from the imaging device 142 to the conveyor 148, the known (or determined) distance 160 from the mirror 144 to the conveyor 148, the known (or determined) distance 162 from the imaging device 142 to the mirror 144, and the known (or determined) relative angles of the optical paths of the FOVs 154, 156. As a specific example, suppose the optical paths 166, 168 of the FOVs 154, 156 move parallel or perpendicular to the conveyor 148, the imaging device 142 and the mirror 144 are equidistant 158, 160 above the conveyor 148 (thereby equaling the distances 164, 170 from the object during each image capture), and the distance 172 (e.g., the height of the object 146, as shown) is h o can be calculated by solving for (1) L1 / (h i -h o )=L2 / (h i +dh o ) where L1 and L2 represent the spatial equivalent of pixel distances 150, 152 (e.g., determined based on known calibration techniques), and h i denotes the distance 158 (or 160) of the imaging device 142 (or mirror 144) from the conveyor, and d denotes the distance 162 from the imaging device to the mirror 144.

[0140] It will be appreciated that other approaches may effectively provide useful information as well. For example, rather than (or in addition to) directly solving for the height of the object, imaging system 140 may use a similar approach to determine distance 164 from imaging device 142 to object 146 (e.g., the distance from imaging device 142 of the focal plane for imaging object 146), for example, by solving for f as follows: (2) L1 / f = L2 / (f + d) where L1, L2, and d are defined as above. This solution assumes, among other things, that the values ​​of distances 158, 160 between, for example, conveyor 148 and imaging device 142, and between conveyor 148 and mirror 144, are equal. However, in other approaches, this equality (or other assumptions above) may not hold, and corresponding adjustments can be made based on known trigonometric principles.

[0141] Indeed, while the above examples generally assume a particular geometric configuration of the imaging device 142, mirror 144, and optical paths 166, 168, similar trigonometric principles can readily be used to determine the distance from the imaging device to the object, the height, or other dimensions of the object, or other relevant dimensions, including other configurations shown in the various figures. For example, similar trigonometric calculations can be performed to determine the appropriate distances for the configuration shown in FIG. 5A with known distances and relative angular orientations between the imaging device 112, mirrors 114, 116, 118, and conveyor 120, allowing for easy determination based on images acquired in both FOVs 126, 128, known types of pixel analysis of the height of the object 130 relative to the conveyor, the length of the optical path 122, or other relevant dimensions, and known trigonometric principles.

[0142] In some embodiments, determining distance may be useful for other reasons, such as determining the real-world (i.e., actual, physical) dimensions of the FOV (or portion thereof) in a particular image. For example, the size of the real-world area included in the FOV at a particular focal plane can be determined using known trigonometric relationships based on the determined distance between the imaging device and the target (e.g., the distance of optical path 168), along with the properties of the associated imaging device and other optical devices (such as lenses or mirror assemblies). Similar principles can also be applied to determine the scale of objects within the FOV.

[0143] In some embodiments, the principles disclosed herein (e.g., as detailed above) can be implemented in combination with additional sensors. For example, as shown in FIG. 7A , imaging system 180 can include imaging device 182 with controllable mirror 184 and sensor 186 positioned behind imaging position 188 of imaging device 182 relative to the direction of travel of conveyor 190. In some embodiments, sensor 186 can be a presence sensor such as a photo eye, an array of photo eyes, a laser curtain, or the like. Based on detection of an object by sensor 186 and a known speed of movement of the object on conveyor 190 (e.g., determined via an encoder (not shown)), mirror 184 can be controlled to direct the FOV of a particular image of object 192 to a portion of imaging position 188 where object 192 can be imaged (see FIG. 7B ). For example, mirror 184 can be controlled to selectively redirect optical paths 194, 196, 198 to acquire images at different lateral angles relative to conveyor 190. Thus, for example, the disclosed control of mirror 184 and imaging device 182 can enable acquisition of images of an object at a relatively high degree of zoom, regardless of the lateral position of the object on conveyor 190, without requiring an FOV for imaging device 182 that covers the entire width of conveyor 190 in a given image.

[0144] In other embodiments, other configurations are possible. For example, sensor 186 may be configured as a 3D sensor, such as a time-of-flight or triangulation sensor, that can determine the height of an object relative to conveyor 190. This information, combined with information about where the object is positioned on conveyor 190 (e.g., also determined by sensor 186), can then be used to determine a particular surface of the object, as well as an appropriate focal point for imaging, such as an appropriate optical path and FOV.

[0145] In this regard, and in comparison to other embodiments disclosed herein, references to determining the "height" of an object, as well as references to operations related to the "top surface" of a particular object, are generally provided by way of example only. Those skilled in the art will recognize, based on the disclosure herein, that similar principles can be used, for example, to determine other relevant dimensions of an object and to acquire images of surfaces of the object other than the top surface. Correspondingly, for example, in some configurations, a sensor (e.g., sensor 186) can be used to determine the distance of the relevant optical (e.g., imaging) axis, and the focus for image acquisition can then be determined accordingly (e.g., also based on known characteristics of the lens assembly, imaging sensor, etc.).

[0146] In some embodiments, distance sensors or other components can be provided that similarly utilize controllable mirrors to direct outgoing or incoming optical signals. In some embodiments, such signals can be directed by controllable mirrors that are also used to acquire images, although dedicated mirrors are also possible. For example, referring again to FIG. 7A , optical device 200 can be configured to direct (or receive) optical signals via mirror 184, which also controls the orientation of the FOV of imaging device 182, to project signals onto (or receive signals from) a target area. In some embodiments, device 200 can be configured as an aimer that projects an aiming pattern via mirror 184, allowing an operator to visually identify the center, outer boundaries, or other aspects of the FOV of imaging device 182.

[0147] In some embodiments, device 200 can be configured as a distance sensor. For example, device 200 can be configured as a time-of-flight sensor that directs a pulse at an object via mirror 184 and then receives a reflection of the pulse via mirror 184 to determine the distance of the current optical path for imaging as provided by mirror 184. Alternatively, various other distance sensors can be used.

[0148] In some embodiments, the optical device 200 can be configured to provide or receive a signal on-axis with respect to the imaging axis of the imaging device 182. For example, as shown in FIG. 7C , the optical device 200 can include a signal generator (or receiver) 202 that is not aligned with (e.g., perpendicular to) the optical (e.g., imaging) axis 206 of the imaging device 182. Additionally, a dichroic mirror 204, or other similar configuration that can pass light for imaging while appropriately redirecting light from (or for) the signal generator (or receiver) 202, can be positioned in alignment with (i.e., along) the optical axis 206. Thus, the dichroic mirror 204 can redirect signals from the signal generator (receiver) 202 to a target (not shown) via the mirror 184, and can also redirect signals from the target to the signal generator (or receiver) 202 via the mirror 184.

[0149] Similar principles can be implemented in other embodiments. For example, other embodiments explicitly described and illustrated herein may be similarly equipped with on-axis or other aiming or measuring devices. In some embodiments, similar principles may also be applied without including an imaging device. For example, an imaging device such as imaging device 182 of FIG. 7A or imaging device 26 of FIG. 1A (or the like) may be replaced with a projector or other similar device configured to direct a signal to an associated controllable mirror (e.g., mirror 184 or mirror 30), thereby controllably projecting the signal onto a target. Such a configuration may be useful, for example, to provide a target to guide picking, placement, calibration, or other manipulation by a human operator, or to otherwise improve visibility or maneuverability of a particular object or aspect of an environment.

[0150] Correspondingly, in some embodiments, controllable mirrors can be used to capture images of multiple sides of an object, including, for example, tunnel applications that capture images of five or more sides of an object as the object passes through a particular region (e.g., along a particular length of a conveyor). For example, in the imaging system 210 shown in FIGS. 8A and 8B , the tunnel 212 along the conveyor 214 can include multiple imaging devices 216, at least some (e.g., each) of which include controllable mirrors (not shown). Thus, through appropriate control of the mirrors, the imaging devices 216 can be used to capture images across the entire span of a desired FOV, instead of capturing images with a much larger number of conventional imaging devices. For example, in the example shown in FIG. 8A , four of the imaging devices 216 can be used to replace 14 (or more) imaging devices in a conventional configuration to image all five exposed surfaces of an object passing through the tunnel 212.

[0151] However, in other embodiments, a different number of imaging devices for use with the controllable mirrors can be used, or can replace a different number of conventional imaging devices. For example, as shown in FIG. 8B , some configurations may include only two of the imaging devices 216 configured to manipulate the controllable mirrors of the imaging devices 216 to capture images of all exposed surfaces of an object as it moves through the tunnel 212. In the example of FIG. 8B , the imaging devices 216 are supported on top of the support structure 218 of the tunnel 212 on opposite sides and on the front and back sides of the tunnel 212, although other configurations are possible. For example, other configurations of the imaging devices 216, in which the imaging devices are still positioned above the maximum expected height of objects passing through the tunnel 212, may also enable imaging of all five exposed surfaces of a 3D rectangular object—including the top of the object.

[0152] In some embodiments, a combination of controllable and fixed mirrors can be used to capture images of multiple sides of an object, including in tunnel applications. For example, as shown in FIG. 9A , an imaging system 220 for a tunnel 222 can include a single imaging device 224 with a controllable mirror, such as an imaging device configured similarly to imaging device 40 of FIG. 2 . Additionally, the tunnel 222 can include multiple fixed mirrors 226 supported on different sides of a support structure 228 for the tunnel 222. This and other similar configurations (e.g., different numbers or configurations of imaging devices or fixed mirrors) can be used to move the controllable mirrors to enable sequential capture of images of all five visible sides of the object 230 as the conveyor 232 moves the object 230 through the tunnel 222 via different reflections from the fixed mirrors 226. For example, different instances of the mirrors 226 can be used to sequentially capture images of the front, top, left, right, and back sides of the object 230 as it moves through the tunnel 222.

[0153] In some embodiments, multiple images acquired using controllable mirrors can be stitched together to provide a composite representation of a particular object or environment. As shown in FIG. 9B , for example, imaging system 220 can be configured to acquire images 230A-230E of the front, right, left, top, and back sides of object 230 as it moves through tunnel 222. Known image processing techniques can then be used to stitch images 230A-230E together to provide composite image 230F representing all five exposed surfaces of object 230. For example, known edge detection techniques can be used to identify the edges of each side of object 230 in images 230A-230E, thereby identifying the associated boundaries of object 230 in images 230A-230E. These identified boundaries can then be used to construct composite image 230F, such as by aligning identified common boundaries from different images, with appropriate perspective and scaling adjustments as needed.

[0154] In the illustrated example, for ease of presentation, only one side of object 230 is represented in each of images 230A-230E. In some implementations, each of images 230A-230E may also include representations of some or all of one or more other sides of object 230. In some implementations, these additional sides can be ignored. In some implementations, they can be used to aid in the construction of a composite image, such as by identifying common or overlapping features between the various images 230A-230E and using those features to help determine relative alignment, necessary scale or perspective adjustments, or other parameters for effectively stitching the images together.

[0155] In some embodiments, the known orientations of the controllable mirrors, as well as other known parameters (e.g., lens assembly parameters, encoder information to identify the current object position, etc.), can be used to automatically determine the perspective and scaling adjustments required for the composite image. For example, known trigonometric principles can be used to determine the relative scale and perspective of different images acquired through mirrors 226, and then the images acquired through one or more of mirrors 226 can be adjusted accordingly to more easily combine the images.

[0156] 9B, image 230F is a two-dimensional (2D) image that provides a "flattened" representation of a side of object 230. In other embodiments, a different 2D representation, such as a different flattened representation, can be used. In some embodiments, the composite image can be a 3D image or model with a 3D representation of a particular object constructed from multiple images acquired using controllable mirrors.

[0157] In some embodiments, the principles disclosed herein can be used to acquire multiple images of a single object or an array of objects. In some embodiments, multiple overlapping images can be acquired, which can be useful, for example, to enable scrutiny of objects (or arrays) that are relatively large when compared to the FOV of an associated imaging device. For example, as shown in FIG. 10, an imaging device (not shown) with controllable mirrors (e.g., similar to the example above) can project multiple overlapping FOVs 242. The image capturing system 200 may be controlled to capture multiple images of the printed circuit board panel 240. Thus, for example, the entire panel 240 can still be easily imaged and analyzed without the use of a conventional FOV expander or wide FOV imaging device. In some embodiments, for example, known techniques can be used to stitch together images from all FOVs 242 to provide a single composite image of the panel 240 for analysis.

[0158] As another example, some embodiments can be configured to selectively acquire different images of different portions of an object. For example, the imaging system 250 shown in FIG. 11 can be used to selectively acquire images of multiple distinct portions of a single object, which may be useful, for example, to identify and analyze specific symbols (e.g., direct partial marking symbols) on the object or to selectively acquire images of multiple objects within a specific target area. In particular, in the illustrated embodiment, the imaging system 250 includes an imaging device 256 (e.g., as described above) and a controllable mirror 258 (e.g., a two-axis mirror). During operation, the mirror 258 can be controlled to selectively direct the optical path 260 for image acquisition to different positions within the target area 254, which includes multiple objects 252A, 252B, and 252C. Thus, images of each of the multiple symbols 262 of the objects 252A, 252B, and 252C can be acquired, even though the symbols 262 may be in different focal planes and distributed over a relatively large footprint. Thus, for example, imaging system 250 can easily acquire high quality images of each symbol 262 at different focal planes and across a large overall scan area without necessarily requiring high resolution and large depth-of-field imaging devices that may be required under conventional approaches. Moreover, imaging system 250 can easily acquire images of multiple symbols of a single particular object, such as shown for two of symbols 262 of object 252B, whether in a single image or multiple images.

[0159] In some embodiments, the focus setting and angular orientation of each of the optical paths 260 may be predetermined, such as by manual or automatic calibration prior to run-time, based on the expected characteristics of the object 252 and the expected location of the symbol 262. In some embodiments, the focus setting and angular orientation of the optical paths 260 may be determined in accordance with other techniques described above, such as through combined operation with a 3D sensor or through analysis of distances achieved through acquisition of multiple images, to determine the appropriate optical path or focus for acquiring each associated image.

[0160] In some embodiments, the controllable mirror can be used to provide run-time recalibration of the imaging system, such as to protect against temperature-induced focus drift or other effects. For example, the controllable mirror can be configured to occasionally direct the FOV for imaging to a calibration target to verify or determine any corrections needed for the current focus or other operational settings.

[0161] 12 , for example, imaging system 280 includes imaging device 282 with controllable mirrors (not shown) configured to selectively direct the FOV of imaging device 282 for image acquisition. For operational image acquisition, the controllable mirrors can be manipulated to enable imaging device 282 to acquire successive images. For example, in some applications, the mirrors can be sequentially positioned to acquire images through FOVs 284, 286 that cover the entire lateral width of conveyor 288. Thus, for example, a useful image of object 290 can be acquired regardless of where object 290 is located along the width of conveyor 288.

[0162] Additionally, the controllable mirrors may be manipulated to occasionally provide a third (or other additional) FOV 292 that includes a calibration target 294. Thus, for example, based on known trigonometric principles and known aspects of the calibration target and imaging device 282, the calibration of the focus (or other aspects) of imaging device 282 may be continuously and automatically verified or corrected, even during active run-time operation. In some embodiments, the mirrors may be controlled to allow imaging of the calibration target in each imaging cycle (i.e., such that each imaging cycle includes one image for each of FOVs 284, 286, 292). However, in other embodiments, other arrangements are possible.

[0163] In some embodiments, the controllable mirrors can be used to acquire images of a particular object or region using multiple different focus settings (e.g., as described above) or to otherwise optimize the focusing operation. In some embodiments, the controllable mirrors can be used to assist in autofocus operations or the acquisition of images following an autofocus operation. For example, as shown in FIG. 13 , the autofocus operation of the imaging device 300 can include acquiring a different image of the object 302 at each focal plane of a set of different focal planes 304. Once the optimal focal plane is determined, the focus settings for imaging at least the object 302 for subsequent image acquisition can be limited accordingly. For example, once the focal plane 306 is identified as being aligned to bring the symbol 308 on the object 302 into sharp focus, the acquisition of subsequent images of the object 302 can be limited to only the focal plane 306 or to an acceptable or intended deviation therefrom.

[0164] In some embodiments, a set of one or more controllable or fixed mirrors (e.g., including controllable mirror 310) can assist in the autofocus operation, such as by properly aligning the FOV or optical axis for image acquisition in autofocus, or by providing a particular optical path length for a particular FOV and focus setting (e.g., by one or more of the various approaches described above). In some embodiments, after the initial autofocus operation is completed, the configuration of one or more controllable or fixed mirrors (e.g., including controllable mirror 310) can be manipulated in combination with focus adjustment (e.g., using a high-speed liquid lens) for subsequent image acquisition.

[0165] In some embodiments, if an optimal focal plane has been determined using a controllable mirror or other method (e.g., as described above), subsequent adjustments to the lens focus can be determined based in part on the adjustment of the controllable mirror for subsequent image acquisition. For example, known trigonometric principles can be applied to determine the change (or current value) in the length of the optical path based on the adjustment of the controllable mirror. For example, as mirror 310 is adjusted to track the movement (or other movement) of object 302 by conveyor 314, known trigonometric principles can be used to determine the current length of optical path 312 based on the current orientation and position of mirror 310 and the orientation and position of any other mirrors (not shown) or associated optical devices (e.g., imaging device 300) along optical path 312. The focus of the liquid lens (not shown) or other lens assembly of imaging device 300 can then be adjusted accordingly to maintain the previously determined focus at focal plane 306 or to provide a particular (e.g., predetermined or maximum) deviation therefrom. Thus, for example, rather than performing multiple autofocus operations for a tracking (or other) operation to image an object, the optimum focal plane can be determined only once, and subsequent focus adjustments can be made automatically based on mirror-driven changes in the length of the optical path.

[0166] In some embodiments, an arrangement of one or more controllable or fixed mirrors may be used to acquire images of an object or target area at multiple focal planes, which may be useful, for example, to aid in creating a depth map of a particular area, to analyze symbols at multiple focal planes, or for a variety of other reasons.

[0167] 14 , an imaging device 400 can be configured to acquire images of objects 402, 404 as they rest in a target area or move through space (e.g., along a conveyor 406). Through adjustment of the focus of a liquid lens or other lens assembly (not shown) of the imaging device 400 and other related adjustments (e.g., of controllable mirrors), at least one image of the objects 402, 404 can be acquired at each of multiple focal planes 408. If desired, information from these images can then be combined using known image processing techniques to create a depth map of the target area including the objects 402, 404, or otherwise create a composite image 410 that can present multiple surfaces of the objects 402, 404 and multiple symbols 412, 414 of different sizes simultaneously in focus.

[0168] In some embodiments, adjustments to the current focal plane can be based on adjustments of controllable mirrors, including mirror adjustments that change the length of the optical path, as also described above. For example, control of the mirror 416 can be used to determine appropriate focus adjustments for image capture at different focal planes 408 as the objects 402, 404 move, as well as to maintain the objects 402, 404 within the FOV of the imaging device 400. For example, as also discussed above, once a baseline focus adjustment is determined (e.g., for one or more focal planes 408), adjustments can be determined to maintain the baseline focus or to predictably change the current focus from the baseline focus. For example, as also discussed above, focus adjustments can be determined based on adjustments to the orientation of the mirror 416, which can be indicative of the current length of the optical path 418 through application of known trigonometric principles.

[0169] As with other embodiments discussed herein, these focus-related applications may also be implemented in combination with other approaches. For example, a distance measuring device or operation based on the manipulation of a controllable mirror (e.g., as described with respect to FIG. 6 ) may be used to determine the specific height of one or both of the objects 402, 404, which may be used to fine-tune or otherwise further adjust the focus of the imaging device 400 for imaging the objects 402, 404.

[0170] Some embodiments of the techniques may be used to perform other setup or runtime calibrations or other adjustments beyond those explicitly discussed above. Additional examples in this regard are provided below, each of which may operate alone or in combination with one or more of the other disclosed approaches. In general, as detailed in various examples below, a mirror configuration comprising at least one controllable mirror may be manipulated to efficiently implement setup or runtime search operations or other similar tasks based on various optimization criteria and other factors. This may be useful, for example, to identify a particular scan area to be covered during runtime operation, to locate one or more symbols or objects within a particular scan area, or for other tasks.

[0171] In some embodiments, a user can manually identify a specific area to be scanned, such as by interacting with a user interface in machine vision software, and then control the mirrors accordingly to acquire a set of images. For example, as shown in FIG. 15 , after a user manually specifies a scan (target) area 440, a two-axis mirror 442 can be controlled based on a previous calibration of mirror movement to FOV positions to capture one or more images using a set of FOVs 444a-444j that completely cover the scan area 440. However, in some embodiments, including those discussed below, only a subset of FOVs 444a-444j can be used, such that at least one imaging cycle does not necessarily cover all portions of the scan area 440.

[0172] In some embodiments, a user can specify a scan area, along with other relevant information as needed, via an associated imaging device (not shown in FIG. 15 ) or via the machine vision system's management software. For example, in addition to the specified scan area, the user can specify information such as the parameters of the currently installed lens assembly, the distance from the imaging device to the focal plane of the scan area, whether a particular multi-mirror (e.g., fixed mirror) assembly should be used (e.g., to provide a particular optical path length), the actual dimensions of the desired FOV, whether adjacent FOVs should overlap, and the amount of overlap. In this regard, for example, the user can specify the location and size of scan area 440, the distance from the imaging device to scan area 440, and the desired degree of overlap of adjacent images, and mirror 442 can then be automatically controlled to acquire images of the entire scan area 440.

[0173] In some embodiments, certain parameters can be determined automatically. For example, a controllable mirror configuration or distance measuring device can be used to determine the distance to the scan region, from which relevant information, including the real-world dimensions of the scan region, can be derived. For example, a time-of-flight measuring device 446 (or other device, such as a 3D sensor) can be configured to determine the distance between the scan region 440 and an imaging device (not shown), and the mirror 442 can be controlled accordingly (e.g., using known trigonometric principles) to enable acquisition of a relevant set of images of the FOVs 444a-444j. Similarly, for large scan regions, the focus of a particular FOV (e.g., outer FOVs 444a, e, f, j) may need to be adjusted. In some cases, this adjustment can be made automatically, such as based on analysis of the controllable mirror movement, as described above.

[0174] As another example, a symbol 448 of known type and dimensions may be provided within scan area 440. An image of symbol 448 may be acquired (e.g., via FOV 444c as the default starting FOV), and then a correlation between the image dimensions (i.e., pixels) and real-world dimensions (e.g., mm) may be determined using known image analysis techniques. This correlation may then be used, again based on known trigonometric principles, to determine the distance between symbol 448 and the imaging device, after which mirror 442 may be controlled accordingly to effect one or more of FOVs 444a-444j.

[0175] In some embodiments, other analysis of the symbols can otherwise assist in determining the relevant scan area. In some embodiments, a particular symbol may indicate a significant portion of the scan area, such as a vertex or other boundary that collectively designates some or all of the outer profile of the scan area. For example, as shown in FIG. 15 , a set of symbols 450 are positioned at the four corners of a rectangular scan area 440. Once a setup (or other) operation is initiated, mirrors 442 can be controlled to acquire images of scan area 440 (and its periphery), such as by sequentially capturing images of FOVs 444a-444j in a particular (e.g., predetermined) order. From analysis of the images, the location of the images of symbols 450 can be identified, and, if necessary, the actual location of symbols 450 can be determined (e.g., based on triangulation analysis using positions within FOVs 444a, e, f, j, known or measured distances to scan area 440, and the angular orientation of mirrors 442 during acquisition of the relevant images). The position of scan region 440 can then be specified in terms of either the angular orientation or the actual position of mirror 442 to guide subsequent (eg, run-time) image acquisition.

[0176] In some implementations, the search for a particular region for a symbol can proceed in different optimized ways, including depending on the particular parameters of the associated image acquisition and analysis device. For example, in a system where image acquisition generally takes a long time but image analysis may be relatively fast, image acquisition for searching for a symbol may be performed occasionally to minimize the number of images acquired. In contrast, in a system where image acquisition is relatively fast but image analysis may take a relatively long time, image acquisition for searching for a symbol may be performed occasionally to minimize the expected time to find all symbols. Examples of optimization approaches that can address either of these priorities are discussed further below.

[0177] In some cases, images may first be acquired in an FOV corresponding to actual locations where a particular symbol is expected to be found. Expected symbol locations may include, for example, locations within easy reach of a typical user or locations close to (or sufficiently far from) a particular location. For example, initial image acquisition may focus on locations in a particular physical location where a user is likely to have placed a symbol or object, such as locations at a height or around (e.g., within a threshold distance) a particular height corresponding to each user, or locations around (e.g., within a threshold distance) a particular distance from a reference point, such as the edge of a conveyor, a staging area, or an imaging area. In this regard, for example, if scan area 440 is considered to extend vertically and the top of scan area 440 is near a user's chest height (e.g., between 1 and 2 meters above the ground or other user support surface), initial image acquisition may proceed in upper FOVs 444a-444e based on the expectation that a user is likely to place a symbol to identify the scan area (or otherwise) at or near (e.g., between 1 and 2 meters above the ground) their chest height.

[0178] Similarly, if a symbol is expected to be located at a corner of the scan area and one or more of the scan area's boundaries can be reasonably approximated, initial image acquisition may preferentially include the expected locations of one or more corners (or other boundary points) of the scan area. For example, if the distance to scan area 440 and the approximate size of scan area 440 are known, mirror 442 may be controlled to initially acquire images using only corner FOVs 444a, e, f, and j. If symbol 450 is identifiable in these images, the virtual (or real-world) locations of the corners of scan area 440 may be specified to later control mirror 442 to acquire images of the entire scan area 440, and acquisition of additional configuration images (e.g., using FOVs 444b, c, d, f, h, and i) may not be necessary. In contrast, if the symbol cannot be identified in these images, additional images may be acquired in corner FOVs 444a, e, f, and j, or other FOVs, for example, based on exemplary rules for an expanded search, as described in more detail below.

[0179] In either case, once the boundaries of the scan region 440 are specified, a map of FOV positions (or scopes) corresponding to particular orientations of the mirrors 442 can be determined accordingly and used at run time or during further setup operations to properly orient the mirrors 442 to acquire images using a particular FOV.

[0180] As another example, initial image acquisition may be focused on locations where previous user input or previous image analysis has suggested that these are likely areas of interest. For example, when searching for objects in scan area 440, initial image acquisition may focus on areas of interest that are similar to the object. FOVs in which an object (or associated symbol) has previously been found may be preferentially used. For example, in presentation scanning applications, if analysis of previously acquired images indicates that an object is likely to appear in one or more specific locations in the scan area, initial image acquisition may use only FOVs that encompass those locations. For example, if analysis of previous images indicates that a group of users (or one user in particular) tends to present objects in scan area 440 in locations similar to those shown for object 452 (see FIG. 15 ), initial image acquisition to locate subsequent objects (or symbols) may preferentially use FOVs 444d, e, i, j (e.g., FOVs in which object 452 was previously successfully imaged). Similarly, if corner locations of the scan area were previously successfully identified using FOVs 444a, e, f, j, initial scans to identify the boundaries of scan area 440 may preferentially use only one or more of those FOVs.

[0181] In some embodiments, to optimize the search for symbols or objects or the identification of scan regions, the degree of overlap can be specified, including by specifying a binary degree of overlap (i.e., YES or NO for overlapping images) or a non-binary degree of overlap (e.g., one or more percentages of overlap of adjacent images in one or more directions). Thus, in some cases, to reduce the number of images acquired when searching for objects or symbols over a search region, images covering the search region may initially be acquired with a relatively coarse, non-overlapping search, i.e., no or relatively minimal overlap between adjacent FOVs (e.g., 10% or less).

[0182] For example, initial acquisition of images to specify scan area 440 via identification of symbol 450 or to locate symbol 448 or object 452 may proceed first with non-overlapping FOVs 444a, c, e, f, g, j, with images in those FOVs being analyzed to search for symbol 450 before additional images are acquired (or analyzed). In some cases, this approach may not necessarily cover the entire scan area 440 in the initial image acquisition, but appropriate configuration (or runtime) information such as the location of object 452, symbol 448, or corner symbol 450—and thus the boundaries of scan area 440—can still be determined with relatively high efficiency. (As generally used herein with respect to FOVs and images, “non-overlapping” refers to zero overlap, overlap in the dimension of the overlap that is less than 5% of the total dimension of the FOV or image, or overlap that is less than 25% of the largest dimension of the largest expected symbol.)

[0183] If further images are needed, additional images using one or more of overlapping FOVs 444b, d, g, i can be appropriately introduced. In some cases, based on user input for the initial scan, after the failure of an initial non-overlapping scan to provide sufficient information, or for other reasons, overlapping images can naturally be acquired for the entire scan area. For example, if more information is needed after sequentially acquiring a set of non-overlapping images (e.g., if a relevant symbol or object is not found), the search operation can proceed to fully cover the relevant scan area with a set of overlapping images that, together with the initially acquired non-overlapping images, provide appropriately increased (e.g., complete) coverage of the relevant scan area. In this regard, for example, initial non-overlapping images can facilitate a quick initial coarse search, while subsequent overlapping images can facilitate a somewhat slower, subsequent finer search. (As also described below, a similar "coarse" and "fine" approach can also be employed in relation to FOV size.)

[0184] In some cases, only overlapping images selected as part of a fine (or other) search, including based on information from the acquisition of an initial non-overlapping (or other) coarse search image, may be included. For example, machine vision analysis (e.g., edge detection, symbol identification, etc.) of non-overlapping images 444c, e, h, j may indicate the likely location of object 452 within scan area 440, but it may also indicate that a particular symbol, such as symbol 452a on object 452, was not fully captured by the acquired images. Thus, a subsequent round of image acquisition may utilize overlapping FOV 444d to supplement non-overlapping FOV 444c, e, h, j for more complete imaging and analysis of the symbols on object 452. On the other hand, if an initial non-overlapping search does not identify partial features of interest, subsequent overlapping searches may proceed in the normal course (e.g., spatially sequentially across the entire scan area or a portion thereof, as described above).

[0185] In some embodiments, the use of overlapping FOVs to successfully complete the initial acquisition (and analysis) of non-overlapping FOVs can proceed using a predetermined scanning pattern. For example, after sequentially acquiring images of FOVs 444a, c, e, f, h, and j, if the need for additional images is identified, the next round of image acquisition can proceed sequentially through FOVs 444i, g, d, and b. (In other embodiments, other sequences of non-overlapping or overlapping image acquisition are possible.) In some embodiments, as also described below, the use of overlapping FOVs can be guided by analysis of images from previously imaged (e.g., non-overlapping) FOVs. For example, upon identifying that symbol 448 or another possible feature of the object is partially captured by FOV 444c but extends somewhat to its left, a subsequent overlapping scanning round can begin with FOV 444b or another nearby (e.g., adjacent) FOV, selected based on the likelihood that that FOV will aid in more fully capturing the partially imaged feature of the object.

[0186] In some embodiments, whether the initial (or other) image acquisition uses overlapping FOVs or the amount of FOV overlap can be determined based on user input or other factors. In some embodiments, the degree of overlap for a particular search (or portion thereof) can be determined based on the size of the symbols relative to the size of the FOV. For example, if the expected minimum size of the set of symbols to be detected forms a relatively small percentage of the FOV (e.g., 10% or less), it may be expected that the likelihood that the symbol will be only partially imaged by any given FOV is relatively small. Thus, it may be efficient to first look for symbols with no overlap between FOVs or FOVs corresponding to the proportional size of the symbols within the FOV (e.g., 10% overlap or less), and proceed to acquire or analyze overlapping FOVs only if the initial search is unsuccessful.

[0187] In some embodiments, the size of the FOV can be controlled via a controllable mirror (or otherwise) to optimize the search. For example, as discussed above, some systems can include controllable mirrors to result in imaging of the same or different scan areas with different sized FOVs (see, e.g., FIGS. 4A-5B). In some cases, an initial search for a symbol or object, such as to find object 452 or to specify the boundaries or size of scan area 440, can proceed with a first controllable mirror configuration (e.g., including mirror 442) that results in a relatively large FOV 444k. Once a relevant symbol or object (e.g., symbol 450, symbol 448, or object 452) has been identified, a second controllable mirror configuration (e.g., also including mirror 442) can be used to acquire an image using one or more of the smaller FOVs 444a-j.

[0188] In some embodiments, a predetermined configuration of specific symbols is used to capture or A FOV relevant to the analysis can be determined. For example, if the configuration indicated by symbols 452a-c of object 452 is a typical (e.g., standardized) configuration, the identified position of one of symbols 452a-c, whether considered alone or in combination with information about object 452 (e.g., edge position), can indicate the likely relative (or absolute) position of the other symbols 452a-c. Thus, in some cases, if the position of symbol 452b can be determined by first acquiring an image using FOV 444c, the likely positions of symbols 452a, 452c can also be determined therefrom. The acquisition of subsequent images can then beneficially proceed by providing an FOV relevant to the determined symbol position, such as by controlling mirror 442 to provide an adjacent, potentially overlapping FOV (e.g., FOV 444d, e, or j) or an intermediate FOV (not shown) shifted relative to FOV 444c by an appropriate amount.

[0189] Similarly, if a predetermined target number of symbols have been identified, further image acquisition for search operations may not be required. For example, if the initial image acquisition for specifying scan area 440 identified four corner symbols 450, it may not be necessary to continue with subsequent image acquisition for configuration, and run-time operations may proceed based on the specified scan area 440. Similarly, if all three of symbols 452a, b, and c have been identified and no further symbols are expected (e.g., based on the standardized symbol configuration for object 452), then subsequent image acquisition may not be required, at least with respect to finding further symbols for object 452.

[0190] In this and other approaches, other types of analysis may also provide useful information for guiding the control of mirrors for image acquisition. For example, in some embodiments, information from a 3D scan may be used to determine an optimal FOV for image acquisition. As another example, known types of machine vision analysis, such as identifying full or partial symbols on an object's face or edge, may also help guide the identification of an appropriate FOV and the appropriate adjustment of the controllable mirrors accordingly, including those alluded to above. These and similar types of information may also be useful, for example, to identify what type of adjustments may be needed to the mirrors to provide a particular FOV.

[0191] Although specific systems and corresponding methods are presented individually above, any number of aspects of the disclosed embodiments can be combined with or interchanged with one another in some implementations. For example, the principles of mirror control and image acquisition presented in connection with FIGS. 1A-3 can generally be used to implement the zooming, sizing, focusing, selective imaging, and other functions described in connection with FIGS. 4A-15. Similarly, the trigonometric analysis described in connection with FIG. 6 and known variations thereon (e.g., where certain initially unknown quantities in FIG. 6 are otherwise determined) can be applied in various contexts, including with respect to some variations of each of the other embodiments discussed above. Furthermore, other aspects can also be combined or interchanged. For example, a configuration with three or more mirrors along a particular optical path (e.g., as shown in FIG. 5A) can be used in any number of other systems presented herein as having only two mirrors along the particular optical path, or to implement similar functions. Indeed, additional fixed or controllable mirrors can generally be added to any of the optical paths described herein, and the result will follow the principles disclosed above, although this may add complexity in various ways. Furthermore, in some implementations, the mirrors explicitly described above as fixed mirrors may be replaced with controllable mirrors, such as remotely located secondary controllable mirrors that may be controlled in synchronization with a primary controllable mirror included in the imaging device.

[0192] FIG. 16A illustrates another example imaging system 500 that is similar to, and is a possible extension or modification of, the imaging systems discussed above, including imaging systems 20, 78, 110, 140, 180, etc. Thus, imaging system 500 may include or be configured for similar functionality as other imaging systems discussed herein, if desired. In the illustrated example, imaging system 500 includes an imaging device 502 and a set of remotely located fixed mirrors 504, 506. While this example includes two fixed mirrors and one controllable mirror 503 (as also described below), other configurations are possible in other examples. For example, mirror configurations for use with imaging system 500 (or other systems) may include different numbers or configurations of fixed and controllable mirrors.

[0193] Imaging device 502 may include any feature (or combination of features) as described with respect to the imaging devices above. For example, imaging device 502 may include at least one (e.g., two or more) imaging sensors, at least one lens arrangement (e.g., two or more lens arrangements corresponding to each imaging sensor), and at least one control device (e.g., a processor device) configured to perform computational operations related to the imaging sensors or other modules.

[0194] 16A , imaging device 502 includes a controllable mirror 503 (e.g., a one-axis, two-axis, etc., controllable mirror) that may be configured as similarly described for the controllable mirrors of other examples herein. Thus, imaging device 502 can selectively acquire image data from different FOVs depending on the orientation of the controllable mirror. In some configurations, controllable mirror 503 of imaging device 502 can be disposed within the housing of imaging device 502, while in other configurations, controllable mirror 503 can be located outside the housing of the imaging device, even remote from such housing. When the controllable mirror is disposed outside the housing, in this and other examples, the controllable mirror can be sometimes removably coupled to and disposed outside the housing of the imaging device, including as part of a larger attachment of the imaging device.

[0195] As shown, fixed mirrors 504, 506 are positioned above a conveyor 508 (or other transportation system) along which objects, including an object 510 having a symbol 512, are moved. Fixed mirrors 504, 506 are positioned at substantially the same vertical height 514 (e.g., less than a 5% offset) above conveyor 508, although other configurations are possible. Fixed mirror 504 is positioned closer to imaging device 502 and has a smaller surface area than fixed mirror 506, although in other configurations, the surface areas of fixed mirrors 504, 506 may be substantially the same, or the smaller mirror may be positioned farther from the imaging device. Fixed mirrors 504, 506 also have substantially the same orientation (e.g., angled along a plane defined by vertical and horizontal axes at substantially the same angle), although it may be understood that the relative orientation between fixed mirrors 504, 506 need not be identical (or substantially the same) to function properly.

[0196] Additionally, while mirrors 504, 506 are described as fixed in the illustrated embodiment, in other configurations, one or more similarly positioned mirrors may be fixed in translation (i.e., prevented from translation) yet configured for controllable change in their respective orientations (e.g., configured as movable mirrors controlled by an imaging device or another system), including those described with respect to other embodiments. In certain examples, a mirror similar to mirror 506 may be configured to controllably rotate relative to a mirror similar to mirror 504 to accommodate different horizontal positions of a conveyor or other transport system. In some cases, for example, as discussed with respect to other embodiments, this configuration may allow for higher resolution or otherwise improved imaging of objects having different heights.

[0197] 16A , imaging device 502 is configured to selectively acquire imaging data along two distinct optical paths 516, 518 having respective FOVs 520, 522. Notably, in the illustrated example, optical path 516 with FOV 520 extends between mirrors 504, 506 without utilizing mirrors 506, 504 at all (e.g., light from FOV 520 does not reflect off mirrors 504, 506). In contrast, optical path 518 with FOV 522 is defined by mirrors 504, 506, such that light from FOV 522 is directed to and reflected by mirror 506, and then directed to and reflected by mirror 504 toward imaging device 502 (e.g., an imaging sensor of imaging device 502). In other examples, various additional or alternative other optical paths are possible, including paths including other mirror configurations discussed herein.

[0198] By adjusting the orientation of the controllable mirrors, imaging system 500 can select which of optical paths 516, 518 (or others) to utilize for acquiring imaging (or other) data using imaging device 502. For example, based on a first orientation of the controllable mirrors, imaging device 502 can utilize optical path 516 to acquire image data from FOV 520. Similarly, based on a second orientation of the controllable mirrors, imaging device 502 can utilize optical path 518, which has FOV 522.

[0199] In some embodiments, different optical paths can be used to effectively change the imaging distance between the imaging device and the target, thereby, for example, providing different sized FOVs for different images or imaging locations. As shown in FIG. 16A , for example, optical path 516 is longer than optical path 518, and correspondingly, FOV 522 is larger than FOV 522. Thus, as also discussed above, an image using optical path 516 can cover a larger area than an image using optical path 518. Thus, for example, an image acquired using optical path 516 can be useful for first identifying a particular region of interest (e.g., to locate a barcode on a larger box), and then an image acquired using optical path 518 can be used to acquire higher resolution data about the region of interest.

[0200] In some embodiments, different optical paths can be used to effectively extend the imaging distance of a particular target location (or other). For example, an object such as object 524a may exhibit a relatively lower height than an object such as object 524 (e.g., such that the top surface of object 524a is farther from imaging device 502 at any given location than the top surface of object 524). Correspondingly, for direct optical path 518a (or other similar optical path), the top surface of object 524 may be too close for effective focusing of imaging device 502, or the FOV 528 at the top surface may be too small (e.g., unable to include the entire symbol 512). In this case, for example, imaging device 502 may utilize optical path 518 (or another similar optical path), the effective length of which is extended by mirrors 504, 506 to acquire image data for FOV 522 (or another similar FOV). In a suitable configuration, FOV 522 may be larger than FOV 528 of light path 516a at the same height, such that suitable image data can be acquired of the entire symbol 526 (e.g., with proper focus or range to detect or decode symbol 526). In contrast, for example, direct light path 518a may be used during acquisition of an image of object 524a at a similar position along conveyor 508 to provide a different FOV 522a with similar beneficial effect.

[0201] In some cases, the direct light path and the alternate mirror-directed light path may exhibit similar (e.g., the same) light path lengths. Correspondingly, the focus or size of the FOVs of the direct and alternate light paths may be similar. For example, for a particular configuration of mirrors 504, 506, the FOV 522, 522a may be the same size, and the same focus setting may be used for both to obtain in-focus images. In some cases, to obtain images of specific areas, fixed or controllable mirrors for the mirror-directed light path may be positioned to provide a light path length similar to the direct light path for one or more characteristic object sizes (e.g., the common height of two boxes).

[0202] In some cases, two mirror-directed light paths can be used to provide similar beneficial effects compared to acquiring images at different heights. For example, two mirror-directed light paths, including those generally discussed with respect to FIG. 5A , can be used for operations similar to those described above for light paths 518, 518a. In some embodiments, alternative light paths can be used in combination with other approaches discussed herein, including configurations for finding focal points or acquiring images at multiple depths (e.g., as discussed with respect to FIGS. 13 and 14 ).

[0203] In some embodiments, imaging system 500 can be used to determine the height of other objects (e.g., using a time-of-flight sensor, multiple images and associated trigonometric calculations, etc.) or similarly determine the dimensions of other objects according to other examples discussed herein. In some embodiments, imaging system 500 can be configured to use the dimension determination to determine whether to utilize an optical path that does not include one or more of mirrors 504, 506 (e.g., optical path 516 or 518a) or an optical path that includes one or more of mirrors 504, 506 (e.g., optical path 518). For example, imaging device 502 can compare the determined height of the object to a threshold height (e.g., 400 mm), and if the determined height is greater than the threshold height, imaging device 502 can utilize optical path 518. As another example, if the determined height is less than the threshold height, imaging device 502 can utilize optical path 518a. Thus, for example, based on dimensional information (e.g., as determined using a controllable mirror configuration), the imaging system may determine a particular optical path, with or without one or more fixed or movable mirrors, that may be better suited to acquiring and decoding images of the object's symbols.

[0204] In some configurations, the imaging device may utilize a different optical path (e.g., switch optical paths) after failing to read a symbol using image data corresponding to the FOV of an initial optical path. For example, if imaging device 502 utilizes a first optical path (e.g., an optical path including one or more fixed mirrors, such as optical path 518) to acquire image data from a corresponding FOV but fails to identify or decode a symbol (e.g., symbol 526) in that image, imaging device 502 may utilize a second, different optical path (e.g., an optical path that does not include one or more fixed mirrors, such as optical path 518a) to acquire image data from the corresponding FOV for a subsequent attempt to identify or decode the symbol. In some cases, this process may be completed using a first optical path that does not include one or more fixed mirrors and a second optical path that includes one or more fixed mirrors, or other combinations of optical paths that may or may not include one or more fixed or movable mirrors.

[0205] 16B and 16C show a more detailed representation of the optical path 518. In particular, FIG. 16B shows a more detailed representation of the object 524 and the projected image of the FOV 522. FIG. 16C shows a perspective view of a fixed mirror 506, while FIG. 16B shows a perspective view of mirror 504 to visually depict a twice-projected image of FOV 522 directed toward imaging device 502 (FIGS. 16B, not shown in FIG. 16C). As shown, FOV 522 is projected as a projected image 530 onto mirror 506 that does not utilize the entire surface of mirror 506. However, in an alternative embodiment, imaging device 502 can move vertically such that the entire, or substantially the entire (e.g., 95%), area of ​​mirror 506 is utilized. In other words, in this case, projected image 530 can span the entire, or substantially the entire (e.g., 95% of the mirror) surface of mirror 506.

[0206] Projected image 530 is reflected off fixed mirror 506 and directed toward mirror 504 to produce projected image 536. Like projected image 530, projected image 536 does not span the entire surface of fixed mirror 506, although in some configurations the size (e.g., surface area) of mirror 504 can be reduced or the spacing between imaging device 502 and mirror 504 can be increased so that the entire or substantially the entire area (e.g., 95%) of mirror 504 is utilized. Projected image 536 is reflected by mirror 504 and directed toward the imaging sensor of imaging device 502.

[0207] 16B-16C, the orientation of the controllable mirrors of imaging device 502 at least partially determines the relative position of the FOV with respect to the surface of conveyor 508 (or other transport system). For example, as shown, the controllable mirrors are oriented so that the upper right portion of projected image 536 on mirror 504 corresponds to the lower right projected image 530 on mirror 506, which brings FOV 522 to the imaging sensor of imaging device 502. By adjusting the orientation of the controllable mirrors, the position of projected image 536 on fixed mirror 504 can be adjusted, thereby shifting the position of projected image 530 on fixed mirror 506 and ultimately shifting the position of FOV 522.

[0208] In some examples, one or more other fixed mirrors may be used, as described above. For example, referring again to FIG. 16A , another mirror 532 may be provided, not necessarily aligned to be included in a common optical axis as one or both of mirrors 504, 506. In some cases, mirror 532 may be a fixed mirror. Generally, mirror 532 may be used similarly to fixed mirrors 82, 144 of FIGS. 4A and 6 (or, if desired, controllable mirror 30 of FIG. 1A ) to acquire images of objects on conveyor 508 at different locations than images acquired using one or more of mirrors 504, 506 (rather than mirror 532). In some cases, mirror 532 may be used to scan an object before it reaches a region designated for subsequent imaging, and to control the subsequent imaging based on the results of the scan. In some cases, mirror 532 or another configuration may be used to help determine the dimensions of the object and inform the control of a movable mirror for subsequent image acquisition. In some cases, mirror 532 or a mirror configuration similar to that of FIG. 6 can be used to scan objects as they move along conveyor 508 and approach the area covered by light paths 516, 518, 518a (etc.). Based on the scan, a particular light path (e.g., path 516, 518, or 518a) can be selected for subsequent image acquisition. For example, using a distance sensor (e.g., a ToF sensor) included in or cooperating with imaging device 502, a light path including mirror 532 can be used to determine the height of the object and one of light paths 516, 518, 518a can be selected for subsequent image acquisition accordingly. (As also discussed above, in some implementations, an initial image along light path 516 can be used as well.)

[0209] In some embodiments, multiple regions of an object (or more generally a target region) Multiple imaging sensors arranged in an array relative to a target area can cooperate with each other and with one or more controllable mirrors to capture images of multiple sides. In some embodiments, for example, a tunnel system may be configured similarly to tunnel 222 (see FIG. 9A ), but may include multiple imaging sensors arranged around a target area within the tunnel. Additionally, one or more controllable mirrors may be arranged relative to the tunnel with imaging sensors, such that each imaging sensor can cooperate with an associated one or more controllable mirrors to capture images of part or all of one or more sides of an object within the tunnel. In some embodiments, a particular imaging sensor may be configured to cooperate with a particular mirror configuration or subpart of a mirror configuration to capture a particular set of images of one or more sides of an object (or target area). For example, some embodiments may include multiple imaging sensors, each configured to capture images of a corresponding one or more sides (e.g., exclusive respective sides) of an object in the target area using a corresponding (e.g., exclusive) controllable mirror. Similarly, some embodiments may include multiple sets of imaging sensors and corresponding controllable mirrors, with each set of imaging sensors and controllable mirrors configured to capture images of a different respective side of the object or target area. For example, some configurations may include six imaging sensors, each with an associated controllable mirror, each configured to capture images of one of six sides of the object within the target area, e.g., top, bottom, front, back, left, and right sides. Or, more generally, some configurations may include multiple imaging sensors and multiple controllable mirrors, with each associated set of imaging sensors and controllable mirrors dedicated to capturing images of at least one particular respective side of the object or target area.

[0210] In this regard, for example, Figures 17 and 18 show an example of another imaging system 600 that is similar to imaging systems 210 and 220 and is a possible extension or modification of the above-described imaging systems that include them. Accordingly, imaging system 600 may include or be configured for similar functionality as other imaging systems discussed herein, if desired. In particular, imaging system 600 includes imaging devices 602, 604, 606, 608, 610, and 612, each having at least one imaging sensor, at least one lens arrangement, and at least one control device (e.g., processor unit) configured to perform computational operations related to the imaging sensor. Each imaging device 602, 604, 606, 608, 610, and 612 may include a controllable mirror. Each of imaging devices 602, 604, 606, 608, 610, and 612 can selectively acquire image data from different FOVs depending on the orientation of the associated controllable mirror. Thus, for example, as described further below, imaging system 600 may be utilized to obtain images of each side of an object, possibly including partial representations of each side to focus on particular features (e.g., a barcode), or high-resolution composite representations created from multiple adjacent or overlapping images.

[0211] In general, imaging system 600 can be used to capture images of objects presented for image capture. In the particular configuration shown in FIGS. 17 and 18 , imaging system 600 also includes a support structure 614 supporting each of imaging devices 602, 604, 606, 608, 610, 612, and a platform 616 for supporting object 618 bearing symbol 620. While various other configurations are possible, in the illustrated example, support structure 614 is an enclosed cage-type support structure comprising two rectangular sections 622, 624 joined together at an upper bisection point 626 and a lower bisection point 628 of each rectangular section 622, 624, and legs 630 extending away from each vertex of each rectangular section 622, 624. Similarly, platform 616 is configured as an open-center platform to allow for capture of an image of the underside of object 618, although other configurations may include a transparent platform, a mesh or grid platform, or various other configurations.

[0212] Subsequently, each of the imaging devices 602, 604, 606, 608, 610, 612 is oriented to capture images of (e.g., facing) a particular side of the platform 616, such that an object, such as object 618, is placed on and supported by the platform 616 and each of the imaging devices 602, 604, 606, 608, 610, 612 can capture image data of the particular side of the object. For example, in the illustrated configuration, imaging device 602 is coupled to support structure 614 at a coupled upper bisection point 626 and faces the top surface of platform 616, imaging device 604 is coupled to support structure 614 at a coupled lower bisection point 628 and faces the bottom surface of platform 616, imaging device 606 is coupled to a central region of a first side of rectangular section 622 and faces a first side of platform 616, imaging device 608 is coupled to a central region of a second side opposite rectangular section 622 and faces a second side of platform 616, imaging device 610 is coupled to a central region of a first side of rectangular section 624 and faces a third side of platform 616, and imaging device 612 is coupled to a central region of a second side opposite rectangular section 624 and faces a fourth side of platform 616.

[0213] In some embodiments, a particular set of imaging devices may be arranged with optical axes that are parallel or perpendicular to one another. For example, in the illustrated embodiment, imaging devices 602 and 604 face one another, imaging devices 606 and 608 face one another, and imaging devices 610 and 612 face one another. Correspondingly, in this example, the optical axes (e.g., as defined by their respective imaging sensors) of imaging devices 602 and 604 may be substantially parallel, the optical axes of imaging devices 606 and 608 may be substantially parallel, and the optical axes of imaging devices 610 and 612 may be substantially parallel. Furthermore, the optical axis of imaging device 602 may be substantially perpendicular to the other imaging devices (except imaging device 604), the optical axis of imaging device 604 may be substantially perpendicular to the other imaging devices (except imaging device 602), the optical axis of imaging device 606 may be substantially perpendicular to the other imaging devices (except imaging device 608), the optical axis of imaging device 608 may be substantially perpendicular to the other imaging devices (except imaging device 606), the optical axis of imaging device 610 may be substantially perpendicular to the other imaging devices (except imaging device 612), and the optical axis of imaging device 612 may be substantially perpendicular to the other imaging devices (except imaging device 610).

[0214] While the illustrated mounting positions of imaging devices 602, 604, 606, 608, 610, 612 relative to one another may be advantageous, in some configurations, an array of imaging devices for imaging different sides of an object may be reoriented relative to the position shown in FIG. 17 and still remain configured to acquire image data from each side of the object. Similarly, while there are advantages (e.g., increased collection speed) to having six imaging devices 602, 604, 606, 608, 610, 612 each collect image data from a respective side of an object (e.g., six-sided object 618), some configurations may include a different number or configuration of imaging devices or may utilize other fixed or movable mirrors to enable a particular imaging device to acquire images of multiple sides of an object (e.g., as similarly discussed with respect to FIG. 9A ). For example, a fixed mirror (e.g., mirror 226) may be used to avoid the need to use imaging device 608, and another mirror may be used to avoid the need to use imaging device 612. Correspondingly, a different imaging device (e.g., imaging device 602) can utilize a fixed mirror to acquire image data from the side of one or more objects associated with imaging device 608, 612 by changing the orientation of the associated movable mirror (e.g., similar to imaging system 220).

[0215] In some embodiments, an imaging device dedicated to acquiring an image of a particular side of an object (e.g., as in imaging system 600) can be configured to acquire only an image of that side of the object. In some embodiments, an imaging device can be dedicated to acquiring images of multiple sides of an object, including overlapping acquisition areas with other imaging devices included in the same system. In some embodiments, an imaging device can be configured to acquire a single image encompassing an entire side of the object (e.g., an entire side of a presented box). In some embodiments, an imaging device can be configured to acquire a single image of a smaller portion of a side of the object, potentially involving acquiring one or more images of a particular area of ​​interest or acquiring multiple adjacent, overlapping, or other images of the same side of the object through control of a movable mirror.

[0216] In this latter regard, for example, the FOV of each imaging device 602, 604, 606, 608, 610, 612 in the illustrated configuration is substantially smaller (e.g., less than 25%) than the surface area of ​​a respective side of object 618. This configuration may enable the acquisition of high-resolution images of particular regions of interest of object 618, or a final composite image of a side of object 618, for example, as described below or using other approaches described above (e.g., with respect to FIGS. 10 and 15).

[0217] For example, an imaging device such as imaging device 606 can be used to acquire an image of the entire surface of a side of an object (e.g., facing the imaging device) by sequentially acquiring image data at different spatial locations of a corresponding FOV. In particular, imaging device 606 can utilize a movable mirror (e.g., by moving the mirror) to acquire image data for FOV 632, after which imaging device 606 utilizes the movable mirror (e.g., by moving the mirror) to translate FOV 632 (shown in FIG. 17 as FOV 632′) to acquire image data for FOV 632 at another location. This process can proceed iteratively (e.g., moving the mirror and FOV 632 followed by acquiring image data at each location) until image data has been acquired for the entire surface of the side of object 618. In some embodiments, a similar process can alternatively (or additionally) be used to acquire multiple images of the entire region of interest (e.g., only a portion of one side of object 618). Also, as noted above, in some cases, successively acquired images may be adjacent to one another, as indicated by FOVs 632, 632'. In other cases, successively acquired images may overlap on a particular object or may be spaced apart from one another.

[0218] In some embodiments, a set of images (each of which is also referred to herein as a "sub-image") can be combined together to produce a composite representation (e.g., a composite image) of a particular object or region of interest. In some embodiments, the sub-images can be stitched together (e.g., using appropriate edge detection or image matching algorithms) to generate a final high-resolution image of a particular side of the object or other region of interest. In some cases, this procedure can be accomplished by acquiring image data for each imaging device in the array (e.g., as in imaging system 600) and generating a separate high-resolution image for each side of the object or set of multiple regions of interest.

[0219] In some cases, the imaging device can implement a pre-specified order of image acquisition across a given region of interest. In other words, a pre-defined imaging region, such as a region that may be larger than the imaging device's FOV at a particular imaging distance, can be imaged using the iterative process described above. In this way, for example, the imaging device can automatically compensate for objects of various sizes (e.g., objects having different heights or different positions of each object), preventing the imaging device from having to first identify the side edges of the objects. Other approaches for acquiring multiple images of a particular region can also be utilized, including those discussed above, such as with respect to FIGS. 10 and 15.

[0220] Although FOV 632 is shown and the other FOVs of the other imaging devices 602, 604, 606, 608, 610, 612 have been described as being smaller than the respective sides of the object, in other configurations, the FOVs may be different sizes. For example, the FOVs may be smaller than those shown, or may be larger than those shown, such as the same size as or larger than a particular side of the object 618. In the illustrated embodiment of FIG. 17 , each imaging device 602, 604, 606, 608, 610, 612 includes two-axis controllable mirrors configured to translate its respective FOV (e.g., FOV 632) in two dimensions within a plane defined by the respective sides of the object 618. However, in alternative configurations, some of the imaging devices 602, 604, 606, 608, 610, 612 may be configured to operate with other mirror configurations. For example, one or more of the imaging devices 602, 604, 606, 608, 610, 612 may have a larger FOV in at least one dimension than shown and may be configured to operate with a single-axis movable mirror. For example, the FOV may exceed the maximum expected height or other dimension of the object being imaged. In this manner, for example, a single-axis controllable mirror may be oriented to scan the FOV in one dimension across an associated surface or other feature, while still allowing the associated imaging device to acquire image data of the entire surface or feature.

[0221] Also, as noted above, imaging device 604 is positioned below platform 616, which may therefore be configured to allow light to pass from the underside of object 618 to an imaging sensor of imaging device 604. Thus, platform 616 may be transparent or may have openings, such as holes or slots, so that light can properly pass to imaging device 604 (e.g., unobstructed by platform 616 over the region of interest).

[0222] 17 and 18 show a fixed support cage 614 and platform 616, alternative embodiments may utilize a similar configuration (e.g., having an array of imaging devices and controllable mirrors similar to imaging system 600) for a movable platform (e.g., a conveyor, transport system, etc.). For example, by making appropriate modifications to support cage 614 or by utilizing a different support structure such as tunnel 222, an array of imaging devices configured similarly to multiple imaging devices 602, 604, 606, 608, 610, 612 may be configured to acquire image data for each side of an object as it passes through modified auxiliary cage 614. In some cases, the moving platform or its associated support portion may be transparent so that imaging devices positioned below the moving platform can receive light from the underside of an object as it moves through the image region.

[0223] In some embodiments, the imaging system may be part of, for example, a single trigger event. 610 can be configured to acquire images of multiple sides of an object simultaneously (i.e., at the same time or over a common time interval). For example, returning to FIG. 17 , each of imaging devices 602, 604, 606, 608, 610 can be configured to acquire a respective set of one or more images over a common time interval. Similarly, in some cases, imaging devices 602, 604, 606, 608, 610 can be configured to acquire images based on a single trigger event. For example, based on a sensor (e.g., a contact or presence sensor or imaging device) determining that object 618 has been placed on platform 616, imaging devices 602, 604, 606, 608, 610 can simultaneously acquire images of each side of object 618. As another example, in some cases, the trigger event may result from operator input. For example, after placing object 618 on platform 616, the operator can electronically indicate that it should move out of the field of view of imaging devices 602, 604, 606, 608, 610 and begin capturing images.

[0224] Returning to the discussion above regarding the acquisition of multiple images of an area of ​​interest, Figure 19 shows an example of a composite (e.g., stitched) image 650 that can be generated using imaging devices 602, 604, 606, 608, 610, 612. For example, image 652 formed from multiple sub-images 654 is of a first side (S1) of an object, image 656 is of a second side (S2) of the object, image 658 is of a third side (S3) of the object, image 660 is of a fourth side (S4) of the object, image 662 is of a fifth side (S5) of the object, and image 664 formed from multiple sub-images 668 is of a sixth side (S6) of the object. As described above, sub-images 654 can be stitched or otherwise combined together to form (i.e., generate) composite image 652. Similarly, the sub-images 668 can also be stitched together or otherwise combined to form a composite image 664. As shown, the image 664 is acquired using a predetermined imaging order as described above and includes object edge contours 670 that are present in only a subset of the multiple sub-images 668. Thus, the predetermined imaging order can compensate for boxes of various sizes without first finding edges. In other embodiments, other approaches to creating a composite image are possible, including those discussed above in connection with other implementations.

[0225] Images 654, 656, 658, 660, 662, 664, each corresponding to a particular side of an object, can be stitched or otherwise combined together to generate a composite image. While composite image 650 is shown presented in a relatively compact orientation, with various sub-images organized into columns and rows, other representations can be utilized. For example, a two-dimensional decomposition of a box (e.g., object 618) with a central image below the box can be constructed and presented to a user for relatively quick analysis, if desired. Furthermore, different sides of an object can be arranged within the composite image in various ways that may or may not correspond to a simple unfolding or other manipulation of the object. In some cases, as with any other image discussed herein, the entire composite image, each (or one or more) images of a particular side of the object, or each (or one or more) sub-images can be processed to locate or analyze (e.g., decode) symbols.

[0226] In some embodiments, the imaging system can be configured to generate a three-dimensional (3D) representation of a particular object. In this regard, for example, distance measurement techniques (e.g., time-of-flight sensing or other measurement techniques described above or known in the art) can be combined with various imaging techniques described herein that utilize controllable mirrors, to generate a three-dimensional (3D) representation of a particular object. A 3D representation of the object or a particular region of interest of the object can be generated accordingly. For example, in connection with imaging system 600, one or more ToF or other similar sensors can be configured to identify surface features of object 618, including one or more (e.g., all) of the sides of object 618. In some cases, the surface features can then be overlaid on images of the sides of object 618 as acquired by imaging devices 602, 604, 606, 608, 610, 612 to provide a comprehensive 3D representation of all sides of object 618. In some embodiments, the ToF or other distance sensor can be included in an imaging device that includes one or more imaging sensors (e.g., imaging devices 602, 604, 606, 608, 610, 612 or any of the other imaging devices discussed herein). In some embodiments, the ToF or other distance sensor can be separate from the imaging device used to acquire an image of a particular side of the object or to perform other imaging operations discussed herein.

[0227] As generally stated above, discussion herein of particular vision systems, mirror arrangements, imaging devices, etc. is intended to also disclose methods of assembling, configuring, calibrating, and otherwise using such systems, arrangements, devices, etc. In this regard, FIG. 20 illustrates an exemplary process 700 according to some embodiments of the present disclosure, which generally involves using controllable mirrors to acquire images, as variously discussed above. In general, aspects of process 700 can be implemented using one or more of the imaging systems described above, alone or in combination with each other, or can be implemented using other imaging systems including one or more imaging sensors, a mirror arrangement comprising at least one controllable mirror, and a control device (e.g., a specially programmed general-purpose computer) configured to control the acquisition of images by the one or more imaging sensors and the movement of the at least one controllable mirror.

[0228] In particular, in the illustrated example, process 700 includes acquiring an image using a first optical path (e.g., any of the optical paths described above) (710), controlling a movable mirror to define a second optical path (e.g., any other of the optical paths discussed above) (720), and acquiring an image using the second optical path (730).

[0229] In some cases, the second optical path may differ from the first optical path, including with respect to overall optical path length, incident position or angle on the object or target area, or in other manners. In some cases, both of the multiple optical paths may include one or more movable mirrors (e.g., the same movable mirror), or both may be associated with a single imaging sensor or a single imaging device. In some cases, the different optical paths may include different mirrors (722) (i.e., a mirror included in the first or second optical path may sometimes not be included in the second or first optical path). In some cases, including those discussed in connection with Figures 5A and 16A, the including different mirrors (722) may be fixed mirrors.

[0230] Correspondingly, the images obtained by the different acquisitions (710, 730) can generally include different subjects. For example, in some cases, the movable mirror may be controlled (720) to define a second optical path to acquire one or more images (730) at a different location (732) than the previous image, including to span an area of ​​a conveyor (e.g., as described with respect to FIGS. 3 and 7A), to track the movement of an object or acquire images (710, 730) along the path of travel of an object (e.g., as described with respect to FIGS. 1A-1C and 4A-4C), or to acquire images (710, 730) of multiple objects or multiple portions of a particular object (e.g., as described with respect to FIGS. 9A-11, 15, 16A, and 17-19). As a further example, the movable mirror may be controlled (720) to define a second optical path to acquire images (710, 730) with different zoom degrees (734) or to otherwise highlight particular regions of interest (e.g., as generally discussed herein).

[0231] In some cases, images obtained from one or more acquisitions (710, 730) may be analyzed (740) (e.g., automatically using a control device). For example, a first image may be analyzed 740 to track an object (742) (e.g., as discussed with respect to FIGS. 1A-1C), to update a calibration (744) (e.g., as discussed with respect to FIG. 12), to determine a dimension or another measurement of an object (746) (e.g., based on an analysis of multiple images described with respect to FIG. 6), to determine an updated focus value (748) (e.g., as described with respect to FIGS. 11, 13, and 14), to identify symbols or other regions of interest (750) (e.g., as discussed generally herein), or for other purposes.

[0232] In some cases, as described in more detail in the examples above, controlling (720) the mirrors to define the optical path can be based on analyzing (740) the images, although in some implementations the mirrors can be controlled (720) separately from analyzing (740) the images. In some cases, as also described in more detail in the examples above, analyzing (740) the images can occur after multiple images have been acquired, and analyzing (740) multiple images can sometimes be included (e.g., for multiple side imaging and generating composite images, as discussed in connection with FIGS. 8A-9B, 14, and 15). In some cases, analyzing (740) the images can include analyzing images obtained by acquisition (710, 730) using multiple imaging sensors (e.g., as described in connection with FIGS. 8A-9B and 17-19).

[0233] As a more detailed example, Figure 21 shows a flowchart of a process 800 for scanning multiple sides of an object, which may be implemented using one or more suitable computing devices (e.g., a computing device of any of the imaging devices described above). For example, some (or all) of process 800 may be implemented using a variety of suitable computing devices in the previous imaging system configurations, such as, for example, imaging system 20 of Figures 1A-1C, imaging system 40 of Figure 2, imaging system 210 of Figures 8A and 8B, imaging system 220 of Figure 9A, and imaging system 600 of Figures 17 and 18.

[0234] At 802, process 800 may include a suitable imaging device acquiring a first image of a first FOV of a side of an object (e.g., a six-sided box or other structure). In some cases, the first FOV may be smaller than the surface area of ​​the object on that side, or the first FOV may be larger than or the same size as the surface area of ​​the object on that side. In some cases, block 802 of process 800 may also include acquiring 3D data of the first FOV (e.g., using a ToF sensor). In some cases, 3D information may be obtained without necessarily acquiring an image, although such 3D information may correspond to a particular image.

[0235] At 804, process 800 may include a suitable computing device (e.g., of an imaging device disclosed herein) controlling a movable mirror (e.g., a two-axis movable mirror) to move or change its orientation to provide a second FOV of one or more imaging sensors of the particular imaging device. In some configurations, the first FOV may partially or entirely overlap with the second FOV (e.g., with a different center or zoom degree). In some configurations, the first FOV may not overlap with the second FOV. There may not be.

[0236] At 806, process 800 may include an appropriate imaging device (e.g., the same imaging device as in block 802) acquiring a second image of the second FOV. In some cases, block 806 of process 800 may also include acquiring three-dimensional ("3D") data of the second FOV, or 3D information may be acquired without necessarily acquiring an image).

[0237] In some cases, as described above, the acquired image may include an entire side of the object. In some cases, the acquired image may include only a portion of the side of the object. In some cases, at 808, process 800 may include generating a composite image of the side of the object. As described above with respect to FIG. 19 , in some cases, blocks 804 and 806 may be repeated (e.g., iteratively) for additional FOVs of each side of the object (e.g., to acquire a third image of a third FOV including 3D information, a fourth image of a fourth FOV including 3D information, etc.). For example, a suitable computing device may track a predetermined imaging region (e.g., received from a user's input) where the FOV is defined within the predetermined imaging region. Thus, this iterative process may continue until the suitable computing device acquires images from an FOV that spans the entire predetermined imaging region.

[0238] In some cases, generating the composite image may involve stitching together multiple images (e.g., a first image and a second image), which may be facilitated by finding edges or other features within each image. Additionally, the 3D information obtained from each FOV may be appropriately merged with the corresponding composite image. For example, 3D information for a portion of the FOV may be omitted if the corresponding portion of the image in the FOV is omitted in the composite image. In some cases, for example, if the first FOV is larger than the sides of the object, 804 and 806 (and 808) may be omitted.

[0239] At 810, process 800 may include a suitable computing device (e.g., of an imaging device disclosed herein) identifying a first region of interest within the first image, the second image, the composite image (or other acquired images used to form the composite image). In some cases, once the region of interest is identified, the region of interest (e.g., pixels defined by the region) may be extracted. In some configurations, the region of interest is a symbol (e.g., a barcode).

[0240] At 812, process 800 may include a suitable computing device (e.g., of an imaging device as disclosed herein) determining whether a first region of interest (e.g., a barcode to be decoded) has been identified. For example, if the suitable computing device determines that a first region of interest has not been identified, process 800 may return to block 804. In some configurations, the suitable computing device may increase the overlap between the respective FOVs (e.g., the first and second FOVs). This may include decreasing the respective movement of the movable mirrors. In other cases, the suitable computing device may adjust the zoom (e.g., decrease the zoom) and thereby adjust the spatial footprint of each FOV (e.g., decrease the FOV) as needed, for example, if the imaging device is configured as imaging device 400 of FIG. 14 . This may, for example, create a higher resolution composite image (formed of the respective sub-images). This may increase the likelihood (e.g., after a failure) of identifying and locating the first region of interest (and subsequently decoding the first region of interest, if necessary).

[0241] If, at 812, the computing device determines that a first region of interest (e.g., a barcode to be decoded) has been identified, process 800 may proceed to block 814, where one or more features of the first region of interest may be decoded. In this regard, for example, various known image analysis (e.g., decoding) tools may be used.

[0242] As shown, blocks 802-812 can define sub-process 816. Sub-process 816 can be completed for multiple sides (e.g., each side) of an object, such as a six-sided object. In some configurations, such as in the case of imaging system 600 of FIGS. 17 and 18, each side can be associated with a respective imaging device capable of acquiring images of the respective side. Alternatively, in other configurations, a particular imaging device can be associated with multiple sides of the object (e.g., as shown in FIG. 9A).

[0243] At 816, process 800 may include a suitable computing device (e.g., of an imaging device as disclosed herein) generating a composite image of all (or some) sides of the object. For example, after multiple iterations of sub-process 816 are completed for each (desired) side of the object (e.g., six sides of the object) and may include generating a composite image of each (desired) side of the object, these images may be combined into a further composite image including images of the desired sides of the object. In some configurations, this further composite image may be analyzed for regions of interest (e.g., symbols), and once a first region of interest is identified, the computing device may decode the region of interest (if applicable).

[0244] In some cases, including that shown at 816, process 800 also includes generating a 3D representation of the object, as may proceed using any of a variety of known techniques. In some cases, the computing device may identify edges in each composite image (or single image) on one side of the object and combine the images (e.g., along adjacent edges) to generate the 3D representation of the object.

[0245] 22 shows another process 900 for acquiring multiple FOVs of one or more objects, including objects moving along a transportation system, such as a conveyor system, that can be implemented using one or more suitable computing devices (e.g., a computing device of any of the imaging devices described above). For example, some (or all) of process 900 can be implemented using various suitable computing devices in the configurations of previous imaging systems, such as, for example, imaging system 20 of FIGS. 1A-1C , imaging system 40 of FIG. 2 , imaging system 78 of FIG. 4A , imaging system 110 of FIG. 5A , imaging system 140 of FIG. 6 , imaging system 180 of FIGS. 7A and 7C , imaging system 250 of FIG. 11 , imaging system 280 of FIG. 12 , the imaging system shown and described with respect to FIG. 13 , the imaging system shown and described with respect to FIG. 14 , the imaging system shown and described with respect to FIG. 15 , imaging system 500 of FIGS. 16A-16C , etc.

[0246] At 902, process 900 can include a disclosed imaging device acquiring a first image of a first field of view of an object along a first optical path. In some cases, the first optical path can include a fixed mirror (e.g., a rotatable mirror locked in a particular orientation) that defines the first FOV. In some configurations, the first optical path is further defined by a movable mirror (e.g., as attached to the imaging device used to acquire the first image). In some configurations, the first optical path may not be defined by any fixed mirror or other mirrors other than the movable mirror associated with the imaging device, such as optical path 516 of FIG. 16A . In some embodiments, the first optical path can be defined by multiple fixed mirrors, such as optical path 518 of FIG. 16A or optical path 122 of FIG. 5A .

[0247] At 904, process 900 may include a suitable computing device (e.g., of an imaging device disclosed herein) determining a dimension (e.g., height) of the object based on the sensor data. In some cases, the sensor data may include pixel dimensions from one or more images used in combination with other known dimensions (e.g., the length of the first optical path), such that the suitable computing device can determine the height using trigonometric relationships (see, e.g., FIG. 6 ). In other cases, the sensor data may include ToF data (e.g., from a ToF sensor), data from a light curtain, distance sensor data, etc., each of which may enable the computing device to determine the height of the object relative to a surface on which the object is supported, such as a transportation system (e.g., a conveyor).

[0248] In some cases, at 906, process 900 may include a suitable computing device (e.g., of an imaging device disclosed herein) identifying a first region of interest (e.g., a symbol) within the first image. If necessary, the computing device may attempt to decode the symbol within the first region of interest.

[0249] At 908, process 900 may include a suitable computing device (e.g., of an imaging device disclosed herein) controlling a movable mirror to change the FOV for imaging from a first FOV (i.e., along the first optical path) to a second FOV (i.e., along the second optical path). In some configurations, parameters of the second FOV (e.g., mirrors included in the associated optical path) may be determined based on the dimensions determined at 904. In some cases, the second FOV may be determined based on comparing the determined dimensions of the object to a threshold dimension. For example, if the determined height of the object is greater than a threshold height, the computing device may sometimes move the movable mirror such that the second optical path is longer than the first optical path (used to acquire the first image), and correspondingly, the FOV at the determined height may be appropriately sized to acquire a useful image of the object. In some cases, this can be achieved by utilizing multiple fixed mirrors such that the second optical path is defined by multiple fixed mirrors (e.g., mirrors 504, 506 in FIG. 16A or mirrors 114, 116, 118 in FIG. 5A). Alternatively, for example, if the determined height of the object is less than a threshold height, the computing device can move the movable mirror so that the second optical path is not defined by any of the fixed mirrors (e.g., optical path 518 in FIG. 16A as shown).

[0250] In some implementations, the second FOV along the second light path can include the same object imaged in block 902, or can include a different object (e.g., having a different height, such as a higher height than the object in block 902). In some implementations, the computing device can select the second light path based on the location of an identified region of interest (e.g., a symbol) in the first image. For example, if the region of interest (e.g., a symbol) is not completely visible in the first image, the computing device can select the second light path such that the FOV of the second light path includes the entire region of interest. Similarly, if the region of interest is present in the first image but is not of sufficient quality (e.g., for decoding purposes), the computing device can select the second light path such that the FOV of the second light path also includes the determined region of interest, but the FOV of the second light path is smaller than the first FOV, allowing for increased image resolution required for decoding.

[0251] At 910, the process 900 starts with a suitable computing device (e.g., (e.g., of an imaging device disclosed herein) acquiring a second image of a second FOV of the object (or another object) along a second optical path. Process 900 may also include a suitable computing device (e.g., of an imaging device disclosed herein) decoding symbols in the first image, the second image, or a different image.

[0252] In general, the systems and methods disclosed herein can also be optimized in various ways. For example, scan patterns and image acquisition using controllable mirrors, including those discussed in connection with the embodiments shown in the drawings, can be optimized based on considerations related to minimizing the total number of scans, movements, or images acquired, minimizing the equipment and other overhead required to acquire images appropriate to the complete scan area or scan goal, and minimizing perspective distortion of images of the object of interest (e.g., due to relatively large angles of incidence of the optical path). However, in some implementations, some (or others) of these considerations may be prioritized as needed, depending on the available equipment, the context, the purpose, the type of object being scanned, and other factors.

[0253] The particular embodiments disclosed above are illustrative only, as the technology may be modified and practiced in different but equivalent manners apparent to those skilled in the art having the benefit of the teachings herein. Moreover, no limitations are intended to the details of construction or design herein shown, except as set forth in the following claims. It will therefore be apparent that the particular embodiments disclosed above may be altered or modified, and all such variations are considered within the scope and spirit of the technology. Accordingly, the protection sought herein is as set forth in the following claims.

Claims

1. an imaging sensor; Lens configuration and a mirror controllably movable about at least two axes; one or more control devices, the one or more control devices Identifying a scan area to be scanned, the scan area including at least a first portion of a side of the object; determining a field of view (FOV) location of a plurality of FOV locations based on predetermined symbol locations, the plurality of FOV locations corresponding to a plurality of FOVs that collectively span at least a portion of the scan area; configured to acquire, using the imaging sensor, a plurality of images of at least the first portion of the side of the object; acquiring the plurality of images and moving the mirror to move a FOV of the imaging system to each of the plurality of FOV positions according to a predetermined sequence of image acquisition.

2. The imaging system of claim 1 , wherein the imaging sensor is configured to be stationary relative to the object to acquire the plurality of images.

3. the one or more control devices receiving user input specifying the scan area; The imaging system of claim 1 , further configured to define the scan area based on the user input.

4. The imaging system of claim 3 , wherein the scan area is defined to exclude at least a second portion of the side of the object.

5. the one or more control devices 10. The imaging system of claim 1, further configured to determine a minimum overlap between at least two adjacent FOVs of the plurality of FOVs based on identifying a maximum expected dimension for a symbol on the object.

6. the one or more control devices The imaging system of claim 1 , configured to stitch the multiple images to provide a composite image of at least the first portion of the side of the object.

7. The imaging system of claim 6 , wherein the imaging system is configured to acquire multiple images for each of multiple sides of the object and provide a composite image of the multiple sides of the object.

8. the side of the object is an upper side of the object; The imaging system of claim 1 , wherein the scan area spans the entire width of a conveyor supporting the object.

9. The imaging system of claim 1 , wherein the multiple FOVs collectively span the entire side of the object.

10. The imaging system of claim 1 , wherein the plurality of FOVs collectively span the entire scan region.

11. Further comprising a distance sensor; The imaging system of claim 1 , wherein the one or more control devices are further configured to use the distance sensor to determine a distance from the imaging sensor to the scan area.

12. 12. The imaging system of claim 11, wherein the distance sensor comprises a time-of-flight sensor that directs a pulse through the mirror toward the side of the object and receives a reflection of the pulse through the mirror.

13. 2. The imaging system of claim 1, wherein identifying the scan region is based on at least one of parameters of the lens configuration, a distance from the imaging sensor to the scan region, real-world dimensions of a desired FOV, or a desired degree of overlap between adjacent FOVs.

14. the first portion of the side of the object includes a set of one or more symbols; the one or more control devices performing a machine vision analysis to identify symbols from the set in the plurality of images and determine whether the identified symbols are complete symbols or partial symbols; The imaging system of claim 1 , further configured to initiate a next image acquisition for the object based on the identified symbol being determined to be a partial symbol.

15. the one or more control devices determining a number of symbols identified within the plurality of images; The imaging system of claim 1 , further configured to initiate a next image acquisition for the object if the number of identified symbols is less than a predetermined number of symbols.

16. The imaging system of claim 1 , wherein the one or more control devices are configured to determine the predetermined symbol locations based on identifying a predetermined reference symbol.

17. 2. The imaging system of claim 1, wherein the one or more control devices are further configured to determine the predetermined symbol position based on identification of a symbol through a previous acquisition of a previous image at a previous FOV position by the imaging system.

18. 1. A control system for an imaging system, comprising: the imaging system comprising an imaging sensor and a controllably movable mirror for directing a field of view (FOV) of the imaging system; the control system comprises one or more control devices; the one or more control devices determining a first plurality of FOV positions on a side of an object corresponding to the first plurality of FOVs of the imaging system; acquiring a first plurality of images of the side of the object; attempting to identify one or more symbols in the first plurality of images; configured to move the mirror and capture a second plurality of images of the side of the object using the imaging sensor based on an attempt to identify the one or more symbols; acquiring the first plurality of images includes: moving the mirror to sequentially move the FOV of the imaging system to first FOV positions of the first plurality of FOV positions according to a predetermined first order of image acquisition; and acquiring an image at each of the first FOV positions using the imaging sensor.

19. acquiring the second plurality of images of the side of the object determining a second plurality of FOV positions corresponding to a second plurality of FOVs on the side of the object; moving the mirror to sequentially move the FOV of the imaging system to second FOV positions of the second plurality of FOV positions according to a second predetermined order of image acquisition; determining one or more of the FOV locations in the first plurality of FOV locations or the second plurality of FOV locations based on predetermined symbol locations; 20. The control system of claim 18, comprising:

20. 1. A method of scanning an object using an imaging system having an imaging sensor and a mirror, comprising: identifying a scan area to be scanned that includes a side of the object; determining a field of view (FOV) location of a plurality of FOV locations based on a predetermined symbol location, the plurality of FOV locations corresponding to a plurality of FOVs collectively spanning the scan region; acquiring a plurality of images of the side of the object via the imaging system; acquiring the plurality of images moving the mirror to move the FOV of the imaging system to the plurality of FOV positions according to a predetermined sequence of image acquisition; acquiring an image at each of the plurality of FOV locations.

Images