Container Measurement Using Distance Image for Stable 3D Calculation
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Solution Overview
Problem
Existing technologies face challenges in stably calculating three-dimensional information of container characteristic points due to difficulties in properly capturing these points with a camera, leading to unstable calculations.
Innovation Solution
A container measuring system that includes a distance image acquiring part and a calculation part. The distance image acquiring part, integrated with a working machine, captures a distance image of the container, and the calculation part processes this image to calculate the three-dimensional position and shape of the container's flat face part.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a camera is used to capture images of characteristic points on a container, then three-dimensional information can be calculated, but the calculation becomes unstable when characteristic points cannot be properly captured
Solution Approach 1:
The patent introduces a distance image as an intermediary data format between the camera capture and the three-dimensional information calculation. Instead of directly calculating three-dimensional information from characteristic point images (which is unstable), the system first acquires a distance image that contains depth information for each pixel, and then uses this intermediate representation to calculate three-dimensional container information. This intermediary approach provides more reliable and stable calculations.
Solution Approach 2:
The patent replaces the traditional mechanical/optical approach of using cameras to capture images of specific characteristic points with a distance imaging system that directly measures spatial distances. This substitution of the measurement mechanism allows for more robust acquisition of three-dimensional information without relying on the stability of characteristic point detection.
2Loss of information
If characteristic points are used for calculation, then three-dimensional information can be obtained, but the system becomes sensitive to disturbances and capture failures
Solution Approach 1:
The patent changes the fundamental parameter used for measurement from discrete characteristic point coordinates to continuous distance image data. By transforming the measurement basis from point-based (prone to disturbances) to pixel-based distance fields (more robust), the system reduces sensitivity to disturbances and ensures more continuous availability of three-dimensional information.
Solution Approach 2:
The distance image acts as a comprehensive copy of the spatial information, capturing distance data for all pixels in the field of view rather than selecting specific characteristic points. This complete spatial copy provides redundancy and robustness, allowing the system to maintain three-dimensional information availability even when certain regions are affected by disturbances.
Data Source
AI summary
A container measuring system includes a distance image acquiring part and a calculation part. The distance image acquiring part is provided on a working machine for performing a work of loading into a container, and is capable of acquiring a distance image of the container. The calculation part processes the distance image of the container acquired by the distance image acquiring part. The calculation part calculates a three-dimensional position of a flat face part constituting the container on the basis of the distance image of the container. The calculation part calculates three-dimensional information including a three-dimensional position and a three-dimensional shape of the container on the basis of the three-dimensional position of the flat face part.