Download - Irregular Object Dimensioning System
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Electrical and Computer Engineering
Irregular Object Dimensioning System
Advisor: Professor Neal Anderson
Michael BaccariPeter Bian
Michael CoughlinAvi Noy
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2Electrical and Computer Engineering
Agenda
Background
MDR Specification
Progress Report
Challenges
Future Plans
Summary
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3Electrical and Computer Engineering
Background
• Sorting facilities’ conveyer belts.
• Components of sort system: Photo eye, laser measuring heads, set of 6 line-scan cameras.
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4Electrical and Computer Engineering
Background (Cont’d)
• Irregularly shaped objects
• Current issues with the dimensioning component.
• “The irregular approval.”
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5Electrical and Computer Engineering
Background (Cont’d)
Dimensions used for storage area on cargo planes
Minimize cuboidal volume of irregularly shaped objects • Increases profits• Save cargo space
“Irregular Approval” • Guideline test for major shipping companies
Half inch margin error“Sputnik” test
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6Electrical and Computer Engineering
MDR Specification
Software Progress• Demo of algorithms for dimensional reconstruction from simulated laser data
input• Demo of image processing algorithm with basic edge detection from camera
Working Hardware Components• Conveyor Belt• 2 laser measuring heads (LMS 200)• 2 Cameras• LED Light Sources• Photo Eye
Research• Multiplexing• Image Processing• Depth Maps
Quantifiable Requirement Specifications• Irregular Approval• Proposed System Improvement
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7Electrical and Computer Engineering
Progress Report - System Block Diagram
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8Electrical and Computer Engineering
Progress Report (Cont’d)
Hardware Components
• LMS – Laser Measuring Heads
• One 2-D camera
• Two LEDs
• Photoeye
• Conveyor belt
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9Electrical and Computer Engineering
Progress Report (Cont’d)
LMS Setup
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10Electrical and Computer Engineering
Progress Report (Cont’d)
LMS Initialization
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11Electrical and Computer Engineering
Progress Report (Cont’d)
2-D Camera
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12Electrical and Computer Engineering
Progress Report (Cont’d)
LEDs
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13Electrical and Computer Engineering
Progress Report (Cont’d)
Photoeye
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14Electrical and Computer Engineering
Progress Report (Cont’d)
Photoeye (Cont’d)• IR Led transmitter – Hamamatsu part #L2690-02
Forward current IF = 50mAR = VCC/IF = 5/50mA = 100Ω
• Digital output photo IC – Hamamatsu part #L6289PhotodiodeSchmitt trigger circuitOutput resistor
• RL = 1.2kΩ
• Ccoupling = 0.01uF
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15Electrical and Computer Engineering
Progress Report (Cont’d)
Photoeye – Results
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16Electrical and Computer Engineering
Progress Report (Cont’d)
Conveyer belt demo video
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17Electrical and Computer Engineering
Progress Report (Cont’d)
Image processing algorithm• SUSAN (Smallest Univalue Segment assimilating
Nucleus) Principle
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18Electrical and Computer Engineering
Progress Report (Cont’d)
• Image processing algorithm demo
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19Electrical and Computer Engineering
Progress Report (Cont’d)
Laser edge detection and dimensional algorithm
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20Electrical and Computer Engineering
Challenges
Blind spots
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21Electrical and Computer Engineering
Challenges (Cont’d)
Current algorithm• 2 dimensional axis
No algorithm for 3 dimensional axis
All edges and protrusions mapped out for irregular object
Multiplexing cameras with LMS heads
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22Electrical and Computer Engineering
Future Plans
Creation of 3 dimensional axis algorithm
Implementation• Multiplexing of two sets of data• Execution of new dimensioning algorithm
Possible improvement of edge detection for LMS and cameras
Construction of redesigned control box
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23Electrical and Computer Engineering
Summary
MDR Specification
Improve accuracy of dimensioning of irregularly shaped objects
“Irregular Approval” • Half inch margin of error
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24Electrical and Computer Engineering
Comments / Questions?