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Irregular Object Dimensioning System

This report details the progress on the Irregular Object Dimensioning System, focusing on its implementation in sorting facilities. It outlines current specifications, challenges faced with dimensioning irregularly shaped objects, and future plans for algorithm improvements. Key components include advanced laser measuring heads, camera systems, and image processing algorithms aimed at minimizing errors in dimensions for optimized cargo space utilization. The project's innovations not only aim to increase profits for shipping companies by saving space but also establish a reliable "Irregular Approval" guideline for the industry.

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Irregular Object Dimensioning System

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  1. Advisor: Professor Neal Anderson Michael Baccari Peter Bian Michael Coughlin Avi Noy Irregular Object Dimensioning System

  2. Agenda • Background • MDR Specification • Progress Report • Challenges • Future Plans • Summary

  3. Background • Sorting facilities’ conveyer belts. • Components of sort system: Photo eye, laser measuring heads, set of 6 line-scan cameras.

  4. Background (Cont’d) • Irregularly shaped objects • Current issues with the dimensioning component. • “The irregular approval.”

  5. 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

  6. 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

  7. Progress Report - System Block Diagram

  8. Progress Report (Cont’d) • Hardware Components • LMS – Laser Measuring Heads • One 2-D camera • Two LEDs • Photoeye • Conveyor belt

  9. Progress Report (Cont’d) • LMS Setup

  10. Progress Report (Cont’d) • LMS Initialization

  11. Progress Report (Cont’d) • 2-D Camera

  12. Progress Report (Cont’d) • LEDs

  13. Progress Report (Cont’d) • Photoeye

  14. Progress Report (Cont’d) • Photoeye (Cont’d) • IR Led transmitter – Hamamatsu part #L2690-02 • Forward current IF = 50mA • R = VCC/IF = 5/50mA = 100Ω • Digital output photo IC – Hamamatsu part #L6289 • Photodiode • Schmitt trigger circuit • Output resistor • RL = 1.2kΩ • Ccoupling = 0.01uF

  15. Progress Report (Cont’d) • Photoeye – Results

  16. Progress Report (Cont’d) • Conveyer belt demo video

  17. Progress Report (Cont’d) • Image processing algorithm • SUSAN (Smallest Univalue Segment assimilating Nucleus) Principle

  18. Progress Report (Cont’d) • Image processing algorithm demo

  19. Progress Report (Cont’d) • Laser edge detection and dimensional algorithm

  20. Challenges • Blind spots

  21. 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

  22. 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

  23. Summary • MDR Specification • Improve accuracy of dimensioning of irregularly shaped objects • “Irregular Approval” • Half inch margin of error

  24. Comments / Questions?

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