CN107525466B - 体积尺寸标注器中的自动模式切换 - Google Patents

体积尺寸标注器中的自动模式切换 Download PDF

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CN107525466B
CN107525466B CN201710451676.6A CN201710451676A CN107525466B CN 107525466 B CN107525466 B CN 107525466B CN 201710451676 A CN201710451676 A CN 201710451676A CN 107525466 B CN107525466 B CN 107525466B
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H.S.阿克利
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Abstract

体积尺寸标注器中的自动模式切换。用于对对象进行尺寸标注的尺寸标注器和方法包括使用具有单个传感器的尺寸标注***捕捉至少一个视场的至少一个范围图像，以及计算所述范围图像的尺寸数据并存储结果。其中，基于三个模式之一自动确定对象的捕捉的视图的数量。如果对象是长方体，或者没有突出部并且仅有一个不面对视点的钝角，则使用第一模式，其中其捕捉对象的单个视图。如果对象包括单个钝角，并且没有突出部，则使用第二模式，其中其捕捉对象的两个视图。如果对象包括突出部和/或多于一个钝角、悬突、突出部或其组合，则使用第三模式，其中其捕捉对象的多于两个视图。

Description

体积尺寸标注器中的自动模式切换
技术领域
本发明涉及用于确定对象的物理尺寸的***（即，尺寸标注（dimensioning）***），并且更具体地涉及自动切换模式以获取商业中的尺寸标注所需的数据的尺寸标注***和方法。
背景技术
一般来说，确定物品的尺寸作为商业中的物流（logistics）过程（例如装运、存储等）的一部分经常是必需的。然而，物理测量对象是耗时的并且可能不导致准确的测量。例如，除了人为错误之外，当测量不规则形状的对象时或将多个对象组合成单个测量时，可能导致测量误差。因此，已经开发了尺寸标注***来自动化或协助进行此测量。
尺寸标注***通常以三维（3D）感测对象的形状/大小，并且然后使用该3D信息来计算对象尺寸的估计（例如，体积、面积、长度、宽度、高度等） 。此外，对于不规则对象（或多个对象），尺寸标注***可以计算包含对象（或多个对象）的最小包围（bounding）框（MVBB）的尺寸。
尺寸标注***可以通过将光图案（light pattern）（即，图案）投影到视场中来感测对象。视场内的对象将扭曲光图案的外观。尺寸标注***可以捕捉反射的光图案的图像，并分析捕捉的图像中的图案失真以计算尺寸标注所需的3D数据。
许多尺寸标注器（dimensioner）使用确定对象的长度、宽度和高度的光学装置，该对象通常是长方体（cuboid）（例如，相对侧平行并垂直于相邻侧的“正常”盒子）。然而，一些包装是不规则的并且因此可能不能获得尺寸的单个集合，特别是如果角中的一个是钝的（obtuse）（即大于90度）。一些***通过利用多个传感器来解决该问题，但是这是昂贵的并且多个传感器限制了可以测量的对象的大小。另一个解决方案是总是对设备进行编程以进行两个或更多视点的测量，但是这对于正常的盒子或长方体来说是耗时的。
因此，存在对于具有检测何时需要多个视图并相应地自动切换模式的自动装置的单个传感器尺寸标注器的需要。
发明内容
因此，在一个方面中，本发明包括一种用于对对象进行尺寸标注的方法。在该方法中，使用具有单个传感器的尺寸标注***或尺寸标注器来捕捉至少一个视场中的对象的至少一个范围图像（range image）。然后计算针对所有至少一个视场的至少一个范围图像的尺寸数据并且存储结果。基于以下三个模式之一自动确定利用范围图像和尺寸数据捕捉的视图的数量：第一模式、第二模式和第三模式。如果对象是长方体，或者没有突出部并且仅有一个不面对视点的钝角（obtuse angle），则自动使用第一模式，其中第一模式捕捉对象的单个视图。如果对象包括面对视点的单个钝角并且没有突出部，则自动使用第二模式，其中第二模式捕捉对象的两个视图。如果对象包括突出部和/或多于一个钝角、悬突（overhang）、突出部或其组合，则自动使用第三模式，其中第三模式捕捉对象的多于两个视图。
用于尺寸标注的方法的一个特征可以是从来自所有自动确定的视图的范围图像计算最小包围框（MVBB）。
在另一个可能的实施例中，用于尺寸标注的方法可以包括显示和/或传输用于商业中的认证（certification）的最小包围框（MVBB）的尺寸。
在另一个可能的实施例中，用于尺寸标注的方法可以包括移动尺寸标注***和对象中的至少一个（例如，尺寸标注***或对象或两者），使得尺寸标注***的视场包含在捕捉视图之一之后的对象的不同视图，直到捕捉确定数量的视图。在选择的实施例中，可以基于以下中的一个或多个来确定移动尺寸标注***或对象（即，移动尺寸标注***和/或对象）的该步骤：
•确定视图中是否存在不平坦（non-flat）的对象的一侧，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分;
•检测是否存在面对视点的钝角，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分;以及
•检测是否存在另一个钝角和/或突出部，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分。
在另一可能的实施例中，移动尺寸标注***或对象的步骤可以包括生成音频和/或视觉消息以引导用户执行移动。在选择的实施例中，音频和/或视觉消息可以包括用于用户的指令以（i）在特定方向上移动尺寸标注***或对象、（ii）以特定速度移动尺寸标注***或对象和/或（iii）停止移动尺寸标注***或对象。
在另一个可能的实施例中，移动尺寸标注***或对象的步骤可以包括尺寸标注***或对象的自动移动。
在另一个可能的实施例中，使用尺寸标注***捕捉视场的范围图像的步骤可以包括：
•使用图案投影仪将光图案投影到视场中;
•使用范围照相机（range camera）捕捉视场的图像，该图像包括反射的光图案;以及
•从反射的光图案的图像生成3D数据。
在另一个可能的实施例中，所述至少一个范围图像可以包括足以对对象进行尺寸标注的3D数据。在选择的实施例中，足以进行尺寸标注的3D数据可以包括来自对象的所有必要视图的3D数据以计算最小包围框（MVBB）。在其他选择的实施例中，3D数据可以来自对象的视图而在反射的光图案中没有任何间隙。
在另一个可能的实施例中，尺寸标注***可以是手持式的。例如，尺寸标注***可以并入到手持式条形码扫描器中。
在另一方面中，本发明包括一种尺寸标注***，其包括具有单个传感器的尺寸标注***。尺寸标注***通常可以包括图案投影仪、单个范围照相机和处理器。图案投影仪可以被配置为将光图案投影到对象上。单个范围照相机可以被配置为（i）在视场中捕捉反射的光图案的图像、（ii）从反射的光图案生成3D数据以及（iii）使用3D数据创建范围图像。处理器可以通信地耦合到图案投影仪和单个范围照相机。处理器可以由软件来配置以基于以下三个模式之一自动确定对象的捕捉的视图的数量：
•如果对象是长方体，或者没有突出部并且仅有一个不面对视点的钝角，则自动使用第一模式，其中第一模式捕捉对象的单个视图；
•如果对象包括面对视点的单个钝角并且没有突出部，则自动使用第二模式，其中第二模式捕捉对象的两个视图;或者
•如果对象包括突出部和/或多于一个钝角、悬突、突出部或其组合，则自动使用第三模式，其中第三模式捕捉对象的多于两个视图。
尺寸标注***的一个特征可以是处理器被进一步配置成从来自所有自动确定的视图的范围图像计算最小包围框的尺寸。
在可能的实施例中，尺寸标注***可以显示和/或传输用于商业中的认证的最小包围框（MVBB）的尺寸。
在另一个可能的实施例中，尺寸标注***可进一步被配置成移动尺寸标注***或对象，使得尺寸标注***的视场包含在捕捉视图之一之后的对象的不同视图，直到捕捉到确定数量的视图。在选择的实施例中，尺寸标注***或对象的移动基于处理器被配置用于以下内容来确定：
•确定视图中是否存在不平坦的对象的一侧，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分;
•检测是否存在面对视点的钝角，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分;以及
•检测是否存在另一个钝角和/或突出部，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含所述对象的不同部分。
在另一个可能的实施例中，尺寸标注***或对象的移动可以包括生成音频和/或视觉消息以引导用户执行移动。在选择的实施例中，音频和/或视觉消息可以包括用于用户的指令以（i）在特定方向上移动尺寸标注***或对象、（ii）以特定速度移动尺寸标注***或对象和/或（iii）停止移动尺寸标注***或对象。
在选择的实施例中，尺寸标注***可以是手持式的。例如，尺寸标注***可以并入到手持式条形码扫描器中。
在上述方法的一个可能的实施例中，其中足以用于进行尺寸标注的3D数据包括来自对象的表面的3D数据，而在反射的光图案中没有任何间隙。
在上述方法的一个可能实施例中，其中尺寸标注***是手持式的。
一种***包括：图案投影仪，被配置为将光图案投影到对象上;单个范围照相机，被配置为（i）在视场中捕捉反射的光图案的图像、（ii）从反射的光图案生成3D数据以及（iii）使用3D数据创建范围图像;以及处理器，其通信地耦合到所述图案投影仪和所述单个范围照相机;其中所述处理器由软件配置以基于以下模式来自动地确定对象的需要被捕捉的视图的数量：如果对象是长方体，或者没有突出部并且仅有一个不面对视点的钝角，则自动使用第一模式，其中第一模式捕捉对象的单个视图;如果对象包括面对视点的单个钝角并且没有突出部，则自动使用第二模式，其中第二模式捕捉对象的两个视图;或者如果对象包括突出部和/或多于一个钝角、悬突、突出部或其组合，则自动使用第三模式，其中第三模式捕捉对象的多于两个视图。
在所述***的一个可能的实施例中，其中所述处理器还被配置为：从来自所有自动确定的视图的范围图像计算最小包围框的尺寸;其中，所述尺寸标注***显示和/或传输用于在商业中认证的最小包围框的尺寸。
在所述***的一个可能的实施例中，其中尺寸标注***被进一步配置成移动尺寸标注***和对象中的至少一个，使得尺寸标注***的视场包含在捕捉对象的视图之一之后的对象的不同部分，直到捕捉对象的确定数量的视图。
在所述***的一个可能的实施例中，其中基于处理器被配置用于以下内容来确定尺寸标注***和对象中的至少一个的移动：确定视图中是否存在不平坦的对象的一侧，并且如果是，则移动尺寸标注***和对象中的至少一个，使得尺寸标注***的视场包含对象的不同部分;检测是否存在面对视点的钝角，并且如果是，则移动尺寸标注***和对象中的至少一个，使得尺寸标注***的视场包含对象的不同部分;以及检测是否存在突出部，并且如果是，则移动尺寸标注***和对象中的至少一个，使得尺寸标注***的视场包含所述对象的不同部分。
在所述***的一个可能的实施例中，其中尺寸标注***和对象中的至少一个的移动包括生成音频和/或视觉消息以引导用户执行移动。
在所述***的一个可能实施例中，其中音频和/或视觉消息包括用于用户的指令以（i）在特定方向上移动尺寸标注***和对象中的至少一个、（ii）以特定速度移动尺寸标注***和对象中的至少一个和/或（iii）停止移动尺寸标注***和/或对象。
在所述***的一个可能实施例中，其中尺寸标注***是手持式的。
在所述***的一个可能的实施例中，其中尺寸标注***被并入到手持条形码扫描器中。
在下面的具体实施方式及其附图中进一步解释了上述说明性发明内容以及本发明的其他示例性目的和/或优点以及实现本发明的方式。
附图说明
图1示意性地描绘了根据本发明的实施例的尺寸标注***的框图。
图2图形地描绘了根据本发明的实施例的使用空间偏移图案（spatially offsetpattern）投影仪和范围照相机感测三维的原理。
图3图形地描绘了根据本发明的实施例的尺寸标注***的图案投影仪的实现。
图4图形地描绘了根据本发明的实施例的尺寸标注***和/或对象的移动。
图5图形地描绘了示出根据本发明的实施例的用于对对象进行尺寸标注的方法的流程图。
图6图形地描绘了根据本发明的实施例的包含钝角的对象的二维视图。
图7图形地描绘了表示根据本发明的实施例可以如何自动地确定一个（模式1）、两个（模式2）或三个（模式3）视图使得可以提供最小包围框供商业中的使用的流程图。
具体实施方式
本发明包括具有单个传感器（即，单个图像传感器和照相机）的尺寸标注的方法和尺寸标注***，其自动地切换用于捕捉用于对各种成形的对象进行尺寸标注的最少量的视图的模式。本公开的尺寸标注的方法和尺寸标注器通常被设计为在三个模式之一中自动操作以及在其间切换：
•如果对象是长方体，或者没有突出部并且仅有一个不面对视点的钝角，则自动使用第一模式，其中第一模式捕捉对象的单个视图；
•如果对象包括面对视点的单个钝角并且没有突出部，则自动使用第二模式，其中第二模式捕捉对象的两个视图；或者
•如果对象包括突出部和/或多于一个钝角、悬突、突出部或其组合，则自动使用第三模式，其中第三模式捕捉对象的多于两个视图。
使用具有这三个自动模式的所公开的方法和***的一些优点可以是快速、准确地计算最小包围框（MVBB）供商业中使用并具有与单个模式尺寸标注***相似的成本。因此，设计本公开以提供一种将在商业中使用的销路好（marketable）并且可认证的尺寸标注方法和***。本公开改进了被编程为总是进行多次测量以便对于商业而言对于尺寸不规则对象是可认证的的设备。因此，本公开可以提供较低成本但不灵活的方法，其涉及使用需要操作者从不同视点（例如从前面和侧面或从一侧和另一侧等）进行测量的单个算法。此外，本公开可以描述优化的和自动化的方法，其中使用关于要被尺寸标注的纸箱（carton）或对象的信息来确定为了商业认证而需要多少视图。因此，合并本文所述的方法和过程的设备可以与具有单个传感器的标准设备具有大致相同的成本，但是可以在光学尺寸标注市场中提供商业特征中的唯一可认证。
在（图）1中示出了示例性尺寸标注***。尺寸标注***10包括图案投影仪1，其被配置为将光（例如，红外光）图案投影到视场2中。光图案通常包括以图案排列的光点（即，点云）。光点可以是（i）大小相同或不同以及（ii）可以以某种顺序或伪随机地排列。图案投影仪可以使用光源（例如，激光器、LED等）、图案创建器（例如，掩模（mask）、衍射光学元件等）和一个或多个透镜来创建光图案。
尺寸标注***10还包括范围照相机3，其被配置为捕捉从范围照相机的视场4反射的投影的光图案的图像。范围照相机4的视场和图案投影仪2的视场应该重叠，但可能不一定具有相同的形状/大小。范围照相机3可以包括一个或多个透镜以将视场4的真实图像形成到图像传感器上。光过滤（例如，红外过滤器）也可以用于通过去除杂散（stray）光和/或环境光来帮助检测反射的图案。可以使用图像传感器（例如，CMOS传感器、CCD传感器等）来创建光图案的数字图像。范围照相机还可以包括从光图案图像获得3D数据的必要处理（例如DSP、FPGA、ASIC等）。作为示例，并且明确地不限于此，范围照相机3可以基于以下中的一个或多个：结构光、立体视觉、飞行时间等和/或其组合。
如图2中所示，图案投影仪1和范围照相机3可以在空间上偏移（例如，立体地布置）。空间偏移8虑及将被检测为范围照相机的图像传感器上的图像偏移7的对象6的范围（range）的改变5。可以调整空间偏移8以改变图像偏移7，以改变可以检测范围差异5的分辨率。以该方式，点云图案中的图像偏移可以被转换成尺寸标注***的视场内的对象的3D数据。
3D数据包括点云图像中每个光点的范围值。此外，点云图像中的光点之间的范围值可以***值（interpolate）以创建所谓的范围图像。范围图像是灰度图像，其中图像中的每个像素值对应于尺寸标注***和视场中的点之间的估计的距离。范围照相机可以以点云图像或范围图像的形式输出3D数据。
可以使用在尺寸标注***的处理器9（参见图1）上运行的软件算法来分析范围图像以检测对象并确定对象的尺寸。在某些情况下，这些算法可以包括创建最小包围框（MVBB）的步骤，最小包围框（MVBB）是包围对象（例如，不规则形状的对象）或对象的集合（例如，托盘上的多个盒子）的框的计算机模型。在该情况下，尺寸标注***可能返回并且甚至显示MVBB的尺寸。
准确的尺寸标注需要反射的图案（例如，点云图像）的高质量图像。高质量点云图像是其中图案中的光点在多个对象的表面上可见的图像。低质量的点云图像可能由多种情况引起。例如，成像图案可能不是可见的一个或多个表面（例如，相对于图案投影仪被阻挡的表面）或落在图案投影仪和/或范围照相机的视场之外。在另一示例中，光图案可以在表面上部分地可见和/或缺乏足够的图案密度（即，表面上的可见光点的数量）。在又一示例中，对象的环境中的照明（例如，眩光（glare）、阴影）和/或对象的反射率（例如，暗对象）可能不利地影响光图案的可视性。
图3图形地描绘了将光图案11投影到视场2中的对象6上的尺寸标注***10。该描绘示出了由于对象6是长方体（模式1）而捕捉对象6的单个视图的尺寸标注***10。
图4示出了尺寸标注***10的移动12和/或对象6的移动13可以如何帮助捕捉（即，感测、采样等）3D数据。移动12和/或13可以虑及来自比可以利用单个视图获得的对象6的更多部分或视图的3D数据的捕捉。可以捕捉范围图像并且然后组合范围图像以形成合成范围图像。合成范围图像具有来自对象上的更多点的3D数据。例如，可以在移动过程期间对对象的所有侧面进行采样以从整个对象获得3D数据。此外，可以使用该技术填充图案中的间隙（即，图案中的缺失的区域）。
在一个可能的实施例中，尺寸标注***和/或对象的移动是自动的并且不需要用户参与。在该实施例中，尺寸标注***可以耦合到调整尺寸标注***和对象之间的空间关系的移动设备（例如，致动器、马达等）。在一个示例中，对象6可以被放置在测量区域中并且尺寸标注***10可以绕对象12移动以从各种透视（perspective）或视图收集范围图像，如图4中所示。在另一示例中，固定尺寸标注***在如图4中所示的那样对象6旋转（例如，在机动转盘（motorized turntable）上）13时收集范围图像。在这些情况下，可以从移动设备获得位置信息并且位置信息可以用于帮助组合范围图像以创建3D数据。
在另一可能的实施例中，尺寸标注***和/或对象的移动由用户执行。这里，消息（例如，音频、视觉等）可以由尺寸标注***的处理器生成并被传送到用户接口（例如，屏幕、指示灯、扬声器等）。用户可以遵循消息提供的指令来移动尺寸标注***/对象。指令可以包括消息以帮助用户知道（i）移动尺寸标注***/对象多远、（ii）多快地移动尺寸标注***/对象、（iii）将尺寸标注***/对象移动到特定位置以及（iv）继续移动尺寸标注***/对象多久（例如何时停止移动）。例如，尺寸标注***可以是手持式的，并且用户可以移动尺寸标注***以改变透视。在这种情况下，尺寸标注***可以被配置为收集跟踪信息（例如，感测其在环境中的位置和朝向）以帮助组合范围图像。
通常，当捕捉视图和范围图像时，尺寸标注***可以以多种方式移动。然而，在某些情况下，该移动可能有促进组合的某些需要。例如，移动可以限于在尺寸标注***和对象之间具有恒定范围的移动，因为范围的改变影响光图案/对象的图像大小。在另一示例中，移动可以限于具有特定起点和终点的某个路径。可以使用期望的对象大小/形状来确定该路径。
可以通过使用同时定位和映射（SLAM）来减少移动的需求。 SLAM是使用环境的图像（例如，范围图像）来更新成像器（例如，尺寸标注***）的位置的计算机算法。当移动尺寸标注***时，例如，SLAM算法可以检测捕捉的范围图像中的特征（即，地标（landmark））并且然后将这些地标与在先前捕捉的范围图像中找到的界标进行比较，以便更新尺寸标注***的位置。该位置信息可以用于帮助组合范围图像。
通常可以使用图像拼接（image-stitching）来实现组合范围图像。图像拼接是指变换、对齐（register）和混合多个构成（constituent）图像以形成单个合成图像的计算机算法。图像拼接算法可以首先确定合适的数学模型以将构成图像的像素坐标与目标合成图像表面（例如，平面、圆柱体、球体等）的像素坐标相关。这涉及将图像变换（例如，卷曲（warp））到目标合成图像表面。然后，变换的图像可以彼此对齐（例如，使用特征检测和映射）并融合（例如，混合）以去除边缘效应。
虽然范围图像具有表示范围而不是反射光的像素，但是在大多数其他方面中它们像常规的数字图像。因此，到目前为止描述的图像拼接的原理可以同样应用于范围图像（或点云图像）。
在一个实施例中，尺寸标注***可以并入到手持式条形码扫描仪中。通常，包裹可能具有用于个别物品的标识的条形码符号（序列化（serialized））。因此，将本尺寸标注***并入条形码扫描仪中对于在线查找条形码数据或存储在本地数据库中的条形码数据以找出尺寸是否已经在运输的较早阶段确定的具有大的速度优势。进一步的增强将针对通常被仿造的高价值物品，以将存储的尺寸与测量的尺寸进行比较并标记差异。
图5图形地描绘了示出用于对对象进行尺寸标注的方法100的流程图。该方法开始于定位20尺寸标注***和/或对象，使得对象上的至少一部分被包含在尺寸标注***的视点内。然后，方法100自动地确定110对对象进行尺寸标注所需的视图的数量。利用范围图像和尺寸数据捕捉的视图的数量基于三个模式之一自动地确定：基于算法的第一模式、第二模式和第三模式。如果对象是长方体，或者没有突出部并且仅有一个不面对视点的钝角，则自动使用第一模式，其中第一模式捕捉对象的单个视图。如果对象包括面对视点的单个钝角并且没有突出部，则自动使用第二模式，其中第二模式捕捉对象的两个视图。如果对象包括突出部和/或多于一个钝角、悬突、突出部或其组合，则自动使用第三模式，其中第三模式捕捉对象的多于两个视图。
一旦确定所需视图的数量，该方法首先捕捉130初始视场的范围图像。如果未捕捉到所需数量的视图，则尺寸标注***和/或对象然后被移动160，使得该对象的另一部分在视场内并且另一范围图像被捕捉130。重复移动和捕捉的该过程，直到捕捉到130所需数量的视图和相关联的范围图像。
一旦捕捉到所需数量的视图，多个范围图像然后就可以组合170以形成合成范围图像，并且合成范围图像可以用于对对象进行尺寸标注190。
在一个示例性实施例中，一旦尺寸标注190完成，就可以计算200最小包围框（MVBB）的尺寸。在选择的实施例中，可以显示和/或传输210 MVBB的这些计算的尺寸。
在一个示例性实施例中，尺寸标注***可以创建消息150以引导尺寸标注***和/或对象的移动，如前所述的那样。在选择的实施例中，可以基于以下中的一个或多个确定尺寸标注***或对象的该移动150：
•确定视图中是否存在不平坦的对象的一侧，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分;
•检测是否存在面对视点的钝角，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分;以及
•检测是否存在另一个钝角和/或突出部，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分。
本公开认识到，可以在第一视图中检测要进行尺寸标注的对象的特定特征（即，纸箱或正常盒子），并且基于该分析，改变模式，然后需要对两个或更多视点进行尺寸标注。本公开可以提供如果是手持式的则可以容易地移动的尺寸标注器，或者替代地，放置在静态尺寸标注器（例如，汽车立方体（auto cube））上的纸箱可以转向到不同的朝向，使得可以使用自动模式切换设备来总是生成正确的尺寸，特别是在对不规则对象进行尺寸标注的认证有严格要求的国家中。
参考模式1，如果纸箱是长方体或“正常”盒子，则无论从哪个视点来对其进行观看，都将发生相同的尺寸标注器结果（在由设备提供的测量公差（tolerance）内，该测量公差可以被称为“d”）。因此，单个图像将产生供商业中使用的有效结果。
参考模式2，如果对象具有钝角，则取决于尺寸标注照相机具有哪个视图，有包围框尺寸结果的不同集合。如果钝角面对照相机，则“阴影”或隐藏区域将导致使得包围框的尺寸大于最小值。需要指示操作者或***来移动尺寸标注器或重新排列对象，使得获得另一个视图。只要另一个视图没有面对尺寸标注器的钝角，结果就将是最小的包围框。
图6图形地描绘了根据本发明实施例的包含钝角（角F）的对象的二维视图。如果从右侧（侧面b）观察对象，或者如果对象被翻转并以钝角（face away）面向远离地（侧面c向下）观察，则产生较小的包围框。最小包围框是必须报告供商业中使用的包围框。针对图6的该讨论假设纸箱的另一端是相同的并且其余的侧面是平的并垂直于端部。如果从上方观察纸箱，如箭头所示（面对侧面c），则尺寸标注器将看不到悬突并且将撒下“阴影”。该观察场景将产生比如果从右侧观察到的或者如果纸箱被重新排列使得侧面“c”向下的更大的包围框。
参考模式3，如果对象具有不平坦的一侧，则其可以使另一侧悬突并引起隐藏的区域。因此，将需要另一个视图以看到悬突之下。类似地，如果对象有突出部，那么它可能导致阴影并且潜在地引起不是最小的包围框。再次，需要另一个视图来看到突出部之下。在某些情况下，尤其是存在多于一个钝角、悬突或突出部，或者如果存在组合，则尺寸标注器必须从所有三个正交（orthogonal）侧观察对象以确保捕捉最小的包围框。
在手持场景中，可以指示操作者移动尺寸标注器或重新排列纸箱以获得第二和/或第三图像。在固定尺寸标注器的情况下，可以指示操作者重新排列纸箱以获得第二和/或第三图像，或者该移动可以是自动的。
一旦收集了必要数量的视图和图像，设备就可以简单地比较值并选择产生最小包围框的尺寸的集合。如果操作者没有收集必要的图像，则设备不得提供任何尺寸（例如，发出静态故障通知）。
现在参考图7，体积尺寸标注器中的自动模式切换的一个实施例的概述示出为流程图。该流程图示出了可以如何自动地确定一个（模式1）、两个（模式2）或三个（模式3）视点，使得可以始终提供MVBB的尺寸。本公开的概述是，尺寸标注器自动地确定它是否具有对象的安全（safe）视图并且可以保证报告最小的包围框。最终，需要三个正交视图对于客户可能是有必要的，使得客户将不被过度收费（overcharge）。因此，该尺寸标注器可以被认证供商业中使用。
在说明书和/或附图中，已经公开了本发明的典型实施例。本发明不限于这样的示例性实施例。使用术语“和/或”包括相关联的列出的项目中的一个或多个的任何和所有组合。附图是示意标识并且因此不一定按比例绘制。除非另有说明，否则具体术语已被用于通用和描述性意义并且不是为了限制的目的。

Claims (20)

1.一种尺寸标注方法，包括：
使用具有传感器的尺寸标注***捕捉至少一个视场中的对象的至少一个范围图像；
计算所有的至少一个范围图像的尺寸数据并存储结果；
从捕捉的范围图像确定要被尺寸标注的对象是否是长方体，具有任何突出部或任何钝角中的至少一个；
其中，基于以下模式自动确定捕捉的视图的数量：
当对象是长方体，或者没有突出部并且仅有一个不面对视点的钝角时，第一模式使用对象的第一视图；
当对象包括面对视点的单个钝角并且不包括突出部时，第二模式使用对象的第一视图和第二视图；或者
当对象包括突出部和/或多于一个钝角、悬突、突出部或其组合时，第三模式使用对象的第一视图、第二视图和一个或多个附加视图。
2.根据权利要求1所述的尺寸标注方法，还包括：
从来自所有自动地确定的视图的范围图像计算所存储的尺寸数据的最小包围框的尺寸；和
显示和/或传输用于商业中认证的最小包围框的尺寸。
3.根据权利要求1所述的尺寸标注方法，还包括：
移动尺寸标注***和对象中的至少一个，使得尺寸标注***的视场包含捕捉对象的至少一个视图之一之后的所述对象的不同视图，直到捕捉确定数量的视图。
4.根据权利要求3所述的尺寸标注方法，其中基于以下内容确定移动尺寸标注***和对象中的至少一个的步骤：
确定视图中是否存在不平坦的对象的一侧，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分；
检测是否存在面对视点的钝角，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分；和/或
检测是否存在突出部，并且如果是，则移动尺寸标注***或对象，使得尺寸标注***的视场包含对象的不同部分。
5.根据权利要求3所述的尺寸标注方法，其中移动尺寸标注***和对象中的至少一个包括生成音频和/或视觉消息以引导用户执行所述移动。
6.根据权利要求5所述的尺寸标注方法，其中所述音频和/或视觉消息包括用于用户的指令以（i）在特定方向上移动尺寸标注***或对象、（ii）以特定速度移动尺寸标注***或对象和/或（iii）停止移动尺寸标注***和/或对象。
7.根据权利要求3所述的尺寸标注方法，其中尺寸标注***和对象中的至少一个的移动包括尺寸标注***和对象中的至少一个的自动移动。
8.根据权利要求1所述的尺寸标注方法，其中，使用具有传感器的尺寸标注***捕捉至少一个视场中的对象的至少一个范围图像包括：
使用图案投影仪将光图案投影到视场中；
使用范围照相机捕捉视场的图像，所述图像包括反射的光图案；以及
从反射的光图案的图像生成3D数据；
其中，尺寸标注***包括单个传感器。
9.根据权利要求8所述的尺寸标注方法，其中至少一个范围图像包括足以用于对对象进行尺寸标注的3D数据。
10.根据权利要求9所述的尺寸标注方法，其中足以用于进行尺寸标注的3D数据包括用来计算最小包围框的来自对象的所有必要表面的3D数据。
11.根据权利要求10所述的尺寸标注方法，其中足以用于进行尺寸标注的3D数据包括来自对象的表面的3D数据，而在反射的光图案中没有任何间隙。
12.根据权利要求1所述的尺寸标注方法，其中尺寸标注***是手持式的。
13.一种尺寸标注***，包括：
图案投影仪，被配置为将光图案投影到对象上；
单个范围照相机，被配置为（i）在视场中捕捉反射的光图案的图像、（ii）从反射的光图案生成3D数据以及（iii）使用3D数据创建范围图像；以及
处理器，其通信地耦合到所述图案投影仪和所述单个范围照相机；
其中所述处理器由软件配置以：
确定对象是否是长方体，具有任何突出部或任何钝角中的至少一个；以及
基于以下模式来自动地确定对象的需要被捕捉的视图的数量：
如果对象是长方体，或者没有突出部并且仅有一个不面对视点的钝角，则自动使用第一模式，其中第一模式捕捉对象的单个视图；
如果对象包括面对视点的单个钝角并且不包括突出部，则自动使用第二模式，其中第二模式捕捉对象的两个视图；或者
如果对象包括突出部和/或多于一个钝角、悬突、突出部或其组合，则自动使用第三模式，其中第三模式捕捉对象的多于两个视图。
14.根据权利要求13所述的尺寸标注***，其中所述处理器还被配置为：
从来自所有自动确定的视图的范围图像计算最小包围框的尺寸；
其中，所述尺寸标注***显示和/或传输用于在商业中认证的最小包围框的尺寸。
15.根据权利要求13所述的尺寸标注***，其中尺寸标注***被进一步配置成移动尺寸标注***和对象中的至少一个，使得尺寸标注***的视场包含在捕捉对象的视图之一之后的对象的不同部分，直到捕捉对象的确定数量的视图。
16.根据权利要求15所述的尺寸标注***，其中基于处理器被配置用于以下内容来确定尺寸标注***和对象中的至少一个的移动：
确定视图中是否存在不平坦的对象的一侧，并且如果是，则移动尺寸标注***和对象中的至少一个，使得尺寸标注***的视场包含对象的不同部分；
检测是否存在面对视点的钝角，并且如果是，则移动尺寸标注***和对象中的至少一个，使得尺寸标注***的视场包含对象的不同部分；以及
检测是否存在突出部，并且如果是，则移动尺寸标注***和对象中的至少一个，使得尺寸标注***的视场包含所述对象的不同部分。
17.根据权利要求16所述的尺寸标注***，其中尺寸标注***和对象中的至少一个的移动包括生成音频和/或视觉消息以引导用户执行移动。
18.根据权利要求17所述的尺寸标注***，其中音频和/或视觉消息包括用于用户的指令以（i）在特定方向上移动尺寸标注***和对象中的至少一个、（ii）以特定速度移动尺寸标注***和对象中的至少一个和/或（iii）停止移动尺寸标注***和/或对象。
19.根据权利要求13所述的尺寸标注***，其中尺寸标注***是手持式的。
20.根据权利要求19所述的尺寸标注***，其中尺寸标注***被并入到手持条形码扫描器中。
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