WO2022271655A1

WO2022271655A1 - Deformable object scanning and bagging systems

Info

Publication number: WO2022271655A1
Application number: PCT/US2022/034276
Authority: WO
Inventors: Michael A. Kalinowski; Francisco D. TREVINO; Joseph W. BEAUREGARD; Michael A. CLARKE; Mark A. HOOD; Kevin GREMILLION
Original assignee: Cryovac, Llc
Priority date: 2021-06-24
Filing date: 2022-06-21
Publication date: 2022-12-29

Abstract

A system includes a conveyor, a scanning service, an object horn, and a computing device. The conveyor conveys a deformable object in a downstream direction. The scanning device scans a surface of the deformable object. The object horn directs the deformable object from the conveyor into a bag and the object horn is configured to hold an opening of the bag as the deformable object is inserted into the bag. The computing device receives an indication of the scan of the surface of the deformable object from the scanning device, determines a two-dimensional profile corresponding to the scan of the surface of the deformable object, and causes the object horn to conform the opening of the bag into a non-rectangular shape based on the two-dimensional profile of the deformable object.

Description

DEFORMABLE OBJECT SCANNING AND BAGGING SYSTEMS

SPECIFICATION

BACKGROUND

[0001] The present disclosure is in the technical field of deformable object bagging systems. More particularly, the present disclosure is directed to bagging systems that scan a surface of a deformable object, determine a two-dimensional profile of the deformable object based on the surface scan, and conform an object hom based on the two-dimensional profile.

[0002] Deformable objects can be difficult to manipulate using automated tools. The deformable nature of the objects does not lend itself to being manipulated by traditional tools, such as pincers. In addition, when it comes to bagging deformable objects, the bags themselves are deformable and difficult to manipulate with automated tools. The combination of the deformability of the objects and the deformability of the bags makes the task of automatedly bagging deformable objects a significant challenge. These challenges with bagging deformable objects reduce or eliminate the advantages of reliability and repeatability of using automated systems.

[0003] The difficulties with bagging deformable objects are compounded when the deformable objects are raw meat products, such as raw beef cuts. Raw meat products come in large ranges of sizes, shapes, and weights. While a human operator may be able to properly prepare bags to receive raw meat products of various shapes, sizes, and weights, automated systems typically do not have such versatility for a single tool to be able to properly bag raw meat products across the large ranges of sizes, shapes, and weights of the raw meat products. SUMMARY

[0004] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This summary is not intended to identify key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0005] In a first embodiment, a system includes a conveyor, a scanning service, an object horn, and a computing device. The conveyor is configured to convey a deformable object in a downstream direction. The scanning device is configured to scan a surface of the deformable object. The object hom is configured to direct the deformable object from the conveyor into a bag and the object hom is configured to hold an opening of the bag as the deformable object is inserted into the bag. The computing device is configured to receive an indication of the scan of the surface of the deformable object from the scanning device, to determine a two-dimensional profile corresponding to the scan of the surface of the deformable object, and to cause the object hom to conform the opening of the bag into a non- rectangular shape based on the two-dimensional profile of the deformable object.

[0006] In a second embodiment, the scan of the surface of the deformable object of the first embodiment is a three-dimensional scan of the surface of the deformable object above a conveying surface of the conveyor.

[0007] In a third embodiment, the two-dimensional profile of the second embodiment is substantially perpendicular to the downstream direction, and wherein the two-dimensional profile defines a perimeter that is outside of the three dimensional scan when the three dimensional scan is viewed in the downstream direction.

[0008] In a fourth embodiment, the computing device of the third embodiment is configured to determine the two dimensional profile such that a ratio of a portion of the area of the two-dimensional profile not covered by the three dimensional scan to a portion of the area of the two-dimensional profile covered by the three dimensional scan is below a predetermined threshold.

[0009] In a fifth embodiment, the computing device of any of the previous embodiments is configured to define a shape of the two-dimensional profile based on possible configurations of the object hom. [0010] In a sixth embodiment, the object hom of the fifth embodiment has a number of fins that are positionable so that the object hom conforms the opening of the bag into a polygon shape.

[0011] In a seventh embodiment, the number of fins of the sixth embodiment is greater than four so that the polygon shape of the opening of the bag has more than four sides.

[0012] In an eighth embodiment, the two-dimensional profile of any of the sixth or seventh embodiments is a polygon having a number of sides equal to or greater than the number of sides of the polygon shape of the opening of the bag.

[0013] In a ninth embodiment, the two-dimensional profile of any of the sixth to eighth embodiments includes an indication of a position of each of the fins of the object hom.

[0014] In a tenth embodiment, the fins any of the sixth to ninth embodiments include an upper fin, a first lower fin, a second lower fin, a first intermediate fin, and a second intermediate fin. The upper fin, the first and second lower fins, and the first and second intermediate fins are positionable such that the polygon shape of the opening of the bag is an irregular pentagonal shape.

[0015] In an eleventh embodiment, the system of the tenth embodiment is configured such that the upper fin is at a fixed lateral position with respect to the conveying surface and the upper fin is positionable vertically at a vertical position within a range of vertical positions with respect to the conveying surface. The first and second lower fins are at fixed vertical positions with respect to the conveying surface and each of the first and second lower fins is positionable laterally within a range of lateral positions with respect to the conveying surface. The first intermediate fin is capable of moving vertically with respect to the conveying surface in a range between the fixed vertical position of the first lower fin and the vertical position of the upper fin, and the second intermediate fin is capable of moving vertically with respect to the conveying surface in a range between the fixed vertical position of the second lower fin and the vertical position of the upper fin.

[0016] In a twelfth embodiment, the two-dimensional profile of the eleventh embodiment defines a vertical location of the upper fin with respect to the conveying surface, lateral locations of the first and second lower fins, and a vertical location of each of the first and second intermediate fins. [0017] In a thirteenth embodiment, the vertical location of each of the first and second intermediate fins of the twelfth embodiment is defined by a downward angle with respect to the conveying surface from the vertical location of the upper fin.

[0018] In a fourteenth embodiment, the scanning device of any of the previous embodiments includes at least one of a camera, a proximity detector, a lidar sensor, a line scanning sensor, or any combination thereof.

[0019] In a fifteenth embodiment, the computing device of any of the previous embodiment is configured to store at least one of the scan of the surface of the deformable object and the two-dimensional profile.

[0020] In a sixteenth embodiment, the computing device of the fifteenth embodiment is further configured to track a location of the deformable object as it passes in the downstream direction through the system and to pass information about the one of the scan of the surface of the deformable object and the two dimensional profile to at least one other component in the system.

BRIEF DESCRIPTION OF THE DRAWING

[0021] The foregoing aspects and many of the attendant advantages of the disclosed subject matter will become more readily appreciated as the same become better understood by reference to the following detailed description, when taken in conjunction with the accompanying drawings, wherein:

[0022] Figs. 1 A and IB depict top and side views, respectively, of an embodiment of a system for bagging deformable objects, in accordance with the embodiments disclosed herein;

[0023] Fig. 2 depicts an example of a way in which a scan can be represented in the form of an embodiment of a wireframe scan, in accordance with the embodiments disclosed herein;

[0024] Fig. 3 depicts an example of a way in which a scan can be represented in the form of an embodiment of a gradient scan, in accordance with the embodiments disclosed herein;

[0025] Figs. 4A, 4B, and 4C depict an example of a way in which a scan can be represented in the form of top, side, and end views, respectively, of an embodiment of a contour line scan of a deformable object, in accordance with the embodiments disclosed herein; [0026] Figs. 5 A, 5B, and 5C depict an embodiment of determining a two-dimensional profile corresponding to a scan of a surface of a deformable object, in accordance with the embodiments disclosed herein;

[0027] Fig. 6 depicts an embodiment of an object hom caused to conform the opening of a bag into a non-rectangular shape based on a two-dimensional profile of a deformable object, in accordance with the embodiments disclosed herein;

[0028] Fig. 7A depicts an example of the computing determining a two-dimensional profile device based on a scan of a deformable object, in accordance with the embodiments disclosed herein;

[0029] Fig. 7B depicts an example of the computing determining a non-rectangular shape of a bag opening based on the scan of the deformable object, in accordance with the embodiments disclosed herein;

[0030] Figs. 8A, 8B, and 8C depict different views of a three-dimensional scan of a surface of an object, in accordance with the embodiments disclosed herein;

[0031] Figs. 9A, 9B, and 9C depict examples of non-rectangular two-dimensional profiles generated by the computing device based on the scan of the surface of the object shown in Figs. 8A to 8C, in accordance with the embodiments disclosed herein;

[0032] Fig. 10 depicts an example embodiment of a system that may be used to implement some or all of the embodiments described herein; and

[0033] Fig. 11 depicts a block diagram of an embodiment of a computing device, in accordance with the embodiments described herein.

DETAILED DESCRIPTION

[0034] The present disclosure describes embodiments of systems that can conform bags into non-rectangular shapes for the bagging of deformable objects. In some embodiments, such systems include a conveyor, a scanning service, an object hom, and a computing device. The conveyor conveys a deformable object in a downstream direction. The scanning device scans a surface of the deformable object. The object hom directs the deformable object from the conveyor into a bag and the object hom is configured to hold an opening of the bag as the deformable object is inserted into the bag. The computing device receives an indication of the scan of the surface of the deformable object from the scanning device, determines a two-dimensional profile corresponding to the scan of the surface of the deformable object, and causes the object hom to conform the opening of the bag into a non-rectangular shape based on the two-dimensional profile of the deformable object.

[0035] Figs. 1 A and IB depict top and side views, respectively, of an embodiment of a system 100 for bagging deformable objects. In the depicted embodiment, a deformable object 102 is located in the system 100. It will be apparent that the system 100 can have any number of deformable objects located therein, including multiple deformable objects at any given time. In some embodiments, the deformable object 102 and any other deformable objects in the system 100 can be any type of food product, such as a piece of raw meat, a vacuum-sealed piece of raw meat, a piece of fresh product, or any other type of food product. The deformable objects that can be located in the system 100 can have different sizes, shapes, contours, and any other type of physical characteristic.

[0036] The system 100 includes a conveyor system 110. In the depicted embodiment, the conveyor system 110 includes a conveyor 112 and a conveyor 114 that are arranged in series to convey deformable objects in a downstream direction 116. In other embodiments, the conveyor system 110 can include any number (e.g., one or more) of conveyors, rollers, tracks, or any other type of device that is capable of conveying deformable objects in the downstream direction 116.

[0037] The system 100 also includes a scanning device 120. The scanning device 120 is configured to scan a surface of the deformable object 102. In some embodiments, the scanning device 120 is configured to scan a surface of the deformable object 102 that is above the surface of the conveyor 112. In some embodiments, the scanning device 120 is configured to scan the surface of the deformable object 102 as the scanning device 120 is being conveyed by the conveyor 112. In the depicted embodiment, the scanning device 120 includes a transverse line scanning sensor 122 that is located above the conveyor 112 and extends transversely across the conveyor 112. The transverse line scanning sensor 122 is configured to scan a surface (e.g., the upper surface) of the deformable object 102. In some embodiments, the scan by the transverse line scanning sensor 122 generates three- dimensional scan data corresponding to the surface of the deformable object 102. [0038] In some embodiments, the scanning device 120 can include multiple line scanning sensors. In the depicted embodiment, the scanning device 120 also includes a vertical line scanning sensor 124 in addition to the transverse line scanning sensor 122. The vertical line scanning sensor 124 is located to a side of the conveyor 112 and extends vertically. The vertical line scanning sensor 124 is configured to scan a surface (e.g., the side surface) of the deformable object 102. In some embodiments, the scan by the vertical line scanning sensor 124 generates three-dimensional scan data corresponding to the surface of the deformable object 102. It will be understood that other embodiments of the scanning device 120 may include a single line scanner or a plurality of line scanners. In other embodiments, the scanning device 120 can include at least one of a camera, a proximity detector, a lidar sensor, a line scanning sensor, or any combination thereof.

[0039] In the depicted embodiment, the scanning device 120 includes a trigger sensor 126. The trigger sensor 126 is located upstream of the transverse line scanning sensor 122 and/or the vertical line scanning sensor 124. The trigger sensor 126 is configured to detect the presence of the deformable object 102 as the deformable object 102 is conveyed by the conveyor 112 in the downstream direction 116. The timing of when the transverse line scanning sensor 122 and/or the vertical line scanning sensor 124 scans the deformable object 102 can be based on the timing of the trigger sensor 126 detecting the deformable object 102. In some embodiments, the timing of when the transverse line scanning sensor 122 and/or the vertical line scanning sensor 124 scans the deformable object 102 can be based on a combination of the timing of the trigger sensor 126 detecting the deformable object 102 and a speed of the conveyor 112.

[0040] The system 100 further includes an object hom 130. The object horn 130 is configured to direct the deformable object 102 from the conveyor 114 into a bag 140. The object hom 130 is configured to hold an opening of the bag 140 as the deformable object 102 is inserted into the bag 140. In some embodiments, the object hom 130 is controllable to so that the object hom 130 conforms the opening of the bag 140 into a particular shape. In the depicted embodiment, the object hom 130 includes fins 132 and the bag 140 is positioned with respect to the object hom 130 with the fins 132 inside of the opening of the bag 140. In some embodiments, at least one of the fins 132 is controllable (e.g., by an actuator) to conform the opening of the bag 140. Examples of other embodiments of object horns are described in U.S. Patent Application _ / _ (attorney docket no. D-46056-PRO 1), filed on even date herewith, the contents of which are hereby incorporated by reference in their entirety.

[0041] The system 100 also includes a computing device 150. In the depicted embodiment, the computing device 150 is communicatively coupled to each of the scanning device 120 and the object hom 130. Each communication coupling between the computing device 150 and another component of the system can include direction communication (e.g., a serial communication cable, a Bluetooth connection, etc.), indirect communication (e.g., a WiFi network, the internet, etc.), a wired connection (e.g., a serial communication cable, an Ethernet cable, etc.), a wireless connection (e.g., a Bluetooth connection, a WiFi connection, etc.), any other communication coupling, or any combination thereof.

[0042] During operation, the scanning device 120 will scan the surface of the deformable object 102 as the deformable object is conveyed by the conveyor 112. The computing device 150 receives an indication of the scan of the surface of the deformable object 102 from the scanning device 120 via the communication coupling between the computing device 150 and the scanning device 120. The computing device 150 can then determine a two-dimensional profile corresponding to the scan of the surface of the deformable object 102. In some embodiments, the scan of the surface of the deformable object 102 is a three-dimensional scan of the surface of the deformable object 102. In such embodiments, the two-dimensional profile can be substantially perpendicular to the downstream direction and the two- dimensional profile can define a perimeter that is outside of the three-dimensional scan when the three-dimensional scan is viewed in the downstream direction. After the computing device 150 determines the two-dimensional profile, the computing device 150 can communicate with the object hom 130 via the communication coupling between the computing device 150 and the object hom 130 to cause the object hom 130 to conform the opening of the bag 140 into anon-rectangular shape based on the two-dimensional profile of the deformable object 102. For example, the computing device 150 can cause the fins 132 of the hom to move (e.g., by controlling an actuator coupled to one or more of the fins 132) to conform the opening of the bag 140.

[0043] In some embodiments, the computing device 150 is configured to provide additional functionality within the system 100. For example, the computing device 150 can track locations and characteristics of deformable objects as they pass through the system. In one embodiment, the computing device 150 is configured to store at least one of the scan of the surface of the deformable objects and the corresponding two-dimensional profiles. In addition to causing the object hom to conform the openings of bags, the computing device 150 can use the stored scans and/or two-dimensional profiles for functions performed by components other than the object hom 130. For example, the computing device 150 can be configured to track a location of the deformable objects as the pass in the downstream direction through the system 100 and to pass information about the surfaces of the deformable objects and/or the corresponding two-dimensional profiles to at least one other component in the system 100.

[0044] The scan generated by a scanning device of surfaces of deformable objects can take any number of forms. Figs. 2 through 4C depict different examples of ways in which a scan can be represented. Fig. 2 depicts an embodiment of a wireframe scan 210. The wireframe scan 210 represents edges and contours of the surface of the deformable object by wires (or lines) that mesh together to define an approximation of the surface of the deformable object. Fig. 3 depicts an embodiment of a gradient scan 220. The gradient scan 220 include regions of different gradients (e.g., different levels of shading, different colors, etc.) that indicate contours of the surface and the different heights of areas on the surface. Figs. 4A, 4B, and 4C depict top, side, and end views, respectively, of a contour line scan 230 of the deformable object. The contour line scan 230 includes contour lines to represent points on the deformable object that are at the same height. It will be understood by one of ordinary skill in the art that scans of surfaces of deformable objects can be represented in any number of other ways.

[0045] Figs. 5A to 5C depict an embodiment of determining a two-dimensional profile corresponding to a scan of a surface of a deformable object. Each of Figs. 5A and 5B depicts the end view of the contour line scan 230 that is shown in Fig. 4C. In some embodiments, the end view shown in Figs. 5 A and 5B is the view of the deformable object that is in the downstream direction as the deformable object is conveyed on a conveyor. The contour line scan 230 has been generated by scanning the surface of a deformable object (e.g., by a scanning device). In some embodiments, the surface of the deformable object as the deformable object is conveyed by a conveyor. [0046] In Fig. 5 A, the computing device determines a width 232 of the deformable object from the indication of the scan 230. In some embodiments, the width 232 of the deformable object represents the widest extents of the deformable object when viewing the deformable object in the direction of the end view (e.g., in the downstream direction). The computing device also determines a height 234 of the deformable object from the indication of the scan 230. In some embodiments, the height 234 of the deformable object represents the distance between the surface of the conveyor on which the deformable object is located and the highest extent of the deformable object when viewing the deformable object in the direction of the end view (e.g., in the downstream direction). While, the width 232 and the height 234 of the deformable object may define a rectangular profile of the deformable object. However, deformable objects tend not to have rectangular shapes because they can deform somewhat while they are resting on a surface (e.g., a surface of the conveyor). Thus, in some embodiments, it may be advantageous to define a non-rectangular profile of the deformable object.

[0047] In Fig. 5B, the computing device defines portions of the deformable object that are non-rectangular in profile. In the depicted embodiment, the computing device defines a first offset 236 and a first downward angle 238. The first offset 236 defines a distance from a first side of the deformable object (e.g., the left side of the deformable object when viewing Fig. 5B). The first downward angle 238 defines an angle from the height 234 of the deformable object toward the first side that does not cross the scan 230 of the deformable object. The computing device also defines a second offset 240 and a second downward angle 242. The second offset 240 defines a distance from a second side of the deformable object (e.g., the right side of the deformable object when viewing Fig. 5B). The second downward angle 242 defines an angle from the height 234 of the deformable object toward the second side that does not cross the scan 230 of the deformable object.

[0048] Fig. 5C depicts a two-dimensional profile 330 determined by the computing device where the two-dimensional profile 330 corresponds to the scan 230 of the surface of the deformable object. The two-dimensional profile 330 is depicted in long-short-long-short dashed lines. The two-dimensional profile 330 has a width 332. In some embodiments, the width 332 of the two-dimensional profile 330 may be the same as the width 232 of the scan 230. In some embodiments, the width 332 of the two-dimensional profile 330 may be based on the width 232 of the scan 230 (e.g., the width 332 may be greater than the width 232 by a particular amount or by a particular percentage). In some embodiments, the width 332 of the two-dimensional profile 330 is wider than the outside of the scan 230 when the scan 230 is viewed in the downstream direction.

[0049] The two-dimensional profile 330 also has a height 334. In some embodiments, the height 334 of the two-dimensional profile 330 may be the same as the height 234 of the scan 230. In some embodiments, the height 334 of the two-dimensional profile 330 may be based on the height 234 of the scan 230 (e.g., the height 334 may be greater than the height 234 by a particular amount or by a particular percentage). In some embodiments, the height 334 of the two-dimensional profile 330 is taller than the outside of the scan 230 when the scan 230 is viewed in the downstream direction.

[0050] The two-dimensional profile 330 also includes two portions that are neither perpendicular nor parallel to the directions defining the width 332 and the height 334. One of these portions of the two-dimensional profile 330 is defined by a first offset 336 and a first downward angle 338. In some embodiments, the first offset 336 and the first downward angle 338 of the two-dimensional profile 330 are the same as the first offset 236 and the first downward angle 238, respectively, of the scan 230. In some embodiments, either the first offset 336 and/or the first downward angle 338 may be based on the first offset 336 and the first downward angle 338, respectively, of the scan 230 (e.g., the first offset 336 may be less than the first offset 236 by a particular amount or by a particular percentage).

[0051] The two-dimensional profile 330 of the deformable object can be used by the computing device to cause an object hom to conform the opening of a bag into a non- rectangular shape based on the two-dimensional profile 330. Fig. 6 depicts an embodiment of an object hom 340 caused to conform the opening 360 of a bag into a non-rectangular shape based on the two-dimensional profile 330 of a deformable object. In the depicted embodiment, the object hom 340 includes lower fins 342 and 344, intermediate fins 346 and 348, and an upper fin 350 (collectively, the fins of the object hom 340). The lower fins 342 and 344, the intermediate fins 346 and 348, and the upper fin 350 are positionable such that the non-rectangular shape of the opening of the bag is an irregular pentagonal shape.

[0052] Each of the fins of the object hom 340 is actively-controlled (e.g., movable by an actuator). The lower fin 342 is laterally positionable within a range of lateral positions with respect to a conveying surface on which the deformable object is located. In the depicted embodiment, the lower fin 342 is in a fixed vertical position with respect to the conveying surface. In the depicted embodiment, the intermediate fin 346 is coupled to the lower fin 342 such that the intermediate fin 346 moves laterally with the lower fin 342 when the lower fin 342 is moved by an actuator. The lower fin 344 is laterally positionable within a range of lateral positions with respect to the conveying surface. In the depicted embodiment, the lower fin 344 is in a fixed vertical position with respect to the conveying surface. In the depicted embodiment, the intermediate fin 348 is coupled to the lower fin 344 such that the intermediate fin 348 moves laterally with the lower fin 344 when the lower fin 344 is moved by an actuator.

[0053] The intermediate fin 346 is vertically positionable by an actuator within a range of vertical positions with respect to the conveying surface. In some embodiments, the range of vertical movement of the intermediate fin 346 is between the location of the lower fin 342 and the upper fin 350. Similarly, the intermediate fin 348 is vertically positionable by an actuator within a range of vertical positions with respect to the conveying surface. In some embodiments, the range of vertical movement of the intermediate fin 348 is between the location of the lower fin 344 and the upper fin 350.

[0054] The upper fin 350 is positionable vertically within a range of vertical positions with respect to the conveying surface. In the depicted embodiment, the upper fin 350 is in a fixed lateral position with respect to the conveying surface. In some embodiments, the range of vertical positions of the upper fin 350 is between a vertical maximum and the lowest possible position of one or both of the intermediate fins 346 and 348.

[0055] In the depiction shown in Fig. 6, the computing device has caused the fins of the object hom 340 to be in the positions shown. In particular, the lower fin 342 and the intermediate fin 346 are positioned laterally closer to the upper fin 350 than the lower fin 344 and the intermediate fin 348. In addition, the intermediate fin 346 is positioned vertically higher than the intermediate fin 348. The upper fin 350 has also been positioned at a vertical location above the conveying surface on which the deformable object is located. With the fins of the object hom 340 positioned in this way, the fins conform the opening 360 of the bag with respect to the two-dimensional profile 330 as shown. In particular, the opening 360 of the bag is conformed with respect to the two-dimensional profile 330 such that the opening 360 of the bag is outside of the two-dimensional profile. With the opening 360 of the bag conformed in this way, the deformable object should be able to be inserted into the bag through the opening 360 while the opening 360 is held by the object hom 340.

[0056] In some embodiments, the computing device may determine the two-dimensional profile and/or cause the object hom to conform the opening of the bag into a particular non- rectangular shape based on the scan of the deformable object. Fig. 7A depicts an example of the computing determining a two-dimensional profile device based on a scan of a deformable object. In particular, Fig. 7A shows the scan 230 of the deformable object and the two-dimensional profile 330 determined by the computing device based on the scan 230. Fig. 7A also shows the area 231 of the scan 230 and the area 331 of the two-dimensional profile 330 that is outside of the scan 230 of the deformable object. In some embodiments, the computing device is configured to determine the two-dimensional profile 330 such that a ratio of the area 331 of the two-dimensional profile 330 not covered by the scan 230 to the area 231 of the two-dimensional profile 330 covered by the scan 230 is below a predetermined threshold (e.g., below at least one of 1%, 2%, 5%, 10%, etc.).

[0057] Fig. 7B depicts an example of the computing determining a non-rectangular shape of a bag opening based on the scan of the deformable object. In particular, Fig. 7B shows the scan 230 of the deformable object and the opening 360 of the bag determined by the computing device. Fig. 7B also shows the area 231 of the scan 230 and the area 361 of the opening 360 that is outside of the scan 230 of the deformable object. In some embodiments, the computing device is configured to determine the shape of the opening 360 such that a ratio of the area 361 of the opening 360 not covered by the scan 230 to the area 231 of the opening 360 covered by the scan 230 is below a predetermined threshold (e.g., below at least one of 5%, 7%, 10%, 15%, etc.). In other embodiments, the computing device can determine the non-rectangular shape of the bag opening based on similar ratios between the area of the opening of the bag and the area of the two-dimensional profile 330.

[0058] As noted above, the scans generated by scanning devices can take any number of forms. Figs. 8A to 8C depict different views of a three-dimensional scan of a surface of an object. The data associated with this scan can be generated by a scanning device and communicated to the computing device. In some embodiments, the scanning device and the computing device can be integrally formed together. In some embodiments, the scanning device and the computing device can be separate devices that are communicatively coupled together. Figs. 9A to 9C depict examples of non-rectangular two-dimensional profiles generated by the computing device based on the scan of the surface of the object shown in Figs. 8A to 8C. In particular, Figs. 9A and 9B show angles that are non-perpendicular and non-parallel to the surface on which the deformable object is located. Such two-dimensional profiles can be used by the computing device to cause the fins of an object horn to conform the opening of a bag into a non-rectangular shape based on the two-dimensional profile of the deformable object.

[0059] As noted above, the computing device can use the indication of the scan provided by the scanning device to perform functions in addition to causing the fins of an object hom to conform the opening of a bag into a non-rectangular shape. In some embodiments, the computing device can determine a size of a bag to place on an object hom based on dimensions of the deformable object determined from the scan of the deformable object. In some embodiments, the computing device can include a lookup table to determine a size of bag to use for a particular object based on the height and width of a deformable object. Provided below are Tables I and II, which are two examples of lookup tables that can be stored in a computing device for determining a size of bag to use for a particular object based on the height and width of a deformable object. It will be understood by those of ordinary skill in the art that the computing device can use a scan of a deformable object to determine any number of other variables to be used in a bagging system.

[0060] Fig. 10 depicts an example embodiment of a system 410 that may be used to implement some or all of the embodiments described herein. In the depicted embodiment, the system 410 includes computing devices 420i, 4202, 4203, and 4204 (collectively computing devices 420). In the depicted embodiment, the computing device 420i is a tablet, the computing device 4202 is a mobile phone, the computing device 4203 is a desktop computer, and the computing device 4204 is a laptop computer. In other embodiments, the computing devices 420 include one or more of a desktop computer, a mobile phone, a tablet, a phablet, a notebook computer, a laptop computer, a distributed system, a gaming console (e.g., Xbox, Play Station, Wii), a watch, a pair of glasses, a key fob, a radio frequency identification (RFID) tag, an ear piece, a scanner, a television, a dongle, a camera, a wristband, a wearable item, a kiosk, an input terminal, a server, a server network, a blade, a gateway, a switch, a processing device, a processing entity, a set-top box, a relay, a router, a network access point, a base station, any other device configured to perform the functions, operations, and/or processes described herein, or any combination thereof.

[0061] The computing devices 420 are communicatively coupled to each other via one or more networks 430 and 432. Each of the networks 430 and 432 may include one or more wired or wireless networks (e.g., a 3 G network, the Internet, an internal network, a proprietary network, a secured network). The computing devices 420 are capable of communicating with each other and/or any other computing devices via one or more wired or wireless networks. While the particular system 410 in Fig. 10 depicts that the computing devices 420 communicatively coupled via the network 430 include four computing devices, any number of computing devices may be communicatively coupled via the network 430.

Table I - Bag Size Selection Based on Product Height and Width (sizing factor = 0.5)

Table II - Bag Size Selection Based on Product Height and Width (sizing factor = 0.55)

[0062] In the depicted embodiment, the computing device 4203 is communicatively coupled with a peripheral device 440 via the network 432. In the depicted embodiment, the peripheral device 440 is a scanner, such as a barcode scanner, an optical scanner, a computer vision device, and the like. In some embodiments, the network 432 is a wired network (e.g., a direct wired connection between the peripheral device 440 and the computing device 4203), a wireless network (e.g., a Bluetooth connection or a WiFi connection), or a combination of wired and wireless networks (e.g., a Bluetooth connection between the peripheral device 440 and a cradle of the peripheral device 440 and a wired connection between the peripheral device 440 and the computing device 4203). In some embodiments, the peripheral device 440 is itself a computing device (sometimes called a “smart” device). In other embodiments, the peripheral device 440 is not a computing device (sometimes called a “dumb” device).

[0063] Depicted in Fig. 11 is a block diagram of an embodiment of a computing device 500. Any of the computing devices 420 and/or any other computing device described herein may include some or all of the components and features of the computing device 500. In some embodiments, the computing device 500 is one or more of a desktop computer, a mobile phone, a tablet, a phablet, a notebook computer, a laptop computer, a distributed system, a gaming console (e.g., an Xbox, a Play Station, a Wii), a watch, a pair of glasses, a key fob, a radio frequency identification (RFID) tag, an ear piece, a scanner, a television, a dongle, a camera, a wristband, a wearable item, a kiosk, an input terminal, a server, a server network, a blade, a gateway, a switch, a processing device, a processing entity, a set-top box, a relay, a router, a network access point, a base station, any other device configured to perform the functions, operations, and/or processes described herein, or any combination thereof. Such functions, operations, and/or processes may include, for example, transmitting, receiving, operating on, processing, displaying, storing, determining, creating/generating, monitoring, evaluating, comparing, and/or similar terms used herein. In one embodiment, these functions, operations, and/or processes can be performed on data, content, information, and/or similar terms used herein.

[0064] In the depicted embodiment, the computing device 500 includes a processing element 505, memory 510, a user interface 515, and a communications interface 520. The processing element 505, memory 510, a user interface 515, and a communications interface 520 are capable of communicating via a communication bus 525 by reading data from and/or writing data to the communication bus 525. The computing device 500 may include other components that are capable of communicating via the communication bus 525. In other embodiments, the computing device does not include the communication bus 525 and the components of the computing device 500 are capable of communicating with each other in some other way.

[0065] The processing element 505 (also referred to as one or more processors, processing circuitry, and/or similar terms used herein) is capable of performing operations on some external data source. For example, the processing element may perform operations on data in the memory 510, data receives via the user interface 515, and/or data received via the communications interface 520. As will be understood, the processing element 505 may be embodied in a number of different ways. In some embodiments, the processing element 505 includes one or more complex programmable logic devices (CPLDs), microprocessors, multi core processors, co processing entities, application-specific instruction-set processors (ASIPs), microcontrollers, controllers, integrated circuits, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), hardware accelerators, any other circuitry, or any combination thereof. The term circuitry may refer to an entirely hardware embodiment or a combination of hardware and computer program products. In some embodiments, the processing element 505 is configured for a particular use or configured to execute instructions stored in volatile or nonvolatile media or otherwise accessible to the processing element 505. As such, whether configured by hardware or computer program products, or by a combination thereof, the processing element 505 may be capable of performing steps or operations when configured accordingly.

[0066] The memory 510 in the computing device 500 is configured to store data, computer- executable instructions, and/or any other information. In some embodiments, the memory 510 includes volatile memory (also referred to as volatile storage, volatile media, volatile memory circuitry, and the like), non-volatile memory (also referred to as non-volatile storage, non-volatile media, non-volatile memory circuitry, and the like), or some combination thereof.

[0067] In some embodiments, volatile memory includes one or more of random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), fast page mode dynamic random access memory (FPM DRAM), extended data-out dynamic random access memory (EDO DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), double data rate type two synchronous dynamic random access memory (DDR2 SDRAM), double data rate type three synchronous dynamic random access memory (DDR3 SDRAM), Rambus dynamic random access memory (RDRAM), Twin Transistor RAM (TTRAM), Thyristor RAM (T-RAM), Zero-capacitor (Z-RAM), Rambus in-line memory module (RIMM), dual in-line memory module (DIMM), single in-line memory module (SIMM), video random access memory (VRAM), cache memory (including various levels), flash memory, any other memory that requires power to store information, or any combination thereof.

[0068] In some embodiments, non-volatile memory includes one or more of hard disks, floppy disks, flexible disks, solid-state storage (SSS) (e.g., a solid state drive (SSD)), solid state cards (SSC), solid state modules (SSM), enterprise flash drives, magnetic tapes, any other non-transitory magnetic media, compact disc read only memory (CD ROM), compact disc-rewritable (CD-RW), digital versatile disc (DVD), Blu-ray disc (BD), any other non- transitory optical media, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory (e.g., Serial, NAND, NOR, and/or the like), multimedia memory cards (MMC), secure digital (SD) memory cards, Memory Sticks, conductive-bridging random access memory (CBRAM), phase-change random access memory (PRAM), ferroelectric random-access memory (FeRAM), non volatile random access memory (NVRAM), magneto-resistive random access memory (MRAM), resistive random-access memory (RRAM), Silicon Oxide-Nitride-Oxide-Silicon memory (SONOS), floating junction gate random access memory (FJG RAM), Millipede memory, racetrack memory, any other memory that does not require power to store information, or any combination thereof.

[0069] In some embodiments, memory 510 is capable of storing one or more of databases, database instances, database management systems, data, applications, programs, program modules, scripts, source code, object code, byte code, compiled code, interpreted code, machine code, executable instructions, or any other information. The term database, database instance, database management system, and/or similar terms used herein may refer to a collection of records or data that is stored in a computer-readable storage medium using one or more database models, such as a hierarchical database model, network model, relational model, entity relationship model, object model, document model, semantic model, graph model, or any other model.

[0070] The user interface 515 of the computing device 500 is in communication with one or more input or output devices that are capable of receiving inputs into and/or outputting any outputs from the computing device 500. Embodiments of input devices include a keyboard, a mouse, a touchscreen display, a touch sensitive pad, a motion input device, movement input device, an audio input, a pointing device input, a joystick input, a keypad input, peripheral device 440, foot switch, and the like. Embodiments of output devices include an audio output device, a video output, a display device, a motion output device, a movement output device, a printing device, and the like. In some embodiments, the user interface 515 includes hardware that is configured to communicate with one or more input devices and/or output devices via wired and/or wireless connections.

[0071] The communications interface 520 is capable of communicating with various computing devices and/or networks. In some embodiments, the communications interface 520 is capable of communicating data, content, and/or any other information, that can be transmitted, received, operated on, processed, displayed, stored, and the like.

Communication via the communications interface 520 may be executed using a wired data transmission protocol, such as fiber distributed data interface (FDDI), digital subscriber line (DSL), Ethernet, asynchronous transfer mode (ATM), frame relay, data over cable service interface specification (DOCSIS), or any other wired transmission protocol. Similarly, communication via the communications interface 520 may be executed using a wireless data transmission protocol, such as general packet radio service (GPRS), Universal Mobile Telecommunications System (UMTS), Code Division Multiple Access 2000 (CDMA2000), CDMA2000 IX (lxRTT), Wideband Code Division Multiple Access (WCDMA), Global System for Mobile Communications (GSM), Enhanced Data rates for GSM Evolution (EDGE), Time Division-Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Evolved Universal Terrestrial Radio Access Network (E-UTRAN), Evolution-Data Optimized (EVDO), High Speed Packet Access (HSPA), High-Speed Downlink Packet Access (HSDPA), IEEE 802.11 (WiFi), WiFi Direct, 802.16 (WiMAX), ultra wideband (UWB), infrared (IR) protocols, near field communication (NFC) protocols, Wibree, Bluetooth protocols, wireless universal serial bus (USB) protocols, or any other wireless protocol.

[0072] As will be appreciated by those skilled in the art, one or more components of the computing device 500 may be located remotely from other components of the computing device 500 components, such as in a distributed system. Furthermore, one or more of the components may be combined and additional components performing functions described herein may be included in the computing device 500. Thus, the computing device 500 can be adapted to accommodate a variety of needs and circumstances. The depicted and described architectures and descriptions are provided for exemplary purposes only and are not limiting to the various embodiments described herein.

[0073] Embodiments described herein may be implemented in various ways, including as computer program products that comprise articles of manufacture. A computer program product may include a non-transitory computer-readable storage medium storing applications, programs, program modules, scripts, source code, program code, object code, byte code, compiled code, interpreted code, machine code, executable instructions, and/or the like (also referred to herein as executable instructions, instructions for execution, computer program products, program code, and/or similar terms used herein interchangeably). Such non- transitory computer-readable storage media include all computer-readable media (including volatile and non-volatile media).

[0074] As should be appreciated, various embodiments of the embodiments described herein may also be implemented as methods, apparatus, systems, computing devices, and the like.

As such, embodiments described herein may take the form of an apparatus, system, computing device, and the like executing instructions stored on a computer readable storage medium to perform certain steps or operations. Thus, embodiments described herein may be implemented entirely in hardware, entirely in a computer program product, or in an embodiment that comprises combination of computer program products and hardware performing certain steps or operations.

[0075] Embodiments described herein may be made with reference to block diagrams and flowchart illustrations. Thus, it should be understood that blocks of a block diagram and flowchart illustrations may be implemented in the form of a computer program product, in an entirely hardware embodiment, in a combination of hardware and computer program products, or in apparatus, systems, computing devices, and the like carrying out instructions, operations, or steps. Such instructions, operations, or steps may be stored on a computer readable storage medium for execution buy a processing element in a computing device. For example, retrieval, loading, and execution of code may be performed sequentially such that one instruction is retrieved, loaded, and executed at a time. In some exemplary embodiments, retrieval, loading, and/or execution may be performed in parallel such that multiple instructions are retrieved, loaded, and/or executed together. Thus, such embodiments can produce specifically configured machines performing the steps or operations specified in the block diagrams and flowchart illustrations. Accordingly, the block diagrams and flowchart illustrations support various combinations of embodiments for performing the specified instructions, operations, or steps.

[0076] For purposes of this disclosure, terminology such as “upper,” “lower,” “vertical,” “horizontal,” “inwardly,” “outwardly,” “inner,” “outer,” “front,” “rear,” and the like, should be construed as descriptive and not limiting the scope of the claimed subject matter. Further, the use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless limited otherwise, the terms “connected,” “coupled,” and “mounted” and variations thereof herein are used broadly and encompass direct and indirect connections, couplings, and mountings. Unless stated otherwise, the terms “substantially,” “approximately,” and the like are used to mean within 5% of a target value.

[0077] The principles, representative embodiments, and modes of operation of the present disclosure have been described in the foregoing description. However, aspects of the present disclosure which are intended to be protected are not to be construed as limited to the particular embodiments disclosed. Further, the embodiments described herein are to be regarded as illustrative rather than restrictive. It will be appreciated that variations and changes may be made by others, and equivalents employed, without departing from the spirit of the present disclosure. Accordingly, it is expressly intended that all such variations, changes, and equivalents fall within the spirit and scope of the present disclosure, as claimed.

Claims

CLAIMS What is claimed is:

1. A sy stem, compri sing : a conveyor configured to convey a deformable object in a downstream direction; a scanning device configured to scan a surface of the deformable object; an object hom configured to direct the deformable object from the conveyor into a bag, wherein the object hom is configured to hold an opening of the bag as the deformable object is inserted into the bag; and a computing device configured to: receive an indication of the scan of the surface of the deformable object from the scanning device, determine a two-dimensional profile corresponding to the scan of the surface of the deformable object, and cause the object hom to conform the opening of the bag into a non-rectangular shape based on the two-dimensional profile of the deformable object.

2. The system of claim 1, wherein the scan of the surface of the deformable object is a three-dimensional scan of the surface of the deformable object above a conveying surface of the conveyor.

3. The system of claim 2, wherein the two-dimensional profile is substantially perpendicular to the downstream direction, and wherein the two-dimensional profile defines a perimeter that is outside of the three-dimensional scan when the three-dimensional scan is viewed in the downstream direction.

4. The system of claim 3, wherein the computing device is configured to determine the two-dimensional profile such that a ratio of a portion of the area of the two-dimensional profile not covered by the three-dimensional scan to a portion of the area of the two- dimensional profile covered by the three-dimensional scan is below a predetermined threshold.

5. The system of claim 1, wherein the computing device is configured to define a shape of the two-dimensional profile based on possible configurations of the object horn.

6. The system of claim 5, wherein the object hom has a number of fins that are positionable so that the object hom conforms the opening of the bag into a polygon shape.

7. The system of claim 6, wherein the number of fins is greater than four so that the polygon shape of the opening of the bag has more than four sides.

8. The system of claim 6, wherein the two-dimensional profile is a polygon having a number of sides equal to or greater than the number of sides of the polygon shape of the opening of the bag.

9. The system of claim 6, wherein the two-dimensional profile includes an indication of a position of each of the fins of the object hom.

10. The system of claim 6, wherein the fins include: an upper fin; a first lower fin and a second lower fin; and a first intermediate fin and a second intermediate fin; wherein the upper fin, the first and second lower fins, and the first and second intermediate fins are positionable such that the polygon shape of the opening of the bag is an irregular pentagonal shape.

11. The system of claim 10, wherein: the upper fin is at a fixed lateral position with respect to a conveying surface of the conveyor and the upper fin is positionable vertically at a vertical position within a range of vertical positions with respect to the conveying surface; the first and second lower fins are at fixed vertical positions with respect to the conveying surface and each of the first and second lower fins is positionable laterally within a range of lateral positions with respect to the conveying surface; and the first intermediate fin is capable of moving vertically with respect to the conveying surface in a range between the fixed vertical position of the first lower fin and the vertical position of the upper fin, and the second intermediate fin is capable of moving vertically with respect to the conveying surface in a range between the fixed vertical position of the second lower fin and the vertical position of the upper fin.

12. The system of claim 11, wherein the two-dimensional profile defines: a vertical location of the upper fin with respect to the conveying surface; lateral locations of the first and second lower fins; and a vertical location of each of the first and second intermediate fins.

13. The system of claim 12, wherein the vertical location of each of the first and second intermediate fins is defined by a downward angle with respect to the conveying surface from the vertical location of the upper fin.

14. The system of claim 1, wherein the scanning device includes at least one of a camera, a proximity detector, a lidar sensor, a line scanning sensor, or any combination thereof.

15. The system of claim 1, wherein the computing device is configured to store at least one of the scan of the surface of the deformable object and the two-dimensional profile.

16. The system of claim 15, wherein the computing device is further configured to track a location of the deformable object as it passes in the downstream direction through the system and to pass information about the one of the scan of the surface of the deformable object and the two-dimensional profile to at least one other component in the system.