Electrical and Computer Engineering

Irregular Object Dimensioning System

Advisor: Professor Neal Anderson

Michael BaccariPeter Bian

Michael CoughlinAvi Noy

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Agenda

Background

MDR Specification

Progress Report

Challenges

Future Plans

Summary

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Background

• Sorting facilities’ conveyer belts.

• Components of sort system: Photo eye, laser measuring heads, set of 6 line-scan cameras.

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Background (Cont’d)

• Irregularly shaped objects

• Current issues with the dimensioning component.

• “The irregular approval.”

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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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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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Progress Report - System Block Diagram

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Progress Report (Cont’d)

Hardware Components

• LMS – Laser Measuring Heads

• One 2-D camera

• Two LEDs

• Photoeye

• Conveyor belt

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Progress Report (Cont’d)

LMS Setup

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Progress Report (Cont’d)

LMS Initialization

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Progress Report (Cont’d)

2-D Camera

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Progress Report (Cont’d)

LEDs

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Progress Report (Cont’d)

Photoeye

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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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Progress Report (Cont’d)

Photoeye – Results

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Progress Report (Cont’d)

Conveyer belt demo video

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Progress Report (Cont’d)

Image processing algorithm• SUSAN (Smallest Univalue Segment assimilating

Nucleus) Principle

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Progress Report (Cont’d)

• Image processing algorithm demo

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Progress Report (Cont’d)

Laser edge detection and dimensional algorithm

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Challenges

Blind spots

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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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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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Summary

MDR Specification

Improve accuracy of dimensioning of irregularly shaped objects

“Irregular Approval” • Half inch margin of error

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Comments / Questions?