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Irregular Object Dimensioning System

Advisor: Professor Neal Anderson Michael Baccari Peter Bian Michael Coughlin Avi Noy. Irregular Object Dimensioning System. Agenda. Background MDR Specification Progress Report Challenges Future Plans Summary. Background. Sorting facilities’ conveyer belts.

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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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