US 12,253,349 B2
Load scanning apparatus
Alistair John Scarfe, Tauranga (NZ); and Florian Thomas Roeske, Tauranga (NZ)
Assigned to Robotics Plus Limited, Tauranga (NZ)
Filed by Robotics Plus Limited, Tauranga (NZ)
Filed on Dec. 6, 2023, as Appl. No. 18/531,120.
Application 18/531,120 is a continuation of application No. 17/384,791, filed on Jul. 25, 2021, granted, now 11,885,605.
Application 17/384,791 is a continuation of application No. PCT/IB2020/050547, filed on Jan. 24, 2020.
Claims priority of application No. 750213 (NZ), filed on Jan. 25, 2019.
Prior Publication US 2024/0133675 A1, Apr. 25, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G01B 11/02 (2006.01); B25J 19/02 (2006.01); G01B 11/08 (2006.01); G01B 11/28 (2006.01); G01N 21/898 (2006.01); G01N 33/46 (2006.01); G06T 7/593 (2017.01); G06T 7/62 (2017.01); G08G 1/095 (2006.01); H04N 13/156 (2018.01); H04N 13/243 (2018.01); H04N 23/695 (2023.01); H04N 13/00 (2018.01)
CPC G01B 11/022 (2013.01) [B25J 19/021 (2013.01); G01B 11/026 (2013.01); G01B 11/08 (2013.01); G01B 11/285 (2013.01); G01N 21/8986 (2013.01); G01N 33/46 (2013.01); G06T 7/593 (2017.01); G06T 7/62 (2017.01); G08G 1/095 (2013.01); H04N 13/156 (2018.05); H04N 13/243 (2018.05); H04N 23/695 (2023.01); G06T 2207/30161 (2013.01); H04N 2013/0081 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A load scanning apparatus for taking physical measurements from a load on a vehicle, the load comprising a first packet of logs and a second packet of logs, and the load having dimensions of load length, load width, and load height, the load scanning apparatus comprising:
a scanning robot comprising:
a cross member to which an array of sensors is coupled,
wherein the array of sensors is fixed relative to each other in a first direction and are configured to move together in a second direction in a scanning plane,
wherein the array of sensors is positioned to have a line of sight perpendicular to the scanning plane relative to at least log ends of the first packet of logs,
wherein the array of sensors spans across at least one dimension of the load in the first direction,
wherein the array of sensors is configured to capture a collection of images of the load from the scanning plane, and configured to capture distance information about a distance of the load from the scanning plane, and
at least one of:
the cross member moves between a raised position and a lowered position on the scanning robot to scan the load, and
the cross member has a width configured to fit in a gap between:
 the first packet of logs, and
 the second packet of logs; and
a processor configured to:
process the collection of images taken by the array of sensors, and
stitch the collection of images together to generate a 3-dimensional (3D) representation of the load.