AUTOMATED FILLING SYSTEMS AND METHODS
The present disclosure is directed to systems and methods for automated generation of a three-dimensional model of a container prior to dispensing material into the container. Using the three-dimensional model of the container, the systems and methods determine an available internal volume of the container and a fill volume of the container that takes into consideration one or more material parameters, such as material temperature. Using the determined fill volume, the systems and methods dispense one or more materials into the container to the determined fill volume. Where a plurality of materials are dispensed, the systems and methods may use a recipe to determine appropriate volumes of each of a plurality of materials to dispense to the container to provide the determined fill volume. Such systems and methods beneficially account for objects present in the container prior to dispensing materials into the container.
1 . An automated dispensing system, comprising:
a data acquisition system to obtain a three-dimensional model of a container;
dimensioning circuitry to determine at least one physical dimension of the container using the three-dimensional model of the container;
available internal volume circuitry to determine an available internal volume of the container based, at least in part on the at least one detected physical dimension of the container;
fill volume circuitry to determine a fill volume to provide a defined fill level within the container based on the determined available internal volume of the container; and
dispensing circuitry to dispense the fill volume of at least one material into the container.
2 . The system of claim 1 , further comprising:
a liquid dispensing system communicably coupled to the dispensing circuitry, the dispensing circuitry to cause the liquid dispensing system to dispense the determined fill volume of at least one liquid into the container.
3 . The system claim 2 wherein the fill volume circuitry accounts for a volume loss in the container when determining the fill volume, the volume loss attributable, at least in part, to a volume occupied by one or more objects in the container.
4 . The system of claim 2 :
wherein, using a defined recipe, the dispensing circuitry further determines a respective volume of each of a plurality of liquids to dispense into the container; and
wherein the total of the respective determined volumes of each of the plurality of liquids provides the determined fill volume.
5 . The system of claim 4 wherein the fill volume circuitry accounts for a volume loss in the container when determining the fill volume, the volume loss attributable, at least in part, to a volume occupied by one or more objects in the container.
6 . The system of claim 1 :
wherein the container comprises a closed bottom hollow vessel in the form of an inverted conical frustum having a smaller diameter closed end and a larger diameter open end;
wherein the fill volume circuitry determines the fill volume to achieve a desired ratio of a detected diameter of a liquid level within the container to an end diameter of the larger diameter open end of the container.
7 . The system of claim 1 , further comprising a container detection circuitry to autonomously detect the container;
wherein the fill volume circuitry autonomously determines the fill volume of the container upon autonomous detection of the container by the container detection circuitry.
8 . The system of claim 1 wherein the data acquisition system comprises a stereoscopic data acquisition system that includes a plurality of image acquisition devices arranged to provide a stereoscopic image of the container.
9 . The system of claim 1 wherein the data acquisition system comprises a structured light data acquisition system that includes a structured light illuminator communicably coupled to at least one image acquisition device.
10 . The system of claim 9 wherein the structured light illuminator generates an output in a visible electromagnetic spectrum of 390 nanometers (nm) to 700 nm and the at least one image acquisition device includes an image acquisition device sensitive to the visible electromagnetic spectrum.
11 . The system of claim 9 wherein the structured light illuminator generates an output in the infrared light electromagnetic spectrum above 700 nm and the at least one image acquisition device includes an infrared image acquisition device.
12 . An automated dispensing method, comprising:
generating a three-dimensional model of a container using a data acquisition system;
determining, by dimensioning circuitry, at least one physical dimension of the container using the generated three-dimensional model;
determining, by available internal volume circuitry, an available internal volume of the container using the at least one determined physical dimension of the container;
determining, by fill volume circuitry, a fill volume to provide a defined fill level within the container based on the available internal volume of the container; and
dispensing, by dispensing circuitry, the fill volume of at least one material into the container.
13 . The method of claim 12 wherein dispensing the fill volume of at least one material into the container, further comprises:
causing, by the dispensing circuitry, a communicably coupled liquid dispensing system to dispense the fill volume of at least one liquid into the container.
14 . The method of claim 13 , further comprising:
determining, by the available internal volume circuitry, an available internal volume that accounts for a volume loss in the container attributable, at least in part, to one or more objects present in the container.
15 . The method of claim 14 , further comprising:
determining, by the dispensing circuitry, a respective volume of each of a plurality of liquids to dispense to the container, wherein the total of the respective determined volumes of each of the plurality of liquids provides the determined fill volume.
16 . The method of claim 14 wherein determining an available internal volume that accounts for a volume loss in the container attributable, at least in part, to one or more objects deposited in the container comprises:
determining, by the available internal volume circuitry, an available internal volume that accounts for a volume loss in the container attributable, at least in part, to one or more ice cubes present in the container.
17 . The method of claim 12 , further comprising:
autonomously detecting the container by container detection circuitry; and
autonomously determining, by the fill volume circuitry, the fill volume of the container responsive to the autonomous detection of the container by the container detection circuitry.
18 . The method of claim 12 wherein generating a three-dimensional model of a container further comprises:
generating a three-dimensional model of a container using a stereoscopic data acquisition system that includes a plurality of image acquisition devices arranged to provide a stereoscopic image of the container.
19 . The method of claim 12 wherein generating a three-dimensional model of a container further comprises:
generating a three-dimensional model of a container using a structured light data acquisition system that includes a structured light illuminator communicably coupled to at least one image acquisition device.
20 . The method of claim 19 wherein generating a three-dimensional model of a container using a structured light data acquisition system further comprises:
generating a three-dimensional model of a container using a structured light data acquisition system that includes a structured light illuminator that generates an output in a visible electromagnetic spectrum of 390 nanometers (nm) to 700 nm; and
acquiring an image of the illuminated container using at least one image acquisition device sensitive to the visible electromagnetic spectrum.
21 . The method of claim 19 wherein generating a three-dimensional model of a container using a structured light data acquisition system further comprises:
generating a three-dimensional model of a container using a structured light data acquisition system that includes a structured light illuminator that generates an output in an infrared electromagnetic spectrum above 700 nm; and
acquiring an image of the illuminated container using at least one image acquisition device sensitive to the infrared electromagnetic spectrum.
22 . A non-transitory machine-readable storage medium containing instructions that, when executed, cause controller circuitry to:
cause a data acquisition system to generate a three-dimensional model of a container;
cause dimensioning circuitry to determine a at least one internal physical dimension of the container based, at least in part, on the three-dimensional model of the container;
cause available internal volume circuitry to determine an available internal volume of the container using the at least one internal physical dimension of the container;
cause fill volume circuitry to determine a fill volume to provide a defined fill level within the container based on the available internal volume in the container; and
cause dispensing circuitry to dispense the fill volume of at least one material into the container.
23 . The non-transitory machine-readable storage medium of claim 22 wherein the instructions that cause the dispensing circuitry to dispense the fill volume of at least one material into the container, further cause the dispensing circuitry to:
cause a communicably coupled liquid dispensing system to dispense the fill volume of at least one liquid into the container.
24 . The non-transitory machine-readable storage medium of claim 23 wherein the machine-readable instructions further cause the available internal volume circuitry to:
determine an available internal volume that accounts for a volume loss in the container attributable, at least in part, to a presence of one or more objects disposed in the container.
25 . The non-transitory machine-readable storage medium of claim 24 wherein the machine-readable instructions further cause the dispensing circuitry to:
determine, using the dispensing circuitry, a respective volume of each of a plurality of liquids to dispense to the container, wherein the total of the respective determined volumes of each of the plurality of liquids provides the determined fill volume.