Cargo sensors, cargo-sensing units, cargo-sensing systems, and methods of using the same
A cargo-sensing unit including: an image sensor; at least one processor; and a memory having stored thereon computer program code that, when executed by the processor, controls the at least one processor to: instruct the image sensor to capture an image of a cargo space within a cargo container; compare the captured image to a baseline image of an empty cargo container; and determine, based on the comparison between the captured image and the baseline image, a cargo space utilization estimate.
1. A cargo-sensing unit comprising:
an image sensor;
at least one processor; and
a memory having stored thereon computer program code that, when executed by the processor, controls the at least one processor to:
instruct the image sensor to capture an image of a cargo space within a cargo container;
compare the captured image to a baseline image of an empty cargo container by:
performing edge detection on the captured image to detect edges of cargo and the cargo container; and
comparing the edges detected in the captured image to edges of the cargo container detected in the baseline image to determine a cargo space utilization estimate of the cargo container; and
determine, based on the comparison between the captured image and the baseline image, a cargo space utilization estimate,
wherein comparing the edges detected in the captured image to edges of the cargo container detected in the baseline image comprises detecting a nearest-most vertical plane to a point of view of the captured image where cargo is loaded, and analyzing each percentage of edges of the plane which are obstructed by cargo, the point of view corresponding to a position from which the captured image was captured.
2. The cargo-sensing unit of claim 1 , wherein determining the cargo space utilization estimate is based on comparing features of the cargo container detectable in the captured image to features of the cargo container detectable in the baseline image.
3. The cargo-sensing unit of claim 1 , wherein determining the cargo space utilization estimate is based on comparing floor space utilization of the cargo container by analyzing a trapezoidal floor space of the cargo space in the captured image to a trapezoidal floor space of the cargo container in the baseline image.
4. The cargo-sensing unit of claim 1 , wherein the computer program code further controls the at least one processor to:
compare the captured image to a most recent captured image of the cargo container; and
determine, based on the comparison between the captured image and the most recent captured image, changes to a load within the cargo container.
5. The cargo-sensing unit of claim 1 further comprising a transmitter,
wherein the computer program code further controls the at least one processor to transmit the cargo space utilization estimation to a remote device.
6. The cargo-sensing unit of claim 1 further comprising a door sensor,
wherein the computer program code further controls the at least one processor to:
determine, based on signals from the door sensor, whether a door of the cargo container has been opened and closed, and
instruct the image sensor to capture the image of the cargo space in response to determining that the door has been opened or closed since a most recent image capture.
7. The cargo-sensing unit of claim 6 further comprising a light sensor configured to output signals based on an amount of light within the cargo space,
wherein the computer program code further controls the at least one processor to determine whether the door of the cargo container has been opened further based on the output signals of the light sensor.
8. The cargo-sensing unit of claim 7 , wherein the door sensor comprises at least one from among a magnetic sensor, a light sensor, an accelerometer, and a gyroscopic sensor.
9. The cargo-sensing unit of claim 8 , wherein the accelerometer or gyroscopic sensor orientation is indicative of a door state change.
10. The cargo-sensing unit of claim 1 further comprising a sonar sensor configured to output signals based on a distance between the sonar sensor and a closest portion of cargo within the cargo container,
wherein the computer program code further controls the at least one processor to determine the cargo space utilization estimate further based on the output signals.
11. The cargo-sensing unit of claim 1 further comprising one or more auxiliary sensors, wherein
the at least one processor comprises a first processor configured to communicate with the one or more auxiliary sensors and to instruct the image sensor to capture the image and a second processor configured to compare the captured image to the baseline image, and
the first processor has a lower power utilization than the second processor.
12. The cargo sensing unit of claim 1 further comprising
one or more environmental sensors configured to monitor an interior of the cargo space; and
a transmitter configured to be disposed outside of the interior of the cargo space and configured to communicate with secondary systems external to the cargo space.
13. The cargo sensing unit of claim 12 further comprising a receiver configured to be disposed in the interior of the cargo space and configured to communicate with external sensors external to the cargo-sensing unit, the external sensors being located in the interior of the cargo space.
14. The cargo-sensing unit of claim 1 , wherein comparing the edges detected in the captured image to edges of the cargo container detected in the baseline image comprises comparing detected edges of one or more of corrugated walls or ceilings, floorboards, and structural beams of the cargo container.
15. The cargo-sensing unit of claim 14 , wherein determining the cargo space utilization estimate comprises determining a proportion of the one or more of corrugated walls or ceilings, floorboards, and structural beams of the cargo container detected in the captured image compared to the one or more of corrugated walls or ceilings, floorboards, and structural beams of the cargo container detected in the baseline image.
16. The cargo-sensing unit of claim 1 , wherein a left edge of the plane indicates a height of cargo on a left wall of the cargo container, a right edge of the plane indicates a height of cargo on a right wall of the cargo container, and a bottom edge of the plane indicates loaded depth of the cargo container.
17. The cargo-sensing unit of claim 1 , wherein the percentage of edges of the plane which are obstructed by cargo indicates a load balance of the cargo in the cargo container.
18. The cargo-sensing unit of claim 17 , wherein modifications of the percentage of edges of the plane which are obstructed by cargo indicates a load shift.
19. The cargo-sensing unit of claim 1 further comprising a pressure sensor configured to output signals based on an air pressure within a cargo space of a cargo container,
wherein the computer program code further controls the at least one processor to deactivate the door sensor and the image sensor in response to the output signals from the pressure sensor indicating an air pressure below a predetermined threshold.
20. A cargo-sensing method comprising:
instructing the image sensor to capture an image of a cargo space within a cargo container;
comparing the captured image to a baseline image of an empty cargo container by:
performing edge detection on the captured image to detect edges of cargo and the cargo container; and
comparing the edges detected in the captured image to edges of the cargo container detected in the baseline image to determine a cargo space utilization estimate of the cargo container; and
determining, based on the comparison between the captured image and the baseline image, a cargo space utilization estimate,
wherein comparing the edges detected in the captured image to edges of the cargo container detected in the baseline image comprises detecting a nearest-most vertical plane to a point of view of the captured image where cargo is loaded, and analyzing each percentage of edges of the plane which are obstructed by cargo, the point of view corresponding to a position from which the captured image was captured.
21. The cargo-sensing method of claim 20 , wherein a left edge of the plane indicates a height of cargo on a left wall of the cargo container, a right edge of the plane indicates a height of cargo on a right wall of the cargo container, and a bottom edge of the plane indicates loaded depth of the cargo container.
22. The cargo-sensing method of claim 20 , wherein the percentage of edges of the plane which are obstructed by cargo indicates a load balance of the cargo in the cargo container.