Granted Patent B2

US 12,411,230 · App. 17/933,805 · Granted Sep 9, 2025

Inventors: Matthew S. Reynolds (Seattle, WA); Andreas Pedross-Engel (Seattle, WA); Claire Watts (Seattle, WA); Sandamali Devadithya (Seattle, WA)

Assignee: University of Washington

G01S13/90G01S13/888G01S13/89G01S13/9004

Abstract

Claims (29)

1. A method of detecting changes in a parcel or package, the method comprising:

calculating first image data of one or more items inside the parcel or package at a first time and place using a first array of millimeter wave transmitting and receiving antennas located externally of the parcel or package, the first image data based at least in part on scattered signals responsive to interrogation by at least one of the first array of millimeter wave transmitting antennas;

calculating second image data of the one or more items inside parcel or package at a second time and place using a second array of millimeter wave transmitting and receiving antennas located externally of the parcel or package, the second image data based at least in part on scattered signals responsive to interrogation by at least one of the second array of millimeter wave transmitting antennas;

processing the first image data and the second image data; and

indicating whether the one or more items inside the parcel or package has or have changed at least in part in response to the difference between the first image data and the second image data.

2. The method of claim 1 , wherein the parcel or package is carried by a conveyor, and wherein the second array of millimeter wave transmitting and receiving antennas are disposed proximate to the conveyor.

3. The method of claim 2 , wherein the indication of whether the parcel or package has changed comprises automatically directing the parcel or package onto a separate conveyor belt.

4. The method of claim 1 , further comprising obtaining additional image data of an exterior of the parcel or package using a visible wavelength camera, an infrared camera, a laser scanner, or combinations thereof.

5. The method of claim 4 , wherein the additional image data comprises a fiducial mark patterned with a barcode, a checkerboard pattern, or a QR code.

6. The method of claim 4 , wherein the additional image data is superimposed on the first image data or the second image data using an image alignment algorithm.

7. The method of claim 6 , wherein the image alignment algorithm comprises an affine transformation, an image warping algorithm, or an image scaling algorithm.

8. The method of claim 1 , wherein the indication of whether the one or more items inside the parcel or package has or have changed comprises emphasizing image pixels or voxels using coloring, shading, highlighting, shadowing, or marking with alphanumeric text or arrows to indicate changes between the first image data and the second image data.

9. The method of claim 1 wherein the indication of whether the parcel or package has changed comprises overlaying the first image data, the second image data, or a combination thereof of the one or more items inside the parcel or package with additional image data of an exterior of the parcel or package, wherein the additional image data are obtained using a visible wavelength image, an infrared camera image, a laser scanner image, or combinations thereof.

10. The method of claim 1 , wherein the indication of whether the parcel or package has changed comprises at least in part a side-by-side display of the first image data of the one or more items inside the parcel or package, the second image data of the one or more items inside the parcel or package, a visible wavelength image of an exterior of the parcel or package, an infrared camera image of the exterior of the parcel or package, a laser scanner image of the exterior of the parcel or package, or combinations thereof.

11. The method of claim 1 further comprising projecting an image onto a scene including the parcel or package.

12. The method of claim 1 , wherein the indication of whether the parcel or package has changed comprises an alert to perform an inspection.

13. The method of claim 1 , wherein the indication of whether the parcel or package has changed is determined at least in part by an automated count of the one or more items inside the parcel or package.

14. The method of claim 1 , wherein the processing the first image data and the second image data comprises transferring the first image data and the second image data from one or more storage devices using a wired or a wireless communication network.

15. A system comprising:

an array of millimeter wave antennas positioned to interrogate a scene including a parcel or package, the array of millimeter wave antennas located externally to the parcel or package; and

an imaging system configured to:

generate image data associated with one or more items inside the parcel or package based on signals scattered from the scene responsive to interrogation by the array of millimeter wave antennas, the signals received by the array of millimeter wave antennas;

compare the image data with previously-acquired image data of the one or more items inside the parcel or package, wherein the previously-acquired image data are obtained using another array of millimeter wave antennas; and

indicate whether the parcel or package has changed based on the comparison.

16. The system of claim 15 , further comprising a conveyor positioned proximate the array of millimeter wave antennas and configured to create relative motion between the parcel or package and the array of millimeter wave antennas.

17. The system of claim 15 , further comprising a secondary imager configured to generate additional image data associated with the parcel or package.

18. The system of claim 17 , wherein the secondary imager comprises a visible wavelength camera, an infrared camera, a laser scanner, or combinations thereof.

19. The system of claim 15 , further comprising an automated handling system configured to separate the parcel or package from other objects at least in part responsive to the indication the parcel or package has changed.

20. The system of claim 15 , wherein said indication comprises an alert to perform an inspection of the parcel or package when the comparison indicates the parcel or package has changed.

Assignments (1)

Continuity (5)

References Cited (168)