A system and method for dispensing a substance Field

This disclosure relates to the field of dispensing

substances into a receptacle and has particular, but by no means exclusive, application to the field of dispensing drinkable fluids such as alcohol into a drinking vessel.

Background

Within many industries it is very important to have a controlled and systematic approach to dispensing

substances. One important reason is that it provides a level of consistency when dispensing many separate

instances of the substance. It also provides more accurate control of stock levels of the substance. In some

industries it also improves the overall productivity and reduces costs associated with dispensing the substance. One such industry that can benefit from a controlled and systematic approach is the hospitality industry. Another is the self-serve beverage industry.

Summary

According to an embodiment of a system for dispensing a substance into a receptacle, the system comprises a processing arrangement that is configured to: carry out an analysis of an initial image; and control a dispensing arrangement based on the analysis of the initial image such that the dispensing arrangement dispenses an amount of the substance into a receptacle.

In an embodiment, the processing arrangement is arranged to carry out analysis of at least one subsequent image (and in an embodiment further subsequent images) and to control the dispensing arrangement based on the analysis of the at least one subsequent image. In an embodiment, the image processing is arranged to detect images relating to a surface or meniscus of a substance being dispensed and determine whether this indicates that a "full level" in the receptacle has been reached. In an embodiment, a plurality of images are processed in "real time" as substance is being dispensed in the container, to monitor whether the surface or meniscus of the substance has reached a "full level".

In an embodiment, the images are electronic images. In an embodiment, the analysis of the initial electronic image comprises examining the image to detect the presence of a receptacle. In an embodiment, if a receptacle is detected, then the dispensing arrangement is arranged to commence dispensing of the substance into the receptacle.

An advantage of an embodiment of the system is that the processing arrangements ability to analyze the electronic images allows the system to dispense substances (be it a liquid or otherwise) into a broad range of different size receptacles. For example, in a situation where the system is used to dispense drinking fluids (such as alcohol) drinking containers ranging from paper cups through to beer glasses can be accommodated by the system. In an embodiment, this is facilitated by the images being processed to essentially detect the level of the substance or meniscus of the substance relative to the receptacle. In an embodiment, the image processing is arranged to detect the level of the substance of meniscus of the substance relative to a part of the receptacle, in an embodiment the receptacle lip.

In another embodiment of the system, the analysis of the initial electronic image comprises examining an image storage arrangement for a reference image of the

receptacle, wherein the reference image depicts the receptacle with the predetermined amount of the substance.

An advantage of this embodiment of the system is that it can be easily and quickly calibrated to dispense the appropriate amount of the substance into the receptacle, which is facilitated by the use of the reference image depicting the receptacle with the correct amount of the substance. It is the image storage arrangement that allows a collection of different reference images, each of which depicts a different receptacle with the appropriate amount of the substance.

By way of example with reference to alcohol drinks, the image storage arrangement could contain a reference image of a wine glass with the correct amount of wine in it, while another reference image in the image storage

arrangement could depict a beer glass with the correct amount of beer in it.

As discussed in more detail in subsequent sections of this specification, the ability to be easily and quickly calibrated is facilitated by allowing the processing arrangement to access an electronic reference image of each receptacle with the correct amount of the substance.

In this embodiment the processing arrangement is arranged to process at least one subsequent image of the receptacle and the reference image of the receptacle to control the dispensing arrangement.

The advantage of using the at least one subsequent image of the receptacle is that it effectively allows real-time monitoring of the receptacle as it is being filled with the substance. By comparing each of the subsequent images to the reference image the processing arrangement can allow the substance to continue to be dispensed into the receptacle until such time as the subsequent image

corresponds to the reference image. At which time the processing arrangement can cause the dispensing

arrangement to cease dispensing the substance.

In an embodiment, the processing arrangement is further configured to process a signal from a load cell and control the dispensing arrangement such that it dispenses the predetermined amount of the substance into the

receptacle .

One of the advantages that comes from enabling the

processing arrangement to process the load cell signal is that it provides a failsafe mechanism against overfilling (or indeed under-filling) in the event that the camera providing the various images is obscured. The load cell would typically be positioned under a substance storage container and provides a signal that corresponds to the weight of the substance storage container. As the

substance is dispensed from the substance storage

container the weight of the container is reduced and this reduction in weight corresponds to a change in the signal from the load sensor.

In an embodiment, the processing arrangement is configured to communicate, via a data communication network, with a computing device that is remote to the system, wherein the processing arrangement and the computing device

communicate such that the computing device can initiate dispensing of the predetermined amount of the substance into the receptacle.

An advantage that comes from allowing the remote computing device to initiate the dispensing of the substance is that it provides for an easy means for facilitating self- initiated dispensing. For example, the remote computing device can be a smart phone for a suitable application installed. Any person with a smart phone and the relevant application installed can simply initiate the dispensing of the substance (which could be a drinking fluid) using the smart phone application. This has the potential to eliminate the need for a third party to attend the system to take orders and initiate the dispensing of the

substance . In the first embodiment discussed above, where the

analysis of the initial electronic image comprises

examining the image for the presence of a receptacle, dispensing may be automatically initiated by the

dispensing arrangement on detection of the receptacle.

In this embodiment of the system, a reference image is generated from at least one image of the receptacle and the level to which the receptacle is to be filled is recorded on the image in a position relative to the lip of the receptacle. This position having been predetermined to suit the requirements of the user. That is the "full level" can be preset, and referenced to the lip of the receptacle . According to an embodiment of a method for dispensing a substance into a receptacle, the method comprises the steps of:

a processing arrangement carrying out an analysis of an initial electronic image; and

the processing arrangement controlling a dispensing arrangement based on the analysis of the initial

electronic image such that the dispensing arrangement dispenses an amount of the substance into a receptacle. In an embodiment, the method comprises the steps of carrying out an analysis of a further electronic image, and, in embodiments, further electronic images. In an embodiment, the processing of the images is arranged to detect a surface or meniscus of the substance being dispensed and determine its position relative to a part of the receptacle, and the dispensing arrangement is arranged to dispense until a predetermined "full level" is reached, based on the analysis of the images.

In an embodiment, the method comprises the step of

determining the full level relative to a lip of the receptacle. In an embodiment, the level to which the receptacle is to be filled is recorded on an image of the receptacle in a position relative to the lip of the receptacle .

In another embodiment of the method the step of the processing arrangement carrying out the analysis of the initial electronic image comprises the step of examining an image storage arrangement for a reference image of the receptacle, wherein the reference image depicts the receptacle with the predetermined amount of the substance.

In this embodiment there is a further step of the

processing arrangement processing at least one subsequent image of the receptacle and the reference image of the receptacle to control the dispensing arrangement.

In this embodiment there is a further step of the

processing arrangement processing at least one subsequent image of the receptacle to control the dispensing of the substance into the receptacle.

In an embodiment there is the further step of the

processing arrangement processing a signal from a load cell and controlling the dispensing arrangement such that it dispenses the predetermined amount of the substance into the receptacle. In an embodiment of the method there is the further step of the processing arrangement communicating, via a data communication network, with a computing device that is remote to the system, wherein the processing arrangement and the computing device communicate such that the

computing device can initiate dispensing of the

predetermined amount of the substance into the receptacle. Brief Description of Drawings

Features and advantages of the present invention will become apparent from the following description of

embodiments thereof, by way of example only, with

reference to the accompanying drawings in which:

Figure 1 provides a schematic diagram of an embodiment of a system for dispensing a substance into a receptacle; Figure 2 is a flow chart illustrating steps performed by a system in accordance with one embodiment;

Figure 3 is a flow chart illustrating steps performed by a system in accordance with another embodiment.

Detailed Description

Referring to figure 1, in an embodiment of a system 100 for dispensing a substance the system 100 includes several elements including: a container 102; a receptacle 104; a camera 106; a data processing arrangement 108; a data interface 110; a substance outlet 114; and a light source 116. A load cell 112 is also provided, but this is an optional feature and not required in some embodiments.

As described in earlier sections of this specification, the main function of the system 100 is to dispense a substance stored in the container 102 into the receptacle 104. More specifically, the system 100 is such that it only dispenses a predefined amount of the substance into the container 102. It is envisaged that the system 100 could be employed to dispense a range of different

substances into a range of different receptacles. However, the system 100 has an immediate application to dispensing drinking fluids such as alcohol and soft drinks into different drinking vessels. The system 100 could be used to dispense powdered substances such as washing powder or edible substances such as grains and nuts. For the

purposes of the following description the system 100 will be described in the context of dispensing alcoholic beverages such as wine and beer, but by no means does this imply that the system 100 is restricted to dispensing fluid substances such as alcohol.

To begin with, the container 102 has to be filled with the required beverages. The container 102 is essentially a storage reservoir of the beverages and so it would be filled with the required beverages such as beer and wine, or it may be self-filling, such as a cold water reservoir or a hot water heater/reservoir. The container 102 may have separate storage compartments (not shown in the figures) each of which contains a different beverage; for example, one of the storage containers has wine and another of the storage containers has beer. The container 102 also has an outlet 114 from which the beverages held within the container 102 egresses the container 102 to be dispensed into the receptacle 104. While not shown in the diagrams, the system 100 has a suitable pump for causing the beverages in the container 102 to egress from the outlet 114. While the following description of the system 100 describes the container 102 operating with a pump it is envisaged that in an alternative embodiment of the system 100 the container 102 does not operate with a pump and instead any beverage in the container 102 is dispensed using a gravity based feed system, or mains water pressure feed system.

To initiate the filling of the receptacle 104 with the beverage in the container 102, a person places an empty receptacle 104 (which in the case of beverages would typically be a drinking glass) under the outlet 114. The data processing arrangement 108 provides a user interface (which is typically in the form of a touch screen display providing several user functions) that allows the person to select the appropriate beverage and to initiate the dispensing of the beverage (substance) into the receptacle 104. The person would first select their desired beverage (beer or wine) by selecting the appropriate button on the user interface of the data processing arrangement 108.

Once their beverage has been selected the person proceeds to select the fill button on the user interface of the data processing arrangement 108. In response to the fill button of the data interface being selected, the data processing arrangement 108 captures an initial electronic image of the receptacle 104 that was placed under the outlet 114. To capture the initial image of the receptacle 104, the data processing arrangement 108 is electrically connected to the camera 106. The camera 106 is in the form of a relatively inexpensive CCD pinhole camera.

In another embodiment of the system 100 it is envisaged that the camera 106 is continually running such that the camera is always generating the images (a video stream) . The data processing arrangement 108 is constantly

processing the images to determine whether an image contains the receptacle 104. On detecting that the image contains the receptacle 104, the data processing

arrangement 108 proceeds to initiate the process of filling the receptacle 104 with the beverage as previously described. The advantage of this alternative embodiment of the system 100 is that the system 100 automates the entire process so all a user of the system 100 has to do is place the receptacle 104 under the outlet 114 and the rest

(filling the receptacle 104) is done without further input of the user.

It is noted that while in this embodiment the user selects the relevant beverage to be dispensed by selecting the desired beverage from the user interface of the data processing arrangement 108, this may be automated in alternative embodiments. For example, the initial

electronic image of the receptacle 104 can be processed to automatically determine and select the appropriate

beverage to be dispensed. For example, if it is determine that as a result of processing the initial electronic image that the receptacle 104 contains a logo such as Coca Cola then Coca Cola would be selected and dispensed into the receptacle 104. Alternatively, if the receptacle 104 contains a Fanta logo then Fanta could be automatically selected and dispensed into the receptacle 104. This functionality of the system 100 is not limited to

detecting logos on the receptacle 104. Other alternatives for selecting the beverage are envisaged and one such alternative involves analysing the shape of the receptacle 104 to determine and make the beverage selection. For example, if as a result of analysing the initial

electronic image the system 100 determines that the receptacle is a beer glass then beer would be dispensed. On the other hand, if it was determined that the

receptacle 104 was a wine glass then wine would be

dispensed. Another alternative for selecting the beverage is the concept of having a code such as a bar code printed in the receptacle 104, which would be analysed to

automatically determine what beverage is to be dispensed. In one embodiment of the system 100 it can include a proximity sensor which operates to inform the data

processing arrangement 108 that an empty receptacle 104 has been placed under the outlet 114. In response to receiving a signal from the proximity sensor the data processing arrangement 108 can cause the camera 106 to capture an image of the receptacle 104 and process that image. If as a consequence of processing the image the data processing arrangement determines that it is indeed a receptacle 104 and not some other non-receptacle object, the data processing arrangement 108 can initiate the dispensing of the beverage into the receptacle 104.

One embodiment of the system includes a memory which stores electronic images depicting receptacles, as reference images. These reference images are used to determine how a receptacle in a "full state" would look. This embodiment is described directly below.

A further embodiment of the system constantly monitors images of the receptacle to determine a position of a surface level of the substance or a meniscus of the substance relative to the receptacle and determines when a "full level" has been reached based on the image

processing. This embodiment will be described later.

In one embodiment, once the data processing arrangement 108 has obtained the initial electronic image of the receptacle 104 from the camera 106, the data processing arrangement 108 carries out an analysis of the initial electronic image. The analysis of the initial electronic image involves examining an image storage arrangement (not shown in the figures) for a reference image that

corresponds to the initial electronic image. The image storage arrangement is in the form of permanent electronic data memory contained in the data processing arrangement 108. The electronic storage memory is in the form of an SSD memory card. The reference image corresponds to the initial electronic image in that the initial electronic image depicts the receptacle 104 in an empty state while the reference image depicts the same receptacle 104 in a full state (that is, full of the selected beverage) . It is possible to quickly and easily add new references images to the image storage arrangement by simply taking a photo of the required receptacle in the fill state and uploading that photo into the image storage arrangement.

Because the image storage arrangement can contain

reference images for a range of different receptacles, the data processing arrangement 108 has to be able to select the correct reference image. To do this the data

processing arrangement 108 assess the circumference and high of the receptacle 104 in the initial electronic image and using those dimensions examines the image storage arrangement for reference images that contain a receptacle of the same dimensions.

Once the data processing arrangement 108 has identified the appropriate reference image, the data processing arrangement 108 activates the pump mechanism (not shown in the figures) of the container 102 such that the required beverage is dispensed into the receptacle 104 via the outlet 114. More specifically, to initiate the pump mechanism of the container 102 that data processing arrangement 108 sends the appropriate electronic signal to the pump mechanism via the data interface 110. The

electronic signal causes the pump mechanism of the

container 102 to activate thereby causing the required beverage to be dispensed via the outlet 114.

The data processing arrangement 108 will continue to allow the beverage to be dispensed from the container 102 and into the receptacle 104 until such time as the receptacle 104 is filled with the required amount of the beverage. When the receptacle 104 is filled with the required amount of the beverage the data processing arrangement 108 turns off the pump mechanism of the container 102 so that the beverage ceases to be dispensed from the outlet 114. To do this the data processing arrangement 108 stops sending the previously described signal to the pump mechanism via the data interface 110. When the pump mechanism of the

container 102 stops receiving the signal from the data processing arrangement 108 the pump stops operating, which in turn stops the beverage from being dispensed via the outlet 114. To ensure that the data processing arrangement 108 stops sending the signal to the pump mechanism at the

appropriate time, the data processing arrangement 108 is arranged to monitor the level of the beverage in the receptacle 104 as it is being dispensed from the outlet 114. This is in effect real-time monitoring of the level of the beverage in the receptacle 104 as it is being dispensed into the receptacle 104 from the outlet 114. To do this the data processing arrangement 108 receives a continuous feed of subsequent images from the camera 106. The subsequent images depict the level of the beverage in the receptacle 104 as it is being filled with the beverage via the outlet 114 of the container. For each subsequent image that the data processing arrangement 108 receives from the camera 106, the data processing arrangement 108 compares the subsequent image to the previously obtained reference image (which depicts the receptacle 104 in the full state) and if a particular subsequent image matches the reference image the data processing arrangement 108 turns the pumping mechanism of the container 102 off as previously described to thereby cease dispensing of the beverages .

The typical way the data processing arrangement 108 uses the subsequent images to determine whether one of them matches the reference image is by assessing the level of the beverage meniscus in the receptacle 104. More

specifically, the data processing arrangement 108 can examine the reference image (which depicts the receptacle 104 in the full state) to calculate a distance from the top of the receptacle 104 to the meniscus level of the beverage contained therein. Using this distance the data processing arrangement 108 can calculate the distance from the top of the receptacle 104 to the meniscus level for each of the subsequent images. As more of the beverage is dispensed into the receptacle 104 each of the subsequent images will represent a rising meniscus and as such eventually one of the subsequent images will depict the meniscus at a level that corresponds to the meniscus level depicted in the reference image.

To assist in highlighting the meniscus level in the receptacle 104 depicted in the subsequent images, the light 116 aids by projecting light on the opening of the receptacle 104 and the meniscus.

See Figure 2, which illustrate the steps performed by the above embodiment.

Given that the system 100 is based on the data processing arrangement 108 analysing electronic images from the camera 106, it is possible that the camera's view of the receptacle 104 may become obscured. When this happens it will not be possible for the data processing arrangement 108 to process the subsequent images in a meaningful way to detect the meniscus level as previously described. As a failsafe mechanism to guard against over or under filling of the receptacle 104 in the event the camera 106 becomes obscured, the system 100 includes a load cell 112 that is located under the container 102. The load cell 112

generates an electrical signal that corresponds to a force exerted thereon. As such, as the beverage is dispensed from the container 102 it becomes lighter in weight and therefore exerts less of a force on the load cell 112. As the beverage is dispensed from the container 102 the signal generated by the load cell changes in proportion to the amount of beverage that is dispensed from the

container 102. The signal from the load cell is sent to the data

processing arrangement 108 via the data interface 110. The data processing arrangement 108 is such that it can determine an approximate amount of the beverage that has been dispensed from the container 102 by processing the signal from the load cell 112. The data processing

arrangement 108 will act on a change in the signal from the load cell 112 by stopping the signal it sends to the pump mechanism of the container 102 to cease dispensing of the beverage from the container 102. The data processing arrangement 108 will generally only act on the signal from the load cell 112 if the camera 106 is obstructed and cannot capture adequate subsequent images of the

receptacle 104. One of the unique aspects of the system 100 is that not only can it be operated by the previously described user interface of the data processing arrangement 108, but it can also be operated via other means. More specifically, it is envisaged that a remote form of operation can be performed. This for example could occur by having a suitable application installed in a smart phone (not shown in the figures) and that application would essentially replicate the previously described user interface provided by the data processing arrangement 108. The smart phone can communicate with the system 100 via Bluetooth and the application would allow the smart phone owner to initiate the dispensing of the beverage from the container 102 into the receptacle 104. It is worth noting that the light source 116 can take on different forms in different embodiments of the system 100. The light source 116 can include a plurality of separate sources, which project light on the receptacle 104 from different angles. The advantage of projecting light on the receptacle 104 from different angles is that it enables the camera 106 to capture images of the

receptacle 104 in a manner that highlights a contrast in the edge (the drinking opening) of the receptacle 104. This is particularly important for improving the system' s 100 ability to detect and analyse the receptacle 104.

Another aspect of the system 100 that can enhance the system's 100 ability to detect and analyse the receptacle 104 is that the camera 106 is infrared sensitive so that it can accurately capture and analyse images of the receptacle 104 in low light environments. In this regard, the light source 116 would be such that it would emit infrared light.

Another advantage of the data processing arrangement 108 being able to process the images from the camera 106 is that it can also detect an interruption to the flow of the substance from the outlet 114, which may occur as a result of the substance in the container 102 being depleted. The data processing arrangement 108 can carry out a range of different action in response to detecting an interruption to the flow of the substance from the outlet 114. For example, the data processing arrangement to switch to a different container 102 or sound an audio/visual alarm to prompt a user of the system 100 to refill the container 102 with more of the substance. In an alternative embodiment of the system 100, instead of comparing images to a reference image (as described above) , the data processing arrangement 108 can use alternative techniques for determining when a sufficient amount of the beverage has been dispensed into the

receptacle 104. In this embodiment, the data processing arrangement 108 may process the subsequent images to determine where the meniscus or surface of the beverage is in relation to a part of the receptacle 104 e.g. the receptacle lip. When the meniscus or surface is at a required distance from the top of the receptacle 104 the data processing arrangement 108 can cause the beverage to cease being dispensed from the container 102 as discussed previously. In this embodiment the data processing

arrangement 108 is not comparing any subsequent images to a reference image. This embodiment does not require reference images.

Instead, images are processed to determine a reference part of the receptacle/container, such as the receptacle lip. A further reference part of the container may then be identified as a "full level" (the level that the substance being poured into the receptacle should reach) . As the substance is poured into the container, images are analysed until the full level is achieved. Pouring is then stopped. In this embodiment, the images are also processed to determine when a container is placed underneath the outlet 114, and then the dispenser automatically commences dispensing. See Figure 3 flow chart which illustrates the high level steps carried out by the system of this embodiment. A more detailed description of the steps carried out by the system and data processing arrangement 108 for this embodiment now follows:

Running a high level programming language such as Python which can call lower level open source image processing functions such as those in Opencv, execute the following:

Begin by initialising the hardware including the camera 106. This includes camera 106 resolution and frame rate. A resolution of 400 x 300 pixels and framerate of 30 frames per second is sufficient for drinking container 102 sized objects. Initialise the camera to output a raw (uncompressed) rgb image. Initialise the operating state machine to a rest state with all pour transducers such as pumps or solenoids in the off state. Next, enter at the beginning of an infinite loop that processes each image frame and updates an operating state machine in real time. This loop begins by capturing a raw image in rgb format, copying this data to an array in computer random access memory. Convert this array of pixels representing the colour image to an array of pixels representing gray scale only, (gray = cv2. cvtColor ( image, cv2. C0L0R_BGR2GRAY) )

Pass the gray scale image to an edge detection algorithm to result in an image containing narrow lines and arcs of white pixels representing abrupt changes of brightness on the original gray scale image. This could be done using the Canny Edge Detection algorithm which is a multi-stage algorithm that includes noise reduction, intensity

gradient identification, non-maximum suppression and hysteresis thresholding, (edges = cv2. Canny ( gray, x, y) )

If this is an initial image or an image not subsequent to a previous image containing an object identified as a container 102 lip, then mask the larger region of interest in the image by applying a white elliptical mask on a black image using an ^x and' function with the previous edge detected image of lines and arcs so that the full

elliptical field of view is retained. Otherwise, if this is a frame being processed after an elliptical object representing a container 102 lip has been detected, then draw a solid white ellipse 10% larger than the container 102 lip on a black image and mask this using an ^x and' function with the previous edge detected image of lines and arcs so that any interfering objects outside of this smaller region of interest are blacked-out. (edges = cv2.bitwise_and (work_image, edges, mask=work_image) ) From the reduced image of white pixels on a black

background, process the image of lines and arcs to convert them into an approximation of line segments described by the coordinates of the two end points of each segment, (contours, _ =

cv2. findContours ( edges , cv2. RETR_TREE , cv2. CHAIN_APPROX_S IMP LE, ) ) These contours can then be analysed using standard vector and geometric techniques.

Analyse the set of contours to identify those contours that represent the reflective highlight from the lip of the container 102 in the region of interest, using one of the contour analysis functions such as approximate

polynomial and/or maximum arc length.

Fit an ellipse to this contour and identify the ellipse axes sizes and centre coordinates, (ellip =

cv2. fitEllipse ( contours [ 0 ] ) ) If the operating state machine is indicating that an acceptable ellipse has only just been identified then only advance that state machine to a following state if the centre coordinates and axes dimensions of the fitted ellipse are stable over a pre-determined period of time.

Once the container 102 lip ellipse is stable, draw a smaller ellipse below the lip ellipse representing the pre-determined maximum level ("full level") to which fluid can reach within the container. Tally and save the number of white pixels above the container 102 lip ellipse but below the maximum level ellipse for reference in

subsequent loops through the infinite loop that processes each image frame. Advance the operating state machine to enable the pouring of a substance into the container 102 via pump or solenoid.

To determine when the container 102 has reached a full state and if the operating state machine is in the pour state and on subsequent passes through the infinite loop that processes each image frame, compare the number of white pixels above the container 102 lip ellipse but below the maximum level ellipse with the previously saved reference number and if this exceeds a pre-determined difference, advanced the pour state machine to the full state and de-energise any pump, solenoid or filling transducer. This is where reflections off the substance meniscus or surface turbulence have indicated to the system that the substance has reached a full level in the container .

To determine when the container 102 has been moved or removed and if the operating state machine is in any state and the container 102 lip ellipse disappears or changes in dimension or centre by a pre-determined degree for a pre ^¬ determined number of images processed in the infinite loop, then return the operating state machine to the rest state and de-energise any pump, solenoid or filling transducer. This would be as a result of a container 102 being moved or removed from the pour location.

Continue back to the beginning of the infinite loop that processes each image frame and process the next image frame, execute the algorithm just described and update the operating state machine in real time.

It will be appreciated that detection of a reference container full level and monitoring of the

surface/meniscus to determine whether the full level has been reached may be done in other ways than discussed above . Note that the camera may be positioned so that transparent containers are not required. The receptacle may be opaque . From the foregoing and with reference to the various figures, those skilled in the art will appreciate that certain modifications can also be made to the system 100 and its various components 102 to 116 without departing from the spirit and scope of this specification. While several embodiments of the system 100 have been shown and described within this specification, it is not intended that this specification be limited thereto, as it is intended that the specification be as broad in scope as the art will allow and that the specification be read likewise. Therefore this specification should not be construed as limiting, but merely as exemplification of particular embodiments. Those skilled in the art will readily envisage other modifications with the spirit and scope of this specification.