Sand cabin capacity measuring method and system based on laser scanning

Abstract

The invention belongs to the field of water transportation engineering, relates to a sand cabin capacity measurement technology, and particularly relates to a sand cabin capacity measurement method and system based on laser scanning, which are used for solving the problem that proper point cloud data rejection modes and loading coefficients during conversion cannot be allocated for different sand material types in the prior art. Comprising a data acquisition module, a data checking module, a data processing module and a database, the data acquisition module, the data checking module, the data processing module and the database are sequentially in communication connection, and the data checking module is further in communication connection with the database; the data acquisition module is used for carrying out volume data acquisition on a sand cabin and obtaining full cabin data and empty cabin data; according to the invention, the three-dimensional laser scanner is introduced as digital inspection equipment to quickly inspect the entering volume of the sand, so that an objective and accurate volume result is obtained, disputes caused by human subjective factors in the sand collecting process are avoided, and the shipborne sand volume can be quickly confirmed.

Description

Technical Field

[0001] The invention belongs to the field of water transport engineering, and relates to a sand ship cargo capacity measurement technology, in particular to a sand ship cargo capacity measurement method and system based on laser scanning. Background Art

[0002] Sand is usually delivered to the construction site by water transportation. Since sand is heavy cargo with high specific gravity and small volume, the accuracy of the volume measurement of sand transport ships is very important. The traditional manual volume measurement method has high cost, low precision, large errors and low efficiency. The use of 3D laser scanning technology has obvious advantages in terms of precision, efficiency, safety and other aspects.

[0003] The existing technology usually uses three-dimensional laser scanning technology to measure the capacity of sand ship cabins. A three-dimensional laser scanner is used to scan the empty cabin and the full cabin to form cabin point cloud data. By determining the reference plane for calculation, the volume of the cabin interior and the full cabin pile can be obtained. This method is suitable for irregular conditions inside the cabin and can provide high-precision measurement results; however, the existing technology cannot assign appropriate point cloud data elimination methods and loading coefficients during conversion for different sand types, resulting in the inability to guarantee the accuracy of data collection and the accuracy of capacity measurement output results.

[0004] In view of the above technical problems, this application proposes a solution. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for measuring the cargo capacity of a sand ship based on laser scanning, so as to solve the problem that the prior art cannot allocate a suitable point cloud data elimination method and a loading coefficient during conversion for different types of sand materials;

[0006] The technical problem to be solved by the present invention is: how to provide a sand ship capacity measurement method and system based on laser scanning that can assign appropriate point cloud data elimination methods and loading coefficients during conversion for different sand types.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] The sand ship cargo capacity measurement system based on laser scanning comprises a data acquisition module, a data checking module, a data processing module and a database, wherein the data acquisition module, the data checking module, the data processing module and the database are sequentially connected in communication, and the data checking module is also connected in communication with the database;

[0009] The data acquisition module is used to collect capacity data of the sand tanker and obtain full tank data and empty tank data. After the full tank data and empty tank data are collected, a full tank inspection signal and an empty tank inspection signal are generated and sent to the data inspection module;

[0010] The data checking module is used to check the validity of the full tank data and the empty tank data: retrieve the corresponding priority method from the database according to the sand type to eliminate the unqualified data in the full tank data and the empty tank data; re-measure the eliminated unqualified data and then generate the full tank application data and the empty tank application data; send the full tank application data and the empty tank application data to the data processing module;

[0011] The data processing module is used to process the full-tank application data and the empty-tank application data through the LiDAR360 software to obtain measured volume data, retrieve the corresponding priority coefficient from the database according to the sand type, mark the product of the measured volume data and the priority coefficient as capacity output data, and send the capacity output data to the mobile phone terminal of the manager.

[0012] Furthermore, the process of collecting full-tank data includes: marking the type of sand transported by the sand-carrying ship, and after the sand-carrying ship enters the site and drops anchor, the surveying personnel place positioning balls on the left and right sides of the bow and stern of the ship's cabin, and mark the positions of the positioning balls. After the positioning balls are placed, the 3D laser scanner starts to collect data, and the surveying personnel stand on the side of the ship at the outer edge of the cabin and collect full-tank data around the cabin.

[0013] Furthermore, the empty tank data collection process includes: after the full tank measurement is completed, a full tank inspection signal is generated and the full tank inspection signal is sent to the data inspection module. After ensuring that the point cloud data is complete and accurate, the on-site engineering management personnel notify the sand ship to unload the sand. After the sand is unloaded, the empty tank measurement is carried out and the empty tank data is obtained. The empty tank measurement method is consistent with the full tank measurement and the positioning ball placement position is the same as that of the full tank measurement to maintain the unity of the starting surface; then the empty tank inspection signal is generated and the empty tank inspection signal is sent to the data inspection module.

[0014] Furthermore, it also includes a rejection test module and a conversion test module, and the rejection test module and the conversion test module are both connected to the database for communication;

[0015] The rejection test module is used to test and analyze the priority method corresponding to the sand material type: generate L1 test data groups, the test data group contains sand material type, measurement volume data and verification volume data, the rejection method for rejecting unqualified data from the measurement volume data is random selection, and the rejection methods include invalid value rejection, statistical method rejection and radius filtering method rejection, and the absolute value of the difference between the measurement volume data and the verification volume data in the test data group is marked as the deviation analysis value of the test data group; the invalid deviation coefficient, statistical deviation coefficient and radius deviation coefficient of the sand material type are obtained according to the deviation analysis value; the data group and rejection method corresponding to the minimum value among the invalid deviation coefficient, statistical deviation coefficient and radius deviation coefficient are respectively marked as the priority data group and priority method of the sand material type; the priority methods of all sand material types are sent to the database for storage.

[0016] Furthermore, the process of obtaining the verification volume data includes: weighing the sand-carrying ship when the cabin is full to obtain a full-load weight value, weighing the sand-carrying ship when the cabin is empty to obtain an empty-load weight value, marking the difference between the full-load weight value and the empty-load weight value as the carrying weight value, and marking the ratio of the carrying weight value to the density of the sand type as the verification volume data.

[0017] Furthermore, the process of obtaining the invalid deviation coefficient, statistical deviation coefficient and radius deviation coefficient of the abrasive type includes: marking the test data group corresponding to the same abrasive type as the matching data group of the abrasive type, and marking the matching data group corresponding to the abrasive type that uses invalid value elimination, statistical method elimination and radius filtering method to eliminate unqualified data as invalid data group, statistical data group and radius data group respectively; summing and averaging the deviation analysis values ​​of all invalid data groups corresponding to the abrasive type to obtain the invalid deviation coefficient, summing and averaging the deviation analysis values ​​of all statistical data groups corresponding to the abrasive type to obtain the statistical deviation coefficient, and summing and averaging the deviation analysis values ​​of all radius data groups corresponding to the abrasive type to obtain the radius deviation coefficient.

[0018] Furthermore, the conversion test module is used to test and analyze the priority coefficient corresponding to the sand material type: randomly select a number of values ​​from the value range of the loading coefficient and mark them as loading test values, mark the product of the measured volume data and the loading test value in the priority data group as conversion volume data, mark the absolute value of the difference between the conversion volume data and the verification volume data as conversion analysis value, sum and average the conversion analysis values ​​of all priority data groups corresponding to the same loading test value to obtain conversion average data ZP, convert the conversion analysis values ​​of all priority data groups corresponding to the same loading test value into stable data ZW; numerically calculate the conversion average data ZP and the conversion stable data ZW to obtain a conversion evaluation coefficient ZH; mark the loading test value with the smallest conversion evaluation coefficient ZH as the priority coefficient of the sand material type; and send the priority coefficients of all sand material types to the database for storage.

[0019] The method for measuring the cargo space of a sand ship based on laser scanning includes the following steps:

[0020] Step 1: Collect capacity data of the sand tank and obtain full tank data and empty tank data;

[0021] Step 2: Check the validity of the full tank data and the empty tank data and generate the full tank application data and the empty tank application data;

[0022] Step 3: Use LiDAR360 software to process the full tank application data and the empty tank application data to obtain the measured volume data. According to the sand type, the corresponding priority coefficient is retrieved from the database, and the product of the measured volume data and the priority coefficient is marked as the capacity output data.

[0023] The present invention has the following beneficial effects:

[0024] 1. By introducing a 3D laser scanner as a digital inspection device, the incoming sand volume can be quickly inspected to obtain objective and accurate volume results, thus avoiding disputes caused by subjective factors during the sand collection process and quickly confirming the amount of sand on board;

[0025] 2. The rejection test module can be used to test and analyze the priority mode corresponding to the sand material type, and the deviation analysis value statistics and processing of the L1 group test data group can be used to obtain the priority data group and priority mode. The priority mode can be used to reject unqualified data for full and empty tank data, which can improve the accuracy of data screening and ensure the validity of collected data;

[0026] 3. The conversion test module can be used to test and analyze the priority coefficient corresponding to the sand type. After comparing the conversion volume data with the verification volume data, the conversion evaluation coefficient of the loading test value is generated. The priority coefficient is screened according to the conversion evaluation coefficient. When processing the capacity measurement of the sand type, the loading coefficient with the smallest error can be directly selected for conversion calculation to improve the accuracy of the output results. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A system block diagram of the present invention as a whole;

[0029] Figure 2 is a system block diagram of Embodiment 1 of the present invention;

[0030] Figure 3 is a system block diagram of Embodiment 2 of the present invention;

[0031] Figure 4 This is a method flow chart of embodiment 3 of the present invention. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] like Figure 1 As shown, the sand ship tank capacity measurement system based on laser scanning includes a measurement subsystem, a test subsystem and a database. The measurement subsystem includes a data acquisition module, a data inspection module and a data processing module. The test subsystem includes a rejection test module and a conversion test module.

[0034] Embodiment 1: Figure 2 As shown, the data acquisition module, the data checking module, the data processing module and the database are communicatively connected in sequence, and the data checking module is also communicatively connected to the database.

[0035] The data acquisition module is used to collect capacity data of the sand ship's cabin: mark the type of sand transported by the sand ship, and after the sand ship enters the site and anchors, the surveyor places positioning balls on the left and right sides of the bow and stern of the ship's cabin and marks the position of the positioning balls. After the positioning balls are placed, the 3D laser scanner starts to collect data, and the surveyor stands on the side of the ship at the outer edge of the cabin and collects full-cabin data around the cabin. After the full-cabin measurement is completed, a full-cabin inspection signal is generated and sent to the data inspection module. After ensuring that the point cloud data is complete and After the measurement is accurate, the on-site engineering management personnel will notify the sand ship to unload the sand. After the sand is unloaded, the empty tank measurement is carried out and the empty tank data is obtained. The empty tank measurement method is consistent with the full tank and the positioning ball placement position is the same as that of the full tank measurement to keep the starting surface unified. Then an empty tank inspection signal is generated and sent to the data inspection module. By introducing a three-dimensional laser scanner as a digital inspection device, the incoming volume of sand is quickly inspected to obtain objective and accurate measurement results, avoiding disputes caused by human subjective factors during the sand collection process and quickly confirming the amount of sand on board.

[0036] The data checking module is used to check the validity of the full tank data and the empty tank data: according to the sand type, the corresponding priority method is retrieved from the database to eliminate the unqualified data in the full tank data and the empty tank data; after re-measuring the eliminated unqualified data, the full tank application data and the empty tank application data are generated; and the full tank application data and the empty tank application data are sent to the data processing module.

[0037] The data processing module is used to process the full-tank application data and the empty-tank application data through the LiDAR360 software to obtain the measured volume data. The LiDAR360 software supports the registration of multi-source data and multi-platform data, such as the registration of image data and point cloud data, the registration of airborne point cloud data and ground-based point cloud data, improves the ICP automatic registration effect, and supports the automatic registration of point cloud and model; according to the type of sand, the corresponding priority coefficient is retrieved from the database, the product of the measured volume data and the priority coefficient is marked as capacity output data, and the capacity output data is sent to the mobile terminal of the manager.

[0038] Embodiment 2: Figure 3 As shown, the elimination test module and the conversion test module are both connected to the database for communication.

[0039] The elimination test module is used to test and analyze the priority method corresponding to the sand material type: generate L1 test data groups, which include sand material type, measurement volume data and verification volume data. The elimination method for eliminating unqualified data in the measurement volume data is random selection. The elimination methods include invalid value elimination, statistical method elimination and radius filtering method elimination; invalid value elimination is used to remove invalid values ​​or infinite values ​​in the point cloud. In the Open3D library, it can be implemented using the remove_non_finite_points function, which can eliminate null values ​​(NaN) and infinite values ​​(Inf); statistical method elimination uses the neighborhood statistical information of each point to identify and remove outliers. The specific implementation is to calculate the average distance of each point to its k nearest neighboring points and compare it with the global average distance; the radius filtering method calculates the number of points within the specified radius of each point. If the number of neighboring points of a point is less than a certain threshold, the point is considered to be an outlier.

[0040] The absolute value of the difference between the measured volume data and the verification volume data in the test data group is marked as the deviation analysis value of the test data group; the process of obtaining the verification volume data includes: weighing the sand transport ship when the cabin is full to obtain the full load weight value, weighing the sand transport ship when the cabin is empty to obtain the empty load weight value, marking the difference between the full load weight value and the empty load weight value as the carrying weight value, and marking the ratio of the carrying weight value to the density of the sand type as the verification volume data; marking the test data group corresponding to the same sand type as the matching data group of the sand type, and marking the matching data group corresponding to the sand type for which invalid value elimination, statistical method elimination and radius filtering method are used to eliminate unqualified data as invalid data group, statistical data group and radius data group respectively; the deviation of all invalid data groups corresponding to the sand type is analyzed. The invalid deviation coefficient is obtained by summing up and averaging the difference analysis values, the statistical deviation coefficient is obtained by summing up and averaging the deviation analysis values ​​of all statistical data groups corresponding to the sand material type, and the radius deviation coefficient is obtained by summing up and averaging the deviation analysis values ​​of all radius data groups corresponding to the sand material type; the data group and the elimination method corresponding to the minimum value of the invalid deviation coefficient, the statistical deviation coefficient and the radius deviation coefficient are marked as the priority data group and the priority method of the sand material type respectively; the priority methods of all sand material types are sent to the database for storage; the deviation analysis values ​​of the L1 group test data group are counted and processed to obtain the priority data group and the priority method, and the priority method is used to eliminate unqualified data for full cabin data and empty cabin data, which can improve the accuracy of data screening and ensure the validity of collected data.

[0041] The conversion test module is used to test and analyze the priority coefficient corresponding to the sand material type: randomly select several values ​​from the value range of the loading coefficient and mark them as loading test values, mark the product of the measured volume data and the loading test value in the priority data group as the conversion volume data, mark the absolute value of the difference between the conversion volume data and the verification volume data as the conversion analysis value, sum and average the conversion analysis values ​​of all priority data groups corresponding to the same loading test value to obtain the conversion average data ZP, and convert the conversion analysis values ​​of all priority data groups corresponding to the same loading test value into stable data ZW; through the formula ZH=k1×Z P+k2×ZW obtains the conversion evaluation coefficient ZH of the loading test value, where k1 and k2 are both proportional coefficients, and k1>k2>1; the loading test value with the smallest conversion evaluation coefficient ZH is marked as the priority coefficient of the sand type; the priority coefficients of all sand types are sent to the database for storage; the conversion evaluation coefficient of the loading test value is generated after comparing the converted volume data with the verification volume data, and the priority coefficient is screened according to the conversion evaluation coefficient, so that when processing the capacity measurement of the sand type, the loading coefficient with the smallest corresponding error can be directly selected for conversion calculation to improve the accuracy of the output result.

[0042] Embodiment 3: Figure 4 As shown, the method for measuring the cargo space of a sand ship based on laser scanning comprises the following steps:

[0043] Step 1: Collect capacity data of the sand tank and obtain full tank data and empty tank data;

[0044] Step 2: Check the validity of the full tank data and the empty tank data and generate the full tank application data and the empty tank application data;

[0045] Step 3: Use LiDAR360 software to process the full tank application data and the empty tank application data to obtain the measured volume data. According to the sand type, the corresponding priority coefficient is retrieved from the database, and the product of the measured volume data and the priority coefficient is marked as the capacity output data.

[0046] The method and system for measuring the capacity of a sand ship tank based on laser scanning collect capacity data of the sand ship tank and obtain full tank data and empty tank data when working; check the validity of the full tank data and the empty tank data and generate full tank application data and empty tank application data; process the full tank application data and the empty tank application data through LiDAR360 software to obtain measured volume data, retrieve the corresponding priority coefficient from the database according to the type of sand material, and mark the product of the measured volume data and the priority coefficient as capacity output data.

[0047] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

[0048] The above formulas are obtained by collecting a large amount of data for software simulation and selecting a formula close to the real value. The coefficients in the formula are set by technicians in this field according to the actual situation; for example: formula ZH = k1 × ZP + k2 × ZW; technicians in this field collect multiple groups of sample data and set corresponding conversion evaluation coefficients for each group of sample data; substitute the set conversion evaluation coefficients and the collected sample data into the formula, any two formulas constitute a set of two-variable linear equations, screen the calculated coefficients and take the average, and obtain the values ​​of k1 and k2 as 2.59 and 2.21 respectively;

[0049] The size of the coefficient is to quantify each parameter to obtain a specific value for subsequent comparison. The size of the coefficient depends on the amount of sample data and the initial setting of the corresponding conversion evaluation coefficient for each group of sample data by technical personnel in this field; as long as it does not affect the proportional relationship between the parameter and the quantized value, such as the conversion evaluation coefficient is proportional to the value of the converted average data.

[0050] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0051] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. The sand ship tank capacity measurement system based on laser scanning is characterized by: It includes a data acquisition module, a data checking module, a data processing module and a database, wherein the data acquisition module, the data checking module, the data processing module and the database are sequentially connected in communication, and the data checking module is also connected in communication with the database; The data acquisition module is used to collect capacity data of the sand tanker and obtain full tank data and empty tank data. After the full tank data and empty tank data are collected, a full tank inspection signal and an empty tank inspection signal are generated and sent to the data inspection module; The data checking module is used to check the validity of the full tank data and the empty tank data: according to the sand material type, the corresponding priority method is retrieved from the database to eliminate the unqualified data in the full tank data and the empty tank data; After re-measuring the rejected unqualified data, full tank application data and empty tank application data are generated; the full tank application data and the empty tank application data are sent to the data processing module; The data processing module is used to process the full-tank application data and the empty-tank application data through the LiDAR360 software to obtain measured volume data, retrieve the corresponding priority coefficient from the database according to the sand type, mark the product of the measured volume data and the priority coefficient as capacity output data, and send the capacity output data to the mobile phone terminal of the manager.

2. The sand ship tank capacity measurement system based on laser scanning according to claim 1 is characterized in that: The process of collecting full-tank data includes: marking the type of sand transported by the sand-carrying ship. After the sand-carrying ship enters the site and drops anchor, the surveying personnel place positioning balls on the left and right sides of the bow and stern of the ship's cabin and mark the positions of the positioning balls. After the positioning balls are placed, the 3D laser scanner starts to collect data. The surveying personnel stand on the side of the ship at the outer edge of the cabin and collect full-tank data around the cabin.

3. The sand ship tank capacity measurement system based on laser scanning according to claim 2 is characterized in that: The collection process of empty tank data includes: after the full tank measurement is completed, a full tank inspection signal is generated and sent to the data inspection module. After ensuring that the point cloud data is complete and accurate, the on-site engineering management personnel notify the sand ship to unload the sand. After the sand is unloaded, the empty tank measurement is carried out and the empty tank data is obtained. The method of empty tank measurement is consistent with that of the full tank and the positioning ball is placed in the same position as that of the full tank measurement to keep the starting surface unified; then the empty tank inspection signal is generated and sent to the data inspection module.

4. The sand ship tank capacity measurement system based on laser scanning according to claim 3 is characterized in that: It also includes a rejection test module and a conversion test module, both of which are connected to the database for communication; The rejection test module is used to test and analyze the priority mode corresponding to the sand material type: generate L1 test data groups, the test data group contains sand material type, measurement volume data and verification volume data, the rejection mode of the measurement volume data for rejecting unqualified data is random selection, and the rejection mode includes invalid value rejection, statistical method rejection and radius filtering method rejection, and the absolute value of the difference between the measurement volume data and the verification volume data in the test data group is marked as the deviation analysis value of the test data group; According to the deviation analysis value, the invalid deviation coefficient, statistical deviation coefficient and radius deviation coefficient of the abrasive material type are obtained; the data group and the rejection method corresponding to the minimum value among the invalid deviation coefficient, the statistical deviation coefficient and the radius deviation coefficient are marked as the priority data group and the priority method of the abrasive material type respectively; the priority methods of all abrasive material types are sent to the database for storage.

5. The sand ship tank capacity measurement system based on laser scanning according to claim 4 is characterized in that: The process of obtaining the verification volume data includes: weighing the sand-carrying ship when the cabin is full to obtain the full load weight value, weighing the sand-carrying ship when the cabin is empty to obtain the empty load weight value, marking the difference between the full load weight value and the empty load weight value as the carrying weight value, and marking the ratio of the carrying weight value to the density of the sand type as the verification volume data.

6. The sand ship tank capacity measurement system based on laser scanning according to claim 5 is characterized in that: The process of obtaining the invalid deviation coefficient, statistical deviation coefficient and radius deviation coefficient of the abrasive material type includes: marking the test data group corresponding to the same abrasive material type as the matching data group of the abrasive material type, marking the matching data group corresponding to the abrasive material type that uses invalid value elimination, statistical method elimination and radius filtering method to eliminate unqualified data as invalid data group, statistical data group and radius data group respectively; summing and averaging the deviation analysis values ​​of all invalid data groups corresponding to the abrasive material type to obtain the invalid deviation coefficient, summing and averaging the deviation analysis values ​​of all statistical data groups corresponding to the abrasive material type to obtain the statistical deviation coefficient, and summing and averaging the deviation analysis values ​​of all radius data groups corresponding to the abrasive material type to obtain the radius deviation coefficient.

7. The sand ship tank capacity measurement system based on laser scanning according to claim 6 is characterized in that: The conversion test module is used to test and analyze the priority coefficient corresponding to the sand material type: randomly select a number of values ​​from the value range of the loading coefficient and mark them as loading test values, mark the product of the measured volume data and the loading test value in the priority data group as the conversion volume data, mark the absolute value of the difference between the conversion volume data and the verification volume data as the conversion analysis value, sum and average the conversion analysis values ​​of all priority data groups corresponding to the same loading test value to obtain the conversion average data ZP, and convert the conversion analysis values ​​of all priority data groups corresponding to the same loading test value into stable data ZW; numerically calculate the conversion average data ZP and the conversion stable data ZW to obtain a conversion evaluation coefficient ZH; mark the loading test value with the smallest conversion evaluation coefficient ZH as the priority coefficient of the sand material type; and send the priority coefficients of all sand material types to the database for storage.

8. The method for measuring the cargo space of a sand ship based on laser scanning is characterized in that: The following steps are involved: Step 1: Collect capacity data of the sand tank and obtain full tank data and empty tank data; Step 2: Check the validity of the full tank data and the empty tank data and generate the full tank application data and the empty tank application data; Step 3: Use LiDAR360 software to process the full tank application data and the empty tank application data to obtain the measured volume data. According to the sand type, the corresponding priority coefficient is retrieved from the database, and the product of the measured volume data and the priority coefficient is marked as the capacity output data.

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