Volume measurement method and system utilizing lidar

Abstract

To provide a volume measurement method and a volume measurement system which allow real-time monitoring to a storage space of a raw material.SOLUTION: A volume measurement system comprises: a plurality of lidar sensors 101 to 104 which acquire data of a volume measurement object; and a volume data integration calculation unit 100 which integrates the data acquired by the plurality of lidar sensors to calculate volume of the volume measurement object. The volume measurement system can measure the volume on the basis of the data acquired via many lidar sensors to acquire a very accurate volume measurement value in real time, perform real-time monitoring of a storage space of a raw material as the volume measurement object through control of all applications such as operation control and data acquisition, and utilize periodically acquired result data as an evidence material in various areas such as inventory control and asset management.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a volume measurement method and system using a lidar, and more particularly to a volume measurement method and system using a lidar that enables accurate volume measurement and real-time monitoring of raw materials through a lidar sensor. [Background technology]

[0002] High-value raw materials are company assets, and accurate counting of their quantities is an important factor in inventory management and budget planning.

[0003] FIG. 1 is a diagram for explaining a conventional method for measuring the volume of raw materials.

[0004] As shown in Figure 1, traditionally, raw materials (metal raw materials, scrap iron alloys, minerals, etc.) stored in large warehouses have been checked by eye (visual estimation), and if necessary, inventory management has been carried out by measuring the volume with a laser measuring device.

[0005] Recently, due to rising raw material prices, accurate inventory management of raw materials has become even more important.

[0006] Therefore, technology is needed that can measure volume in real time to accurately grasp the flow and scale of raw materials and manage them efficiently. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Korean Patent Registration No. 10-1932466 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention has been made in consideration of the above-mentioned prior art to solve the above-mentioned problems, and an object of the present invention is to measure the volume based on data acquired through a plurality of lidar sensors, obtain highly accurate volume measurement results in real time, and provide real-time monitoring of a storage space of a raw material to be measured for volume through control of all operations such as operation control and data acquisition.

[0009] Furthermore, the present invention allows the periodically acquired result data to be utilized as evidence in various fields such as inventory management and asset management. [Means for solving the problem]

[0010] To solve the above-described problem, a volume measurement system using LIDAR according to one embodiment of the present invention includes a plurality of LIDAR sensors that acquire data of an object to be measured for volume, and a volume data integration calculation unit that integrates the data acquired by the plurality of LIDAR sensors to calculate the volume of the object to be measured for volume.

[0011] According to another embodiment of the present invention, the volumetric data integration calculation unit includes a LIDAR sensor control unit that controls the plurality of LIDAR sensors, and a data acquisition unit that acquires data measured by the plurality of LIDAR sensors.

[0012] According to another embodiment of the present invention, the volumetric data integration calculation unit may further include a coordinate synchronization unit that generates a 3D point cloud in which each piece of data measured by the plurality of LIDAR sensors is arranged with respect to one reference point.

[0013] According to another embodiment of the present invention, the volume data integration calculation unit may further include a noise filter unit that optimizes data of the 3D point cloud to remove noise, and a target area setting unit that sets a target area for calculating the volume of the volume measurement object in the 3D point cloud.

[0014] According to another embodiment of the present invention, the volume data integration calculation unit may further include a volume calculation unit that calculates the volume of the volume measurement object using the 3D point cloud in which a region is set.

[0015] According to another embodiment of the present invention, the volume data integration calculation unit may further include a volume information providing unit that displays the calculated volume of the volume measurement object as a 3D point cloud by color-coding the volume by 3D region.

[0016] According to another embodiment of the present invention, the volume information providing unit may display the calculated volume of the volume measurement object as a 3D point cloud by color-coding the volume according to the height of the 3D area.

[0017] According to another embodiment of the present invention, the volume information providing unit may collect information on the calculated volumes of the volume measurement objects, accumulate the information by type of raw material that is the volume measurement object, and calculate and provide raw material-specific change data and raw material-specific scale data.

[0018] A volume measurement method using LIDAR according to one embodiment of the present invention includes a data acquisition step in which a plurality of LIDAR sensors acquire data on an object to be measured for volume, and a volume calculation step in which a volume data integration calculation unit integrates the data acquired by the plurality of LIDAR sensors and calculates the volume of the object to be measured for volume.

[0019] According to another embodiment of the present invention, the data acquisition step includes a step in which a lidar sensor control unit controls a plurality of the lidar sensors, and a step in which a data acquisition unit acquires data measured by the plurality of the lidar sensors.

[0020] According to another embodiment of the present invention, after the data acquisition unit acquires the data measured by the plurality of LIDAR sensors, the method may further include a step in which a coordinate synchronization unit generates a 3D point cloud in which each of the data measured by the plurality of LIDAR sensors is arranged with respect to one reference point.

[0021] According to another embodiment of the present invention, after the step of generating the 3D point cloud, the method may further include a step of a noise filter unit optimizing data of the 3D point cloud to remove noise, and a step of a target area setting unit setting a target area in the 3D point cloud for calculating the volume of the volume measurement object.

[0022] According to another embodiment of the present invention, after the step of setting the target area, the method may further include a step in which a volume calculation unit calculates the volume of the object to be measured using the 3D point cloud in which the area has been set.

[0023] According to another embodiment of the present invention, after the step of calculating the volume of the volume measurement object, the volume information providing unit may further include a step of color-coding the calculated volume of the volume measurement object by three-dimensional area and displaying it as a three-dimensional point cloud.

[0024] According to another embodiment of the present invention, the step of displaying as a 3D point cloud may include a volume information providing unit color-coding the calculated volume of the volume measurement object according to the height of the 3D region and displaying it as a 3D point cloud.

[0025] According to another embodiment of the present invention, in the step of displaying as a 3D point cloud, the volume information providing unit may collect volume information of the volume measurement object calculated, accumulate the volume information by type of raw material that is the volume measurement object, and calculate and provide change data by raw material and scale data by raw material. [Effects of the Invention]

[0026] The volume measurement method and system using LIDAR according to the present invention measures volume based on data acquired through a plurality of LIDAR sensors, and can obtain highly accurate volume measurement results in real time. The method and system can also monitor the storage space of the raw material to be measured for volume in real time through control of all operations, including operation control and data acquisition.

[0027] Furthermore, according to the present invention, the periodically acquired result data can be utilized as evidence in various fields such as inventory management and asset management. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 1 is a diagram illustrating a conventional method for measuring the volume of raw materials using a lidar. [Figure 2] FIG. 1 is a configuration diagram of a volume measurement system utilizing a lidar according to an embodiment of the present invention. [Figure 3] 1 is a flowchart illustrating a volume measurement method using a LIDAR according to an embodiment of the present invention. [Figure 4] 1 is a diagram illustrating a volume measurement method using a lidar according to an embodiment of the present invention in more detail. FIG. [Figure 5] 1 is a diagram illustrating a volume measurement method using a lidar according to an embodiment of the present invention in more detail. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0029] Because the present invention can be modified in various ways and can have various embodiments, specific embodiments are illustrated in the drawings and will be described in detail in the detailed description. However, it is understood that this is not intended to limit the present invention to the specific embodiments, but rather to include all modifications, equivalents, and alternatives that fall within the spirit and scope of the present invention.

[0030] However, when describing the embodiments, if it is determined that a detailed description of related well-known functions or configurations may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, the size of each component in the drawings may be exaggerated for illustrative purposes and does not represent the size actually applied.

[0031] Furthermore, throughout the specification, when a component is referred to as being "coupled" or "connected" to another component, it should be understood that the component may be directly coupled or connected to the other component, but may also be coupled or connected via another component, unless otherwise specified. Furthermore, throughout the specification, when a part "comprises" a component, this does not mean that it excludes other components, but that it may further include other components, unless otherwise specified.

[0032] FIG. 2 is a configuration diagram of a volume measurement system utilizing a lidar according to one embodiment of the present invention.

[0033] Hereinafter, with reference to FIG. 2, the configuration of a volume measurement system using a LIDAR according to an embodiment of the present invention will be described.

[0034] The LIDAR-based volume measurement system according to one embodiment of the present invention may be configured as a computer terminal, a server, or a dedicated device, or each component providing each function may be configured as a computer terminal, a server, or a dedicated device. Alternatively, in the LIDAR-based volume measurement system according to other embodiments of the present invention, each component providing each function may be configured as hardware or software.

[0035] More specifically, the volume measurement system using LIDAR according to an embodiment of the present invention includes a plurality of LIDAR sensors 101, 102, 103, and 104, and a volume data integration calculation unit 100.

[0036] The lidar sensors 101, 102, 103, and 104 may be installed in plural numbers facing the volume measurement object, such as raw materials, in order to acquire data through measurement of the volume measurement object.

[0037] The lidar sensors 101, 102, 103, and 104 thus installed measure the volume measurement object and acquire data.

[0038] Therefore, the volume data integration calculation unit 100 integrates data acquired by the plurality of LIDAR sensors 101, 102, 103, and 104 to calculate the volume of the object to be measured.

[0039] More specifically, the volume data integration calculation unit 100 may include a lidar sensor control unit 110, a data acquisition unit 120, a coordinate synchronization unit 130, a noise filter unit 140, a target area setting unit 150, a volume calculation unit 160, and a volume information providing unit 170.

[0040] The lidar sensor control unit 110 controls the plurality of lidar sensors 101, 102, 103, and 104, and the data acquisition unit 120 acquires data measured by the plurality of lidar sensors.

[0041] In addition, the coordinate synchronization unit 130 generates a 3D point cloud in which each data measured by the plurality of LIDAR sensors 101, 102, 103, and 104 is arranged based on one reference point.

[0042] In this case, the noise filter unit 140 can optimize the data of the 3D point cloud to remove noise, and the target area setting unit 150 can set a target area in the 3D point cloud for calculating the volume of the volume measurement object.

[0043] Therefore, the volume calculation unit 160 can calculate the volume of the volume measurement object using the 3D point cloud in which the region is set.

[0044] In addition, the volume information providing unit 170 may provide the calculated volume of the object to be measured by color-coding the volume by three-dimensional area and displaying it as a three-dimensional point cloud.

[0045] More specifically, the volume information providing unit 170 may color-code the calculated volume of the object to be measured by the three-dimensional area according to the height, and display the color-coded volume as a three-dimensional point cloud.

[0046] In addition, the volume information providing unit 170 may collect information on the calculated volume of the volume measurement object, accumulate the volume by type of raw material, which is the volume measurement object, and calculate and provide change data by raw material and scale data by raw material.

[0047] FIG. 3 is a flowchart illustrating a volume measurement method using a LIDAR according to an embodiment of the present invention, and FIGS. 4 and 5 are diagrams illustrating the volume measurement method using a LIDAR according to an embodiment of the present invention in more detail.

[0048] According to a volume measurement method using a LIDAR according to an embodiment of the present invention, a plurality of LIDAR sensors acquire data of an object to be measured, and a volume data integration calculation unit integrates the data acquired by the plurality of LIDAR sensors to calculate the volume of the object to be measured.

[0049] Hereinafter, a volume measurement method using a LIDAR according to an embodiment of the present invention will be described in more detail with reference to FIGS. 3 and 5.

[0050] First, the lidar sensor control unit controls the plurality of lidar sensors (S220), and the data acquisition unit acquires data measured by the plurality of lidar sensors (S230).

[0051] Thereafter, a coordinate synchronizer generates a 3D point cloud by arranging each data measured by the plurality of lidar sensors based on one reference point (S240).

[0052] In addition, a noise filter unit optimizes the data of the 3D point cloud to remove noise (S250), and a target area setting unit sets a target area in the 3D point cloud for calculating the volume of the volume measurement object (S260).

[0053] Thereafter, as shown in FIG. 4, a volume calculation unit calculates the volume of the volume measurement object using the 3D point cloud in which the region is set (S270).

[0054] Accordingly, the volume information providing unit can provide the calculated volume of the volume measurement object by displaying it as a 3D point cloud with different colors for each 3D region (S280).

[0055] More specifically, as shown in FIG. 5, the volume information providing unit can display the calculated volume of the volume measurement object as a three-dimensional point cloud, color-coded according to the height of the three-dimensional area.

[0056] In addition, the volume information providing unit may collect information on the calculated volume of the volume measurement object, accumulate the volume by type of raw material that is the volume measurement object, and calculate and provide change data by raw material and scale data by raw material.

[0057] Therefore, the volume measurement method and system using LIDAR according to the present invention can measure volume based on data acquired through a plurality of LIDAR sensors, obtain highly accurate volume measurement results in real time, and can monitor the storage space of the raw material to be measured for volume in real time through control of all operations such as operation control and data acquisition.

[0058] Furthermore, according to the present invention, the periodically acquired result data can be utilized as evidence in various fields such as inventory management and asset management.

[0059] In the above detailed description of the present invention, specific embodiments have been described. However, various modifications are possible without departing from the scope of the present invention. The technical spirit of the present invention should not be limited to the above-described embodiments of the present invention, but should be defined by the claims and their equivalents. [Explanation of symbols]

[0060] 101, 102, 103, 104: LiDAR sensors 100: Volume data integration calculation unit 110: Lidar sensor control unit 120: Data acquisition unit 130: Coordinate synchronization unit 140: Noise filter section 150: Target area setting unit 160: Volume calculation unit 170: Volume information providing unit

Claims

1. a plurality of lidar sensors for acquiring data of a volumetric object; and a volume data integration calculation unit that integrates data acquired by the plurality of lidar sensors to calculate the volume of the volume measurement object. A volume measurement system that utilizes lidar.

2. The volume data integration calculation unit a lidar sensor control unit that controls the plurality of lidar sensors; A data acquisition unit that acquires data measured by the plurality of LIDAR sensors. The volume measurement system of claim 1 .

3. The volume data integration calculation unit A coordinate synchronization unit that generates a three-dimensional point cloud in which each data measured by the plurality of lidar sensors is arranged based on one reference point, using a lidar, The volume measurement system of claim 2 .

4. The volume data integration calculation unit a noise filter unit that optimizes the data of the three-dimensional point cloud to remove noise; A target area setting unit that sets a target area for calculating the volume of the volume measurement object in the three-dimensional point cloud, The volume measurement system of claim 3 .

5. The volume data integration calculation unit A volume calculation unit that calculates the volume of the volume measurement object using the three-dimensional point cloud in which the area is set, using a lidar, The volume measurement system of claim 4 .

6. The volume data integration calculation unit A volume information providing unit that displays the calculated volume of the volume measurement object in a three-dimensional point cloud by color-coding the volume by three-dimensional area, using a lidar. The volume measurement system of claim 5 .

7. A method using a lidar, characterized by comprising: a data acquisition step in which a plurality of lidar sensors acquire data of a volume measurement object; and a volume calculation step in which a volume data integration calculation unit integrates the data acquired by the plurality of lidar sensors to calculate the volume of the volume measurement object. Volume measurement method.

8. The data acquisition step includes: a lidar sensor control unit controlling the plurality of lidar sensors; A data acquisition unit acquires data measured by the plurality of LIDAR sensors. The volume measurement method according to claim 7.

9. After the step of the data acquisition unit acquiring data measured by the plurality of LIDAR sensors, The coordinate synchronization unit generates a three-dimensional point cloud in which each data measured by the plurality of LIDAR sensors is arranged based on one reference point. The volume measurement method according to claim 8.

10. After the step of generating the three-dimensional point cloud, a noise filter unit optimizing the data of the three-dimensional point cloud to remove noise; A target area setting unit sets a target area for calculating the volume of the volume measurement object in the three-dimensional point cloud, The volume measurement method according to claim 9.

11. After the step of setting the target area, The volume calculation unit further includes a step of calculating the volume of the volume measurement object using the 3D point cloud in which the region is set. The volume measurement method according to claim 10.

12. After the step of calculating the volume of the volume measurement object, The volume information providing unit further includes a step of color-coding the volume of the volume measurement object calculated by the volume information providing unit into three-dimensional areas and displaying the color-coded volume as a three-dimensional point cloud. The volume measurement method according to claim 11.

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