Solid-state 3D LiDAR scanner and system

Abstract

The present invention relates to a solid-state 3D LiDAR scanner that can be miniaturized and powered by a battery, and can detect deterioration and decay of an object, by including a first light-emitting element having a first directional angle and a second light-emitting element having a second directional angle narrower than the first directional angle in the light-emitting element that emits light towards the object. The present invention also relates to a solid-state 3D LiDAR system that converts the data scanned by the solid-state 3D LiDAR scanner into an image and transmits it to the user.

Description

Technical Field

[0001] The present invention relates to a 3D lidar scanner, and more particularly, to a solid-state 3D lidar scanner and system that can measure the remaining amount of contents stored in a silo body and further detect the presence or absence of deterioration or spoilage of the contents.

Background Art

[0002] Definition of Terms - Silo: A large material storage tank in which contents are input from the top and discharged from the bottom. - Feed bin silo: A silo in which livestock feed is stored as the contents. - Body: The silo body that defines a space where contents can be stored inside. - Inlet: An opening installed at the top of the silo through which the contents are input into the silo. - Outlet: An opening installed at the bottom of the silo through which the contents stored inside the silo are discharged. - Lid: A cover that is coupled around the inlet at the top of the silo and can be opened and closed. - Hinge: A means provided around the inlet of the silo for coupling the lid to the silo body. - Support structure: A pedestal on which the silo can be erected from the ground. - Lidar scanner: A measuring device that can irradiate light onto a measurement object, detect the reflected light, and measure the distribution of distance, shape, or area. - Solid-state lidar scanner: Different from a conventional lidar scanner that moves the lidar scanner itself by motor drive, the lidar scanner of the present invention that performs a scan operation in a fixed state. - Front protection cover: An electrically operated and opened / closed cover formed to prevent the deposition of contaminants on the window formed on the front part of the lidar scanner. - Connecting means: A means composed of metal, plastic, chemical fiber, etc., having flexibility, and capable of hanging the lidar scanner downward by gravity when the lidar scanner is suspended. - Vibration detection sensor: A sensor capable of detecting vibration, tilt changes, and movement. -First light source unit: A light source that irradiates the contents in order to measure the remaining amount of contents, and is composed of a first light-emitting element and a second light-emitting element with different beam angles. - Second light source unit: A light source that emits light in a wavelength range that is absorbed at least partially by the gases released when the contents deteriorate or spoil, in order to detect deterioration or spoilage of the contents. - A separate third reference light source: A light source that emits light in a wavelength range closer to the second light source than the first light source, does not react to gases generated during deterioration or spoilage of the contents, and is a reference light source for more precisely measuring changes in the magnitude of light emitted from the second light source. - Decomposition detection sensor: A sensor that detects the amount of light partially absorbed in reaction with gases generated during deterioration and decomposition of contents, and is composed of at least one of a TOF sensor, a photodiode, and an image sensor. A silo is a large container used to store solid contents such as grains, animal feed, and cement.

[0003] Figure 1 shows a photograph of a feed bin silo, which is installed to store feed supplied to livestock by livestock farmers. The silo body 101 includes a space inside where the contents are stored. The silo body 101 has an inlet 102 at the top into which the contents to be stored are put, and an outlet 103 at the bottom from which the stored contents are discharged, and corresponds to a tank for storing contents inside. A lid 105, which is an openable and closable cover, is attached to the inlet at the top of the silo body 101, and a discharge volume adjustment means 109 that can adjust the amount of stored contents discharged may be attached to the discharge outlet. The silo body 101 is fixed at a certain distance from the floor (corresponding to the ground in Figure 1) by a support structure 120. The support structure 120 stably fixes the silo and ensures that a workspace is secured from the floor for processing the contents discharged from the outlet. A side window 109 may be formed on one side of the silo body 101, allowing the remaining amount of contents stored inside to be observed with the naked eye. The lid 105 can be formed in a structure that allows it to be completely detached from the silo body 101, and as shown in Figure 2, it can be attached to the silo body 101 by a hinge 107 formed around the inlet 102 of the silo body 101.

[0004] Feed bin silos for supplying livestock feed to livestock farmers are available in sizes ranging from 1 to 15 tons and are generally made of FRP material, although larger products are custom-made through the processing of metal sheets. In South Korea, livestock farmers mainly use feed bins made of FRP in sizes ranging from 3 to 7 tons, and the remaining amount of stored material inside such small silos can be checked through the side window 109 on the side of the silo.

[0005] However, some small silos and custom-made large silos lack side windows for checking the remaining contents, which is inconvenient as users must directly open the lid 105 and check with their naked eyes. Moreover, with the aging of the livestock farming workforce, elderly users approaching the lid on top of the silo directly poses a high risk of falling accidents.

[0006] Furthermore, even in silos equipped with side windows 109, it becomes difficult to accurately check the remaining amount of contents stored inside the silo through the side windows because the contents are not kept flat due to the particle shape of the contents stored inside, adhesion or contamination due to moisture, and the main loading and unloading of contents towards the center of the silo. In addition, visually checking the remaining amount of contents inside the silo requires constant manual checks, which makes automated material supply and management difficult. To solve these problems, various sensor technologies have been applied to measure the remaining amount of contents inside the silo.

[0007] Conventional sensor technologies for measuring the remaining amount of contents typically include point-measurement sensors and 3D measurement sensors that rotate a lidar scanner using a motor.

[0008] In many situations, the contents stored inside a silo are not flat; when the contents are loaded, the center becomes convex, and as the contents are discharged, the center gradually deforms into a concave shape. Therefore, conventional point measurement methods have difficulty accurately measuring the actual remaining amount of stored contents.

[0009] Furthermore, in 3D measurement sensors, conventional LiDAR technology primarily uses laser diodes as light sources. Laser beams have the advantage of highly directional emission characteristics with the same wavelength and phase, making them advantageous for high-precision measurements. However, they have the disadvantage of requiring complex equipment to obtain wide-area illumination because the range of the directionality angle of the light emitted from the laser diode package is narrow.

[0010] Conventional 3D LiDAR scanners require additional optical devices such as diffusers and lenses on the optical path outside the laser diode to convert a highly directional laser beam into light that illuminates a uniform linear or uniform area. Furthermore, conventional 3D LiDAR scanners employ a dynamic measurement method that changes the position of the LiDAR scanner itself to spatially scan the light that has been transformed into a uniform linear or uniform area, making motor drive essential.

[0011] Such motor drives have several drawbacks: not only do they increase the product price due to the piping and wiring required for supplying external power, but they also increase the size and difficulty of installation of the device, and necessitate a separate support frame structure to ensure mechanical stability during motor operation.

[0012] Furthermore, if a 3D lidar scanner is installed inside the inlet at the top of the silo to measure the remaining amount of contents stored inside the silo, a support frame structure for the 3D lidar scanner is formed near the inlet. This support frame structure formed near the inlet may physically obstruct the material being loaded when it is loaded through the inlet. In addition, the motor drive that changes the position of the 3D lidar scanner itself can generate dust inside the silo, which can cause the 3D lidar scanner to malfunction. Moreover, the application of high voltage from an external source for motor drive poses a problem: if there is a defect in the power wiring of the 3D lidar scanner device, an explosion may occur due to the dust inside the silo.

[0013] Furthermore, the contents stored inside silos may deteriorate due to environmental factors such as external temperature and humidity, especially when silos are installed outdoors. Even when silos are installed indoors, the contents may deteriorate due to long-term storage. If these deteriorated contents are provided as livestock feed or raw materials for subsequent processing, it could lead to even greater damage.

[0014] (Reference: Korean Patent No. 10-1927639) [Overview of the project] [Problems that the invention aims to solve]

[0015] The present invention aims to solve the problems of conventional 3D lidar scanners, including the motor drive and external power supply described above. More specifically, the solid-state 3D lidar scanner of the present invention for measuring the remaining amount of contents stored inside a silo can simplify the installation and operation of the 3D lidar scanner, minimize interference with material loading, reduce power line wiring costs and prevent electrical fires (except for external power supply), prevent malfunctions caused by dust generated by the use of rotary motors, and optically detect spoilage of stored contents to prevent problems caused by spoilage.

[0016] Furthermore, the solid-state 3D lidar scanner system of the present invention visualizes scan data measured from the solid-state 3D lidar scanner and communicates the remaining amount and spoilage status of the visualized contents to the user, enabling the user to easily confirm the remaining amount and spoilage status of the contents, as well as automating inventory management, ordering, production, and delivery of the contents. [Means for solving the problem]

[0017] The present invention, which solves the above problems, This invention provides a solid-state 3D lidar scanner powered by a battery, using light-emitting elements with different beam angles as the first light source.

[0018] We provide a solid-state 3D LiDAR scanner that does not rotate the LiDAR scanner itself for 3D scanning.

[0019] For 3D scanning, the lidar scanner includes a second light source that emits light in response to gases generated during the alteration and decay of the object being measured.

[0020] Furthermore, the present invention provides a solid-state 3D lidar scanner system that transmits scan data measured by a solid-state 3D lidar scanner to a server, images it, and transmits it to a user.

Advantages of the Invention

[0021] The solid-state 3D lidar scanner and system of the present invention for measuring the remaining amount of contents stored inside a silo body use light-emitting elements with different emission angles as a first light source unit and a second light source unit that emits light with a wavelength that reacts to gases generated during deterioration and spoilage of the contents. This enables miniaturization and low power consumption of the device. It can be driven by a battery without an external power supply, is easy to install on a silo, reduces operating costs, prevents fire accidents caused by dust of the contents stored in the silo, minimizes the occurrence of failures, can detect deterioration and spoilage of the contents, and further accurately images and transmits the remaining amount of the contents to the user, allowing the user to easily confirm the remaining amount of the contents and also confirm the deterioration and spoilage of the contents. Therefore, it has the effect of enabling automation of inventory management, ordering, production, and distribution of the contents.

Brief Description of the Drawings

[0022] [Figure 1] Shows a conventional feed bin silo for storing feed. [Figure 2] It is a perspective view of a conventional feed bin silo with an open upper lid. [Figure 3] Shows the separation distance without distortion due to the emission angle of the light source used in the lidar scanner. <0OO01〇4> [Figure 4] It is a schematic diagram schematically showing the internal configuration of the solid-state 3D lidar scanner device of the present invention. The first light source unit २२〇 of the solid-state 3D lidar scanner includes a first light-emitting element २११ having a first emission angle and a second light-emitting element २१२ having a second emission angle narrower than the first emission angle. [Figure 5] Shows the light absorption characteristics of methane gas. [Figure 6]This schematic diagram shows the configuration of a solid-state 3D lidar scanner device that has a spoilage detection function by including a second light source unit 320, the second light source unit 320 which emits light that reacts to gases generated when the contents deteriorate or spoil. [Figure 7] Another embodiment of a solid-state 3D lidar scanner device having a spoilage detection function by including a second light source unit 320, wherein the second light source unit 320 emits light that reacts to gases generated during deterioration and spoilage of the contents, and includes a separate spoilage detection sensor 308 for precise measurement of the light reflected from the contents (subject). [Figure 8] Another embodiment of a solid-state 3D lidar scanner device having a spoilage detection function by including a separate third reference light source 420 together with a second light source unit 320, wherein the second light source unit 320 emits light that reacts to gases generated when the contents deteriorate or spoil, and the separate third reference light source unit 420 emits light in a wavelength range that does not react even when the contents deteriorate or spoil. [Figure 9] Another embodiment of a solid-state 3D lidar scanner device having a spoilage detection function, comprising a second light source unit 320 and a separate third reference light source unit 420, wherein the light from the second light source unit 320, which emits light that reacts to gases generated when the contents deteriorate or spoil, and the light from the separate third reference light source unit 420, which emits light in a wavelength range that does not react even when the contents deteriorate or spoil, are guided to the solid-state 3D lidar scanner device via a second optical lens 216. [Figure 10] This is a perspective view of the solid-state 3D lidar scanner of the present invention, with the front portion 240 covered by a protective cover. [Figure 11] This is a perspective view of a solid-state 3D lidar scanner with a protective cover open on the front portion 240 of the present invention. [Figure 12] This shows the shape of the dual-directional dimming of the solid-state 3D lidar scanner of the present invention. [Figure 13] This is a perspective view of a feed bin silo equipped with the solid-state 3D lidar scanner of the present invention. [Figure 14]This is a magnified view of the input area of ​​a feed bin silo equipped with the solid-state 3D lidar scanner of the present invention. [Figure 15] An example of a coupling means for attaching the solid-state 3D lidar scanner of the present invention to a silo is shown. [Figure 16] This is an image visually representing data scanned by the solid-state 3D lidar scanner of the present invention. [Figure 17] This is a diagram illustrating the configuration of the solid-state 3D lidar scanner system using Wi-Fi communication according to the present invention. [Figure 18] This is a diagram illustrating the configuration of the solid-state 3D lidar scanner system using mobile communication according to the present invention. [Figure 19] This is an illustrative diagram of a 3D image showing the amount of feed remaining in a feed bin silo, received by the user via the solid-state 3D lidar scanner system of the present invention. [Modes for carrying out the invention]

[0023] A solid-state 3D lidar scanner and a solid-state 3D lidar system that visualizes the scanned data and transmits it to the user. The scanner and the system are characterized by a light source that emits light towards the subject, which includes a first light-emitting element with a first directional angle and a second light-emitting element with a second directional angle narrower than the first directional angle, enabling miniaturization and low power consumption that allows the scanner to be powered by a battery, as well as the ability to detect deterioration and decay of the subject.

[0024] The present invention relates to a solid-state 3D lidar scanner and system that measures the remaining amount of contents stored in a storage container and transmits the measured amount to the user.

[0025] The present invention relates to a solid-state 3D lidar scanner and its system, which has a spoilage detection function that detects deterioration and spoilage of contents stored in a storage container and transmits the detected deterioration and spoilage information to the user.

[0026] The storage containers to which this invention applies include feed bin silos for storing animal feed, grain silos, or silos for storing animal feed ingredients, flour, sugar, cement, fertilizers, chemicals, etc.

[0027] Figure 3 shows the illumination characteristics depending on the beam angle when light-emitting diodes (LEDs) with different beam angles are installed as light sources at the inlet in the upper center of a 7-ton silo with an inner diameter of 2,120 mm, and each LED is driven to illuminate the inside of the silo. When using an LED with a beam angle of 120 degrees as the light source, the distortion-free separation distance is approximately 612 mm or more. When using an LED with a beam angle of 60 degrees as the light source, the distortion-free separation distance is approximately 1,836 mm or more. When using an LED with a beam angle of 45 degrees as the light source, the distortion-free separation distance is approximately 2,559 mm or more. Here, the distortion-free separation distance is the distance at which the top edge of the contents stored inside the silo is separated from the lidar so that the shape of the contents can be measured without distortion, and corresponds to the minimum distance of the virtual horizontal plane between the highest point of the contents and the same height at which the lidar scanner is positioned. For example, if the minimum distance between the highest point of the contents stored in the silo and the virtual horizontal plane at the same height where the lidar scanner is positioned is 600 mm, and a 120-degree beam angle LED light source (corresponding to a distortion-free separation distance of approximately 612 mm or more) is used with the 3D lidar scanner, the shape of the contents can be measured without distortion if the highest point of the contents is located below the lidar scanner in a vertical direction. However, if the highest point of the contents is located near the wall of the silo, the 120-degree beam angle LED light source will not be able to cover the area around the highest point of the contents, and the shape of the contents will be measured with distortion near the wall of the silo. Similarly, when using a 60-degree beam angle LED as a light source in a 7-ton silo with an inner diameter of 2,120 mm, if the distance between the lidar scanner and the highest point of the contents is 1,836 mm or more, and when using a 45-degree beam angle LED as a light source, if the distance between the lidar scanner and the highest point of the contents is 2,559 mm or more, the shape of the contents can be measured without distortion, regardless of the position of the highest point of the contents inside the silo.

[0028] As mentioned earlier, a 7-ton silo was used as an example, but even when the size of the silo changes, it is important to apply a light source with a wide beam angle as the light source for the 3D LiDAR scanner in order to measure the storage configuration of the contents stored inside the silo without distortion.

[0029] When filling a silo, the contents free-fall into the silo through an inlet formed in the center of the top of the silo, resulting in a shape that protrudes more from the center of the silo than near the side walls. As the contents are discharged to the outside through an outlet in the center of the bottom of the silo, the total height of the contents inside the silo decreases, resulting in a concave shape where the contents decrease more significantly in the center of the silo than near the side walls. Therefore, using a light source with a wide beam angle is an important factor in being able to measure the actual shape of the contents without distortion when the silo is being filled or when the contents decrease due to discharge.

[0030] However, when measuring distant subjects, LiDAR scanners that use a wide-angle light source have the disadvantage of consuming relatively more power than LiDAR scanners that use a narrow-angle light source. For example, in LiDAR scanners that use a light source with a 120-degree angle of view and a light source of the same wavelength with a 45-degree angle of view, each light source generates the same amount of light from a light-emitting element chip at the same driving voltage, and the light generated from the light-emitting element chip is emitted to the outside with a range of 120 degrees and 45 degrees of view, respectively, through a lens-shaped encapsulant, reflector, or optical means surrounding the light-emitting element chip. The light source with a 120-degree angle of view can cover the subject over a wider range of view than the light source with a 45-degree angle of view, but the amount of light transmitted from the light source in the forward direction (direction with a 0-degree angle of view) is relatively small. As a result, LiDAR scanners that use a light source with a 120-degree angle of view consume more power than LiDAR scanners that use a light source with a 45-degree angle of view to measure distant subjects.

[0031] Even when using light sources of different wavelengths due to their beam angles (for example, a first-wavelength infrared light source with a 120-degree beam angle and a second-wavelength infrared light source with a 45-degree beam angle), differences in the quantum efficiency of the light-emitting elements due to wavelength can result in differences in the amount of light emitted at the same drive voltage. Furthermore, just as with the case of light sources of the same wavelength mentioned above, a lidar scanner with a light source having a wider beam angle will consume more power to measure distant subjects compared to a lidar scanner with a light source having a narrower beam angle.

[0032] Furthermore, when using a lidar scanner that employs a wide-angle light source alone to measure the remaining amount of contents stored inside a silo, if the maximum height of the contents is located in the lower region of the silo, or if the silo is large and the contents are separated by a long distance, the aforementioned problem of increased power consumption arises, as well as the problem of light reflecting multiple times from the side walls of the feed bin silo entering the TOF sensor, increasing the error in the measurement results.

[0033] As described above, the present invention solves the problems of conventional 3D LiDAR scanners, such as the need to install external power wiring to move the scanner itself using a motor drive, and the problems of measurement distortion or high power consumption for long-distance illumination that occur when using a light source with a unidirectional beam angle. The main feature of the present invention is that the light source of the solid-state 3D LiDAR scanner includes light-emitting elements with different beam angles.

[0034] Furthermore, the present invention further includes a light source that emits light that reacts to gases generated when the contents stored inside a silo deteriorate or spoil. When the stored contents deteriorate or spoil, a specific gas is generated. By irradiating the contents with light in a wavelength range that is easily absorbed by the specific gas, and measuring the magnitude of the light reflected from the inner wall of the silo or the stored contents, the spectral characteristics of the reflected light can be compared to determine whether or not the specific gas has been generated. Thus, the main feature of this invention is the detection of deterioration or spoilage of the contents.

[0035] Figure 4 is a schematic diagram of the internal configuration of the solid-state 3D lidar scanner device of the present invention.

[0036] A LiDAR scanner is a device that can measure the shape and distance of an object by irradiating it with light and measuring the light reflected from the object. In this invention, "solid state" means that, unlike conventional 3D LiDAR scanners which move the LiDAR scanner itself using motor drive to obtain a 3D image, the scanning operation is performed while the scanner is fixed in place.

[0037] The solid-state 3D LiDAR scanner 250 of the present invention is characterized in that, as a first light source unit 220 for illuminating a subject with light, it simultaneously includes a first light-emitting element 211 having a first directional angle and a second light-emitting element 212 having a second directional angle different from the first directional angle. The first light-emitting element 211 can consist of one or more elements. The second light-emitting element 212 can consist of one or more elements. Furthermore, by adding more light-emitting elements with different directional angles, the first light source unit 220 can be composed of first to nth light-emitting elements (not shown, where n is a natural number of 2 or more) with different directional angles.

[0038] The first light source unit 220 and the TOF sensor 208 are electrically connected and arranged on the circuit board 200. A central processing unit (not shown) is formed on the circuit board 200 to control the driving of the first light source unit 220 and the TOF sensor 208.

[0039] The central processing unit can control the simultaneous or sequential driving of the first light-emitting element 211 and the second light-emitting element 212, which constitute the first light source unit 220.

[0040] Furthermore, the central processing unit can control the driving of only one selective first light-emitting element 211 or the driving of multiple selective first light-emitting elements from among the one or more first light-emitting elements 211. The central processing unit can also control the driving of only one selective second light-emitting element or the driving of multiple selective second light-emitting elements from among the one or more second light-emitting elements 212.

[0041] The front of the housing 201 of the solid-state 3D lidar scanner 250 includes a window 218 which consists of an exit window 204 through which light is emitted and an entry window 205 through which light is received.

[0042] Light emitted from the first light-emitting element 211 and / or the second light-emitting element 212 is emitted outside the solid-state 3D LiDAR scanner housing 201 through the emission window 204 and illuminates the subject. The light that illuminates the subject is reflected back from the subject and enters the solid-state 3D LiDAR scanner housing 201 through the incidence window 205 and is transmitted to the TOF sensor 208, where the shape, distribution, and distance of the subject can be measured.

[0043] To improve measurement efficiency by concentrating the light incident on the TOF sensor 208, an optical lens 206 may be further included between the incident window 205 and the TOF sensor 208.

[0044] A bandpass filter 207 is included above the TOF sensor 208. This filter allows only the wavelength band of light emitted from the first light source 220, which is reflected back from the subject, to pass through the incident window 205, thereby removing noisy light and enabling the TOF sensor 208 to measure the remaining amount of contents more precisely. Furthermore, the pass wavelength of the bandpass filter 207 can be adjusted so that light in the wavelength band of an additional light source, as described in other embodiments, can pass through the bandpass filter 207.

[0045] To prevent light emitted from the first light source unit 220 from flowing directly into the TOF sensor 208 from inside the solid-state 3D LiDAR scanner 250, a separate light source unit substrate 210 is formed at a position higher than the circuit board 200 on which the TOF sensor 208 is located, and electrically connected to the circuit board 200, allowing the first light source unit 220 to be placed on the light source unit substrate 210. Furthermore, by including a partition wall (not shown) inside the solid-state 3D LiDAR scanner 250, it is also possible to prevent light emitted from the first light source unit 220 from being transmitted directly to the TOF sensor 208 from inside the solid-state 3D LiDAR scanner.

[0046] The first light source unit 220 of the solid-state 3D lidar scanner 250 of the present invention will be described in detail below.

[0047] The first light source unit 220 of the solid-state 3D lidar scanner 250 of the present invention simultaneously includes a first light-emitting element 211 having a first directional angle and a second light-emitting element 212 having a second directional angle different from the first directional angle. The first directional angle is greater than the second directional angle. The peak wavelengths of the first light-emitting element 211 and the second light-emitting element 212 may be the same, but are not limited to this, and may be different. The peak wavelengths of the first light-emitting element 211 and the second light-emitting element 212 can be selected from the ultraviolet, visible light, and infrared regions, and can be selected from the red light or infrared region, preferably from the infrared region, taking into account noise caused by light penetrating from sunlight or indoor / outdoor lighting during measurement.

[0048] Both the first light-emitting element 211 and the second light-emitting element 212 may be composed of light-emitting diodes. Alternatively, both the first light-emitting element 211 and the second light-emitting element 212 may be composed of laser diodes. Furthermore, the first light-emitting element 211 may be composed of a light-emitting diode and the second light-emitting element 212 may be composed of a laser diode, or the first light-emitting element 211 may be composed of a laser diode and the second light-emitting element 212 may be composed of a light-emitting diode. Since laser diodes require additional optical devices to have strong directivity and a wide beam angle, it is preferable that both the first light-emitting element 211 and the second light-emitting element 212 are composed of light-emitting diodes in order to miniaturize and lighten the solid-state 3D lidar scanner 250.

[0049] The first light-emitting element 211 and the second light-emitting element 212 may each consist of a single element or multiple elements. For illumination of the subject, the first light-emitting element 211 and the second light-emitting element 212 may be driven simultaneously or sequentially and differently from one another.

[0050] As in the present invention, when a solid-state 3D lidar scanner 250 measures the remaining amount of contents stored in a silo, the measurement distance between the solid-state 3D lidar scanner 250 and the contents increases as the contents are discharged and the amount of contents decreases. This increase in measurement distance within the sealed silo causes the first light emitted from the first light-emitting element 211, which has a large beam angle, to undergo multiple reflections inside the silo before reaching the surface of the contents, generating more noise in the scan data of the solid-state 3D lidar scanner 250. When the first light-emitting element 211 and the second light-emitting element 212 are driven sequentially, the second light emitted from the second light-emitting element 212, which has a narrow beam angle, can reach the contents at a greater distance with fewer reflections, thus reducing the generation of noise in the scan data. Therefore, as in the present invention, when a solid-state 3D lidar scanner 250 measures the remaining amount of contents stored in a silo, sequential driving of the first light-emitting element 211 and the second light-emitting element 212 is preferable.

[0051] The first beam angle of the first light-emitting element 211 is preferably close to 180 degrees from commercially available options, and can be selected from 120 degrees, 90 degrees, 60 degrees, 45 degrees, and 30 degrees. The second beam angle of the second light-emitting element 212 is narrower than the first beam angle, and can be selected from 120 degrees, 90 degrees, 60 degrees, 45 degrees, and 30 degrees. If the first beam angle is wider than the second beam angle, the first and second beam angles can each be selected from any range of commercially available beam angles.

[0052] The first light-emitting element 211 illuminates the first region, and the second light-emitting element 212 illuminates the second region. The first and second regions can overlap, but the second region can cover an area further away from the LiDAR scanner than the first region.

[0053] The solid-state 3D LiDAR scanner 250 of the present invention, which simultaneously includes first light-emitting elements 211 and 212 having different beam angles as a first light source unit 220, enables the first light emitted from the first light-emitting element 211, which has a wide beam angle, to scan an object with distortion even in a close-range area with the solid-state 3D LiDAR scanner 250, and enables the second light emitted from the second light-emitting element 212, which has a narrow beam angle, to scan a long-range area with minimal power consumption.

[0054] Therefore, the solid-state 3D lidar scanner 250, which includes a first light-emitting element 211 and a second light-emitting element 212 having different beam angles as the first light source unit 220 of the present invention, can be driven with low power and can operate for a long time using only the battery 209 without an external power supply.

[0055] The contents stored in silos can deteriorate and spoil over time, and this deterioration and spoilage progresses even more rapidly when organic matter is stored outdoors. Therefore, detecting deterioration and spoilage of the contents is crucial to prevent damage caused by deterioration and spoilage.

[0056] The solid-state 3D lidar scanner 250 having a spoilage detection function of the present invention may further include, in addition to the first light source unit 220, which consists of a first light-emitting element 211 and a second light-emitting element 212 having different beam angles, for measuring the remaining amount of contents, a second light source unit 320 for detecting deterioration and spoilage of the contents.

[0057] When contents are stored in a silo for extended periods, they can deteriorate and spoil due to temperature and humidity. Deteriorated and spoiled contents release specific gases along with a rapid increase in microorganisms. All gases possess light-absorbing properties that significantly absorb only light within a specific wavelength range when irradiated onto them. When the contents stored in a silo are grain feed, deterioration and spoilage release methane (CH4) gas along with carbon dioxide. Figure 5 shows the light absorption characteristics of methane. It can be seen that methane has absorption bands in the wavelength ranges of 1200nm to 1400nm and 2800nm ​​to 3300nm, with particularly prominent absorption bands around 1350nm and 3010nm. When grain feed is irradiated with infrared light for spoilage detection around 1350 nm or 3010 nm and reference light in the wavelength band of 1200 nm or less or 1600 nm to 2700 nm (light that does not react to or absorb by methane, or whose reaction or absorption is negligible), and the magnitude of the reflected light is measured, the amount of infrared light for spoilage detection around 1350 nm or 3010 nm absorbed increases in proportion to the amount of methane gas released when the grain feed deteriorates or spoils. As a result, the magnitude of the light reflected back from the grain feed decreases, making it possible to detect deterioration or spoilage of the grain feed. Here, methane is used as an example of the gas released when grain feed deteriorates or spoils. Depending on the type of contents stored in the silo, the type of gas released when the contents deteriorate or spoil will differ, and the wavelength of the second light source unit 320 for spoilage detection can be determined according to the absorption wavelength band of the released gas.

[0058] Furthermore, the lower end of Figure 5 shows the wavelength range of the light source included in the scanner of the present invention when the gas generated when the contents stored in the silo deteriorate or spoil is methane.

[0059] In the lower part of Figure 5, wavelength regions A and C are unrelated to the methane gas absorption band that occurs when the subject (contents) deteriorates or decomposes, while wavelength region B corresponds to the wavelength region where methane gas absorption is significant.

[0060] Wavelength region A corresponds to the wavelength band of light emitted by the first light source unit 220, wavelength region B corresponds to the wavelength band of methane gas absorption generated when the subject (contents) deteriorates or decomposes, and corresponds to the wavelength band of light emitted by the second light source unit 320 for decomposition detection, and wavelength region C corresponds to the wavelength band of light emitted by a separate third reference light source unit 420, excluding the wavelength of light emitted by the first light source unit and unrelated to the methane gas absorption band.

[0061] Figure 6 is a schematic diagram of the internal configuration of a 3D lidar scanner device that has a decay detection function using a second light source unit 320 for decay detection.

[0062] The first light-emitting element 211 and the second light-emitting element 212 of the first light source unit 220 for measuring the remaining amount of contents may be light-emitting elements that emit infrared light in the 800nm ​​to 900nm band, and the wavelength of light emitted from the second light source unit 320 for spoilage detection may be a light-emitting element that emits infrared light in the methane absorption band. The first light source unit 220 and the second light source unit 320, which are composed of the first light-emitting element 211 and the second light-emitting element 212 with different beam angles, can be selected from light-emitting diodes and laser diodes, but in order to adjust a wide beam angle, it is preferable that the first light-emitting element 211 and the second light-emitting element 212 constituting the first light source unit 220 are composed of light-emitting diodes, and in order to accurately detect with little noise the decrease in the magnitude of light due to the reaction with gas generated from the subject, it is preferable that the second light source unit 320 be composed of a laser diode that has excellent straight-line propagation of light and a narrow half-width.

[0063] The methane absorption band infrared corresponds to the wavelength ranges of 1200nm to 1400nm and 2800nm ​​to 3300nm. In this case, the TOF sensor 208 can be composed of a single sensor capable of corresponding to the wavelength ranges of light emitted from the first light source unit 220 and the second light source unit 320, or it may be composed of a first TOF sensor corresponding to the first light source unit 220 and a second TOF sensor corresponding to the second light source unit 320, respectively, corresponding to the wavelength ranges of the first light source unit 220 and the second light source unit 320.

[0064] The light emitted from the first light source unit 220 can measure the remaining amount of contents regardless of whether the contents have spoiled or not. When the subject deteriorates or spoils, the light emitted from the second spoilage detection light source unit 320 is in the methane absorption band infrared spectrum and at least a portion of it is absorbed by the methane gas emitted from the subject (contents), reducing the amount of light returning to the TOF sensor 208. Connected to a central processing unit or server, the system can detect whether the contents have deteriorated or spoiled by measuring the change in light intensity after the methane absorption band infrared light emitted from the second light source unit 320 has been absorbed and reflected by the subject (contents). Here, "reflection" includes not only reflection from the contents stored in the silo, but also reflection from the internal body of the silo and any structures that can be placed inside the silo.

[0065] The change in light intensity after the reflection of methane-absorbing infrared light from the second light source unit 320 from the subject can be determined based on the light intensity of the first light source unit 220 measured by the TOF sensor 208, or by comparing it with the magnitude of the light intensity of the second light source unit 320 reflected from a non-decomposed subject that has already been measured and stored in the central processing unit or server. For the light from the first light source unit 220 reflected from the subject and incident on the TOF sensor 208, the flight time of reflection and incident is measured to measure the spatial distribution of the subject, and for the light from the second light source unit 320, the magnitude of the light is measured to detect the degree of deterioration and decomposition of the subject according to the change in the magnitude of the light.

[0066] Furthermore, to suppress noise light incident on the TOF sensor 208, a bandpass filter 207 may be further included above the TOF sensor 208. In this embodiment, the bandpass filter allows light in the wavelength bands of the first light source unit 220 and the second light source unit 320 to pass through, while blocking light in the remaining wavelength bands.

[0067] Figure 7 shows another embodiment of a solid-state 3D lidar scanner device having a spoilage detection function by including a second light source unit 320, which includes a separate spoilage detection sensor 308 for precise measurement of light reflected from the contents (subject).

[0068] In this embodiment, the TOF sensor 208 measures the flight time of light from the first light source 220 that is reflected from the subject and incident on the subject, thereby obtaining spatial distribution information of the subject. For the light from the second light source 320, a separate spoilage detection sensor 308 measures the change in the magnitude of the light intensity, noting that at least a portion of the light from the second light source is absorbed in response to gas from the subject. At this time, the spoilage detection sensor 308 can be any measuring device capable of detecting the magnitude of light at a specific wavelength of the incident light from the second light source. As the spoilage detection sensor 308, for example, at least one of a photodiode, an image sensor, or a TOF sensor highly sensitive to the wavelength band of the second light source can be used. Above the TOF sensor 208 and the spoilage detection sensor 308, a bandpass filter 207 may be further included that allows light in the wavelength bands of the first light source unit 220 and the second light source unit 320 to pass through while blocking light in the remaining wavelength bands. The bandpass filter 207 may consist of a single unit as shown in Figure 7 and may have bandpasses for multiple wavelength bands. Furthermore, it may be positioned separately above the first light source unit 220 and the second light source unit 320, respectively, so that only the wavelength band of light from the first light source unit 220 passes through the TOF sensor 208, and only the wavelength band of light from the second light source unit passes through the spoilage detection sensor 308.

[0069] Figure 8 shows another embodiment of a solid-state 3D lidar scanner device having a spoilage detection function by including a separate third reference light source 420 together with the second light source 320. The second light source 320 emits light that reacts to gases generated when the contents deteriorate or spoil, while the separate third reference light source emits light in a wavelength band adjacent to the wavelength of the second light source, but which does not react even when the contents deteriorate or spoil.

[0070] The separate third reference light source unit 420 is a reference light source added separately to improve the relative measurement accuracy of the spoilage detection sensor 308 with respect to changes in the magnitude of light emitted from the second spoilage detection light source unit 320. The spoilage detection sensor 308 is a measuring device capable of detecting the magnitude of light emitted from the incident second light source unit, and can be composed of at least one of a photodiode, an image sensor, and a TOF sensor. Due to differences in the quantum efficiency of the spoilage detection sensor depending on the wavelength (wavelength range), it is difficult to accurately measure the magnitude of light in all wavelength ranges. Therefore, the spoilage detection sensor 308 needs to accurately measure the magnitude of light corresponding to at least the wavelength band of light emitted from the second light source unit 320. Furthermore, the separate third reference light source unit 420 emits light in a wavelength range that allows the spoilage detection sensor 308 to accurately measure the magnitude of the light, while also emitting light in a wavelength range that does not react to gases generated during deterioration and spoilage of the contents. Therefore, after irradiating the contents, the change in the magnitude of the light emitted from the separate third reference light source unit 420 that enters the spoilage detection sensor 308 is compared with the relative change in the magnitude of the light emitted from the second light source unit 320, allowing for more precise detection of whether the contents have deteriorated or spoiled.

[0071] When the contents deteriorate or spoil and release methane gas, the first light source unit 220 emits light in the wavelength band corresponding to wavelength region A in Figure 5, the second light source unit 320 emits light in the wavelength band corresponding to wavelength region B in Figure 5, and a separate third reference light source unit 420 emits light in the wavelength band corresponding to wavelength region C in Figure 5. The first light source unit 220 is composed of a first light-emitting element 211 and a second light-emitting element 212, which have different directional angles, and is used as a light source to measure the remaining amount of the object with low power. The spoilage detection sensor 308 can accurately measure the magnitude of light not only in the wavelength band of the light emitted from the second light source unit 320, but also in the wavelength band of the light emitted from the separate third reference light source unit 420. By comparing the change in magnitude of light emitted from the second light source unit 320 with the change in magnitude of light emitted from a separate third reference light source unit 420 after it has been reflected by the contents, the degree of deterioration and spoilage of the contents can be detected more precisely than when only the change in magnitude of light emitted from the second light source unit 320 is detected without a reference light source.

[0072] The first light source unit 220, which consists of a first light-emitting element 211 and a second light-emitting element 212 with different beam angles, the second light source unit 320, and a separate third reference light source unit 420 can be selected from light-emitting diodes and laser diodes. However, in order to adjust a wide beam angle, it is preferable that the first light-emitting element 211 and the second light-emitting element 212 that make up the first light source unit 220 are composed of light-emitting diodes, and that the second light source unit 320, which detects the decrease in the amount of light due to the reaction with gas generated from the subject, and the third light source unit 420, which measures the amount of light reflected from the subject, are composed of laser diodes that have excellent straight-line propagation of light and a narrow half-width.

[0073] Furthermore, a bandpass filter 207 may be included above the TOF sensor 208 and the spoilage detection sensor 308, which allows light in the wavelength bands of the first light source unit 220, the second light source unit 320, and a separate third reference light source unit 420 to pass through, while blocking light in the remaining wavelength bands. The bandpass filter 207 may consist of a single unit as shown in Figure 8, and may have a configuration that has bandpasses for multiple wavelength bands. In addition, it may be arranged at a distance above the first light source unit 220, the second light source unit 320, and the separate third reference light source unit 420, respectively, so that only the wavelength band of light from the first light source unit 220 passes through the TOF sensor 208, and only the wavelength band of light from the second light source unit 320 and the separate third reference light source unit 420 passes through the spoilage detection sensor 308 (not shown).

[0074] Figure 9 shows another embodiment of a solid-state 3D lidar scanner device having a spoilage detection function by including a separate third reference light source unit 420 together with a second light source unit 320. Light emitted from the first light source unit 220, which is composed of a first light-emitting element 211 and a second light-emitting element 212 having different beam angles, is reflected by the contents (subject) and then incident on the TOF sensor 208 via the first optical lens 206 to measure the remaining amount of contents. The light sources of the second light source unit 320 and the separate third reference light source unit 420 for detecting deterioration and spoilage of the contents are incident on the spoilage detection sensor 308 via the second optical lens 216. By using the first light source lens 206 and a separate second optical lens 216, the light emitted from the second light source unit 320 and a separate third reference light source unit 420 that enters the spoilage detection sensor 308 can be more efficiently focused onto the spoilage detection sensor 308. As a result, changes in the magnitude of the light emitted from the second light source unit 320 and the separate third reference light source unit 420 can be measured more precisely, and thus deterioration and spoilage of the contents can be detected more efficiently.

[0075] Furthermore, the TOF sensor 208 may include a bandpass filter 207 that allows light in the wavelength range of the first light source 220 to pass through while blocking light in the remaining wavelength range, and the spoilage detection sensor 308 may include a second bandpass filter 217 that allows light in the wavelength range of the second light source 320 and a separate third reference light source 420 to pass through while blocking light in the remaining wavelength range.

[0076] Figures 10 and 11 show perspective views of the solid-state 3D lidar scanner of the present invention. The internal configuration of the 3D lidar scanner disclosed in Figures 5, 7 to 9 is sealed from the outside by the housing 201. A front protective cover 203, which is opened and closed by a motor (not shown), is installed on the front portion 240 of the solid-state 3D lidar scanner 250. The motor that drives the front protective cover 203 is electrically connected to a central processing unit on which a circuit board 200 is located, and the front protective cover 203 is opened only when the solid-state 3D lidar scanner 250 is measuring, as shown in Figure 11, exposing the output window 204 and the input window 205. By opening the front protective cover 203 only when measuring, contamination of the output window 204 and the input window 205 of the solid-state 3D lidar scanner 250 can be minimized.

[0077] The solid-state 3D LiDAR scanner 250 may also include vibration detection sensors capable of detecting external shocks and vibrations. These vibration detection sensors may include at least one of a shock sensor, a knock sensor, a tilt sensor, and a 3-axis gyroscope. The vibration detection sensors are electrically connected to a central processing unit located on the circuit board 200, which checks for vibrations prior to the operation of the solid-state 3D LiDAR scanner and allows the scanner to operate only if no vibrations are detected. Such vibration detection and the resulting selective operation method prevent measurement errors due to vibrations and prevent dust activated by vibrations from contaminating the output window 204 and input window 205 of the solid-state 3D LiDAR scanner 250.

[0078] Figure 12 shows a dual-steering configuration of the solid-state 3D LiDAR scanner 250 of the present invention applied to a feed bin silo with an open internal space. The first light source unit 220 of the solid-state 3D LiDAR scanner 250 of the present invention simultaneously includes a first light-emitting element 211 having a first beam angle and a second light-emitting element 212 having a second beam angle narrower than the first beam angle. The first light 401 emitted from the first light-emitting element 211 illuminates the interior of the feed bin silo over a wide beam angle range. A portion of the first light 401 is reflected by the sidewalls of the feed bin silo and travels downward. The second light 402 emitted from the second light-emitting element 212 illuminates the interior of the feed bin silo over a narrower beam angle range compared to the first light 401. A portion of the second light 402 is reflected by the sidewalls of the feed bin silo and travels downward. The first light-emitting element 211 and the second light-emitting element 212 may be driven simultaneously or separately from each other. The second beam 402, with its second beam angle, has a narrow beam angle, allowing it to illuminate distant subjects with relatively low power consumption, making it advantageous for illuminating the middle and lower regions inside a silo. The first beam 401, with its first beam angle, has a wide beam angle, which is disadvantageous for long-distance illumination, but its wide beam angle is advantageous for illuminating areas close to the lidar scanner at a wide angle.

[0079] The solid-state 3D lidar scanner 250 of the present invention, which simultaneously includes a first light-emitting element 211 that emits a first light 401 and a second light-emitting element 212 that emits a second light 402 with a narrower beam angle than the first light 401 as a first light source unit 220, can be driven with low power and can be powered only by the internally contained battery 209, as shown in the internal configuration diagram of the solid-state 3D lidar scanner device in Figure 4. As a result, the solid-state 3D lidar scanner 250 of the present invention can be miniaturized and easily installed. Furthermore, the solid-state 3D lidar scanner 250 of the present invention can accurately measure the remaining amount of contents without distortion.

[0080] Figures 13 and 14 show a perspective view of a feed bin silo equipped with the solid-state 3D lidar scanner of the present invention (Figure 13) and an enlarged view of the silo inlet area (Figure 14).

[0081] The solid-state 3D LiDAR scanner 250 of the present invention uses light-emitting elements with different beam angles as the first light source unit 220, enabling low-power operation and allowing it to be powered solely by a battery 209, thus enabling weight reduction and miniaturization. Furthermore, unlike conventional technologies that move the LiDAR scanner itself using motor drive for 3D scanning, the solid-state 3D LiDAR scanner 250 of the present invention is characterized by its solid-state operation, which scans 3D images in a fixed state by using light-emitting elements with different beam angles as the first light source unit 220.

[0082] The low-power drive, lightweight and miniaturized solid-state 3D lidar scanner 250, which uses the light-emitting element with different beam angles of the present invention as the first light source unit 220, and the solid-state drive method allow the solid-state 3D lidar scanner 250 to be easily coupled to the area around the input port at the top of the feed bin silo using the coupling means 300. For coupling with the coupling means 300, an opening 232 can be formed in the protruding portion 230 at the upper end of the solid-state 3D lidar scanner 250. For coupling with the coupling means 300, a separate coupling structure may be formed on the top of the feed bin silo, or an opening or ring structure (not shown) may be formed in the lid 105. Furthermore, the coupling means 300 can be coupled to the hinge 107 that connects the feed bin silo body 101 and the lid 105.

[0083] The connecting means 300 for connecting the solid-state 3D lidar scanner 250 and the feed bin silo body of the present invention allows the solid-state 3D lidar scanner 250 to hang downwards from the feed bin silo body by the weight of the connecting means itself or the combined weight of the connecting means and the solid-state 3D lidar scanner 250, thereby suspending the solid-state 3D lidar scanner 250 from around the input port 102 into the internal space of the body.

[0084] The connecting means 300 has fastening portions 301 formed at one end and the other end, consisting of a hook, clip, ring, clamp, and carabiner, or a combination thereof, which facilitates the connection of the connecting means 300 to the solid-state 3D lidar scanner 250 and the feed bin silo body 101. Alternatively, the connecting means 300 can be connected to the solid-state 3D lidar scanner 250 and the feed bin silo body 101 by directly tying the ends of the connecting means 300 together, without forming the fastening portions 301.

[0085] Figure 15 shows an example of the coupling means 300 for the solid-state 3D lidar scanner 250 of the present invention.

[0086] The connecting means 300 can consist of a rope (left), a chain (center), and a wire (right), and carabiners (left, right) and rings (center) are formed at one end and the other end of the connecting means 300 to facilitate connection with the solid-state 3D lidar scanner 250 or the feed bin silo body 101. Figure 15 shows an example of the connecting means, and the type, shape, and material configuration of the connecting means 300 can be any form, as long as the solid-state 3D lidar scanner 250 is suspended downwards from the feed bin silo body by gravity and the solid-state 3D lidar scanner 250 can be suspended from around the input port 102 into the internal space of the body. Similarly, the configuration of the fastening parts 301 formed at one end and the other end of the connecting means can also be any form.

[0087] Figure 16 is an image derived from data scanned by the solid-state 3D lidar scanner 250 of the present invention. The solid-state 3D lidar scanner 250 of the present invention, which uses light-emitting elements with different beam angles as the first light source unit 220, scanned the feed stored in the feed bin silo 150. To aid in understanding the explanation, the data of the feed bin silo body containing the feed was removed from the scanned data, and the data of only the scanned feed surface was converted into an image and displayed.

[0088] Light emitted from the solid-state 3D lidar scanner 250 is reflected by the surface of the feed subject and enters the TOF sensor 208 again via the entry window 205 of the solid-state 3D lidar scanner 250. The light incident on the TOF sensor 208 is distributed such that the distance from the solid-state 3D lidar scanner 250 differs depending on the spatial distribution of the feed subject. This different distribution of distances on the subject generates a different distribution of the time of flight of the light reflected from the subject and incident on the TOF sensor 208. When scan data with such a different distribution of light time of flight is converted into an image and displayed, a surface image of the feed subject, as shown in Figure 16, can be obtained. In the feed surface image in Figure 16 (left image), the red areas indicate regions where the distance from the solid-state 3D lidar scanner 250 is far, and therefore the time of flight of the light reflected from the feed surface and incident on the TOF sensor 208 is long, while the blue areas indicate regions where the distance from the 3D lidar scanner is short, and therefore the time of flight of the light reflected from the feed surface and incident on the TOF sensor 208 is short. Not only can the overall distribution pattern of the feed surface be understood through the image of the feed surface, but the absolute distance from the solid-state 3D lidar scanner 250 to each region of the feed surface can also be determined through the travel time of light incident on the TOF sensor 208.

[0089] Furthermore, the scanned image of the feed surface can be represented three-dimensionally according to the viewing position, making it possible to provide it as a 3D image.

[0090] In Figure 16, the left image is a view from the vertical top of the feed, the center image is a view from the top of one side of the feed, and the right image is a view from the bottom of one side of the feed.

[0091] Figures 17 and 18 show the solid-state 3D lidar scanner system 500 of the present invention. The solid-state 3D lidar scanner system 500 of the present invention connects a solid-state 3D lidar scanner 250 to a user using communication, and transmits an image of the data scanned by the solid-state 3D lidar scanner 250 to the user. The 3D lidar scanner 250 can be connected to a server 501 via Wi-Fi communication (Figure 17) or via mobile communication (Figure 18). The scan data measured by the solid-state 3D lidar scanner 250 is transmitted to the server 501 via Wi-Fi communication or mobile communication. The server 501 has a program already installed that can convert scan data into a 3D image, or convert drawings or actual measurements transmitted by the user into a 3D image. The 3D image created by the program pre-installed on the server is transmitted to the user's PC 503 via the internet or to the user's mobile phone 502 via mobile communication. In this context, "user" refers to one or a combination of the following: a user of the 3D lidar scanner system, an installer of a 3D lidar scanner or 3D lidar scanner system, an operator of a 3D lidar scanner system, or a business operator involved in the production, supply, or distribution of contents measured by the 3D lidar scanner.

[0092] The 3D LiDAR scanner system of the present invention can accurately determine the remaining form and quantity of the measured contents, as well as whether or not they are spoiled. It can also provide the user with a 3D image of the measured remaining form and quantity, along with spoilage information, to offer convenience and efficiency in inventory management, ordering, production, and delivery of the measured contents.

[0093] Furthermore, since the server 501 includes a contents management program, it can request the user to perform inventory management, ordering, production, and delivery services for the contents according to a preset remaining amount of the contents. It can also request disposal of the contents and disinfection services for the silo body where the contents are stored when the contents deteriorate or spoil. Thus, automated supply and management of the contents measured by the solid-state 3D lidar scanner 250 of the present invention is possible.

[0094] Figure 19 is an illustrative diagram visually displaying an example of a 3D image of the feed remaining amount, which is the contents of a feed bin silo, received by a user via the solid-state 3D lidar scanner system 500 of the present invention.

[0095] First, the inside of an empty feed bin silo, which contains no feed, is scanned with a solid-state 3D lidar scanner 250 to obtain measurements of the silo's internal morphology. If an empty feed bin silo without feed is unavailable, the internal morphology can be estimated based on drawings or actual measurements of the silo, and estimation results can be obtained. The measurement or estimation results for the internal morphology of the empty feed bin silo are transmitted to a server via Wi-Fi or mobile communication, and a 3D image 600 of the feed bin silo's internal morphology is obtained via a program installed on the server 501.

[0096] The feed filled inside the feed bin silo is scanned with a solid-state 3D lidar scanner 250 to obtain measurement results for the feed. The feed measurement results are transmitted to the server 501 via Wi-Fi or mobile communication, and a 3D image 650 of the measured feed is obtained by a program already installed on the server 501.

[0097] A program already installed on server 501 adds a 3D image 650 of the measured feed to the feed bin silo 3D image 600, allowing for a visually accurate 3D display of the remaining feed inside the feed bin silo, as shown in Figure 19. Feed bin silo users who receive the 3D image can accurately understand the remaining form and amount of feed.

[0098] Furthermore, the obtained feed bin silo 3D image 600 is stored in the server 501, and when additional measurements are taken to check the remaining amount of feed, only the scan data for the feed is sent to the server 501. The 3D image 650 of the additionally measured feed is added to the feed bin silo 3D image 600 stored in the server, making it possible to display a 3D image of the remaining amount of feed inside the feed bin silo. This reduces data communication costs, communication time, and power consumption.

[0099] Therefore, the solid-state 3D lidar scanner for measuring the remaining amount of contents stored inside the silo body of the present invention is a 3D lidar scanner that can be powered by a battery by reducing the driving power using light-emitting elements with different beam angles without the lidar scanner itself moving, The housing of the solid-state 3D LiDAR scanner includes a light source that emits light, a TOF sensor that receives light after it has been reflected from the subject, a central processing unit that controls the operation of the light source and the TOF sensor, a power supply unit that supplies power to the light source and the TOF sensor, and a bandpass filter that allows light that has been emitted from the light source and reflected from the subject to pass through the light incident on the TOF sensor. The front of the housing has a window through which the emitted light from the light source and the incident light incident on the TOF sensor can pass. The light source includes at least one first light-emitting element with a first directional angle and at least one second light-emitting element with a second directional angle narrower than the first directional angle, and the power supply unit is composed of a battery. As a result, it is possible to make the scanner smaller and more power-efficient than conventional 3D LiDAR scanners, which allows for easy installation in silos, reduced operating costs, prevention of fire accidents, and minimization of malfunctions.

[0100] Furthermore, for long-distance measurement, the light source unit may include more light-emitting elements with different beam angles. For example, the light source unit may include a first light-emitting element with the widest first beam angle covering short distances, a second light-emitting element with a second beam angle covering medium distances, and a third light-emitting element with the narrowest third beam angle covering long distances. In addition, the light source unit includes n light-emitting elements (n is a natural number greater than or equal to 2) with different beam angles, and the beam angle of the (n-1)th light-emitting element is wider than the beam angle of the nth light-emitting element. Even when the light source unit includes n light-emitting elements with different beam angles, the (n-1)th and nth light-emitting elements are driven sequentially, enabling low-power operation. Therefore, the power supply unit is characterized by being composed of a battery.

[0101] Furthermore, when the same voltage is applied to the first light-emitting element and the second light-emitting element, the irradiation distance of the second light emitted forward from the window from the second light-emitting element is longer than the irradiation distance of the first light emitted forward from the window from the first light-emitting element.

[0102] Furthermore, both the first and second light-emitting elements constituting the light source can be composed of light-emitting diodes, or both can be composed of laser diodes, or a combination of light-emitting diodes and laser diodes. It is preferable for both the first and second light-emitting elements to be composed of light-emitting diodes, as light-emitting diodes have a wider beam angle than laser diodes, in order to miniaturize and lighten the lidar scanner.

[0103] Furthermore, the solid-state 3D lidar scanner of the present invention is battery-powered and miniaturized, capable of scanning while stationary, and can be attached to the top of a silo body by a simple connecting means. The connecting means is characterized by allowing the solid-state 3D lidar scanner to hang downwards from the body by gravity, and by allowing the solid-state 3D lidar scanner to be suspended from around the input opening into the internal space of the body. Fastening parts consisting of one or a combination thereof, of a hook, clip, ring, clamp, and carabiner can be formed at one end and the other end of the connecting means. The connecting means can be connected to a hinge that connects the lid at the input opening of the body.

[0104] Furthermore, an electrically operated opening and closing cover is attached to the front portion of the housing in which the window is formed, and the window is opened in conjunction with the operation of the solid-state 3D lidar scanner.

[0105] Furthermore, the housing includes a vibration detection sensor capable of detecting external shocks and vibrations. The vibration detection sensor consists of one or a combination of a shock sensor, a knock sensor, a tilt sensor, and a 3-axis gyro sensor, and the presence or absence of vibration is checked via the vibration detection sensor, and the solid-state 3D LiDAR scanner operates only when there is no vibration.

[0106] Furthermore, the solid-state 3D lidar scanner of the present invention is used in a solid-state 3D lidar scanner system for measuring the remaining amount of contents stored inside a silo body, and for imaging and communicating the measured results to the user.

[0107] The solid-state 3D lidar scanner system includes the solid-state 3D lidar scanner described above, a server, and a network connecting the solid-state 3D lidar scanner and the server. The scan data measured by the solid-state 3D lidar scanner is transmitted to the server via the network, and the scan data measured by the solid-state 3D lidar scanner is imaged via a program already installed on the server. The remaining amount of the imaged contents is then communicated to the user, allowing them to confirm the remaining amount of the contents.

[0108] Furthermore, the remaining amount of the imaged contents communicated to the user appears simultaneously with the internal shape of the silo body, and the internal shape of the silo body is characterized by being a 3D image of measurements taken by the solid-state 3D lidar scanner, or a 3D image of drawings or actual measurements provided by the user.

[0109] Furthermore, the internal configuration of the silo body, which has been 3D imaged, is stored on the server, and when additional measurements are taken to determine the remaining amount of contents, only the scan data of the contents measured by the solid-state 3D lidar scanner is transmitted to the server, thereby enabling a reduction in data communication costs, communication time, and driving power.

[0110] Furthermore, the server includes the contents management program, which is characterized in that it can request inventory management, ordering, production, and delivery services for the contents according to a preset remaining quantity.

[0111] Furthermore, the solid-state 3D lidar scanner of the present invention, which can measure the remaining amount of contents stored inside the silo body and has a function for detecting spoilage of contents, includes a first light source unit that emits light into the housing of the solid-state 3D lidar scanner, a second light source unit that emits light of a different wavelength from the first light source unit, a TOF sensor into which the light from the first light source unit reflected from the subject and the light from the second light source unit that has reacted with gases generated when the contents deteriorate or spoil are incident, a central processing unit that controls the driving of the first light source unit, the second light source unit and the TOF sensor, and a power supply unit that supplies power to the first light source unit, the second light source unit and the TOF sensor, wherein the light emitted from the first light source unit has a wavelength band that does not react with gases generated when the contents deteriorate or spoil, and the light emitted from the second light source unit has a wavelength band that at least a portion reacts with and is absorbed by gases generated when the contents deteriorate or spoil.

[0112] Furthermore, the solid-state 3D lidar scanner of the present invention, which can measure the remaining amount of contents stored inside the silo body and has a function for detecting spoilage of contents, includes a first light source unit that emits light into the housing of the solid-state 3D lidar scanner, a second light source unit that emits light of a different wavelength from the first light source unit, a TOF sensor into which the light from the first light source unit reflected from the subject is incident, a spoilage detection sensor into which the light from the second light source unit that has reacted with gases generated when the contents deteriorate or spoil is incident, a central processing unit that controls the driving of the first light source unit, the second light source unit, the TOF sensor and the spoilage detection sensor, and a power supply unit that supplies power to the first light source unit, the second light source unit, the TOF sensor and the spoilage detection sensor, wherein the light emitted from the first light source unit has a wavelength band that does not react with gases generated when the contents deteriorate or spoil, and the light emitted from the second light source unit has a wavelength band that at least a portion reacts with and is absorbed by gases generated when the contents deteriorate or spoil.

[0113] Furthermore, the solid-state 3D lidar scanner of the present invention, which can measure the remaining amount of contents stored inside the silo body and has a function for detecting spoilage of contents, comprises a first light source that emits light into the housing of the solid-state 3D lidar scanner, a second light source that emits light of a different wavelength from the first light source, a separate third reference light source that emits light of a different wavelength from the first and second light sources, a TOF sensor into which light from the first light source reflected from the subject is incident, and a separate third unit that does not react with the light from the second light source that reacts with gases generated during deterioration and spoilage of the contents. The device includes a spoilage detection sensor into which light from a quasi-light source is incident, a central processing unit that controls the driving of a first light source, a second light source, a separate third reference light source, and a TOF sensor, and a power supply unit that supplies power to the first light source, a second light source, a separate third reference light source, a TOF sensor, and a spoilage detection sensor, wherein the light emitted from the first light source and the light emitted from the separate third reference light source have wavelength bands that do not react to gases generated when the contents deteriorate or spoil, and the light emitted from the second light source has wavelength bands that at least a portion react to and are absorbed by gases generated when the contents deteriorate or spoil.

[0114] Furthermore, the solid-state 3D lidar scanner having a spoilage detection function for contents stored inside the silo body of the present invention includes: a second light source unit that emits light into the housing of the solid-state 3D lidar scanner; a separate third reference light source unit that emits light of a different wavelength from the second light source unit; a spoilage detection sensor into which light from the second light source unit that has reacted with gases generated during deterioration and spoilage of the contents, and light from the separate third reference light source unit that does not react with gases generated during deterioration and spoilage of the contents are incident; a central processing unit that controls the driving of the second light source unit, the separate third reference light source unit, and the TOF sensor; and a power supply unit that supplies power to the second light source unit, the separate third reference light source unit, the TOF sensor, and the spoilage detection sensor. The light emitted from the separate third reference light source unit has a wavelength band that does not react with gases generated during deterioration and spoilage of the contents, and the light emitted from the second light source unit has a wavelength band that at least a portion reacts with and is absorbed by gases generated during deterioration and spoilage of the contents. The spoilage detection sensor is characterized by being composed of at least one of a photodiode, an image sensor, and a TOF sensor. [Industrial applicability]

[0115] The present invention's solid-state 3D lidar scanner and system for measuring the remaining amount of contents stored inside a silo can be easily installed in the silo due to its miniaturization and low power consumption, thereby reducing operating costs, preventing fire accidents, and minimizing the occurrence of malfunctions. Furthermore, because the present invention's solid-state 3D lidar scanner and system can accurately image the remaining amount of contents and communicate it to the user, it can be used to assist in content management, ordering, production, and delivery, making it highly industrially applicable. [Explanation of symbols]

[0116] 101 Silo body 102 Inlet 103 Discharge port 105 Lid 109 Discharge amount adjustment means 120 Support structures 150 silos Circuit board for 200 3D LiDAR scanners 201 Housing 203 Front protective cover 204 Ejection window 205 Entrance window 206 First Optical Lens 207 Bandpass filter 208 TOF (Time of Flight) Sensor 209 Battery 210 Light source substrate 211 First light-emitting element 212 Second light-emitting element 216 Second Optical Lens 218 windows 220 1st light source section 230 Protrusion 232 Opening 240 Front part 300 Connection means 301 Fastening section 401 First light emitted from the first light-emitting element 402 The second light emitted from the second light-emitting element 500 3D LiDAR Scanner System 501 Server 502 Mobile Phone 503 User PC 3D image of 600 feed bin silos 650 3D images of measured feed

Claims

1. A solid-state 3D lidar scanner for measuring the remaining amount of contents stored inside the silo body, The housing of the solid-state 3D lidar scanner includes: A first light source unit that emits light, A TOF sensor is incident on the light emitted from the first light source after it has been reflected from the subject, The first light source unit and the central processing unit that controls the driving of the TOF sensor, The first light source unit and the power supply unit that supplies power to the TOF sensor, The TOF sensor includes a first bandpass filter that allows light that has been emitted from the first light source and reflected from the subject to pass through, A window is formed in the front portion of the housing that allows the emitted light from the first light source and the incident light incident on the TOF to pass through. A solid-state 3D lidar scanner characterized in that the first light source unit includes at least one first light-emitting element having a first directional angle and at least one second light-emitting element having a second directional angle narrower than the first directional angle, and the power supply unit is comprised of a battery.

2. The solid-state 3D lidar scanner according to claim 1, characterized in that when the same voltage is applied to the first light-emitting element and the second light-emitting element, the irradiation distance of the second light emitted forward from the window from the second light-emitting element is longer than the irradiation distance of the first light emitted forward from the window from the first light-emitting element.

3. The solid-state 3D lidar scanner according to claim 1, characterized in that the first light-emitting element and the second light-emitting element are driven sequentially.

4. The solid-state 3D lidar scanner according to claim 1, characterized in that both the first light-emitting element and the second light-emitting element are composed of light-emitting diodes, or both are composed of laser diodes, or both are composed of a combination of light-emitting diodes and laser diodes.

5. The upper part of the silo body further includes an opening into which contents can be put into the body, The solid-state 3D lidar scanner according to claim 1, characterized in that the solid-state 3D lidar scanner is coupled to the main body around the input port by a coupling means.

6. The solid-state 3D lidar scanner according to claim 5, characterized in that the connecting means allows the solid-state 3D lidar scanner to be suspended downward by gravity from the main body, and the solid-state 3D lidar scanner to be suspended from the vicinity of the input opening into the internal space of the main body.

7. The solid-state 3D lidar scanner according to claim 5, characterized in that fastening portions consisting of one or a combination thereof, of a hook, clip, ring, clamp, and carabiner are formed at one end and the other end of the connecting means.

8. The aforementioned opening further includes a lid connected by a hinge, The solid-state 3D lidar scanner according to claim 5, characterized in that the connecting means is coupled to the hinge.

9. The solid-state 3D lidar scanner according to claim 1, characterized in that an electrically operated opening and closing cover is coupled to the front portion of the housing in which the window is formed, and the window is opened in accordance with the operation of the solid-state 3D lidar scanner.

10. The housing further includes a vibration detection sensor capable of detecting external shocks and vibrations. The vibration detection sensor consists of one or a combination thereof of a vibration sensor (Shock Sensor), a knock sensor, a tilt sensor, and a 3-axis gyro sensor. The solid-state 3D lidar scanner according to claim 1, characterized in that the presence or absence of vibration is checked via the vibration detection sensor, and the solid-state 3D lidar scanner operates only when there is no vibration.

11. A solid-state 3D lidar scanner for measuring the remaining amount of contents stored inside the silo body, The aforementioned solid-state 3D lidar scanner is A first light source unit that emits light, A TOF sensor is incident on the light emitted from the first light source after it has been reflected from the subject, The first light source unit and the central processing unit that controls the driving of the TOF sensor, The system includes the first light source unit and the power supply unit that supplies power to the TOF sensor, The first light source unit includes n light-emitting elements (n is a natural number of 2 or more) having different beam angles, wherein the beam angle of the (n-1)th light-emitting element is wider than the beam angle of the nth light-emitting element. A solid-state 3D lidar scanner characterized in that the (n-1)th light-emitting element and the nth light-emitting element are driven sequentially, and the power supply unit is composed of a battery.

12. A solid-state 3D lidar scanner system for measuring the remaining amount of contents stored inside a silo, and for visualizing the measured results and communicating them to the user, The aforementioned solid-state 3D lidar scanner system is A solid-state 3D lidar scanner according to any one of claims 1 to 11, Server and Includes a network connecting the solid-state 3D lidar scanner and the server, The scan data measured by the solid-state 3D lidar scanner is transmitted to the server via the network. The scan data measured by the solid-state 3D lidar scanner is converted into an image via a program already installed on the server. A solid-state 3D lidar scanner system characterized by the ability to check the remaining amount of contents by communicating the remaining amount of the contents, as visualized, to the user.

13. The remaining amount of the imaged contents, which is communicated to the user, appears simultaneously with the internal shape of the silo body. The solid-state 3D lidar scanner system according to claim 12, characterized in that the internal configuration of the silo body is a 3D image of something measured by the solid-state 3D lidar scanner, or a 3D image of a drawing or actual measurement provided by the user.

14. The 3D image of the internal structure of the silo is stored on the server. When performing additional measurements of the remaining contents, The solid-state 3D lidar scanner system according to claim 13, characterized in that only scan data of the contents measured by the solid-state 3D lidar scanner is transmitted to the server, thereby enabling a reduction in data communication costs, communication time, and driving power.

15. The server further includes the contents management program, The solid-state 3D lidar scanner system according to claim 12, characterized in that the contents management program can request inventory management, ordering, production, and delivery services for the contents according to a preset remaining quantity.

16. A solid-state 3D lidar scanner having a function for detecting spoilage of contents stored inside the silo body, The housing of the solid-state 3D lidar scanner includes: A first light source unit that emits light, A second light source unit that emits light of a different wavelength than the first light source unit, A TOF sensor into which light from the first light source reflected from the subject and light from the second light source reacted with gases generated during the deterioration and decay of the contents are incident. A central processing unit that controls the driving of the first light source unit, the second light source unit, and the TOF sensor, The system includes the first light source unit, the second light source unit, and a power supply unit that supplies power to the TOF sensor, The light emitted from the first light source unit has a wavelength range that does not react to gases generated during the deterioration and spoilage of the contents. A solid-state 3D lidar scanner having a function for detecting spoilage of contents, characterized in that the light emitted from the second light source unit has a wavelength range in which at least a portion of it reacts with and is absorbed by gases generated during deterioration and spoilage of the contents.

17. A solid-state 3D lidar scanner having a function for detecting spoilage of contents stored inside the silo body, The housing of the solid-state 3D lidar scanner includes: A first light source unit that emits light, A second light source unit that emits light of a different wavelength than the first light source unit, A TOF sensor into which light from the first light source reflected from the subject enters, A spoilage detection sensor receives light from a second light source that reacts with gases generated during deterioration and spoilage of the contents, A central processing unit that controls the operation of the first light source unit, the second light source unit, the TOF sensor, and the decay detection sensor, It includes the first light source unit, the second light source unit, the TOF sensor, and the power supply unit that supplies power to the spoilage detection sensor, The light emitted from the first light source unit has a wavelength range that does not react to gases generated during the deterioration and spoilage of the contents. A solid-state 3D lidar scanner having a function for detecting spoilage of contents, characterized in that the light emitted from the second light source unit has a wavelength range in which at least a portion of it reacts with and is absorbed by gases generated during deterioration and spoilage of the contents.

18. The solid-state 3D lidar scanner having a content spoilage detection function according to claim 16 or 17, characterized in that the first light source unit includes at least one first light-emitting element having a first directional angle and at least one second light-emitting element having a second directional angle narrower than the first directional angle.

19. The first light source unit is used to measure the remaining amount of contents stored inside the silo body. The solid-state 3D lidar scanner having a content spoilage detection function according to claim 16 or 17, characterized in that the second light source is used to detect deterioration and spoilage of the contents stored inside the silo body.

20. The upper part of the TOF sensor includes a first bandpass filter that allows light emitted from the first light source and light emitted from the second light source to pass through. A window is formed in the front portion of the housing that allows the emitted light from the first light source and the second light source, respectively, and the incident light incident on the TOF to pass through. A solid-state 3D lidar scanner having a content spoilage detection function, as described in claim 16, characterized in that the power supply unit is composed of a battery.

21. The upper part of the TOF sensor and the decay detection sensor include a first bandpass filter that allows light emitted from the first light source and light emitted from the second light source to pass through. A window is formed in the front portion of the housing that allows the emitted light from the first light source and the second light source, respectively, and the incident light incident on the TOF to pass through. A solid-state 3D lidar scanner having a content spoilage detection function, as described in claim 17, characterized in that the power supply unit is comprised of a battery.

22. The solid-state 3D lidar scanner having a content spoilage detection function according to claim 17, characterized in that the spoilage detection sensor is composed of a photodiode or an image sensor.

23. A solid-state 3D lidar scanner having a function for detecting spoilage of contents stored inside the silo body, The housing of the solid-state 3D lidar scanner includes: A first light source unit that emits light, A second light source unit that emits light of a different wavelength than the first light source unit, A separate third reference light source unit that emits light of a different wavelength from the first and second light sources, A TOF sensor into which light from the first light source reflected from the subject enters, A spoilage detection sensor is in which light from a second light source that reacts with gases generated during deterioration and spoilage of the contents, and light from a separate third reference light source that does not react with gases generated during deterioration and spoilage of the contents are incident. The first light source unit, the second light source unit, the separate third reference light source unit, and the central processing unit that controls the drive of the TOF sensor, The system includes the first light source unit, the second light source unit, a separate third reference light source unit, the TOF sensor, and a power supply unit that supplies power to the spoilage detection sensor, The light emitted from the first light source and the light emitted from the separate third reference light source have wavelength bands that do not react to gases generated during deterioration and spoilage of the contents. A solid-state 3D lidar scanner having a function for detecting spoilage of contents, characterized in that the light emitted from the second light source unit has a wavelength range in which at least a portion of it reacts with and is absorbed by gases generated during deterioration and spoilage of the contents.

24. The solid-state 3D lidar scanner having a content spoilage detection function according to claim 23, characterized in that the first light source unit includes at least one first light-emitting element having a first directional angle and at least one second light-emitting element having a second directional angle narrower than the first directional angle.

25. The first light source unit is used to measure the remaining amount of contents stored inside the silo body. The solid-state 3D lidar scanner having a content spoilage detection function according to claim 23, characterized in that the second light source is used to detect deterioration and spoilage of the contents stored inside the silo body.

26. The upper part of the TOF sensor and the upper part of the decay detection sensor include a bandpass filter that allows light emitted from the first light source, light emitted from the second light source, and light from the separate third reference light source to pass through. A window is formed in the front of the housing that allows light emitted from the first light source, the second light source, and the separate third reference light source, respectively, and incident light incident on the TOF sensor and the decay detection sensor to pass through. A solid-state 3D lidar scanner having a content spoilage detection function, as described in claim 23, characterized in that the power supply unit is composed of a battery.

27. The solid-state 3D lidar scanner having a content spoilage detection function according to claim 23, characterized in that the spoilage detection sensor is composed of a photodiode or an image sensor.

28. The solid-state 3D lidar scanner having a content spoilage detection function according to claim 23, characterized in that the wavelength of light emitted from the separate third reference light source is even closer to the wavelength of light emitted from the second light source than the wavelength of light emitted from the first light source.

29. The light from the first light source reflected from the subject enters the TOF sensor via the first optical lens. A solid-state 3D lidar scanner having a content spoilage detection function, characterized in that the light from a second light source that reacts with gases generated during deterioration and spoilage of the contents, and the light from a separate third reference light source that does not react with gases generated during deterioration and spoilage of the contents, are incident on a spoilage detection sensor via a second optical lens, as described in claim 23.

30. A solid-state 3D lidar scanner having a function for detecting spoilage of contents stored inside the silo body, The housing of the solid-state 3D lidar scanner includes: A second light source unit that emits light, A separate third reference light source unit that emits light of a different wavelength from the second light source unit, A spoilage detection sensor is in which light from a second light source that reacts with gases generated during deterioration and spoilage of the contents, and light from a separate third reference light source that does not react with gases generated during deterioration and spoilage of the contents are incident. The system comprises the second light source unit, the separate third reference light source unit, and a central processing unit that controls the drive of the TOF sensor. The system includes the second light source unit, a separate third reference light source unit, the TOF sensor, and a power supply unit that supplies power to the spoilage detection sensor. The light emitted from the aforementioned separate third reference light source unit has a wavelength range that does not react to gases generated during the deterioration and spoilage of the contents. A solid-state 3D lidar scanner having a function for detecting spoilage of contents, characterized in that the light emitted from the second light source unit has a wavelength range in which at least a portion of it reacts with and is absorbed by gases generated during deterioration and spoilage of the contents.

31. The solid-state 3D lidar scanner having a content spoilage detection function according to claim 30, characterized in that the spoilage detection sensor is composed of at least one of a photodiode, an image sensor, and a TOF sensor.

32. A solid-state 3D lidar scanner system for measuring the remaining amount of contents stored inside a silo, and for visualizing the measured results and communicating them to the user, The aforementioned solid-state 3D lidar scanner system is A solid-state 3D lidar scanner according to claim 17, any one of claims 20 to 30, Server and Includes a network connecting the solid-state 3D lidar scanner and the server, The scan data measured by the solid-state 3D lidar scanner is transmitted to the server via the network. The scan data measured by the solid-state 3D lidar scanner is converted into an image via a program already installed on the server. A solid-state 3D lidar scanner system characterized in that the user is informed of the presence or absence of alteration or spoilage of the contents due to the reaction of light emitted from the second light source unit with the contents, as well as the remaining amount of the contents as an image, allowing the user to confirm the remaining amount of contents and the alteration or spoilage of the contents.

33. The remaining amount of the imaged contents, which is communicated to the user, appears simultaneously with the internal shape of the silo body. The solid-state 3D lidar scanner system according to claim 32, characterized in that the internal configuration of the silo body is a 3D image of something measured by the solid-state 3D lidar scanner, or a 3D image of a drawing or actual measurement provided by the user.

34. The internal configuration of the silo body, which has been converted into a 3D image, is stored on the server. When performing additional measurements of the remaining contents, The solid-state 3D lidar scanner system according to claim 32, characterized in that only scan data of the contents measured by the solid-state 3D lidar scanner is transmitted to the server, thereby enabling a reduction in data communication costs, communication time, and driving power.

35. The server further includes the contents management program, The solid-state 3D lidar scanner system according to claim 32, characterized in that the contents management program can request inventory management, ordering, production, and delivery services for the contents according to a preset remaining quantity.

36. The server further includes the contents management program, The solid-state 3D lidar scanner system according to claim 32, characterized in that the contents management program can request disposal of the contents and disinfection services inside the silo body in response to deterioration or spoilage of the contents.

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