Volume measurement device, volume measurement system, volume measurement method and program

Abstract

To eliminate the need for measurement by a distance sensor in an unloaded state when measuring the volume of a payload using the distance sensor.SOLUTION: A volume measurement device comprises: a first distance data acquisition unit for acquiring first distance data obtained by a first distance sensor that irradiates a loading platform of a freight vehicle with a first search wave from above; a second distance data acquisition unit for acquiring second distance data obtained by a second distance sensor that irradiates at least one of a rear part and a side part of the loading platform and the ground in the surrounding of the freight vehicle with a second search wave; a first identification unit for identifying a frame corresponding to the peripheral wall part of the loading platform, using the first distance data; a second identification unit for identifying a position of a bottom part of the loading platform relative to the ground, using the second distance data; and a volume measurement unit for measuring the volume of payload on the loading platform using the first distance data, on the basis of the results of identification by the first and second identification units.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a volume measuring device and the like. [Background technology]

[0002] There is known a technology for measuring the volume (hereinafter referred to as "volume") of a load in the bed of a freight vehicle (for example, the vessel of a dump truck) using a distance sensor (for example, an ultrasonic sensor) placed above the freight vehicle (for example, a dump truck). Patent Document 1 discloses such a technology.

[0003] In the technology described in Patent Document 1, a distance sensor is used to measure the surface shape of a freight vehicle, including the cargo, when the cargo is loaded on the bed of the freight vehicle. Furthermore, a distance sensor is used to measure the surface shape of the freight vehicle when no cargo is loaded on the bed of the freight vehicle (a so-called "empty" state). Then, the volume of the cargo is calculated based on the difference between these surface shapes (see paragraphs

[0013] to

[0017] , Figures 1 and 2, etc., of Patent Document 1).

[0004] As a related technique, the technique described in Patent Document 2 is also known. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-233643 [Patent Document 2] Japanese Patent Application Publication No. 62-284207 Summary of the Invention [Problem to be solved by the invention]

[0006] The technology described in Patent Document 1 requires that measurements be performed using a distance sensor when the truck bed is loaded with cargo, and there is also the problem that measurements using the distance sensor must be performed when the truck is empty.

[0007] In view of the above-mentioned problems, an object of the present invention is to eliminate the need for measurement by the distance sensor when the vehicle is empty, when measuring the volume of a load using the distance sensor. [Means for solving the problem]

[0008] The volume measuring device of the present invention comprises a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto the loading platform of a cargo vehicle, a second distance data acquisition unit that acquires second distance data obtained by a second distance sensor that irradiates a second search wave onto at least one of the back and side surfaces of the loading platform and the ground surrounding the cargo vehicle, a first identification unit that uses the first distance data to identify a frame corresponding to the peripheral wall of the loading platform, a second identification unit that uses the second distance data to identify the position of the bottom surface of the loading platform relative to the ground, and a volume measuring unit that measures the volume of cargo in the loading platform using the first distance data based on the results of identification by the first and second identification units.

[0009] The volume measurement system of the present invention comprises a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto the loading platform of a cargo vehicle; a second distance data acquisition unit that acquires second distance data obtained by a second distance sensor that irradiates a second search wave onto at least one of the back and side surfaces of the loading platform and the ground surrounding the cargo vehicle; a first identification unit that uses the first distance data to identify a frame corresponding to the peripheral wall of the loading platform; a second identification unit that uses the second distance data to identify the position of the bottom surface of the loading platform relative to the ground; and a volume measurement unit that uses the first distance data based on the results of identification by the first and second identification units to measure the volume of cargo in the loading platform.

[0010] In the volume measurement method of the present invention, a first distance data acquisition unit acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto the loading platform of a cargo vehicle, a second distance data acquisition unit acquires second distance data obtained by a second distance sensor that irradiates a second search wave onto at least one of the back and side surfaces of the loading platform and the ground surrounding the cargo vehicle, a first identification unit uses the first distance data to identify a frame corresponding to the peripheral wall of the loading platform, a second identification unit uses the second distance data to identify the position of the bottom surface of the loading platform relative to the ground, and a volume measurement unit measures the volume of the cargo in the loading platform using the first distance data based on the results of identification by the first and second identification units.

[0011] The program of the present invention causes a computer to function as a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto the loading platform of a cargo vehicle, a second distance data acquisition unit that acquires second distance data obtained by a second distance sensor that irradiates a second search wave onto at least one of the back and side surfaces of the loading platform and the ground surrounding the cargo vehicle, a first identification unit that uses the first distance data to identify a frame corresponding to the peripheral wall of the loading platform, a second identification unit that uses the second distance data to identify the position of the bottom surface of the loading platform relative to the ground, and a volume measurement unit that uses the first distance data to measure the volume of cargo in the loading platform based on the results of identification by the first and second identification units. [Effects of the Invention]

[0012] According to the present invention, when measuring the volume of a load using a distance sensor, it is not necessary to perform measurement using the distance sensor when the load is empty. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram showing the main parts of a volume measurement system according to the first embodiment. [Figure 2A] FIG. 2A is an explanatory diagram showing an example of the installation positions of the first distance sensor and the second distance sensor. [Figure 2B]FIG. 2B is an explanatory diagram showing an example of the installation positions of the first distance sensor and the second distance sensor. [Figure 3] FIG. 3 is a block diagram showing the hardware configuration of the main parts of the volume measuring device according to the first embodiment. [Figure 4] FIG. 4 is a block diagram showing another hardware configuration of the main parts of the volume measuring device according to the first embodiment. [Figure 5] FIG. 5 is a block diagram showing another hardware configuration of the main parts of the volume measuring device according to the first embodiment. [Figure 6] FIG. 6 is a flowchart showing the operation of the volume measuring device according to the first embodiment. [Figure 7A] FIG. 7A is a flowchart showing detailed operations of the first distance data acquiring unit and the first specifying unit in the volume measuring device according to the first embodiment. [Figure 7B] FIG. 7B is a flowchart showing detailed operations of the first distance data acquiring unit and the first specifying unit in the volume measuring device according to the first embodiment. [Figure 8] FIG. 8 is an explanatory diagram showing an example of a point group included in the first distance data. [Figure 9] FIG. 9 is an explanatory diagram showing an example of an approximate straight line corresponding to the right side of a freight vehicle. [Figure 10A] FIG. 10A is an explanatory diagram showing an example of a state before the inclination of the stopping direction of the freight vehicle is corrected. [Figure 10B] FIG. 10B is an explanatory diagram showing an example of a state after the inclination of the freight vehicle in the stopping direction has been corrected. [Figure 11] FIG. 11 is an explanatory diagram showing an example of a state in which an XY coordinate system is divided into a plurality of blocks in order to generate a grayscale image. [Figure 12] FIG. 12 is an explanatory diagram showing an example of a binary image converted from a grayscale image. [Figure 13A] FIG. 13A is a flowchart showing detailed operations of the second distance data acquiring unit and the second specifying unit in the volume measuring device according to the first embodiment. [Figure 13B]FIG. 13B is a flowchart showing detailed operations of the second distance data acquisition unit and the second identification unit in the volume measuring device according to the first embodiment. [Figure 14A] FIG. 14A is an explanatory diagram showing an example of a range in which a search wave is irradiated by a second distance sensor. [Figure 14B] FIG. 14B is an explanatory diagram showing examples of the XY plane, the XZ plane, and the YZ plane. [Figure 15] FIG. 15 is an explanatory diagram showing an example of the bottom surface height. [Figure 16A] FIG. 16A is a flowchart showing detailed operations of the volume measuring unit and the output control unit in the volume measuring device according to the first embodiment. [Figure 16B] FIG. 16B is a flowchart showing detailed operations of the volume measuring unit and the output control unit in the volume measuring device according to the first embodiment. [Figure 17A] FIG. 17A is an explanatory diagram showing an example of a bed frame. [Figure 17B] FIG. 17B is an explanatory diagram showing an example of a cell. [Figure 17C] FIG. 17C is an explanatory diagram showing an example of depth values. [Figure 17D] FIG. 17D is an explanatory diagram showing an example of the volume of the load in each cell. [Figure 18] FIG. 18 is a block diagram showing the main parts of the volume measurement according to the second embodiment. [Figure 19] FIG. 19 is a block diagram showing the main parts of a volume measurement system according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. [First embodiment] Fig. 1 is a block diagram showing the main parts of a volume measurement system according to a first embodiment. Fig. 2A and Fig. 2B are explanatory diagrams showing examples of installation positions of a first distance sensor and a second distance sensor. The volume measurement system according to the first embodiment will be described with reference to Figs. 1 to 2B.

[0015] 1, the volume measurement system 100 includes a first distance sensor 1, a second distance sensor 2, a volume measurement device 3, and an output device 4. The volume measurement device 3 includes a first distance data acquisition unit 11, a second distance data acquisition unit 12, a first identification unit 13, a second identification unit 14, a volume measurement unit 15, and an output control unit 16.

[0016] Each of the first distance sensor 1 and the second distance sensor 2 is configured, for example, by 3D-LiDAR (Light Detection and Ranging), millimeter-wave radar, a ToF (Time of Flight) camera, or an ultrasonic sensor. Hereinafter, the waves (laser light, millimeter waves, infrared rays, ultrasonic waves, etc.) used to measure distance by each of the first distance sensor 1 and the second distance sensor 2 may be collectively referred to as "search waves." The following description will focus on an example in which each of the first distance sensor 1 and the second distance sensor 2 is configured by 3D-LiDAR and the search waves are laser light.

[0017] As shown in FIGS. 2A and 2B, the first distance sensor 1 is positioned above a cargo vehicle (e.g., a dump truck) FV when the cargo vehicle FV is parked at a predetermined position in a predetermined orientation. The first distance sensor 1 emits a first search wave toward the cargo bed (e.g., the vessel of a dump truck) of the cargo vehicle FV below. As a result, the first distance sensor 1 irradiates the first search wave from above toward at least the cargo bed (e.g., the vessel of a dump truck) of the cargo vehicle FV. In addition, the first distance sensor 1 may irradiate the first search wave toward the ground around the cargo vehicle FV. Note that when the first distance sensor 1 irradiates the search wave, the cargo bed of the cargo vehicle FV is loaded with cargo. In other words, it is not necessary to irradiate the search wave when the cargo vehicle FV is empty. Here, the "first search wave" is the search wave irradiated by the first distance sensor 1. The first search wave irradiated to these objects (the cargo bed, cargo, the ground, etc.) is reflected by these objects.

[0018] The second distance sensor 2 is disposed, for example, at a position diagonally rearward of the freight vehicle FV and facing diagonally downward, as shown in FIGS. 2A and 2B. When the freight vehicle FV is parked at a predetermined position and facing a predetermined direction, the second distance sensor 2 irradiates a second search wave onto at least one of the rear and side portions of the cargo bed of the freight vehicle FV, and also irradiates the second search wave onto the ground around the freight vehicle FV. In this case, the second distance sensor 2 irradiates the second search wave onto both the rear and side portions of the cargo bed of the freight vehicle FV, and also irradiates the second search wave onto the ground around the freight vehicle FV. Note that when the second distance sensor 2 irradiates the second search wave, the cargo bed of the freight vehicle FV is loaded with cargo. In other words, it is not necessary to irradiate the second search wave when the freight vehicle FV is empty. Here, the "second search wave" refers to the search wave irradiated by the second distance sensor 2. The second search wave irradiated onto these objects (cargo bed, cargo, ground, etc.) is reflected by these objects.

[0019] The first distance data acquisition unit 11 acquires data obtained by measurement using the first distance sensor 1. For example, the first distance sensor 1 receives reflected waves (backscattered light) corresponding to first search waves (laser light) emitted in each direction by the first distance sensor 1. The first distance sensor 1 measures the distance for the reflected waves corresponding to each emission direction using ToF or FMCW (Frequency Modulated Continuous Wave). This measures the distance between the location where the first distance sensor 1 is installed and the location of the point (reflection point) where the irradiated first search wave is reflected. The first distance data acquisition unit 11 acquires point cloud data or depth data indicating the location of each reflection point based on the measured distance. Hereinafter, these data may be collectively referred to as "first distance data." The following description will mainly focus on an example where the first distance data is point cloud data.

[0020] The second distance data acquisition unit 12 acquires data obtained by measurement using the second distance sensor 2. For example, the second distance sensor 2 receives reflected waves (backscattered light) corresponding to second search waves (laser light) emitted in each direction by the second distance sensor 2. The second distance sensor 2 measures the distance for each reflected wave corresponding to each emission direction using ToF or FMCW. This measures the distance between the location where the second distance sensor 2 is installed and the location of the point (reflection point) where the irradiated second search wave is reflected. The second distance data acquisition unit 12 acquires point cloud data or depth data indicating the location of each reflection point based on the measured distance. Hereinafter, these data may be collectively referred to as "second distance data." The following description will mainly focus on an example where the second distance data is point cloud data.

[0021] The first identification unit 13 uses the first distance data acquired by the first distance data acquisition unit 11 to identify a rectangular virtual frame (hereinafter, sometimes referred to as a "bed frame"; see, for example, FIG. 17A) corresponding to the peripheral wall of the bed of the freight vehicle FV. The bed frame may have a substantially rectangular shape (for example, a shape obtained by chamfering the corners of a rectangle). If the stopping direction of the freight vehicle FV is inclined with respect to the predetermined direction, the first identification unit 13 corrects the first distance data to correct the inclination of the stopping direction in the process of identifying the bed frame. The first identification unit 13 outputs the corrected first distance data to the volume measurement unit 15. The first identification unit 13 also outputs information indicating the result of the identification (i.e., information indicating the position and dimensions of the identified bed frame) to the volume measurement unit 15. Specific examples of the process executed by the first identification unit 13 will be described later with reference to FIGS. 7A to 12.

[0022] The second identification unit 14 identifies the position of the bottom surface of the cargo vehicle's loading platform (more specifically, the inner bottom surface) relative to the ground, using the second distance data acquired by the second distance data acquisition unit 12. In other words, the second identification unit 14 identifies the position of the bottom surface in the height direction of the cargo vehicle FV (i.e., the distance of the bottom surface from the ground). Hereinafter, this position may be referred to as the "bottom height." The second identification unit 14 outputs information indicating the result of this identification (i.e., information indicating the identified bottom height) to the volume measurement unit 15. Details of the processing executed by the second identification unit 14 will be described later with reference to FIGS. 13A to 15.

[0023] The volume measurement unit 15 measures the volume of the cargo in the bed of the freight vehicle FV based on the results of identification by the first identification unit 13 and the second identification unit 14, using the first distance data (i.e., the corrected first distance data) output by the first identification unit 13. Details of the processing executed by the volume measurement unit 15 will be described later with reference to Figures 16A to 17D.

[0024] The output control unit 16 controls the output of information indicating the results of measurement by the volume measurement unit 15 (hereinafter, sometimes referred to as "measurement result information"). An output device 4 is used to output the measurement result information. The output device 4 is configured, for example, by a display. In this case, the output control unit 16 controls the display to display an image corresponding to the measurement result information (i.e., an image including the results of measurement by the volume measurement unit 15). This allows a user of the volume measurement system 100 (for example, an appraiser of the cargo) to visually recognize the volume measurement results.

[0025] In this manner, the main part of the volume measurement system 100 is configured.

[0026] Note that distance measurement using the first distance sensor 1 may be repeatedly performed when the freight vehicle FV is parked at a predetermined position and has cargo loaded on the bed of the freight vehicle FV. The first distance data acquisition unit 11 may acquire first distance data obtained by each measurement. In this case, the first identification unit 13 may execute a process of identifying the bed frame using the first distance data obtained by each measurement. As a result, the process of identifying the bed frame is executed multiple times. Furthermore, the volume measurement unit 15 may execute a process of measuring the volume based on the result of each process by the first identification unit 13. That is, the volume measurement unit 15 may execute a process of measuring the volume using the first distance data corrected by each correction in the first identification unit 13. As a result, the process of measuring the volume is executed multiple times. The volume measurement unit 15 may exclude outliers from the results of such multiple processes, as described below.

[0027] Furthermore, distance measurement using the second distance sensor 2 may be repeatedly performed while the freight vehicle FV is parked at a predetermined position and cargo is loaded on the bed of the freight vehicle FV. The second distance data acquisition unit 12 may acquire second distance data obtained by each measurement. In this case, the second identification unit 14 may perform a process of identifying the base height using the second distance data obtained by each measurement. As a result, the process of identifying the base height is performed multiple times. The second identification unit 14 may exclude outliers from the results of such multiple processes, as described below.

[0028] The second distance sensor 2 may also be configured with a plurality of distance sensors (for example, two distance sensors). In this case, one of the two second distance sensors may irradiate the second search wave onto the rear part of the loading platform and the ground, and the other of the two second distance sensors may irradiate the second search wave onto the side part of the loading platform and the ground.

[0029] Next, the hardware configuration of the main parts of the volume measuring device 3 will be described with reference to FIGS.

[0030] As shown in each of FIGS. 3 to 5, the volume measuring device 3 uses a computer 21.

[0031] 3, the computer 21 includes a processor 31 and a memory 32. The memory 32 stores programs for causing the computer 21 to function as the first distance data acquisition unit 11, the second distance data acquisition unit 12, the first determination unit 13, the second determination unit 14, the volume measurement unit 15, and the output control unit 16. The processor 31 reads and executes the programs stored in the memory 32. This realizes a function F1 of the first distance data acquisition unit 11, a function F2 of the second distance data acquisition unit 12, a function F3 of the first determination unit 13, a function F4 of the second determination unit 14, a function F5 of the volume measurement unit 15, and a function F6 of the output control unit 16.

[0032] 4, the computer 21 includes a processing circuit 33. The processing circuit 33 executes processing to cause the computer 21 to function as the first distance data acquisition unit 11, the second distance data acquisition unit 12, the first determination unit 13, the second determination unit 14, the volume measurement unit 15, and the output control unit 16. This realizes functions F1 to F6.

[0033] 5, the computer 21 includes a processor 31, a memory 32, and a processing circuit 33. In this case, some of the functions F1 to F6 are realized by the processor 31 and the memory 32, and the remaining functions of the functions F1 to F6 are realized by the processing circuit 33.

[0034] The processor 31 is made up of one or more processors, each of which is, for example, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, a microcontroller, or a digital signal processor (DSP).

[0035] The memory 32 is composed of one or more memories, each of which may be, for example, a random access memory (RAM), a read-only memory (ROM), a flash memory, an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a solid-state drive, a hard disk drive, a flexible disk, a compact disk, a digital versatile disk (DVD), a Blu-ray disk, a magneto optical (MO) disk, or a mini disk.

[0036] The processing circuit 33 is composed of one or more processing circuits. Each processing circuit uses, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field Programmable Gate Array), an SoC (System on a Chip), or a system LSI (Large Scale Integration).

[0037] The processor 31 may include a dedicated processor corresponding to each of the functions F1 to F6. The memory 32 may include a dedicated memory corresponding to each of the functions F1 to F6. The processing circuit 33 may include a dedicated processing circuit corresponding to each of the functions F1 to F6.

[0038] Next, the operation of the volume measuring device 3 will be described with reference to the flowchart shown in FIG.

[0039] First, the first distance data acquisition unit 11 acquires first distance data (step S1). Next, the first identification unit 13 identifies the bed frame (step S2). At this time, the first identification unit 13 corrects the first distance data so as to correct the tilt of the freight vehicle FV in the stopping direction. Also, the second distance data acquisition unit 12 acquires second distance data (step S3). Next, the second identification unit 14 identifies the base height (step S4).

[0040] Here, the order of execution of steps S1 and S2 and steps S3 and S4 is arbitrary. That is, the order of execution of steps S1 and S2 may be such that steps S3 and S4 are executed first, and then steps S3 and S4 are executed. Alternatively, the order of execution of steps S3 and S4 may be such that steps S1 and S2 are executed first, and then steps S3 and S4 are executed. Alternatively, the order of execution of steps S1 and S2 and steps S3 and S4 may be such that steps S1 and S2 and steps S3 and S4 are executed in parallel.

[0041] Next, the volume measurement unit 15 measures the volume of the cargo in the bed of the freight vehicle FV based on the results of the determination in steps S2 and S4. Next, the output control unit 16 executes control to output information indicating the result of the measurement in step S5 (i.e., measurement result information) (step S6).

[0042] Next, the details of the processing executed by the first identifying unit 13 will be described with reference to Figures 7A to 12. That is, a specific example of a method for identifying a bed frame will be described.

[0043] 7A and 7B are flowcharts showing detailed operations of first distance data acquisition unit 11 and first identification unit 13. Step S101 in Fig. 7A corresponds to step S1 in Fig. 6. Steps S102 to S116 in Fig. 7A and 7B correspond to step S2 in Fig. 6.

[0044] First, the first distance data acquisition unit 11 acquires first distance data (step S101). Specifically, for example, the first distance data acquisition unit 11 acquires first distance data obtained by a first measurement using the first distance sensor 1.

[0045] Next, the first identification unit 13 sets a predetermined ROI (Region of Interest) range (step S102) in order to exclude points included in the first distance data that are not used to identify the bed frame (for example, points corresponding to the ground).

[0046] Next, the first identification unit 13 projects the point cloud within the ROI range from the point cloud included in the first distance data onto an XY coordinate system (step S103). Here, the XY coordinate system is a coordinate system parallel to a horizontal plane. The X axis in the XY coordinate system is a virtual axis corresponding to the front-to-rear direction (X direction) of the cargo vehicle FV when the cargo vehicle FV is parked at the predetermined position in the predetermined orientation. The Y axis in the XY coordinate system is a virtual axis corresponding to the left-to-right direction (Y direction) of the cargo vehicle FV when the cargo vehicle FV is parked at the predetermined position in the predetermined orientation.

[0047] Next, the first identification unit 13 detects a concave hull that contains the projected point cloud (S104). The first identification unit 13 detects the farthest point pair at the vertices of the detected concave hull (step S105; see P1 and P2 in FIG. 8). The first identification unit 13 determines the farthest points from the line connecting the detected farthest point pair (see SL in FIG. 8) in two directions perpendicular to the line (step S106; see P3 and P4 in FIG. 8).

[0048] If these four points (P1, P2, P3, P4) are detected correctly (step S107 "YES"), the first identification unit 13 determines that these four points (P1, P2, P3, P4) correspond to the four corners of the loading platform. In this case, the processing of the first identification unit 13 proceeds to step S109.

[0049] On the other hand, for example, if the four points (P1, P2, P3, P4) are not included in the first distance data acquired in step S101, these four points (P1, P2, P, P4) are not detected correctly. In such a case (step S107 "NO"), the first identification unit 13 discards the acquired first distance data (step S108). The processing of the volume measuring device 3 returns to step S101. The first distance data acquisition unit 11 acquires the first distance data obtained by the next measurement using the first distance sensor 1.

[0050] In step S109, the first identifying unit 13 extracts a point cloud corresponding to at least a part of the left side or right side of the loading platform from the projected point cloud based on the result of the determination of the four corners. Specifically, for example, the first identifying unit 13 extracts a point cloud corresponding to the central one-third part (see Δ1 in FIG. 9) of the long side of the rectangle based on the four corners.

[0051] Next, the first identification unit 13 detects an approximate straight line corresponding to the left side or right side of the loading platform (i.e., the left side or right side of the cargo vehicle FV) based on the coordinate values (more specifically, the X coordinate value and the Y coordinate value) of the extracted individual points (see ASL in FIG. 9). The first identification unit 13 calculates the inclination angle of the approximate straight line ASL with respect to the X axis (step S110).

[0052] Next, the first identification unit 13 rotates the positions of the points included in the first distance data in the XY coordinate system so that the tilt angle becomes 0. As a result, the first distance data is corrected to correct the tilt of the stopping direction (step S111). Fig. 10A shows an example of the points before correction. In contrast, Fig. 10B shows an example of the points after correction.

[0053] Next, the first determination unit 13 sets a plurality of blocks by dividing the XY coordinate system at predetermined intervals (for example, 5 centimeter intervals) in the X and Y directions (see FIG. 11). The first determination unit 13 generates a grayscale image corresponding to the XY coordinate system based on the Z coordinate values (i.e., coordinate values in the height direction) of points included in each block (step S112). For example, for a certain block, when the Z coordinate value of a point included in this block is a predetermined maximum value, the color value of this block is set to 255 out of 256 gradations (0 to 255). Also, for example, when the Z coordinate value of a point included in this block is a predetermined minimum value, the color value of this block is set to 0 out of 256 gradations (0 to 255). Next, the first determination unit 13 converts the generated grayscale image into a black and white binary image by comparing the color value of each block with a predetermined threshold (step S113). For example, if the color value of a certain block is equal to or greater than the threshold, the first determination unit 13 converts the color value of this block to 1 (black). On the other hand, if the color value of a certain block is less than the threshold, the first determination unit 13 converts the color value of this block to 0 (white). The threshold is set to, for example, 200 out of 256 color values (0 to 255).

[0054] Next, the first identifying unit 13 counts the number of blocks whose color value is 1 for each column along the X direction among the plurality of blocks (step S114_1). The first identifying unit 13 detects two columns (see C_X_1 and C_X_2 in FIG. 12) among the columns in which the number of blocks whose color value is 1 is greater than the number of blocks in the other columns. As a result, the first identifying unit 13 identifies the column (C_X_2) corresponding to the left side surface of the loading platform and the column (C_X_1) corresponding to the right side surface of the loading platform (step S115_1).

[0055] Similarly, the first identifying unit 13 counts the number of blocks whose color value is 1 for each column along the Y direction among the plurality of blocks (step S114_2). The first identifying unit 13 detects two columns (see C_Y_1 and C_Y_2 in FIG. 12) among the columns in which the number of blocks whose color value is 1 is greater than the number of blocks in the other columns. As a result, the first identifying unit 13 identifies the column (C_Y_2) corresponding to the front part of the loading platform and the column (C_Y_1) corresponding to the back part of the loading platform (step S115_2).

[0056] That is, the process of step S115_1 in Fig. 6 identifies rows corresponding to the long sides of the rectangular loading platform frame (see the dashed lines in Fig. 12). The process of step S115_2 identifies rows corresponding to the short sides of the rectangular loading platform frame (see the dashed lines in Fig. 12). In this way, the four dashed lines connected in Fig. 12 are identified as the loading platform frame.

[0057] Next, the first identification unit 13 outputs information indicating the identification result and the corrected first distance data to the volume measurement unit 15 (step S116). Next, the processing of the volume measurement device 3 returns to step S101. The first distance data acquisition unit 11 acquires the first distance data obtained by the next measurement using the first distance sensor 1 (step S101).

[0058] In this way, the process of identifying the bed frame is executed using the first distance data obtained by each measurement, as described above. In addition, in each process, the first distance data is corrected so as to correct the inclination of the freight vehicle FV in the stopping direction.

[0059] Next, the details of the process executed by the second specifying unit 14 will be described with reference to Figures 13A to 15. That is, a specific example of a method for specifying the bottom height will be described.

[0060] 13A and 13B are flowcharts showing detailed operations of second distance data acquisition unit 12 and second identification unit 14. Step S201 in Fig. 13A corresponds to step S3 in Fig. 6. Steps S202 to S219 in Fig. 13A and 13B correspond to step S4 in Fig. 6.

[0061] First, the second distance data acquisition unit 12 acquires the second distance data (step S201). Specifically, for example, the second distance data acquisition unit 12 acquires the second distance data obtained by the first measurement using the second distance sensor 2.

[0062] Next, the second identification unit 14 sets a predetermined ROI range (step S202) in order to exclude points included in the second distance data that are not used to identify the bottom height (for example, points corresponding to objects other than the freight vehicle FV).

[0063] Next, the second identification unit 14 executes a plane detection process on the point cloud within the ROI range among the point clouds included in the second distance data (step S203). The plane detection process detects the largest plane in the target point cloud.

[0064] If a plane is detected by the plane detection process (step S204 "YES"), the second identification unit 14 calculates the difference between the maximum X coordinate value and the minimum X coordinate value for a group of points included in the detected plane. The second identification unit 14 also calculates the difference between the maximum Y coordinate value and the minimum Y coordinate value for these groups of points. The second identification unit 14 also calculates the difference between the maximum Z coordinate value and the minimum Z coordinate value for these groups of points. The second identification unit 14 determines which of the X-axis, Y-axis, and Z-axis has the smallest calculated difference value (step S205).

[0065] If the determination result in step S205 is the Z axis, the second identification unit 14 determines that the detected plane is the XY plane. The second identification unit 14 registers the detected plane as the XY plane (step S206_1). Furthermore, the second identification unit 14 excludes the point cloud included in the registered plane from targets of the subsequent plane detection process. However, if the XY plane has already been registered, the process of step S206_1 is skipped.

[0066] If the determination result in step S205 is the Y axis, the second identification unit 14 determines that the detected plane is the XZ plane. The second identification unit 14 registers the detected plane as the XZ plane (step S206_2). Furthermore, the second identification unit 14 excludes the point cloud included in the registered plane from targets of the subsequent plane detection process. However, if the XZ plane has already been registered, the process of step S206_2 is skipped.

[0067] If the determination result in step S205 is the X-axis, the second identification unit 14 determines that the detected plane is the YZ plane. The second identification unit 14 registers the detected plane as the YZ plane (step S206_3). Furthermore, the second identification unit 14 excludes the point cloud included in the registered plane from targets of the subsequent plane detection process. However, if the YZ plane has already been registered, the process of step S206_3 is skipped.

[0068] Next, the second identification unit 14 determines whether the XY plane, XZ plane, and YZ plane have been registered (step S207). If all of the XY plane, XZ plane, and YZ plane have been registered (step S207 "YES"), the processing of the volume measuring device 3 proceeds to step S210. On the other hand, if at least one of the XY plane, XZ plane, and YZ plane has not been registered (step S207 "NO"), the processing of the volume measuring device 3 returns to step S203. Thereby, the plane detection processing is executed.

[0069] If no plane is detected by the plane detection process (step S204 "NO"), the processing of the volume measuring device 3 proceeds to step S208. In step S208, the second identification unit 14 determines whether the XY plane has been registered and whether the XZ plane or the XZ plane has been registered. If the XY plane has not been registered, or if the XY plane has been registered but both the XZ plane and the YZ plane have not been registered (step S208 "NO"), the second identification unit 14 discards the acquired second distance data (step S209). The processing of the volume measuring device 3 returns to step S201. The second distance data acquisition unit 12 acquires second distance data obtained by the next measurement using the second distance sensor 2.

[0070] On the other hand, if the XY plane has already been registered and the XZ plane or the XZ plane has already been registered (step S208 "YES"), the processing of the volume measuring device 3 proceeds to step S210.

[0071] That is, when the processing of the volume measuring device 3 proceeds to step S210, the XY plane has already been registered in the second specifying unit 14, and at least one of the XZ plane and the YZ plane has already been registered. As shown in Figures 14A and 14B, the registered XY plane is highly likely to be a plane corresponding to the ground surface around the cargo vehicle FX. Furthermore, the registered XZ plane is highly likely to be a plane corresponding to the side portion (e.g., the right side portion) of the bed of the cargo vehicle FV. Furthermore, the registered YZ plane is highly likely to be a plane corresponding to the back portion of the bed of the cargo vehicle FV.

[0072] In step S210, the second identification unit 14 detects the coordinate values of four points corresponding to the four corners of the registered XY plane. That is, the second identification unit 14 detects the X coordinate value, the Y coordinate value, and the Z coordinate value of each of the four points.

[0073] If the coordinate values of only one or two of these four points are detected (step S211 "NO"), the processing of the volume measuring device 3 proceeds to step S209. On the other hand, if the coordinate values of at least three of these four points are detected (step S211 "YES"), the second identification unit 14 uses these coordinate values to calculate a so-called "plane equation" for the XY plane (step S212). That is, the second identification unit 14 calculates each variable (a, b, c, d) in the plane equation (ax+by+cz+d=0).

[0074] Next, the second identification unit 14 determines whether or not the YZ plane is registered (step S213). If the YZ plane is registered (step S213 "YES"), the second identification unit 14 detects a point having the smallest Z coordinate value within a predetermined range (see Δ2 shown in FIG. 15) that is the center of the YZ plane in the Y direction (step S214_1). This range (Δ2) is set, for example, to a range of ±10 centimeters from the center of the YZ plane in the Y direction.

[0075] The coordinate value of the detected point is used to determine the bottom height in step S215, which will be described later. Here, as shown in Figures 14A and 14B, the YZ plane may include a portion corresponding to the tail lamp of the freight vehicle FV. Therefore, if a point showing the minimum Z coordinate value on the YZ plane is detected without setting the range (Δ2) as described above, the position of the tail lamp in the height direction (Z direction) may be determined instead of the bottom height being determined. In other words, the bottom height may not be determined accurately. In contrast, by setting the range (Δ2) as described above, it is possible to avoid the occurrence of such a problem.

[0076] If the YZ plane is not registered (step S213 "NO"), the second specifying unit 14 executes the same process as step S214_1 for the XZ plane (step S214_2). That is, the second specifying unit 14 detects a point having the smallest Z coordinate value in a predetermined range that is the center of the XZ plane in the X direction. Next, the second identifying unit 14 calculates the distance between the plane and the point (see D' in FIG. 15) based on the equation calculated in step S212 and the coordinate value of the point detected in step S214_1 or step S214_2 (step S215). There is a high probability that the distance D' corresponds to the position of the bottom surface (more specifically, the outer bottom surface) of the loading platform relative to the ground. In other words, the second identifying unit 14 identifies the bottom height by calculating the distance D'.

[0077] Next, the second identification unit 14 stores information indicating the result of the identification (ie, information indicating the calculated distance D') (step S216).

[0078] Next, the second identification unit 14 determines whether or not information indicating identification results for N times (for example, 12 times) has been stored (step S217). If information indicating identification results for N times has been stored (step S217 "YES"), the processing of the volume measuring device 3 proceeds to step S218. If not (step S217 "NO"), the processing of the volume measuring device 3 returns to step S201.

[0079] If information indicating N identification results is stored (step S217 "YES"), the second identification unit 14 calculates a final identification result based on these identification results (step S218).

[0080] That is, these identification results include N distances D' (e.g., 12 distances). First, the second identification unit 14 performs statistical processing on these values (D') to remove outliers from these values (D') and calculate the average value of the remaining values (D'). This statistical processing may use, for example, a so-called "box-and-whisker plot." Next, the second identification unit 14 adds a predetermined value corresponding to the thickness of the bottom of the cargo bed (see α in FIG. 15, e.g., 15 centimeters) to the calculated average value. The second identification unit 14 uses the value (D1) after this addition as the final identification result.

[0081] Next, the second identification unit 14 outputs information indicating the final identification result (D1) to the volume measurement unit 15 (step S219).

[0082] Next, with reference to Figures 16A to 17D, the details of the processing executed by the volume measurement unit 15 will be described. That is, a specific example of a volume measurement method will be described.

[0083] 16A and 16B are flowcharts showing detailed operations of the volume measurement unit 15 and the output control unit 16. Steps S301 to S319 in Fig. 16A and 16B correspond to step S5 in Fig. 6. Step S320 in Fig. 16B corresponds to step S6 in Fig. 6.

[0084] As described above, the first identification unit 13 outputs information indicating the identification result of the loading platform frame and the corrected first distance data to the volume measurement unit 15 (step S116 in FIG. 7B). When this information and data are acquired (step S301 "YES"), the volume measurement unit 15 extracts a point cloud located within the loading platform frame from the point cloud included in the acquired first distance data (step S302).

[0085] Next, the volume measurement unit 15 sets a plurality of rectangular cells by dividing the inside of the loading platform frame at predetermined intervals in the X direction and the Y direction. In other words, the volume measurement unit 15 divides the inside of the loading platform frame into a plurality of cells (step S303). For example, as shown in Figures 17A and 17B, the volume measurement unit 15 divides the inside of the loading platform frame into 10 equal parts in the X direction (the front-to-rear direction of the cargo vehicle FV) and into 5 equal parts in the Y direction (the left-to-right direction of the cargo vehicle FV). This sets 50 cells.

[0086] Hereinafter, values indicating distance, position, height, etc. in the Z direction (including the Z coordinate value of each point) may be collectively referred to as "depth values." The depth values are expressed in meters, for example.

[0087] Next, the volume measurement unit 15 executes the following steps S304 to S305 for each cell. That is, if the cell contains one or more points (step S304 "YES"), the volume measurement unit 15 calculates the depth value D2 of the cell by calculating the average value of the Z coordinate values (i.e., depth values) of these points. On the other hand, if the cell does not contain any points (step S304 "NO"), the volume measurement unit 15 sets the depth value D2 of the cell to a predetermined value (e.g., -100) (step S306).

[0088] As described above, the second identification unit 14 outputs information indicating the identification result of the bottom height D1 (more specifically, information indicating the final identification result) to the volume measurement unit 15 (step S219 in FIG. 13B). If the volume measurement unit 15 has already acquired such information (step S307 "YES"), the volume measurement unit 15 executes the following processes of steps S308 to S313 for each cell.

[0089] That is, if the depth value D2 of the cell is not set to -100 (step S308 "NO"), the volume measurement unit 15 calculates the depth value D4 corresponding to the volume of the cargo in the cell using the following formula (1) (step S309).

[0090] D4=D3-(D2+D1) (1) Here, D3 is a depth value corresponding to the installation height of the first distance sensor 1 (see FIG. 17C). Information indicating the depth value D3 may be pre-stored in the volume measurement device 3. Alternatively, when the first distance sensor 1 irradiates the ground with search waves, a point cloud corresponding to the ground is also included in the first distance data. The volume measurement device 3 may calculate the depth value D3 based on these point clouds. As shown in FIGS. 17C and 17D, the depth value D4 calculated by the above formula (1) corresponds to the volume of the load in the cell. However, if the calculated depth value D4 is a value less than 0 (i.e., a negative value) (step S310 "YES"), the volume measurement unit 15 sets the depth value D4 of the cell to 0.

[0091] Furthermore, if the depth value D2 of the cell is set to -100 (step S308 "YES"), the volume measurement unit 15 detects cells surrounding the cell whose depth value D2 is not set to -100. The volume measurement unit 15 calculates the average value of the depth values D4 of the detected cells. The volume measurement unit 15 uses the calculated average value as the depth value D4 of the cell (step S312).

[0092] For example, suppose that the depth values D2 of the two cells adjacent to the cell in the X direction are not set to -100, and the depth values D2 of the two cells adjacent to the cell in the Y direction are not set to -100. In this case, the average value of the depth values D4 of these four cells is used as the depth value D4 of the cell in question.

[0093] Alternatively, for example, suppose that the depth values D2 of the two cells adjacent to the cell in the X direction are not set to -100, but the depth value D2 of at least one of the two cells adjacent to the cell in the Y direction is set to -100. In this case, the average value of the depth values D4 of the two cells adjacent to the cell in the X direction is used as the depth value D4 of the cell.

[0094] Alternatively, for example, suppose that the depth values D2 of the two cells adjacent to the cell in the Y direction are not set to -100, but the depth value D2 of at least one of the two cells adjacent to the cell in the X direction is set to -100. In this case, the average value of the depth values D4 of the two cells adjacent to the cell in the Y direction is used as the depth value D4 of the cell.

[0095] Next, the volume measurement unit 15 calculates the volume v of the load in the cell by the following formula (2) (step S313), where A represents the area of each cell.

[0096] v=A×D4 (2) Next, the volume measurement unit 15 calculates the volume V of the load in the loading platform by calculating the total value of the volumes v in all the cells (step S314). The volume measurement unit 15 saves information indicating the calculated volume V (i.e., measurement result information). The volume measurement unit 15 repeatedly executes these processes until the volume V has been calculated M times (e.g., 12 times) (step S315 "NO"). When the volume V has been calculated M times (step S315 "YES"), the processing of the volume measurement device 3 proceeds to step S319.

[0097] In addition, if information indicating the result of determining the bottom height D1 has not been obtained (step S307 "NO"), the volume measurement unit 15 stores information (hereinafter referred to as "depth value information") indicating the calculated or set depth value D2 (i.e., the depth value D2 of each cell).

[0098] Next, the volume measurement unit 15 determines whether M sets of (e.g., 12 sets of) depth value information have been stored (step S317). If the stored depth value information is less than M sets (step S317 "NO"), the processing of the volume measurement device 3 returns to step S301. That is, when information indicating the next bed frame identification result and the next corrected first distance data are acquired (step S301 "YES"), the processing from step S302 onwards is executed.

[0099] On the other hand, if M pieces of depth value information have already been stored (step S317 "YES"), the volume measurement unit 15 sets the bottom height D1 to a predetermined value. Thereafter, with the bottom height D1 set to the predetermined value, the processes of steps S308 to S314 are executed using the depth value D2 indicated by the depth value information for each time. That is, these processes are executed M times. Then, step S315 is determined as "YES".

[0100] That is, if step S315 is "YES," the volume V for M times has been calculated. The volume measurement unit 15 performs statistical processing on these values (V), thereby excluding outliers from these values (V), and calculates the average value of the remaining values (V) (step S319). This statistical processing uses, for example, a box-and-whisker plot. The volume measurement unit 15 uses this average value as the final measurement result.

[0101] Next, the output control unit 16 executes control to output information indicating the final measurement result in step S319 (i.e., measurement result information) (step S320). Specifically, for example, the output control unit 16 executes control to display an image corresponding to the measurement result information (i.e., an image including the average value calculated in step S319).

[0102] Next, the effects of using the volume measurement system 100 will be described.

[0103] As described above, in the volume measuring device 3, the first distance data acquisition unit 11 acquires first distance data obtained by the first distance sensor 1, which emits a first search wave from above onto the bed of the cargo vehicle FV. The second distance data acquisition unit 12 acquires second distance data obtained by the second distance sensor 2, which emits a second search wave onto at least one of the back and side of the bed and the ground around the cargo vehicle FV. The first identification unit 13 uses the first distance data to identify the frame (bed frame) corresponding to the peripheral wall of the bed. The second identification unit 14 uses the second distance data to identify the position (bottom height D1) of the bottom of the bed relative to the ground. The volume measuring unit 15 uses the first distance data to measure the volume V of the load in the bed, based on the results of identification by the first identification unit 13 and the second identification unit 14.

[0104] In this case, by identifying the base height D1 using the second distance data, it is possible to eliminate the need to measure the volume V using the distance sensors (first distance sensor 1 and second distance sensor 2) when the vehicle is unloaded. This reduces the time required to measure the volume V. Furthermore, the volume V can be measured even when it is not possible to measure the volume when the vehicle is unloaded (for example, when the driver of the freight vehicle FV does not agree). It is also possible to eliminate the need to prepare data indicating the base height D1 in advance for each type of freight vehicle FV.

[0105] Furthermore, if the stopping direction of the freight vehicle FV is tilted relative to a predetermined direction, the first identification unit 13 corrects the first distance data to correct the tilt of the stopping position in the process of identifying the frame (bed frame). The volume measurement unit 15 uses the corrected first distance data to measure the volume V. This makes it possible to accurately identify the bed frame even if the stopping direction of the freight vehicle FV is tilted relative to the predetermined direction. In other words, it is possible to prevent such tilt from affecting the measurement of the volume V. As a result, the volume V can be accurately measured.

[0106] Furthermore, the first distance data acquisition unit 11 acquires first distance data obtained by multiple measurements using the first distance sensor 1. The first identification unit 13 executes a process of identifying the frame (cargo frame) multiple times by using the first distance data corresponding to each measurement. The volume measurement unit 15 executes a process of measuring the volume V multiple times by measuring the volume V based on the results of each identification by the first identification unit 13, and excludes outliers from the results of the multiple processes. This makes it possible to suppress measurement errors in the volume V due to variations in the first distance data. As a result, the volume V can be measured accurately.

[0107] The second distance data acquisition unit 12 acquires second distance data obtained by multiple measurements using the second distance sensor 2. The second identification unit 14 executes the process of identifying the position (bottom height) of the bottom surface multiple times by using the second distance data corresponding to each measurement, and removes outliers from the results of the multiple processes. This makes it possible to suppress the occurrence of errors in identifying the bottom height due to variations in the second distance data. As a result, by accurately identifying the bottom height, the volume (V) can be accurately measured.

[0108] Furthermore, the output control unit 16 executes control to output information (measurement result information) indicating the result of measurement by the volume measurement unit 15. This allows the user of the volume measurement system 100 (for example, an appraiser of the cargo) to be informed of the volume measurement result.

[0109] Furthermore, each of the first distance sensor 1 and the second distance sensor 2 uses 3D-LiDAR, and each of the first search wave and the second search wave is laser light. This allows the volume measurement system 100 to be realized using 3D-LiDAR. [Second embodiment] FIG. 18 is a block diagram showing the main parts of a volume measuring device according to a second embodiment. The volume measuring device according to the second embodiment will be described with reference to FIG. 18. Here, the volume measuring device according to the first embodiment described above is an example of a volume measuring device according to the second embodiment. Also, FIG. 19 is a block diagram showing the main parts of a volume measuring system according to the second embodiment. The volume measuring system according to the second embodiment will be described with reference to FIG. 19. Here, the volume measuring system according to the first embodiment described above is an example of a volume measuring system according to the second embodiment. Note that in each of FIGS. 18 and 19, blocks similar to those shown in FIG. 1 are designated by the same reference numerals, and descriptions thereof will be omitted.

[0110] As shown in Fig. 18, the volume measuring device 3a includes a first distance data acquiring unit 11, a second distance data acquiring unit 12, a first specifying unit 13, a second specifying unit 14, and a volume measuring unit 15. In other words, the main parts of the volume measuring device 3a are configured by the first distance data acquiring unit 11, the second distance data acquiring unit 12, the first specifying unit 13, the second specifying unit 14, and the volume measuring unit 15. Here, the first distance sensor 1 and the second distance sensor 2 may be provided outside the volume measuring device 3a (not shown in Fig. 18). Also, the output control unit 16 and the output device 4 may be provided outside the volume measuring device 3a (not shown in Fig. 18).

[0111] As shown in Fig. 19, volume measurement system 100a includes first distance data acquisition unit 11, second distance data acquisition unit 12, first determination unit 13, second determination unit 14, and volume measurement unit 15. In other words, the main parts of volume measurement system 100a are configured by first distance data acquisition unit 11, second distance data acquisition unit 12, first determination unit 13, second determination unit 14, and volume measurement unit 15. Here, first distance sensor 1 and second distance sensor 2 may be provided outside volume measurement system 100a (not shown in Fig. 19). Furthermore, output control unit 16 and output device 4 may be provided outside volume measurement system 100a (not shown in Fig. 19).

[0112] By using the volume measuring device 3a, the same effects as those described in the first embodiment can be obtained as follows. Furthermore, by using the volume measuring system 100a, the same effects as those described in the first embodiment can be obtained as follows.

[0113] That is, the first distance data acquisition unit 11 acquires first distance data obtained by a first distance sensor 1 that emits a first search wave from above onto the bed of the cargo vehicle FV. The second distance data acquisition unit 12 acquires second distance data obtained by a second distance sensor 2 that emits a second search wave onto at least one of the back and side of the bed and the ground around the cargo vehicle FV. The first identification unit 13 uses the first distance data to identify the frame (bed frame) corresponding to the peripheral wall of the bed. The second identification unit 14 uses the second distance data to identify the position (bottom height D1) of the bottom of the bed relative to the ground. The volume measurement unit 15 uses the first distance data to measure the volume V of the load in the bed based on the identification results by the first identification unit 13 and the second identification unit 14.

[0114] At this time, by identifying the bottom height D1 using the second distance data, it is possible to eliminate the need to measure the volume V using the distance sensors (first distance sensor 1 and second distance sensor 2) when the container is empty.

[0115] The volume measurement system 100a may include an output control unit 16 in addition to the first distance data acquisition unit 11, the second distance data acquisition unit 12, the first determination unit 13, the second determination unit 14, and the volume measurement unit 15. Each unit of the volume measurement system 100a may be configured as an independent device. For example, the first distance data acquisition unit 11 and the first determination unit 13 may be configured as a first computer, the second distance data acquisition unit 12 and the second determination unit 14 may be configured as a second computer, and the volume measurement unit 15 and the output control unit 16 may be configured as a third computer. Each computer may be a personal computer (PC). These computers may be connected to each other for free communication using a switching hub and a local area network (LAN) cable, etc.

[0116] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

[0117] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes. [Note] [Appendix 1] a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto a bed of the freight vehicle; a second distance data acquisition unit that acquires second distance data obtained by a second distance sensor that irradiates second search waves onto at least one of the rear and side surfaces of the loading platform and the ground around the cargo vehicle; a first identification unit that identifies a frame corresponding to a peripheral wall portion of the loading platform using the first distance data; a second identification unit that identifies a position of a bottom surface of the loading platform relative to the ground using the second distance data; a volume measurement unit that measures a volume of the load on the loading platform using the first distance data based on the results of identification by the first identification unit and the second identification unit; A volume measuring device comprising:

[0118] [Appendix 2] the first identification unit corrects the first distance data so as to correct the inclination of the stopping direction in the process of identifying the frame when the stopping direction of the freight vehicle is inclined with respect to a predetermined direction; The volume measurement unit uses the corrected first distance data to measure the volume. 2. A volume measuring device according to claim 1.

[0119] [Appendix 3] the first distance data acquisition unit acquires the first distance data obtained by multiple measurements using the first distance sensor; the first identification unit executes the process of identifying the frame a plurality of times by executing the process of identifying the frame using the first distance data corresponding to each measurement; The volume measurement unit performs the process of measuring the volume multiple times by measuring the volume based on the result of each identification by the first identification unit, and excludes outliers from the results of the multiple processes. 3. The volume measuring device according to claim 1 or 2,

[0120] [Appendix 4] the second distance data acquisition unit acquires the second distance data obtained by multiple measurements using the second distance sensor; The second identification unit performs a process of identifying the position of the bottom surface portion a plurality of times by using the second distance data corresponding to each measurement, and excludes outliers from the results of the plurality of processes. 3. The volume measuring device according to claim 1 or 2,

[0121] [Appendix 5] A volume measuring device according to any one of Supplementary Note 1 to Supplementary Note 4, characterized in that it comprises an output control unit that executes control to output information indicating the results of measurement by the volume measuring unit.

[0122] [Appendix 6] each of the first distance sensor and the second distance sensor uses a 3D-LiDAR; Each of the first search wave and the second search wave is a laser beam. 6. A volumetric measuring device according to any one of claims 1 to 5.

[0123] [Appendix 7] a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto a bed of the freight vehicle; a second distance data acquisition unit that acquires second distance data obtained by a second distance sensor that irradiates second search waves onto at least one of the rear and side surfaces of the loading platform and the ground around the cargo vehicle; a first identification unit that identifies a frame corresponding to a peripheral wall portion of the loading platform using the first distance data; a second identification unit that identifies a position of a bottom surface of the loading platform relative to the ground using the second distance data; a volume measurement unit that measures a volume of the load on the loading platform using the first distance data based on the results of identification by the first identification unit and the second identification unit; A volumetric measurement system comprising:

[0124] [Appendix 8] the first distance sensor; the second distance sensor; 8. The volumetric measurement system of claim 7, comprising:

[0125] [Appendix 9] a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto the bed of the freight vehicle; a second distance data acquisition unit acquires second distance data obtained by a second distance sensor that irradiates second search waves onto at least one of the rear and side surfaces of the loading platform and the ground around the cargo vehicle; a first identification unit that uses the first distance data to identify a frame corresponding to a peripheral wall portion of the loading platform; a second identification unit that identifies a position of a bottom surface of the loading platform relative to the ground using the second distance data; A volume measurement unit measures the volume of the load on the loading platform using the first distance data based on the results of identification by the first identification unit and the second identification unit. Volume measurement method.

[0126] [Appendix 10] Computer, a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto a bed of the freight vehicle; a second distance data acquisition unit that acquires second distance data obtained by a second distance sensor that irradiates second search waves onto at least one of the rear and side surfaces of the loading platform and the ground around the cargo vehicle; a first identification unit that identifies a frame corresponding to a peripheral wall portion of the loading platform using the first distance data; a second identification unit that identifies a position of a bottom surface of the loading platform relative to the ground using the second distance data; a volume measurement unit that measures a volume of the load on the loading platform using the first distance data based on the results of identification by the first identification unit and the second identification unit; A program to function as a

[0127] [Appendix 11] A recording medium on which the program described in Appendix 10 is recorded. [Explanation of symbols]

[0128] 1. First distance sensor 2 Second distance sensor 3,3a Volume measuring device 4 Output Devices 11 First distance data acquisition unit 12 Second distance data acquisition unit 13 First Specific Part 14 Second Specific Part 15 Volumetric measurement section 16 Output control section 21 Computer 31 processors 32 memory 33 Processing circuit 100,100a volumetric measurement system

Claims

1. a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto a bed of the freight vehicle; a second distance data acquisition unit that acquires second distance data obtained by a second distance sensor that irradiates second search waves onto at least one of the rear and side surfaces of the loading platform and the ground around the cargo vehicle; a first identification unit that identifies a frame corresponding to a peripheral wall portion of the loading platform using the first distance data; a second identification unit that identifies a position of a bottom surface of the loading platform relative to the ground using the second distance data; a volume measuring unit that measures a volume of the load on the loading platform using the first distance data based on the results of identification by the first identification unit and the second identification unit; A volumetric measuring device comprising: The second specifying unit is detecting a plane corresponding to the side surface or the rear surface using the second distance data; determining the height of the bottom surface portion using the lowest point of the plane; The volume measuring unit A plurality of rectangular cells are set by dividing a horizontal plane within the frame, For each of the cells, calculate the product of a value obtained by subtracting the height of the bottom surface portion identified using the second distance data and the depth value of the cell acquired using the first distance data from a depth value corresponding to the installation height of the first distance sensor, and the product by the area of the cell; calculating the volume of the loading platform based on the sum of the products calculated for each of the cells; Volumetric device.

2. When a stopping direction of the freight vehicle is inclined with respect to a predetermined direction, the first identification unit corrects the first distance data so as to correct the inclination of the stopping direction in the process of identifying the frame; The volume measurement unit uses the corrected first distance data to measure the volume.

2. The volumetric measuring device according to claim 1.

3. the first distance data acquisition unit acquires the first distance data obtained by a plurality of measurements using the first distance sensor; the first identification unit executes the process of identifying the frame a plurality of times by executing the process of identifying the frame using the first distance data corresponding to each measurement; The volume measurement unit measures the volume based on the result of each identification by the first identification unit, thereby performing the process of measuring the volume a plurality of times, and excluding outliers from the results of the multiple processes.

3. The volume measuring device according to claim 1 or 2.

4. the second distance data acquisition unit acquires the second distance data obtained by multiple measurements using the second distance sensor; The second identification unit performs a process of identifying the position of the bottom surface portion a plurality of times by using the second distance data corresponding to each measurement, and excludes outliers from the results of the plurality of processes.

3. The volume measuring device according to claim 1 or 2.

5. 5. The volume measuring device according to claim 1, further comprising an output control unit that controls output of information indicating the result of measurement by the volume measuring unit.

6. Each of the first distance sensor and the second distance sensor uses 3D-LiDAR, Each of the first search wave and the second search wave is a laser beam.

6. A volumetric measuring device according to any one of claims 1 to 5.

7. a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto a bed of the freight vehicle; a second distance data acquisition unit that acquires second distance data obtained by a second distance sensor that irradiates second search waves onto at least one of the rear and side surfaces of the loading platform and the ground around the cargo vehicle; a first identification unit that identifies a frame corresponding to a peripheral wall portion of the loading platform using the first distance data; a second identification unit that identifies a position of a bottom surface of the loading platform relative to the ground using the second distance data; a volume measuring unit that measures a volume of the load on the loading platform using the first distance data based on the results of identification by the first identification unit and the second identification unit; A volumetric measurement system comprising: The second specifying unit is detecting a plane corresponding to the side surface or the rear surface using the second distance data; determining the height of the bottom surface portion using the lowest point of the plane; The volume measuring unit A plurality of rectangular cells are set by dividing a horizontal plane within the frame, For each of the cells, calculate the product of a value obtained by subtracting the height of the bottom surface portion identified using the second distance data and the depth value of the cell acquired using the first distance data from a depth value corresponding to the installation height of the first distance sensor, and the product by the area of the cell; calculating the volume of the loading platform based on the sum of the products calculated for each of the cells; Volumetric measurement system.

8. the first distance sensor; the second distance sensor; The volumetric measurement system of claim 7, comprising:

9. a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto the bed of the freight vehicle; a second distance data acquisition unit acquires second distance data obtained by a second distance sensor that irradiates second search waves onto at least one of the rear and side surfaces of the loading platform and the ground around the cargo vehicle; a first identification unit that identifies a frame corresponding to a peripheral wall portion of the loading platform using the first distance data; a second identification unit that identifies a position of a bottom surface of the loading platform relative to the ground using the second distance data; a volume measurement unit that measures the volume of the load on the loading platform using the first distance data based on the results of identification by the first identification unit and the second identification unit; A volumetric measurement method comprising: In the second identification unit, detecting a plane corresponding to the side surface or the rear surface using the second distance data; determining the height of the bottom surface portion using the lowest point of the plane; In the volume measuring unit, A plurality of rectangular cells are set by dividing a horizontal plane within the frame, For each of the cells, calculate the product of a value obtained by subtracting the height of the bottom surface portion identified using the second distance data and the depth value of the cell acquired using the first distance data from a depth value corresponding to the installation height of the first distance sensor, and the product by the area of the cell; calculating a volume of the load in the loading platform based on the sum of the products calculated for each of the cells; Volume measurement method.

10. Computer, a first distance data acquisition unit that acquires first distance data obtained by a first distance sensor that irradiates a first search wave from above onto a bed of the freight vehicle; a second distance data acquisition unit that acquires second distance data obtained by a second distance sensor that irradiates second search waves onto at least one of the rear and side surfaces of the loading platform and the ground around the cargo vehicle; a first identification unit that identifies a frame corresponding to a peripheral wall portion of the loading platform using the first distance data; a second identification unit that identifies a position of a bottom surface of the loading platform relative to the ground using the second distance data; a volume measuring unit that measures a volume of the load on the loading platform using the first distance data based on the results of identification by the first identification unit and the second identification unit; A program for functioning as The second specifying unit is detecting a plane corresponding to the side surface or the rear surface using the second distance data; determining the height of the bottom surface portion using the lowest point of the plane; The volume measuring unit A plurality of rectangular cells are set by dividing a horizontal plane within the frame, For each of the cells, calculate the product of a value obtained by subtracting the height of the bottom surface portion identified using the second distance data and the depth value of the cell acquired using the first distance data from a depth value corresponding to the installation height of the first distance sensor, and the product by the area of the cell; calculating a volume of the load in the loading platform based on the sum of the products calculated for each of the cells; program.

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