Solid state 3D lidar scanner and system

Abstract

The present invention relates to a solid state 3D LIDAR scanner in which a light source unit for emitting light at a subject comprises a first light-emitting element, which has a first orientation angle, and a second light-emitting element, which has a second orientation angle that is smaller than the first orientation angle, thus the present invention can be driven by a battery, miniaturized and low-powered, and can detect deterioration and decay of the subject. In addition, the present invention relates to a solid state 3D LIDAR system, which images data scanned by the solid state 3D LIDAR scanner and transmits same to a user.

Description

Solid-state 3D LiDAR scanners and systems

[0001] The present invention relates to a 3D lidar scanner, and more particularly, to a solid-state 3D lidar scanner and system capable of measuring the remaining amount of contents stored inside a silo body and detecting whether the contents have deteriorated or decayed.

[0002]

[0003] Definition of terms

[0004] - Silo: A large material storage tank in which the contents are fed from the top and discharged from the bottom.

[0005] - Feed bin silo: A silo where livestock feed is stored as contents.

[0006] - Body: The silo body that defines the space inside which the contents can be stored.

[0007] - Inlet: An opening installed at the top of the silo through which contents are introduced into the silo.

[0008] - Discharge port: An opening installed at the bottom of the silo through which the contents stored inside the silo are discharged.

[0009] - Lid: A cover that can be opened and closed and is attached around the inlet on the top of the silo.

[0010] - Hinge: A means of joining the lid to the silo body around the silo inlet.

[0011] - Support structure: A pedestal that can raise the silo from the ground.

[0012] - Lidar scanner: A measuring device that can measure the distribution of distance, shape, or area by irradiating light on the measurement target and detecting the reflected light.

[0013] - Solid-state lidar scanner: The lidar scanner of the present invention scans in a fixed state, in contrast to a conventional lidar scanner that moves the lidar scanner itself by motor driving.

[0014] - Front protective cover: An electrically openable cover formed to prevent the deposition of contaminants on the window formed on the front of the lidar scanner.

[0015] - Connection means: A means that can be bent and made of metal, plastic, chemical fiber, etc., and can hang the lidar scanner downward by gravity when the lidar scanner is hung.

[0016] - Vibration detection sensor: A sensor that can detect vibration, changes in inclination, and movement.

[0017] - First light source unit: A light source that is irradiated onto the contents to measure the remaining amount of the contents, and is composed of a first light emitting element and a second light emitting element with different directional angles.

[0018] - Second light source: A light source for detecting deterioration or decay of contents by emitting light of a wavelength band that is at least partially absorbed by the gas emitted when the contents deteriorate or decay.

[0019] - Separate third reference light source: A light source that emits light in a wavelength band closer to the second light source than the first light source and does not react to gases generated when the contents deteriorate or decay, and is a reference light source for more precisely measuring changes in the size of light emitted from the second light source.

[0020] - Spoilage detection sensor: A sensor that detects the size of light that is partially absorbed by reacting with gases generated during spoilage or decomposition of contents, and is composed of at least one of a TOF sensor, a photodiode, and an image sensor.

[0021]

[0022] Silo refers to a large container for storing and preserving solid contents such as grain, feed, and cement.

[0023] A photograph of a feed bin silo installed to store feed supplied to livestock in a livestock farm among silos is shown in Fig. 1. The body (101) of the silo (150) includes a space for storing contents therein. The body (101) of the silo has an inlet (102) formed at the top through which contents to be stored are introduced, and a discharge port (103) formed at the bottom through which contents stored therein are discharged, and corresponds to a tank for storing contents therein. A lid (105), which is an openable cover, is attached to the inlet port at the top of the silo body (101), and a discharge amount control means (109) capable of controlling the discharge amount of stored contents can be attached to the discharge port. The silo body (101) is fixed at a certain distance from the floor surface (corresponding to the ground in Fig. 1) by a support structure (120). The support structure (120) stably fixes the silo and secures a work space from the floor surface for processing the contents discharged from the discharge port. A side window (109) may be formed on one side of the silo body (101) to allow the remaining amount of the contents stored inside to be visually observed. The lid (105) may be formed in a structure that is completely detachable from the body (101) of the silo (150), and as disclosed in FIG. 2, may be attached to the silo body (101) by a hinge (107) formed around the inlet (102) of the silo body (101).

[0024]

[0025] Feed bin silos for supplying livestock feed to livestock farms are available in sizes ranging from 1 to 15 tons and are generally manufactured from FRP, but larger models are custom-made through processing of metal plates. Domestic livestock farms primarily use feed bins made from FRP with sizes ranging from 3 to 7 tons, and the remaining amount of material stored inside these small silos can be checked through the side window (109) on the side of the silo.

[0026] However, some small silos and custom-made large silos lack side windows for checking the remaining contents, requiring users to open the lid (105) and visually inspect the contents, which is inconvenient. Furthermore, with the aging of the livestock workforce, there is a high risk of falls for elderly users directly accessing the lid attached to the top of the silo.

[0027]

[0028] In addition, even in a silo equipped with a side window (109), the stored contents do not remain flat due to reasons such as particle shape of the contents stored inside, adhesion or contamination due to moisture, and main inflow and discharge of the contents into and out of the central part of the silo, making it difficult to accurately check the remaining amount of the contents stored inside the silo through the side window. Furthermore, checking the remaining amount of the contents inside the silo by visual inspection requires frequent checks by manpower, which makes it difficult to automatically supply and manage materials. To solve these problems, various sensor technologies are being applied to measure the remaining amount of the contents inside the silo.

[0029]

[0030] Conventional sensor technologies for measuring the remaining amount of contents include point measurement sensors and sensors that rotate a lidar scanner with a motor to perform 3D measurement.

[0031] In most situations, the contents stored inside the silo are not in a flat state, but the center is convex when the contents are introduced and gradually becomes concave as the contents are discharged, making it difficult for the conventional point measurement method to accurately measure the remaining amount of the contents actually stored.

[0032] Furthermore, in 3D measurement sensors, conventional LiDAR technology primarily utilizes laser diodes as a light source. Laser beams possess strong linearity and consistent wavelength and phase, making them advantageous for high-precision measurements. However, the narrow angular range of light emitted from the laser diode package necessitates complex devices to achieve a wide light irradiance.

[0033] Conventional 3D LiDAR scanners require additional optical devices, such as diffusers and lenses, along the optical path outside the laser diode to transform the highly linear laser beam into light that projects uniformly linearly or over a uniform area. Furthermore, conventional 3D LiDAR scanners utilize a dynamic measurement method that transforms the position of the LiDAR scanner itself to spatially scan the transformed light, which is then transformed into a uniform linear or uniform area. This requires motorization.

[0034] Such motor drives have the disadvantage of increasing the product price due to piping and wiring for external power supply, increasing the volume and installation difficulty of the device, and requiring a separate support frame structure to ensure mechanical stability when the motor is driven.

[0035] Moreover, when a 3D lidar scanner is installed inside the inlet on the top of the silo to measure the remaining amount of contents stored inside the silo, a support frame structure is formed near the inlet to support the 3D lidar scanner. The support frame structure formed near the inlet may physically obstruct the material being fed into the inlet. In addition, the motor drive that changes the position of the 3D lidar scanner itself generates dust inside the silo due to the motor drive, which may cause the 3D lidar scanner to malfunction. Furthermore, the high voltage applied from the outside for the motor drive has the problem that an explosion may occur due to dust inside the silo in the event of a fault in the power wiring of the 3D lidar scanner device.

[0036] In addition, the contents stored inside the silo, especially when the silo is installed outdoors, may deteriorate due to environmental factors such as external temperature and humidity. Even when the silo is installed indoors, the contents may deteriorate due to long-term storage. If such deteriorated contents are provided as livestock feed or raw materials for subsequent processing, even greater damage may occur.

[0037] (Reference: Patent 10-1927639)

[0038]

[0039] The present invention is to solve the problems of the conventional 3D lidar scanner including the above-mentioned motor drive and external power supply. 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 by miniaturizing and reducing power consumption of the device, minimize interference with material input, reduce power line wiring costs and prevent electrical fire accidents by excluding external power supply, prevent malfunctions caused by dust generated by the use of a rotation motor, and optically detect spoilage of the stored contents, thereby preventing problems caused by spoilage in advance.

[0040] In addition, the solid-state 3D lidar scanner system of the present invention images scan data measured from a solid-state 3D lidar scanner and transmits the remaining amount and corruption of the imaged contents to the user, thereby enabling the user to easily check the remaining amount and corruption of the contents, and also enables automation of inventory management, ordering, production, and delivery of the contents.

[0041]

[0042] The present invention, in order to solve the above problems,

[0043] A battery-powered solid-state 3D lidar scanner is provided using light-emitting elements with different directional angles as a first light source.

[0044] We provide a solid-state 3D lidar scanner that does not rotate the lidar scanner itself for 3D scanning.

[0045] For 3D scanning, the lidar scanner includes a second light source that emits light that reacts to gases generated when the object being measured deteriorates or decays.

[0046] In addition, the present invention provides a solid-state 3D lidar scanner system that transmits scan data measured from a solid-state 3D lidar scanner to a server and images the scan data and transmits it to a user.

[0047]

[0048] The solid-state 3D lidar scanner and system of the present invention for measuring the remaining amount of contents stored inside a silo body uses a first light source unit and a second light source unit that emits light of a wavelength that reacts to gases generated when the contents deteriorate or decay, which have light-emitting elements having different orientation angles, thereby enabling miniaturization and low power consumption of the device, and is operated by a battery without an external power supply, enabling easy installation in a silo, reducing operating costs, preventing fire accidents caused by dust from contents stored in the silo, and minimizing the occurrence of malfunctions, and detecting deterioration or decay of the contents, and also accurately conveying the remaining amount of the contents to the user in an image format, so that the user can easily check the remaining amount of the contents as well as check deterioration or decay of the contents, thereby enabling automation of inventory management, ordering, production, and delivery of the contents.

[0049]

[0050] Figure 1 shows a conventional feed bin silo for feed storage.

[0051] Figure 2 is a perspective view of a conventional feed bin silo for storing feed with the upper lid open.

[0052] Figure 3 shows the distortion-free separation distance according to the orientation angle of the light source used in the lidar scanner.

[0053] FIG. 4 is a schematic diagram schematically showing the internal configuration of a solid-state 3D lidar scanner device of the present invention, wherein a first light source unit (220) of the solid-state 3D lidar scanner includes a first light-emitting element (211) having a first orientation angle and a second light-emitting element (212) having a second orientation angle narrower than the first orientation angle.

[0054] Figure 5 shows the optical absorption characteristics of methane gas.

[0055] FIG. 6 is a schematic diagram schematically showing a configuration of a solid-state 3D lidar scanner device including a corruption detection function, including a second light source unit (320), wherein the second light source unit (320) emits light that reacts to gases generated when the contents are spoiled or corrupted.

[0056] FIG. 7 is another embodiment of a solid-state 3D lidar scanner device including a spoilage detection function, including a second light source unit (320), wherein the second light source unit (320) emits light that reacts to the spoilage or gas generated when the contents are spoiled, and includes a separate spoilage detection sensor (308) for precise measurement of light reflected from the contents (subject).

[0057] FIG. 8 is another embodiment of a solid-state 3D lidar scanner device including a spoilage detection function, including a separate third reference light source (420) together with a second light source (320), wherein the second light source (320) emits light that reacts to gases generated when the contents spoil or decompose, and the separate third reference light source (420) emits light in a wavelength band that does not react even when the contents spoil or decompose.

[0058] FIG. 9 is another embodiment of a solid-state 3D lidar scanner device including a spoilage detection function, including a separate third reference light source (420) together with a second light source (320), wherein the light from the second light source (320) that emits light that reacts to gases generated when the contents spoil or decompose, and the light from the separate third reference light source (420) that emits light in a wavelength band that does not react even when the contents spoil or decompose, are guided to the solid-state 3D lidar scanner device through a second optical lens (216).

[0059] Fig. 10 is a perspective view of a solid state 3D lidar scanner of the present invention, the front part (240) of which is covered with a protective cover.

[0060] Figure 11 is a perspective view of a solid state 3D lidar scanner with a protective cover open on the front side (240) of the present invention.

[0061] FIG. 12 illustrates the shape of the dual-directional illumination of the solid-state 3D lidar scanner of the present invention. FIG. 13 is a perspective view of a feed bin silo in which the solid-state 3D lidar scanner of the present invention is installed.

[0062] FIG. 14 is an enlarged view of the feed bin silo inlet area where the solid state 3D lidar scanner of the present invention is installed.

[0063] FIG. 15 illustrates an example of a connecting means for attaching a solid state 3D lidar scanner of the present invention to a silo.

[0064] FIG. 16 is an image visually representing data scanned by the solid state 3D lidar scanner of the present invention.

[0065] Figure 17 is a configuration diagram of a solid-state 3D lidar scanner system using Wi-Fi communication of the present invention.

[0066] Figure 18 is a configuration diagram of a solid-state 3D lidar scanner system using mobile communication of the present invention.

[0067] FIG. 19 is an example of a 3D image of the remaining feed amount in a feed bin silo that a user receives through the solid state 3D lidar scanner system of the present invention.

[0068]

[0069] Description of the symbol

[0070] 101: Silo's Body

[0071] 102: Inlet

[0072] 103: Outlet

[0073] 105: Lid

[0074] 109: Discharge control means

[0075] 120: Support structure

[0076] 150: Silo

[0077] 200: Circuit board of a 3D lidar scanner

[0078] 201: Housing

[0079] 203: Front protective cover

[0080] 204: Exit window

[0081] 205: Entry window

[0082] 206: First optical lens

[0083] 207: Bandpass filter

[0084] 208: TOF (Time of Flight) sensor

[0085] 209: Battery

[0086] 210: Light source circuit board

[0087] 211: First light-emitting element

[0088] 212: Second light-emitting element

[0089] 216: Second optical lens

[0090] 218: Windows

[0091] 220: First light source

[0092] 230: Protrusion

[0093] 232: Aperture

[0094] 240: Front

[0095] 300: Connecting means

[0096] 301: Fastening

[0097] 401: First light emitted from the first light emitting element

[0098] 402: Second light emitted from the second light emitting element

[0099] 500: 3D LiDAR Scanner System

[0100] 501: Server

[0101] 502: Cell phone

[0102] 503: User PC

[0103] 600: Feedbin Silo 3D Image

[0104] 650: 3D image of measured feed

[0105]

[0106] A solid-state 3D lidar scanner capable of being miniaturized and power-saving and capable of being driven by a battery, and capable of detecting deterioration or decay of a subject, and a solid-state 3D lidar system that converts scanned data into an image and transmits it to a user, 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, and a light source unit that emits light to a subject.

[0107]

[0108] The present invention relates to a solid-state 3D lidar scanner and system thereof for measuring the remaining amount of contents stored in a storage container and transmitting the measured remaining amount to a user.

[0109] The present invention relates to a solid-state 3D lidar scanner and system thereof, which includes a spoilage detection function for detecting spoilage and deterioration of contents stored in a storage container and transmitting the detected spoilage and deterioration information to a user.

[0110]

[0111] The storage container applied to the present invention is a feed bin silo for storing feed, a silo for storing grain, or a silo for storing raw materials for feed, flour, sugar, cement, fertilizer, medicine, etc.

[0112] Figure 3 shows the irradiation characteristics according to the irradiation angle when light emitting diodes with different irradiation angles are installed as light sources at the inlet at the top center of a 7-ton silo with an internal diameter of 2,120 mm and each light emitting diode is driven to irradiate the inside of the silo. When a light emitting diode with a 120-degree irradiation angle is used as a light source, the distortion-free separation distance is approximately 612 mm or more, when a light emitting diode light source with a 60-degree irradiation angle is approximately 1,836 mm or more, and when a light emitting diode light source with a 45-degree irradiation angle is approximately 2,559 mm or more. Here, the distortion-free separation distance is the distance at which the top 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 between the highest point of the contents and an imaginary horizontal plane of the same height on which the lidar scanner is placed. For example, when the minimum distance between the highest point of the contents stored in the silo and the virtual horizontal plane of the same height where the lidar scanner is placed is 600 mm, and a light-emitting diode light source with a beam angle of 120 degrees (corresponding to a distortion-free separation distance of approximately 612 mm or more) is used for the 3D lidar scanner, if the highest point of the contents is located vertically below the lidar scanner, the shape of the contents can be measured without distortion, but if the highest point of the contents is placed near the wall of the silo, the light-emitting diode light source with a beam angle of 120 degrees cannot cover the area around the highest point of the contents, so the shape of the contents is measured distorted near the wall of the silo.Likewise, when a light-emitting diode with a 60-degree beam angle is used as a light source in a 7-ton silo with an internal diameter of 2,120 mm, the distance between the lidar scanner and the highest point of the contents is at least 1,836 mm, and when a light-emitting diode with a 45-degree beam angle is used as a light source, the distance between the lidar scanner and the highest point of the contents is at least 2,559 mm, making it possible to measure the shape of the contents without distortion regardless of where the highest point of the contents is located inside the silo.

[0113]

[0114] In the previous example, a 7-ton silo was used as an example, but even when the size of the silo changes, it is important to use a light source with a wide directional angle as the light source of the 3D lidar scanner in order to measure the storage form of the contents stored in the silo without distortion.

[0115]

[0116] When filling a silo with contents, the contents fall freely into the silo through the inlet formed at the top center of the silo, resulting in a shape that protrudes more from the center than from the sidewalls. As the contents are discharged to the outside through the discharge port formed at the bottom center of the silo, the overall height of the contents inside the silo decreases, and the contents are reduced more at the center than from the sidewalls, resulting in a concave shape. Therefore, the use of a light source with a wide beam angle is an important factor in measuring the true shape of the contents without distortion, whether the contents are being filled into the silo or reduced due to discharge.

[0117] However, in measuring long-distance subjects, a lidar scanner that uses a light source with a wide beam angle has the disadvantage of consuming relatively more power than a lidar scanner that uses a light source with a narrow beam angle. For example, in a lidar scanner that uses a light source with a beam angle of 120 degrees and a light source of the same wavelength with a beam angle of 45 degrees, each light source generates the same amount of light from the light-emitting diode chip at the same driving voltage, and the light generated from the light-emitting diode chip is emitted to the outside with beam angle ranges of 120 degrees and 45 degrees, respectively, through a lens-shaped encapsulant, reflector, or optical means surrounding the light-emitting diode chip. A light source with a beam angle of 120 degrees can cover a subject with a wider beam angle range than a light source with a beam angle of 45 degrees, but the amount of light transmitted from the light source in the front direction (the direction in which the beam angle is 0 degrees) is relatively small. This causes a lidar scanner using a light source with a 120-degree beam angle to consume more power than a lidar scanner using a light source with a 45-degree beam angle to measure distant objects.

[0118] Even when using light sources of different wavelengths depending on the beam angle (for example, an infrared light source of a first wavelength having a beam angle of 120 and an infrared light source of a second wavelength having a beam angle of 45 degrees), a difference in the amount of light emitted at the same driving voltage may occur due to a difference in the quantum efficiency of the light-emitting element depending on the wavelength. However, the fact that a lidar scanner having a light source having a wider beam angle consumes more power for measuring a distant object than a lidar scanner having a light source having a narrow beam angle is the same as in the case of light sources of the same wavelength mentioned above.

[0119] In addition, for measuring the remaining amount of contents stored inside a silo, a lidar scanner that solely uses a light source with a wide directional angle has the problem of higher power consumption as described above when measuring contents when the maximum height of the contents exists in the lower area of ​​the silo or when the silo is large and the contents are spaced far away, and the problem of increasing errors in the measurement results occurs because light that has been reflected multiple times on the side wall of the feed bin silo enters the TOF sensor.

[0120] The present invention, as described above, solves the problems of conventional 3D lidar scanners that arise from installing external power wiring to move the scanner itself by motor driving, the problems of measurement distortion that arises when using a light source with a single directivity angle, or the problems of high power consumption for long-distance investigation, and 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 directivity angles.

[0121] In addition, the present invention further includes a light source that emits light in response to gas generated when contents stored inside a silo deteriorate or decay. Depending on the stored contents, a specific gas is generated when deterioration or decay occurs, and the main feature of the present invention is to detect deterioration or decay of the contents by irradiating the contents with light of a wavelength band easily absorbed by the specific gas, measuring the size of the light reflected from the inner wall of the silo or the stored contents, and comparing the spectral characteristics of the reflected light to determine whether a specific gas is generated.

[0122] Figure 4 is a schematic diagram of the internal configuration of the solid state 3D lidar scanner device of the present invention.

[0123] A lidar scanner is a device that can measure the shape and distance of a subject by irradiating light onto the subject and measuring the light reflected from the subject. In the present invention, the term "solid-state" means that the scanner operates in a fixed state, in contrast to conventional 3D lidar scanners that move the lidar scanner itself by motor drive to obtain a 3D image.

[0124] The solid-state 3D lidar scanner (250) of the present invention is characterized in that it includes a first light source unit (220) that irradiates light to a subject, and a first light emitting element (211) having a first orientation angle and a second light emitting element (212) having a second orientation angle different from the first orientation angle. The first light emitting element (211) may be configured with one or more. The second light emitting element (212) may be configured with one or more. In addition, light emitting elements having different orientation angles may be further added, so that the first light source unit (220) may be configured with first to n-th light emitting elements having different orientation angles (not shown, n corresponds to a natural number greater than or equal to 2).

[0125] A first light source unit (220) and a TOF sensor (208) are electrically connected and arranged on a circuit board (200). A central processing unit (not shown) is formed on the circuit board (200) to control the operation of the first light source unit (220) and the TOF sensor (208).

[0126] 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) constituting the first light source unit (220).

[0127] In addition, the central processing unit can control the driving of only one first light-emitting element among the first light-emitting elements (211) configured with one or more, or the driving of a plurality of first light-emitting elements. In addition, the central processing unit can control the driving of only one second light-emitting element among the second light-emitting elements (212) configured with one or more, or the driving of a plurality of second light-emitting elements.

[0128] The front of the housing (201) of the solid state 3D lidar scanner (250) includes a window (218) composed of an exit window (204) through which light is emitted and an entrance window (205) through which light is incident.

[0129] 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 exit window (204) and irradiated onto the subject. The light irradiated onto the subject is reflected from the subject again, enters the solid-state 3D lidar scanner housing (201) through the entrance window (205), and is transmitted to the TOF sensor (208), so that the shape, distribution, and distance of the subject can be measured.

[0130] An optical lens (206) may be further included between the incident window (205) and the TOF sensor (208) to focus the light incident on the TOF sensor (208) and increase measurement efficiency.

[0131] A bandpass filter (207) is included on the upper portion of the TOF sensor (208), so that only the wavelength band of the light emitted from the first light source (220) that is reflected from the subject among the light entering the incident window (205) is passed through, and noisy light is removed, thereby enabling the TOF sensor (208) to measure the remaining amount of the contents more precisely. In addition, the passing wavelength of the bandpass filter (207) can be adjusted so that light of the wavelength band of an additional light source in another embodiment described below can pass through the bandpass filter (207).

[0132] In order to prevent light emitted from the first light source unit (220) from directly entering the TOF sensor (208) inside the solid-state 3D lidar scanner (250), a separate light source unit substrate (210) electrically connected to the circuit board (200) may be formed at a position higher than the circuit board (200) on which the TOF sensor (208) is disposed, and the first light source unit (220) may be disposed on the light source unit substrate (210). In addition, a partition wall (not shown) may be included inside the solid-state 3D lidar scanner (250) to prevent light emitted from the first light source unit (220) from directly being transmitted to the TOF sensor (208) inside the solid-state 3D lidar scanner.

[0133] Hereinafter, the first light source unit (220) of the solid state 3D lidar scanner (250) of the present invention will be described in detail.

[0134] The first light source unit (220) of the solid-state 3D lidar scanner (250) of the present invention includes a first light-emitting element (211) having a first orientation angle and a second light-emitting element (212) having a second orientation angle different from the first orientation angle. The first orientation angle is larger than the second orientation angle. The peak wavelength of the first light-emitting element (211) and the peak wavelength of the second light-emitting element (212) may be the same as each other, but are not limited thereto and may be different from each other. The peak wavelength of the first light-emitting element (211) and the peak wavelength of the second light-emitting element (212) may be selected from the ultraviolet, visible, and infrared regions, and may be selected from the red light or infrared region in consideration of noise caused by light penetrating from sunlight or indoor / outdoor lighting during measurement, and may be preferably selected from the infrared region.

[0135] Both the first light-emitting element (211) and the second light-emitting element (212) may be composed of light-emitting diodes. In addition, both the first light-emitting element (211) and the second light-emitting element (212) may be composed of laser diodes. In addition, the first light-emitting element (211) may be composed of a light-emitting diode and the second light-emitting element (212) may be selected as a laser diode, or it is also possible for the first light-emitting element (211) to be composed of a laser diode and the second light-emitting element (212) to be composed of a light-emitting diode. Since a laser diode requires an additional optical device to have a wide beam angle with strong straightness, it is preferable that both the first light-emitting element (211) and the second light-emitting element (212) be composed of light-emitting diodes in order to make the solid-state 3D lidar scanner (250) smaller and lighter.

[0136] The first light-emitting element (211) and the second light-emitting element (212) may be configured as a single unit, or may be configured as a plurality of units. For irradiating a subject, the first light-emitting element (211) and the second light-emitting element (212) may be driven simultaneously, or may be driven sequentially and differently from each other.

[0137] In the present invention, when a solid-state 3D lidar scanner (250) measures the remaining amount of contents stored in a silo, as the amount of contents decreases as the contents are discharged, the measurement distance between the solid-state 3D lidar scanner (250) and the contents increases. The increase in the measurement distance in a sealed silo causes the first light emitted from the first light-emitting element (211) with a large directivity angle to reach the surface of the contents after going through multiple reflections inside the silo, thereby 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 sequentially driven, the second light emitted from the second light-emitting element (212) with a narrow directivity angle can reach the contents located at a long distance after going through fewer reflections, thereby reducing the occurrence of noise in the scan data. Therefore, in the case where the solid state 3D lidar scanner (250) of the present invention 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 desirable.

[0138] The first orientation angle of the first light-emitting element (211) is preferably close to 180 degrees among those commercially available, and can be selected from among 120 degrees, 90 degrees, 60 degrees, 45 degrees, and 30 degrees. The second orientation angle of the second light-emitting element (212) is narrower than the first orientation angle, and can be selected from among 120 degrees, 90 degrees, 60 degrees, 45 degrees, and 30 degrees. If the first orientation angle is wider than the second orientation angle, the first orientation angle and the second orientation angle can each be selected from any orientation angle range that is commercially available.

[0139] The first light emitting element (211) illuminates the first area, and the second light emitting element (212) illuminates the second area. The first area and the second area may overlap each other, but the second area may cover an area further away from the lidar scanner than the first area.

[0140] The solid-state 3D lidar scanner (250) of the present invention, which includes first light-emitting elements (211) and (212) having different directional angles as a first light source (220), enables the solid-state 3D lidar scanner (250) to scan a subject without distortion even in a close-range area with the first light-emitting element (211) having a wide directional angle, and the second light-emitting element (212) having a narrow directional angle, enables the scanner to scan a long-range area with only low power consumption.

[0141] Accordingly, the solid-state 3D lidar scanner (250) including the first light-emitting element (211) and the second light-emitting element (212) having different directional angles as the first light source unit (220) of the present invention can be driven at low power and can be driven for a long time using only the battery (209) without an external power source.

[0142] The contents stored in silos can deteriorate or decay if stored for a long period of time, and especially in the case of organic materials stored outdoors, deterioration and decay can progress more quickly. Therefore, it is important to detect deterioration and decay of the contents in order to prevent damage caused by deterioration and decay in advance.

[0143] The solid-state 3D lidar scanner (250) including the corruption detection function of the present invention may further include a second corruption detection light source (320) for detecting spoilage and corruption of the contents in addition to the first light source unit (220) composed of first light emitting elements (211) and second light emitting elements (212) having different radii for measuring the remaining amount of contents.

[0144] When contents are stored in a silo for a long time, they can deteriorate and decay due to temperature and humidity, and the deteriorated and decayed contents emit specific gases along with a rapid increase in microorganisms. All gases have a light absorption edge that significantly absorbs only light in a specific wavelength range when light is irradiated on the gas. When the contents stored in a silo are grain feed, the grain feed mainly emits methane (CH4) gas along with carbon dioxide when deteriorated or decayed. Figure 5 shows the light absorption characteristics of methane. It can be seen that methane has absorption bands in the wavelength ranges of 1200 nm to 1400 nm and 2800 nm to 3300 nm, and particularly has notable absorption bands near 1350 nm and 3010 nm. When infrared rays for detecting spoilage near 1350 nm or 3010 nm and reference light (light that does not react or is absorbed by methane, or the degree of reaction or absorption can be ignored) in the wavelength band of 1200 nm or less or 1600 nm to 2700 nm are irradiated on grain feed and the size of the reflected light is measured, the amount of infrared rays for detecting spoilage near 1350 nm or 3010 nm absorbed increases in proportion to the amount of methane gas emitted when grain feed spoils or decays, and the size of the light reflected back by the grain feed decreases, so that spoilage or decay of grain feed can be detected. Here, methane is explained as an example of a gas emitted when grain feed spoils or decays, and the type of gas emitted when the contents spoil or decay of the contents may be different depending on the type of contents stored in the silo, and the wavelength of the second light source unit (320) for detecting spoilage can be determined according to the absorption wavelength band of the emitted gas.

[0145] In addition, the lower part of Fig. 5 describes the wavelength ranges of the light sources included in the scanner of the present invention in the case where the gas generated when the contents stored in the silo deteriorate or decay is methane.

[0146] In the lower part of Fig. 5, wavelength regions A and C are wavelength bands unrelated to the methane gas absorption band generated when the subject (contents) deteriorates or decays, and wavelength region B corresponds to a wavelength region where methane gas absorption is significant.

[0147] 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 light emitted by the second light source unit (320) for corruption detection, which corresponds to the absorption band of methane gas generated when the subject (contents) deteriorates or decays, and wavelength region C corresponds to the wavelength band of light emitted by a separate third reference light source unit (420), which is a wavelength band unrelated to the absorption band of methane gas, excluding the wavelength of light emitted by the first light source unit (220).

[0148] Figure 6 is a schematic diagram of the internal configuration of a 3D lidar scanner device including a corruption detection function by a second light source unit (320) for corruption detection.

[0149] 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 rays in the 800 nm to 900 nm band, and the wavelength of light emitted from the second light source unit (320) for detecting corruption may be a light emitting element that emits infrared rays in the methane absorption band. The first light source unit (220) and the second light source unit (320) are composed of first light emitting elements (211) and second light emitting elements (212) having different beam angles. The first light source unit (220) and the second light source unit (320) may be selected from among light emitting diodes and laser diodes. However, in order to adjust a wide beam angle, 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. In order to accurately detect the decrease in the amount of light due to the reaction with the gas generated from the subject with less noise, the second light source unit (320) is preferably composed of a laser diode having excellent light straightness and a narrow half-width.

[0150] The infrared absorption band of methane corresponds to a wavelength range of 1200 nm to 1400 nm and a wavelength range of 2800 nm to 3300 nm. At this time, the TOF sensor (208) may be configured as a single sensor that can correspond to the wavelength range of light emitted from the first light source unit (220) and the second light source unit (320). In addition, it may be configured as 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) in response to the wavelength ranges of each of the first light source unit (220) and the second light source unit (320).

[0151] The light emitted from the first light source unit (220) can measure the remaining amount of the contents regardless of whether the contents have spoiled, and when the subject has spoiled or spoiled, the light emitted from the second light source unit (320) for spoilage detection is infrared rays in the methane absorption band, and at least a portion of it is absorbed by the methane gas emitted from the subject (contents), so that the amount of light returning to the TOF sensor (208) decreases. By connecting to a central processing unit or server, the change in the amount of light after the infrared rays in the methane absorption band emitted from the second light source unit (320) are absorbed and reflected by the subject (contents) can be measured, thereby detecting whether the contents have spoiled or spoiled. Here, 'reflection' includes reflection not only by the contents stored in the silo, but also by the internal body of the silo and any structure that can be placed inside the silo.

[0152] The change in the amount of light after the subject reflects the infrared ray in the methane absorption band emitted from the second light source unit (320) may be determined based on the amount of light of the first light source unit (220) measured by the TOF sensor (208), or may be determined by comparing it with the amount of light of the second light source unit (320) reflected from an uncorrupted subject that has already been measured and stored in the central processing unit or server. For the light of the first light source unit (220) reflected from the subject and incident on the TOF sensor (208), the flight time is measured to measure the spatial distribution of the subject, and for the light of the second light source unit (320), the size of the light is measured to detect the degree of deterioration or corruption of the subject based on the change in the size of the light.

[0153] Additionally, a band pass filter (207) may be further included on the top of the TOF sensor (208) to suppress noise light incident on the TOF sensor (208). In the present embodiment, it is a band pass filter that passes light in the wavelength bands of the first light source unit (220) and the second light source unit (320) and blocks light in the remaining wavelength bands.

[0154] FIG. 7 is another embodiment of a solid state 3D lidar scanner device including a spoilage detection function, including a second light source (320), and including a separate spoilage detection sensor (308) for precise measurement of light reflected from the contents (subject).

[0155] In this embodiment, the TOF sensor (208) can obtain spatial distribution information of the subject by measuring the flight time of the light of the first light source unit (220) reflected from the subject, and for the light of the second light source unit (320), a separate decay detection sensor (308) measures the change in the size of the amount of light by absorbing at least a portion of the light of the second light source unit in response to a gas generated from the subject. At this time, the decay detection sensor (308) can be any measuring device that can detect the size of light at a specific wavelength of the light of the incident second light source unit. As an example of the decay detection sensor (308), at least one of a photodiode, an image sensor, and a TOF sensor with high sensitivity to the wavelength band of the second light source unit can be used. A band pass filter (207) that allows light of the wavelength bands of the first light source unit (220) and the second light source unit (320) to pass through and blocks light of the remaining wavelength bands may be further included on the upper portion of the TOF sensor (208) and the corruption detection sensor (308). The band pass filter (207) may be configured to have a band pass of multiple wavelength bands by being configured as one as in FIG. 7, and may also be configured to be spaced apart from each other on the upper portions of the first light source unit (220) and the second light source unit (320) so that only the wavelength band of light of the first light source unit (220) passes through the TOF sensor (208) and only the wavelength band of light of the second light source unit passes through the corruption detection sensor (308).

[0156] FIG. 8 is another embodiment of a solid-state 3D lidar scanner device including a spoilage detection function, including a separate third reference light source (420) together with a second light source (320), wherein the second light source (320) emits light that reacts to gases generated when the contents spoil or decompose, and the separate third reference light source (420) emits light in a wavelength band that has a wavelength adjacent to the wavelength of the second light source but does not react when the contents spoil or decompose.

[0157] A separate third reference light source unit (420) corresponds to a separately added reference light source to increase the relative measurement precision of the corruption detection sensor (308) for changes in the size of the light emitted from the second light source unit (320) for corruption detection. The corruption detection sensor (308) is a measuring device capable of detecting the size of the light emitted from the incident second light source unit, and may be configured with at least one of a photodiode, an image sensor, and a TOF sensor. It is difficult to accurately measure the size of the light in all wavelength ranges due to the difference in quantum efficiency of the corruption detection sensor according to the wavelength length (wavelength range). Therefore, the corruption detection sensor (308) needs to accurately measure the size of the light corresponding to at least the wavelength band of the light emitted from the second light source unit (320). In addition, the separate third reference light source unit (420) can emit light in a wavelength band that allows the spoilage detection sensor (308) to accurately measure the size of the light, while emitting light in a wavelength band that does not react to gases generated when the contents deteriorate or decompose, so that the change in the size of the light emitted from the separate third reference light source unit (420) that is irradiated on the contents and then incident on the spoilage detection sensor (308) can be compared with the relative change in the size of the light emitted from the second light source unit (320), thereby enabling more precise detection of whether the contents deteriorate or decompose.

[0158] When the contents are spoiled or rotten and emit methane gas, the first light source unit (220) emits light in a wavelength band corresponding to wavelength range A in FIG. 5, the second light source unit (320) emits light in a wavelength range B in FIG. 5, and a separate third reference light source unit (420) emits light in a wavelength range C in FIG. 5. The first light source unit (220) is composed of a first light-emitting element (211) and a second light-emitting element (212) having different beam angles, and is used as a light source for measuring the remaining amount of the target object at low power. The spoilage detection sensor (308) can accurately measure the size of light in the wavelength band of light emitted from the second light source unit (320) as well as in the wavelength band of light emitted from the separate third reference light source unit (420). By comparing the change in size of light emitted from the second light source unit (320) to the change in size of light emitted from a separate third reference light source unit (420) after being reflected on the contents, the degree of deterioration or decay of the contents can be detected more precisely than when only the change in size of light emitted from the second light source unit (320) is detected without a reference light source.

[0159] The first light source unit (220) composed of first light emitting elements (211) and second light emitting elements (212) having different beam angles, and the third reference light source unit (420) separate from the second light source unit (320) may be selected from among light emitting diodes and laser diodes. However, in order to adjust a wide beam angle, the first light emitting elements (211) and second light emitting elements (212) constituting the first light source unit (220) are composed of light emitting diodes, and the second light source unit (320) for detecting a decrease in the amount of light due to a reaction with a gas generated from the subject and the third light source unit (420) for measuring the amount of light reflected from the subject are preferably composed of laser diodes having excellent light straightness and a narrow half-width.

[0160] In addition, a band pass filter (207) that allows light of the wavelength bands of the first light source unit (220), the second light source unit (320), and the separate third reference light source unit (420) to pass through and block light of the remaining wavelength bands may be further included on the upper portions of the TOF sensor (208) and the corruption detection sensor (308), and the band pass filter (207) may be configured to have a band pass of multiple wavelength bands as shown in FIG. 8, and may also be configured (not shown) to be spaced apart from each other on the upper portions of the first light source unit (220), the second light source unit (320), and the separate third reference light source unit (420) so that only the wavelength band of light of the first light source unit (220) passes through the TOF sensor (208), and only the wavelength band of light of the second light source unit (320) and the separate third reference light source unit (420) passes through the corruption detection sensor (308).

[0161] FIG. 9 is another embodiment of a solid-state 3D lidar scanner device including a spoilage detection function, including a separate third reference light source unit (420) together with a second light source unit (320), wherein light emitted from a first light source unit (220) composed of a first light emitting element (211) and a second light emitting element (212) having different orientation angles is reflected by the contents (subject) and then incident on a TOF sensor (208) through a first optical lens (206), so that the remaining amount of the contents can be measured, and the light source of the second light source unit (320) and a separate third reference light source unit (420) for detecting spoilage and spoilage of the contents is incident on a spoilage detection sensor (308) through a second optical lens (216). By using a second optical lens (216) separate from the first light source lens (206), the light emitted from the second light source unit (320) and the separate third reference light source unit (420) incident on the corruption detection sensor (308) can be more efficiently focused onto the corruption detection sensor (308), so that the change in the size 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 spoilage and deterioration of the contents can be detected more efficiently.

[0162] In addition, a band pass filter (207) that allows light in the wavelength band of the first light source unit (220) to pass through and block light in the remaining wavelength bands may be further included on the upper portion of the TOF sensor (208), and a second band pass filter (217) that allows light in the wavelength band of the second light source unit (320) and a separate third reference light source unit (420) to pass through and block light in the remaining wavelength bands may be placed on the upper portion of the corruption detection sensor (308).

[0163] Figures 10 and 11 illustrate perspective views of a solid-state 3D lidar scanner of the present invention. The internal components of the disclosed 3D lidar scanner of Figures 5, 7 to 9 are sealed from the outside by a housing (201). A front protection cover (203) that opens and closes for a motor (not shown) is installed on the front side (240) of the solid-state 3D lidar scanner (250). The motor that drives the front protection cover (203) is electrically connected to a central processing unit arranged on a circuit board (200), so that only when the solid-state 3D lidar scanner (250) is measuring, the front protection cover (203) is opened as shown in Figure 11, thereby exposing the exit window (204) and the entrance window (205). The front protective cover (203) is opened only during measurement, so that contamination of the exit window (204) and entrance window (205) of the solid state 3D lidar scanner (250) can be minimized.

[0164] In addition, the solid-state 3D lidar scanner (250) may further include a vibration detection sensor capable of detecting external shock and shaking. The vibration detection sensor may include one or more of a vibration sensor (Shock Sensor), a knock sensor, a tilt sensor, and a 3-axis gyro sensor. The vibration detection sensor is electrically connected to a central processing unit (CPU) disposed on a circuit board (200), so that the solid-state 3D lidar scanner can check for vibration before operation and operate the solid-state 3D lidar scanner (250) only when there is no vibration. This vibration detection and selective operation method can prevent measurement errors caused by vibration and prevent dust activated by vibration from contaminating the exit window (204) and the entrance window (205) of the solid-state 3D lidar scanner (250).

[0165] Fig. 12 shows a dual-direction configuration of a solid-state 3D lidar scanner (250) of the present invention applied to a feed bin silo having an empty interior space. The first light source unit (220) of the solid-state 3D lidar scanner (25) of the present invention 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 inside of the feed bin silo in a wide beam angle range. Some of the first light (401) is reflected by the side wall of the feed bin silo and propagates downward toward the feed bin silo. The second light (402) emitted from the second light-emitting element (212) illuminates the inside of the feed bin silo in a narrow beam angle range compared to the first light (401). Some of the second light (402) is reflected on the side wall of the feed bin silo and propagates toward the bottom of the feed bin silo. The first light emitting element (211) and the second light emitting element (212) may be driven simultaneously or separately. The second light (402) having the second beam angle has a narrow beam angle, so it can irradiate a long-distance subject with relatively little power consumption, which is advantageous for irradiating the middle and lower areas inside the silo. The first light (401) having the first beam angle has a wide beam angle, so it is disadvantageous for long-distance irradiation, but its wide beam angle characteristic is advantageous for irradiating an area close to the lidar scanner at a wide angle.

[0166] The solid-state 3D lidar scanner (250) of the present invention, which includes a first light-emitting element (211) that emits a first light (401) from a first light source (220) and a second light-emitting element (212) that emits a second light (402) having a narrower beam angle than the first light (401), can be driven with low power, and can be driven only by a battery (209) included therein, as shown in the internal configuration diagram of the solid-state 3D lidar scanner device of FIG. 4. Therefore, the solid-state 3D lidar scanner (250) of the present invention can be miniaturized and easily installed. In addition, the solid-state 3D lidar scanner (250) of the present invention can accurately measure the remaining amount of contents without distortion.

[0167] FIGS. 13 and 14 are a perspective view (FIG. 13) of a feed bin silo having a solid-state 3D lidar scanner of the present invention installed and an enlarged view (FIG. 14) of the silo inlet area.

[0168] The solid-state 3D lidar scanner (250) of the present invention uses light-emitting elements with different orientation angles as the first light source (220), so that it can be driven with low power, and can be driven only by a battery (209), thereby enabling lightweight and miniaturization. In addition, rather than moving the lidar scanner itself by a motor for 3D scanning as in the prior art, the solid-state 3D lidar scanner (250) of the present invention has the characteristic of being driven in a solid-state manner to scan a 3D image in a fixed state by using light-emitting elements with different orientation angles as the first light source (220).

[0169] Due to the low power operation, lightweight and miniaturization, and solid-state operation of the solid-state 3D lidar scanner (250) using light-emitting elements with different orientation angles as the first light source (220) of the present invention, the solid-state 3D lidar scanner (250) can be easily coupled around the inlet on the top of the feed bin silo using a connecting means (300). An opening (232) may be formed in the protrusion (230) on the top of the solid-state 3D lidar scanner (250) for coupling with the connecting means (300). For coupling with the connecting 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). In addition, the connecting means (300) may be coupled to a hinge (107) connecting the feed bin silo body (101) and the lid (107).

[0170] The connecting means (300) for connecting the solid-state 3D lidar scanner (250) of the present invention to the feed bin silo body allows the solid-state 3D lidar scanner (250) to hang in the internal space of the body from around the inlet (102) by hanging the solid-state 3D lidar scanner (250) in the lower direction of the feed bin silo body by the weight of the connecting means itself or the sum of the weights of the solid-state 3D lidar scanner (250) connected to the connecting means.

[0171] A fastening member (301) composed of one or a combination of a hook, a clip, a ring, a tong, and a biner is formed at one end and the other end of the connecting means (300), thereby facilitating the coupling of the connecting means (300) with the solid state 3D lidar scanner (250) and the feed bin silo body (101). In addition, the connecting means (300) may be coupled to the solid 3D lidar scanner (250) and the feed bin silo body (101) by directly tying one end and the other end of the connecting means (300), respectively, without forming the fastening member (301).

[0172] FIG. 15 shows an example of a connection means (300) of a solid state 3D lidar scanner (250) of the present invention.

[0173] The connecting means (300) may be composed of a rope (left), a chain (center), and a wire (right), and a biner (left, right) and a ring (center) are formed at one end and the other end of the connecting means (300) to facilitate coupling with the solid-state 3D lidar scanner (250) or the feed bin silo body (101). Fig. 15 illustrates an example of the connecting means, and as long as the solid-state 3D lidar scanner (250) can be hung in the internal space of the body from around the inlet (102) by hanging it downward from the feed bin silo body by gravity, the type, shape, and material of the connecting means (300) may be any form, and similarly, the configuration of the fastening part (301) formed at one end and the other end of the connecting means may be any form.

[0174] Figure 16 is an image displayed from data scanned by a solid-state 3D lidar scanner (250) of the present invention. Feed stored in a feed bin silo (150) was scanned by the solid-state 3D lidar scanner (250) of the present invention, which uses light-emitting elements with different directional angles as a first light source (220). To facilitate understanding of the explanation, data on the body of the feed bin silo containing the feed was removed from the scanned data, and data of only the scanned surface of the feed was converted into an image and displayed.

[0175] The light emitted from the solid-state 3D lidar scanner (250) is reflected from the surface of the subject feed and is then incident on the TOF sensor (208) through the entrance window (205) of the solid-state 3D lidar scanner (250). The light incident on the TOF sensor (208) is distributed differently at different distances from the solid-state 3D lidar scanner (250) depending on the spatial distribution of the subject feed, and the different distributions of the distances from the subject cause different distributions of the time of flight of the light reflected from the subject and incident on the TOF sensor (208). When scan data having these different distributions of the time of flight of the light is converted into an image and displayed, a surface image of the subject feed, such as that in FIG. 16, can be obtained. In the image of the feed surface of Fig. 16 (the image on the left), the red area represents an area where the distance from the solid-state 3D lidar scanner (250) is long and the light reflected from the feed surface and incident on the TOF sensor (208) takes a long time to travel, and the blue area represents an area where the distance from the 3D lidar scanner is short and the light reflected from the feed surface and incident on the TOF sensor (208) takes a short time to travel. Not only can the overall distribution shape of the feed surface be identified through the image of the feed surface, but the absolute distance from the solid-state 3D lidar scanner (250) to each area of ​​the feed surface can also be identified through the travel time of the light incident on the TOF sensor (208).

[0176] Additionally, the image of the scanned feed surface can be provided as a 3D image by displaying the surface image in three dimensions according to the viewing position.

[0177] In Fig. 16, the left image is an image viewed from the vertical top of the feed, the middle image is an image viewed from the top of one side of the feed, and the right image is an image viewed from the bottom of one side of the feed.

[0178] Figures 17 and 18 illustrate a 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) and a user through communication, and converts data scanned by the solid-state 3D lidar scanner (250) into an image and transmits it to the user. The 3D lidar scanner (250) can be connected to a server (501) through Wi-Fi communication (Figure 17) or connected to the server (501) through mobile communication (Figure 18). Scan data measured by the solid-state 3D lidar scanner (250) is transmitted to the server (501) through Wi-Fi communication or mobile communication. A program is pre-installed in the server (501) to convert scan data into a 3D image, or to convert a drawing or actual measurement value received from a user into a 3D image. A 3D image generated by a program pre-installed on a server is transmitted to a user's PC (503) via the Internet or to a user's mobile phone (502) via mobile communication. In this case, the user refers to one or a combination of a user using a 3D lidar scanner system, an installer of a 3D lidar scanner or a 3D lidar scanner system, an operator of a 3D lidar scanner system, or a business operator involved in producing, supplying, or distributing contents measured by a 3D lidar scanner.

[0179] The 3D lidar scanner system of the present invention can accurately determine the remaining shape and amount of the measured contents and whether or not they are corrupted, and can provide convenience and efficiency in inventory management, ordering, production, and delivery of the measured contents by transmitting a 3D image of the measured remaining shape and amount and corruption information to the user.

[0180] In addition, the server (501) includes a contents management program, so that it can request the user to manage inventory, order, produce, and deliver the contents according to the preset remaining amount of the contents, and request the disposal of the contents in case of deterioration or corruption, and the sterilization service of the silo body that stores the contents, so that automated supply and management of the contents measured by the solid state 3D lidar scanner (250) of the present invention is possible.

[0181] FIG. 19 is an exemplary diagram visually displaying an example of a 3D image of the remaining amount of feed stored in a feed bin silo received by a user through a solid state 3D lidar scanner system (500) of the present invention.

[0182] First, the interior of an empty feed bin silo without feed inside is scanned with a solid-state 3D lidar scanner (250) to obtain a measurement result of the internal shape of the silo. If it is impossible to obtain an empty feed bin silo without feed inside, the internal shape of the silo can be estimated based on a drawing or actual measurement of the silo to obtain an estimation result. The measurement result or estimation result of the internal shape of the empty feed bin silo is transmitted to a server via Wi-Fi or mobile communication, and a feed bin silo 3D image (600) of the internal shape of the empty feed bin silo is obtained through a program pre-installed on the server (501).

[0183] Feed filled inside a feed bin silo is scanned with a solid state 3D lidar (250) to obtain measurement results for the feed, and the feed measurement results are transmitted to a server (501) via Wi-Fi or mobile communication, and a 3D image (650) of the measured feed is obtained by a program pre-installed on the server (501).

[0184] By adding a 3D image (650) of the measured feed to the 3D image (600) of the feed bin silo by a program pre-installed on the server (501), a 3D image of the remaining feed inside the feed bin silo can be visually and accurately displayed as shown in Fig. 19. A feed bin silo user who receives the 3D image can accurately determine the remaining form and amount of feed.

[0185] In addition, the obtained feed bin silo 3D image (600) is stored in the server (501), and when additional measurement of the remaining amount of feed is performed, only the scan data for the feed is transmitted to the server (501), and the additionally measured 3D image (650) of the feed is added to the feed bin silo 3D image (600) stored in the server, so that a 3D image of the remaining amount of feed inside the feed bin silo can be displayed, thereby enabling reduction of data communication costs, communication time, and driving power.

[0186] 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 operated by a battery by lowering the driving power by using light-emitting elements with different orientation angles without the lidar scanner itself moving.

[0187] A housing of a solid-state 3D lidar scanner includes a light source unit that emits light, a TOF sensor for receiving light emitted from the light source unit after being reflected from a subject, a central processing unit for controlling the operation of the light source unit and the TOF sensor, a power supply unit for supplying power to the light source unit and the TOF sensor, and a bandpass filter for passing light that is emitted from the light source unit and reflected from a subject among light incident to the TOF sensor, and a window is formed on a front side of the housing through which the emitted light emitted from the light source unit and the incident light incident to the TOF unit can pass, and the light source unit includes at least one first light-emitting element having a first orientation angle and at least one second light-emitting element having a second orientation angle narrower than the first orientation angle, and the power supply unit is configured as a battery. This allows for miniaturization and lower power consumption compared to conventional 3D lidar scanners, enabling easy installation in silos, reduced operating costs, prevention of fire accidents, and minimization of malfunctions.

[0188] In addition, for long-distance measurement, the light source unit may include more light-emitting elements having different orientation angles. For example, the light source unit may include a first light-emitting element having a first widest orientation angle that covers a short distance, a second light-emitting element having a second orientation angle that covers a middle distance, and a third light-emitting element having a third narrowest orientation angle that covers a long distance. In addition, the light source unit includes n light-emitting elements (n is a natural number greater than or equal to 2) having different orientation angles, and the orientation angle of the (n-1)th light-emitting element is wider than that of the (n)th light-emitting element, and even when the light source unit includes n light-emitting elements having different orientation angles, the (n-1)th light-emitting element and the nth light-emitting element are sequentially driven, so that low-power driving is possible, and the power supply unit is configured with a battery.

[0189] In addition, 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 from the second light-emitting element in the front direction from the window is longer than the irradiation distance of the first light emitted from the first light-emitting element in the front direction from the window.

[0190] In addition, the first light-emitting element and the second light-emitting element constituting the light source unit may both be composed of light-emitting diodes, or may both be composed of laser diodes, or may be composed of a combination of light-emitting diodes and laser diodes. Since light-emitting diodes have a characteristic of having a wider angle of incidence than laser diodes, it is preferable for the first light-emitting element and the second light-emitting element to be composed of light-emitting diodes in order to miniaturize and lighten the lidar scanner.

[0191] In addition, the solid-state 3D lidar scanner of the present invention is battery-powered and thus miniaturized, and the 3D lidar scanner can scan in a stationary state, so that it can be connected to the upper part of a silo body by a simple connecting means. The connecting means is characterized in that it hangs the solid-state 3D lidar scanner in a downward direction of the body by gravity, so that the solid-state 3D lidar scanner can be suspended in the internal space of the body from around the inlet. One end and the other end of the connecting means may be formed with a fastening part composed of one or a combination of a hook, a clip, a ring, a tong, and a biner. The connecting means may be connected to a hinge that connects a lid at the body inlet.

[0192] In addition, the front of the housing in which the window is formed is coupled with an electric openable cover, which opens the window in accordance with the operation of the solid state 3D lidar scanner.

[0193] In addition, the housing further includes a vibration detection sensor that can detect external shock and shaking.

[0194] The vibration detection sensor is configured with one or a combination of a vibration sensor (shock sensor), a knock sensor, a tilt sensor, and a 3-axis gyro sensor, and is characterized in that the solid-state 3D lidar scanner is operated only when there is no vibration by checking whether there is vibration through the vibration detection sensor.

[0195] In addition, 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 transmitting the measured result as an image to a user.

[0196] The above solid-state 3D lidar scanner system includes the above-described solid-state 3D lidar scanner, a server, and a network connecting the solid-state 3D lidar scanner and the server, wherein scan data measured by the solid-state 3D lidar scanner is transmitted to the server through the network, and the scan data measured by the solid-state 3D lidar scanner is imaged through a program pre-installed on the server, and the remaining amount of the imaged contents is transmitted to the user, so that the remaining amount of the contents can be checked.

[0197] In addition, the remaining amount of the imaged contents transmitted to the user is simultaneously displayed along with the shape inside the silo body, and the shape inside the silo body is characterized by being a 3D image of something measured by the solid state 3D lidar scanner, or a 3D image of a drawing or actual measurement value transmitted from the user.

[0198] In addition, the shape of the inside of the silo body, which is 3D imaged, is stored in the server, and when additional measurement of the remaining amount of contents is performed, only scan data of the contents measured by the solid state 3D lidar scanner is transmitted to the server, thereby enabling reduction of data communication costs, communication time, and driving power.

[0199] In addition, the server further includes the content management program, and the content management program is characterized in that it can request services for inventory management, ordering, production, and delivery of the content according to a preset remaining amount.

[0200] In addition, a solid-state 3D lidar scanner capable of measuring the remaining amount of contents stored inside a silo body of the present invention and including a function for detecting spoilage of contents includes a first light source unit that emits light to a 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 onto which light from the first light source unit reflected from an object and light from the second light source unit that reacts with gas generated when the contents deteriorate or decay are incident, a central processing unit that controls the operation 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 light emitted from the first light source unit has a wavelength band that does not react to gas generated when the contents deteriorate or decay, and light emitted from the second light source unit has a wavelength band that is absorbed by at least a portion of the gas generated when the contents deteriorate or decay.

[0201] In addition, a solid-state 3D lidar scanner capable of measuring the remaining amount of contents stored inside a silo body of the present invention and including a function of detecting spoilage of contents comprises a first light source unit emitting light into a housing of the solid-state 3D lidar scanner, a second light source unit emitting light of a different wavelength from that of the first light source unit, a TOF sensor into which light from the first light source unit reflected from an object is incident, a spoilage detection sensor into which light from the second light source unit reacting with gas generated when the contents spoil or decompose is incident, a central processing unit controlling the operation of the first light source unit, the second light source unit, the TOF sensor, and the spoilage detection sensor, and a power supply unit supplying power to the first light source unit, the second light source unit, the TOF sensor, and the spoilage detection sensor, wherein light emitted from the first light source unit has a wavelength band that does not react to gas generated when the contents spoil or decompose, and light emitted from the second light source unit has a wavelength band that is absorbed by at least a portion of the gas generated when the contents spoil or decompose. Do it.

[0202] In addition, a solid-state 3D lidar scanner capable of measuring the remaining amount of contents stored inside the silo body of the present invention and including a function for detecting spoilage of contents includes a first light source unit emitting light to a housing of the solid-state 3D lidar scanner, a second light source unit emitting light of a different wavelength from the first light source unit, a separate third reference light source unit emitting light of a different wavelength from the first and second light source units, a TOF sensor into which light from the first light source unit reflected from an object is incident, a spoilage detection sensor into which light from the second light source unit reacting with gas generated when the contents deteriorate or spoil and light from the separate third reference light source unit not reacting with gas generated when the contents deteriorate or spoil, a central processing unit controlling the operation of the first light source unit, the second light source unit, the separate third reference light source unit, and the TOF sensor, and a power supply unit supplying power to the first light source unit, the second light source unit, the separate third reference light source unit, the TOF sensor, and the spoilage detection sensor, and The light emitted from the light source unit and the light emitted from the third reference light source unit are characterized in that they have a wavelength band that does not react to gases generated when the contents deteriorate or decay, and the light emitted from the second light source unit has a wavelength band that is absorbed by reacting at least partly to gases generated when the contents deteriorate or decay.

[0203] In addition, a solid-state 3D lidar scanner including a spoilage detection function of contents stored inside a silo body of the present invention includes a second light source unit emitting light into a housing of the solid-state 3D lidar scanner, a separate third reference light source unit emitting light of a different wavelength from the second light source unit, a spoilage detection sensor into which light from the second light source unit reacting with gas generated when the contents spoil or decompose and light from the separate third reference light source unit not reacting with gas generated when the contents spoil or decompose are incident, a central processing unit controlling operation of the second light source unit, the separate third reference light source unit, and a TOF sensor, and a power supply unit supplying power to the second light source unit, the separate third reference light source unit, the TOF sensor, and the spoilage detection sensor, wherein light emitted from the separate third reference light source unit has a wavelength band that does not react to gas generated when the contents spoil or decompose, and light emitted from the second light source unit has a wavelength band that is absorbed by at least a portion of the gas generated when the contents spoil or decompose, and the spoilage detection sensor is a photoelectric sensor. It is characterized by being composed of at least one of a diode, an image sensor, and a TOF sensor.

[0204]

[0205] The solid-state 3D lidar scanner and system of the present invention for measuring the remaining amount of contents stored inside a silo body can be easily installed in a silo due to the miniaturization and low power consumption of the device, and can reduce operating costs, prevent fire accidents, and minimize the occurrence of malfunctions. In addition, the solid-state 3D lidar scanner and system of the present invention can accurately image the remaining amount of contents and convey this to the user, thereby assisting in the management, ordering, production, and delivery of contents, and thus has very high potential for industrial use.

Claims

1. A solid-state 3D lidar scanner for measuring the remaining amount of contents stored inside a silo body. The housing of the above solid state 3D lidar scanner includes: A first light source unit that emits light, A TOF sensor into which light emitted from the first light source is reflected from a subject and then incident; A central processing unit that controls the operation of the first light source and the TOF sensor, A power supply unit that supplies power to the first light source unit and the TOF sensor, A first bandpass filter is included that passes light reflected from a subject after being emitted from the first light source unit among the light incident on the TOF sensor, A window is formed on the front surface of the housing through which the emitted light emitted from the first light source and the incident light incident on the TOF can pass. 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 orientation angle and at least one second light-emitting element having a second orientation angle narrower than the first orientation angle, and the power supply unit is configured as a battery.

2. In claim 1, A solid-state 3D lidar scanner, 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 from the second light-emitting element in the front direction from the window is longer than the irradiation distance of the first light emitted from the first light-emitting element in the front direction from the window.

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

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

5. In claim 1, The upper part of the above silo body further includes an inlet through which contents can be introduced into the body, A solid state 3D lidar scanner, characterized in that the solid state 3D lidar scanner is coupled to the body around the inlet by a connecting means.

6. In claim 5, A solid-state 3D lidar scanner, characterized in that the connecting means hangs the solid-state 3D lidar scanner in a downward direction of the body by gravity, thereby allowing the solid-state 3D lidar scanner to be suspended in the internal space of the body from around the inlet.

7. In claim 5, A solid-state 3D lidar scanner, characterized in that one end and the other end of the above connecting means are formed with a fastening member composed of one or a combination of a hook, a clip, a ring, a tong, and a biner.

8. In claim 5 The above inlet further includes a lid connected by a hinge, A solid state 3D lidar scanner, characterized in that the connecting means is coupled to the hinge.

9. In claim 1, A solid-state 3D lidar scanner, characterized in that an electric openable cover is combined with the front part 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. In claim 1, The above housing further includes a vibration detection sensor capable of detecting external shock and shaking, The above vibration detection sensor is composed of one or a combination of a vibration sensor (shock sensor), a knock sensor, a tilt sensor, and a 3-axis gyro sensor. A solid-state 3D lidar scanner characterized in that the presence or absence of vibration is detected through 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 above solid state 3D lidar scanner, A first light source unit that emits light, A TOF sensor into which light emitted from the first light source is reflected from a subject and then incident; A central processing unit that controls the operation of the first light source and the TOF sensor, It includes a power supply unit that supplies power to the first light source unit and the TOF sensor, The above first light source unit includes n light-emitting elements (n is a natural number greater than or equal to 2) having different orientation angles, and the orientation angle of the n-1th light-emitting element is wider than the orientation angle of the nth light-emitting element. A solid-state 3D lidar scanner, characterized in that the n-1th light-emitting element and the nth light-emitting element are sequentially driven and the power supply unit is configured as a battery.

12. A solid-state 3D lidar scanner system for measuring the remaining amount of contents stored inside a silo body and transmitting the measured results as an image to the user. The above solid state 3D lidar scanner system A solid state 3D lidar scanner according to any one of claims 1 to 11, With the server, A network connecting the solid state 3D lidar scanner and the server, The scan data measured by the above solid state 3D lidar scanner is transmitted to the server through the above network, The scan data measured from the solid state 3D lidar scanner is imaged through a program installed on the above server, A solid-state 3D lidar scanner system characterized in that the remaining amount of the imaged contents is transmitted to the user, thereby allowing the user to check the remaining amount of the contents.

13. In claim 12, The remaining amount of the imaged contents delivered to the user appears simultaneously with the shape inside the silo body, A solid-state 3D lidar scanner system characterized in that the shape inside the silo body is a 3D image of what is measured by the solid-state 3D lidar scanner, or a 3D image of a drawing or actual measurement value received from a user.

14. In claim 13 The shape of the inside of the silo body, which is 3D imaged, is stored on the server. When making additional measurements of the remaining contents, A solid-state 3D lidar scanner system characterized in that only scan data for the contents measured by the solid-state 3D lidar scanner is transmitted to the server, thereby enabling reduction in data communication costs, communication time, and driving power.

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

16. A solid-state 3D lidar scanner having a corruption detection function of contents stored inside a silo body, The housing of the above 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 from the first light source unit, A TOF sensor into which light from the first light source unit reflected from the object and light from the second light source unit reacting with gas generated when the contents deteriorate or decay, A central processing unit that controls the operation of the first light source unit, the second light source unit, and the TOF sensor; It includes a power supply unit that supplies power to the first light source unit, the second light source unit, and the TOF sensor, The light emitted from the first light source has a wavelength band that does not react to the gas generated when the contents deteriorate or decay, A solid-state 3D lidar scanner having a content spoilage detection function, characterized in that the light emitted from the second light source unit has a wavelength band that is absorbed by at least a portion of the gas generated when the content spoils or decays.

17. A solid-state 3D lidar scanner having a corruption detection function for contents stored inside a silo body, The housing of the above 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 from the first light source unit, A TOF sensor into which light from the first light source reflected from the object is incident, A spoilage detection sensor that receives light from a second light source that reacts with gas generated when the contents deteriorate or decay, A central processing unit that controls the operation of the first light source unit, the second light source unit, the TOF sensor, and the corruption detection sensor; It includes a power supply unit that supplies power to the first light source unit, the second light source unit, the TOF sensor, and the corruption detection sensor, The light emitted from the first light source has a wavelength band that does not react to the gas generated when the contents deteriorate or decay, A solid-state 3D lidar scanner having a content spoilage detection function, characterized in that the light emitted from the second light source unit has a wavelength band that is absorbed by at least a portion of the gas generated when the content spoils or decays.

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

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

20. In claim 16, The upper portion of the TOF sensor includes a first bandpass filter that passes light emitted from the first light source unit and light emitted from the second light source unit. A window is formed on the front surface of the housing through which the emitted light emitted from the first light source unit and the second light source unit and the incident light incident on the TOF can pass. A solid-state 3D lidar scanner comprising a content corruption detection function, characterized in that the power supply unit comprises a battery.

21. In claim 17, The upper portion of the TOF sensor and the corruption detection sensor include a first bandpass filter that passes light emitted from the first light source unit and light emitted from the second light source unit. A window is formed on the front surface of the housing through which the emitted light emitted from the first light source unit and the second light source unit and the incident light incident on the TOF can pass. A solid-state 3D lidar scanner comprising a content corruption detection function, characterized in that the power supply unit comprises a battery.

22. In claim 17, A solid-state 3D lidar scanner having a content corruption detection function, wherein the corruption detection sensor comprises a photodiode or an image sensor.

23. A solid-state 3D lidar scanner having a corruption detection function for contents stored inside a silo body, The housing of the above 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 from 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 object is incident, A corruption detection sensor that receives light from a second light source that reacts with the gas generated when the contents deteriorate or decay and light from a separate third reference light source that does not react with the gas generated when the contents deteriorate or decay, A central processing unit that controls the operation of the first light source unit, the second light source unit, the separate third reference light source unit, and the TOF sensor; It includes a power supply unit that supplies power to the first light source unit, the second light source unit, a separate third reference light source unit, and the TOF sensor and the corruption detection sensor. The light emitted from the first light source and the light emitted from the separate third reference light source have a wavelength band that does not react to the gas generated when the contents deteriorate or decay. A solid-state 3D lidar scanner having a content spoilage detection function, characterized in that the light emitted from the second light source unit has a wavelength band that is absorbed by at least a portion of the gas generated when the content spoils or decays.

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

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

26. In claim 23, The upper portion of the TOF sensor and the upper portion of the corruption detection sensor include a bandpass filter that passes light emitted from the first light source unit, light emitted from the second light source unit, and light from the separate third reference light source unit. A window is formed on the front side of the housing through which the emitted light emitted from the first light source unit, the second light source unit, and the separate third reference light source unit, and the incident light incident on the TOF sensor and the corruption detection sensor can pass, A solid-state 3D lidar scanner comprising a content corruption detection function, characterized in that the power supply unit comprises a battery.

27. In claim 23, A solid-state 3D lidar scanner having a content corruption detection function, wherein the corruption detection sensor comprises a photodiode or an image sensor.

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

29. In claim 23, The light from the first light source reflected from the subject is incident on the TOF sensor through the first optical lens, A solid-state 3D lidar scanner including a content spoilage detection function, characterized in that light from a second light source unit that reacts with gas generated when the content spoils or decomposes and light from a separate third reference light source unit that does not react with gas generated when the content spoils or decomposes are incident on a spoilage detection sensor through a second optical lens.

30. A solid-state 3D lidar scanner having a capability of detecting spoilage of contents stored inside a silo body, The housing of the above 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 corruption detection sensor that receives light from a second light source that reacts with the gas generated when the contents deteriorate or decay and light from a separate third reference light source that does not react with the gas generated when the contents deteriorate or decay, A central processing unit that controls the operation of the second light source unit, the separate third reference light source unit, and the TOF sensor; It includes a power supply unit that supplies power to the second light source unit, a separate third reference light source unit, and the TOF sensor and the corruption detection sensor. The light emitted from the above separate third reference light source has a wavelength band that does not react to the gas generated when the contents deteriorate or decay. A solid-state 3D lidar scanner having a content spoilage detection function, characterized in that the light emitted from the second light source unit has a wavelength band that is absorbed by at least a portion of the gas generated when the content spoils or decays.

31. In claim 30, A solid-state 3D lidar scanner having a content corruption detection function, wherein the corruption detection sensor comprises 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 body and transmitting the measured results as an image to the user. The above solid state 3D lidar scanner system A solid state 3D lidar scanner according to any one of claims 17, 20 to 30, and With the server, A network connecting the solid state 3D lidar scanner and the server, The scan data measured by the above solid state 3D lidar scanner is transmitted to the server through the above network, The scan data measured from the solid state 3D lidar scanner is imaged through a program installed on the above server, A solid state 3D lidar scanner system characterized in that the presence or absence of deterioration or decay of the contents and the remaining amount of the imaged contents are transmitted to the user through a reaction between the light emitted from the second light source and the contents, thereby enabling the user to check the remaining amount of the contents and the deterioration or decay of the contents.

33. In claim 32, The remaining amount of the imaged contents delivered to the user appears simultaneously with the shape inside the silo body, A solid-state 3D lidar scanner system characterized in that the shape inside the silo body is a 3D image of what is measured by the solid-state 3D lidar scanner, or a 3D image of a drawing or actual measurement value received from a user.

34. In claim 32 The shape of the inside of the silo body, which is 3D imaged, is stored on the server. When making additional measurements of the remaining contents, A solid-state 3D lidar scanner system characterized in that only scan data for the contents measured by the solid-state 3D lidar scanner is transmitted to the server, thereby enabling reduction in data communication costs, communication time, and driving power.

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

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

Images