KR101568485B1 - Apparatus and method for measuring the size of a ship cargo hold - Google Patents

Abstract

The present application discloses an apparatus and method for measuring a cargo hold size of a ship. The cargo hold size measuring apparatus for a ship according to an embodiment of the present invention includes a sensor unit for detecting three-dimensional coordinate values of each of a plurality of points on a top surface of a ship including a cargo hold, A plurality of lower representative line segments, a plurality of upper representative line segments, a plurality of left representative line segments, and a plurality of right representative line segments constituting the rim of the cargo hold, Line segments satisfying a parallel or orthogonal condition among a plurality of lower-end representative line segments, the plurality of left-side representative line segments, and the plurality of right-side representative line segments are referred to as lower end satisfying line segment, upper end satisfying line segment, The distance between the lower end satisfactory line segment and the upper end satisfactory line segment and the distance between the left side satisfactory line segment and the right side line And calculating a distance between the line segments to calculate the size of the cargo hold.

Description

Technical Field [0001] The present invention relates to an apparatus and method for measuring a cargo hold size of a ship,

The present application relates to an apparatus and method for measuring the size of a cargo hold of a ship using a three-dimensional LiDar sensor.

Generally, a cargo hold is provided under the hull to ship cargo. In order to ship the cargo to or from the cargo hold, it is necessary to accurately measure the size of the cargo hold, in particular, the length and the length of the cargo hold.

A method using a laser scanner is widely used to measure the size of a cargo hold of a ship. In this method, a laser scanner is installed in each of the X axis and Y axis directions, and the distance is measured by scanning in the X axis direction and the Y axis direction. However, in such a method, the vessel must always be in a fixed position, and the height difference of the anchored vessel by the digging should not be large. That is, if the distance between the X axis and the Y axis is measured using a laser scanner in a state where the position of the ship is not accurately fixed, the measurement direction may not be precisely parallel to the edge of the cargo hold, The distance is different from the length and the length of the cargo hold. That is, according to the conventional cargo hold size measuring method, there is a problem that the accurate size of the cargo hold can not be measured.

According to an embodiment of the present invention, there is provided a cargo hold measuring apparatus for a vessel capable of measuring an accurate size of the cargo hold.

According to another embodiment of the present invention, there is provided a cargo hold measurement method for a vessel capable of measuring an accurate size of the cargo hold.

The cargo hold measurement apparatus for a ship according to an embodiment of the present invention includes a sensor section for detecting three-dimensional coordinate values of each of a plurality of points on a top surface of a ship including a cargo hold, A plurality of upper-end representative line segments, a plurality of left-side representative line segments, and a plurality of right-side representative line segments constituting the rim of the cargo hold, Line segments satisfying a parallel or orthogonal condition among the plurality of lower representative line segments, the plurality of left representative line segments, and the plurality of right representative line segments are classified into a lower end satisfaction line segment, an upper end satisfaction line segment, a left satisfaction line segment, The distance between the lower end satisfactory line segment and the upper end satisfactory line segment and the distance between the left side satisfactory line segment and the right side satisfactory line segment, And a calculation unit calculating the size of the cargo hold.

The sensor unit of the cargo hold measuring apparatus according to the present invention may include a LIDAR sensor for detecting the three-dimensional coordinate values by irradiating a plurality of laser points on the upper surface of the ship.

The calculation unit of the cargo hold measurement apparatus according to the present invention may be configured such that the coordinate values of the Z coordinate values of the three dimensional coordinate values are within a predetermined reference range, Calculating a plurality of X-axis coordinate values and a plurality of Y-axis coordinate values in an area where the variation amount in the histogram for the X-axis and the histogram for the Y is equal to or larger than the reference value, Axis coordinate values and a plurality of Y-axis coordinate values, the plurality of lower end representative line segments, the plurality of upper end representative line segments, the plurality of left representative line segments, and the plurality of right representative line segments can be selected have.

The calculation unit of the cargo hold measurement apparatus according to the present invention may combine the plurality of X-axis coordinate values and the plurality of Y-axis coordinate values to calculate the right lower end corner representative coordinates, the left lower end corner representative coordinates The upper left corner representative coordinates, the upper left corner representative coordinates, and the upper left corner representative coordinates, and using the calculated representative coordinates, the plurality of lower end representative line segments, the plurality of upper end representative line segments, the plurality of left representative line segments, The plurality of right representative lines can be selected.

The calculation unit of the cargo hold measurement apparatus according to the present invention may be configured such that the plurality of lower end representative line segments and the plurality of left representative line segments and the plurality When the selected line segments satisfy the orthogonal condition, selecting each of the selected predetermined line segments as the bottom end satisfying line segment, the upper end satisfying line segment, the left end satisfying line segment, and the left end satisfying line segment, And can be selected by the right-side satisfactory line segment.

According to another aspect of the present invention, there is provided a method for measuring cargo hold of a ship, comprising the steps of: detecting three-dimensional coordinate values of each of a plurality of points on a top surface of a ship including a cargo hold; Selecting a plurality of lower end representative line segments constituting the rim of the cargo hold, a plurality of upper end representative line segments, a plurality of left representative line segments, and a plurality of right side representative lines, Line segments satisfying a parallel or orthogonal condition among a plurality of lower-end representative line segments, the plurality of left-side representative line segments, and the plurality of right-side representative line segments are referred to as lower end satisfying line segment, upper end satisfying line segment, And a distance between the lower end satisfactory line segment and the upper end satisfactory line segment, Calculating the distance between the right-side satisfactory line segments and calculating the size of the cargo hold.

The detecting of the cargo hold measurement method of a ship according to another embodiment of the present invention may detect the three-dimensional coordinates by irradiating a plurality of laser points on the upper surface of the ship.

The selecting of the representative lines of the cargo hold measurement method of the ship according to another embodiment of the present invention may include selecting the representative lines from the X-axis coordinate values And a plurality of X-axis coordinate values and a plurality of Y-axis coordinate values are selected in an area where the variation amount in the histogram for the X-axis and the histogram for the Y is equal to or greater than the reference value A first step of transforming the plurality of lower end representative line segments, the plurality of upper end representative line segments, the plurality of the left side line segments, and the plurality of Y axis coordinate values using the selected plurality of X axis coordinate values and a plurality of Y axis coordinate values, And a second step of selecting the plurality of right representative line segments.

The second step of the method for measuring cargo hold of a ship according to another embodiment of the present invention comprises combining the plurality of X-axis coordinate values and the plurality of Y-axis coordinate values to obtain right lower end corner representative coordinates, Calculating upper left corner representative coordinates, upper left corner representative coordinates, and upper left corner representative coordinates, and using the calculated representative coordinates to calculate the plurality of lower end representative line segments, the plurality of upper end representative lines, Line segments, and the plurality of right representative line segments.

The step of selecting the satisfaction line of the method for measuring cargo hold of a ship according to another embodiment of the present invention may further comprise selecting the plurality of lower end representative line segments and the plurality of upper end representative line segments, When the selected line segments satisfy the orthogonal condition after selecting line segments that are horizontal among the left representative line segments and the plurality of right representative line segments, , The left-side satisfaction line segment, and the right-side satisfaction line segment.

Therefore, according to the apparatus and method for measuring the cargo hold size of a ship according to the embodiment of the present invention, it is possible to accurately measure the cargo hold of the ship, thereby providing accurate measurement information necessary for automating the loading and unloading operations of the ship crane , It can contribute to precise control of the unloading work position of the ship crane.

1 is a schematic view showing a configuration in which a cargo hold size measuring device according to an embodiment of the present invention is installed.
2 is a view showing an example of scanning a cargo hold of a ship through a cargo hold measuring apparatus according to an embodiment of the present invention.
3 is a view for explaining an embodiment for determining representative lines in a cargo hold measurement method according to an embodiment of the present invention.
4 is a flowchart illustrating a cargo hold measurement method according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the embodiments of the present invention can be modified into various other forms, and the scope of the present invention is not limited to the embodiments described below. Further, the embodiments of the present invention are provided to more fully explain the present invention to those skilled in the art.

FIG. 1 is a view schematically showing a configuration in which a cargo hold size measuring device according to an embodiment of the present invention is installed. The cargo hold measuring device may include a sensor unit 100 and a calculation unit 200. In Fig. 1, reference numeral 300 denotes a ship, and 210 denotes a cargo hold provided on the ship, respectively.

The function of each of the blocks shown in FIG. 1 will be described as follows.

The sensor unit (100) acquires three-dimensional information of the upper surface of the ship (300). The sensor unit 100 may include a LIDAR sensor that acquires three-dimensional coordinates of a plurality of points on the upper surface of the ship 300 by irradiating a plurality of laser points on an upper surface of the ship .

The calculation unit 200 calculates the distance in the horizontal and vertical directions of the cargo hold 310 using the three-dimensional coordinates of the plurality of points on the upper surface of the ship 300 acquired by the sensor unit 100. Specifically, the calculation unit 200 extracts representative lines representing the rim of the cargo hold 310 based on the plurality of points, determines whether the representative lines are parallel or orthogonal to each other, And determines the distance between the horizontal and vertical directions of the cargo hold 310 by calculating distances between parallel representative lines among the representative line segments when the extracted representative line segments are parallel or orthogonal to each other . A concrete method of calculating the distance between the calculation unit 200 and the cargo hold 310 in the horizontal and vertical directions will be described later.

FIG. 2 is a view illustrating an example of scanning the vicinity of a cargo hold 310 of a ship 300 through a cargo hold measuring apparatus according to an embodiment of the present invention.

As described above, the sensor unit 100 acquires three-dimensional coordinates of a plurality of points on the upper surface of the ship 300 by irradiating a plurality of laser points on the ship 300. The acquired points may be displayed as shown in FIG.

That is, according to the cargo hold measurement apparatus and method according to the embodiment of the present invention, first, the three-dimensional coordinates of a plurality of points on the upper surface of the ship are acquired using the sensor unit 100, To the calculation unit (200). Although not shown, the cargo hold measuring apparatus according to the embodiment of the present invention further includes a display unit, and three-dimensional coordinates of a plurality of points on the upper surface of the ship are graphically displayed through the display unit as shown in FIG. 2 .

3 is a view for explaining an embodiment for determining representative lines in the cargo hold measuring apparatus and method according to the embodiment of the present invention.

If only points having a Z-axis coordinate value, that is, a value corresponding to a height direction of the ship, within a certain range are displayed among the plurality of points obtained by using the sensor unit 100, Lt; / RTI > That is, since the Z-axis coordinate value changes greatly inside and outside the cargo hold 310, if only the points with the Z-axis coordinate value within a certain range are selected, Only points can be selected.

Next, a histogram of the X-axis and Y-axis coordinate values of the selected points is obtained. Specifically, a histogram (FIG. 3 (b)) of the X-axis coordinate value is obtained by calculating the number of points having the Z-axis coordinate value within a certain range based on the X-axis coordinate value, The number of points whose axial coordinate values are within a certain range is calculated to obtain a histogram (Fig. 3 (c)) for the Y-axis coordinate values.

3 (b)) and a histogram (Fig. 3 (c)) for the Y-axis coordinate values are used to represent representative lines that can represent the rim of the cargo hold 310 .

For example, for each histogram, the values of representative coordinates (①, ②, ③, ④), that is, areas in which the amount of change in each histogram is more than the reference value (①, ②, ③, And the representative lines can be selected using the representative coordinate values. Specifically, a plurality of X-axis coordinate values are selected in each of the area (1) and the area (2) of the histogram (FIG. 3 (b)) of the X-axis coordinate value and a histogram a plurality of Y-axis coordinate values are selected in each of the area (3) and the area (4) of the pixel (c)). The plurality of X-axis coordinate values and the plurality of Y-axis coordinate values may be selected based on a change amount of the histogram in the corresponding coordinate value. For example, a plurality of X-axis coordinate values may be selected in the order of decreasing histogram variation in each of the regions (1, 2), and a plurality of Y- The coordinate value can be selected.

Next, the left lower corner representative coordinates of the cargo hold 310 are selected by combining a plurality of X axis coordinate values selected in the region (1) and a plurality of Y axis coordinate values selected in the region (3) Axis coordinate values selected in the area (2) and a plurality of Y-axis coordinate values selected in the area (3) are combined with each other to select the lower right corner representative coordinates of the cargo hold 310, Axis coordinate values selected in the region (4) and a plurality of Y-axis coordinate values selected in the region (4) are selected to select the left upper corner representative coordinates of the cargo hold 310, Axis coordinate values and a plurality of Y-axis coordinate values selected in the area (4) are combined with each other to select the upper right corner representative coordinates of the cargo hold 310.

Next, the lower representative line segments connecting the left lower edge corner representative coordinates and the lower right corner representative coordinates are selected, and the left representative line segments connecting the left lower edge corner representative coordinates and the left upper corner corner representative coordinates, The upper left representative corner lines connecting the left upper corner representative coordinates and the right upper corner corner representative coordinates are selected and the right upper corner corner representative coordinates and the right lower corner corner representative coordinates are connected to each other, Select representative lines.

Next, line segments satisfying the vertical or horizontal condition among the candidate line segments are selected to be satisfied lines. Specifically, line segments that are horizontal to each other are selected from among the lower-end representative line segments and the upper-portion representative line segments, and horizontal lines among the left-side representative lines and the right-side representative line segments are selected. And the upper representative line segment and the selected left representative line segment and the right representative line segment are orthogonal to each other, the selected representative lines are selected as the satisfaction lines.

Next, the distance between the selected satisfactory line segments is calculated to calculate the length and the length of the cargo hold 310.

4 is a flowchart illustrating a cargo hold measurement method according to an embodiment of the present invention.

The cargo hold measurement method according to the embodiment of the present invention will be described in more detail with reference to FIG.

First, the calculation unit 200 performs a point grouping operation using a three-dimensional coordinate value of a plurality of points on the upper surface of the ship 300 received from the sensor unit 100 (operation S10). For example, the calculation unit 200 selects points having a Z-axis coordinate value within a predetermined range among the plurality of points, and calculates a histogram and a Y-axis coordinate value of the X- A histogram for the histogram can be obtained. Next, the calculation unit 200 selects a plurality of X-axis coordinate values and Y-axis coordinate values from the histogram of the X-axis coordinate value and the histogram of the Y-axis coordinate value, respectively. This will be easily understood by referring to the description of FIG.

Next, the calculation unit 200 calculates a representative line segment (step S20). That is, the right lower corner corner representative coordinates, the left lower corner corner representative coordinates, the right upper corner corner representative coordinates, and the left upper corner corner representative coordinates are selected based on the X axis coordinate value and the Y axis coordinate value selected in step S10, The lower representative line segments, the upper representative line segments, the right representative line segments, and the left representative lines connecting the respective representative coordinates are calculated. For example, if one of the right lower corner representative coordinates is (P1x, P1y), one of the left lower corner corner representative coordinates is (P2x, P2y), one of the right upper corner corner representative coordinates is (P3x, P3y) If one of the upper corner representative coordinates is (P4x, P4y), one of the lower representative line segments can be expressed by the following Equation 1, and one of the upper representative line segments can be expressed by the following Equation 2 .

[Equation 1]

&Quot; (2) "

In the same manner, the lower-end representative lines, the upper-most representative lines, the right-side representative lines, and the lower-left corner are extracted using the lower right corner corner representative coordinates, the lower left corner corner representative coordinates, the right upper corner corner representative coordinates, And left representative lines are calculated.

Next, the calculation unit 200 checks the parallel / orthogonal conditions (S30). Specifically, after selecting the line segments satisfying the parallel condition among the representative line segments, it is checked whether or not the selected line segments satisfy the orthogonal condition. For example, first, it is determined whether the line segments represented by the equations (1) and (2) are parallel. In order for the two segments to be parallel, the slopes of the two segments must be the same. That is, if the following Equation (3) is satisfied, it can be said that the line segments represented by Equations (1) and (2) are parallel.

&Quot; (3) "

이 1보다 매우 작은 소정의 기준값 이하라면, 상기 수학식 1 및 수학식 2로 나타내어진 선분들은 서로 평행하다고 할 수 있다. therefore,

Is equal to or smaller than a predetermined reference value that is much smaller than 1, the line segments represented by Equations (1) and (2) may be parallel to each other.

In this way, the lower representative line segment and the upper representative line segment parallel to each other are selected, and the right representative line segment and the left representative line segment are selected in parallel with each other. For example, after selecting one of the lower representative line segments, an upper representative line segment, which is considered to be parallel to the selected lower representative line segment among the upper representative line segments, is selected in the above-described manner, and one of the left representative line segments is selected Then, in the above-described method, the right representative line segment which can be regarded as the most parallel with the selected left representative line segment among the right representative line segments can be selected.

Next, it is determined whether or not each of the selected lower representative line segment and the selected upper representative line segment, the selected left representative line segment, and the selected right representative line segment are orthogonal to each other. This can be done by determining whether the result of multiplying the slope of the selected line segments is -1. Specifically, if the result of multiplying the selected lower representative line segment and the selected upper representative line segment by the slope of each of the selected left representative line segment and the selected right representative line segment is smaller than a predetermined reference value , The selected line segments can be regarded as orthogonal to each other.

Next, in step S40, the calculation unit 200 selects the representative line segments of the representative line segments as the line segments satisfying the parallel / orthogonal condition. That is, if the selected representative lines satisfy the parallel / orthogonal condition as a result of the step S30, the selected bottom line representative line, the upper representative line segment, the left representative line segment, Left-side satisfaction line segment, and right-side satisfaction line segment. If the selected representative lines do not satisfy the orthogonal condition, the line segments satisfying the parallel condition can be subjected to the step S30 again for the remaining lines other than the selected representative lines.

Next, the calculation unit 200 calculates the length and the length of the cargo hold 310 using the selected satisfaction line (S50). More specifically, the vertical length of the cargo hold 310 is calculated by calculating the distance between the lower end satisfactory line segment and the upper end satisfactory line segment, and the distance between the left side satisfactory line segment and the right side satisfactory line segment is calculated, Can be calculated.

로 표현될 때, 두 직선 사이의 거리(d)는 다음의 수학식 4와 같이 계산될 수 있다.That is, two line segments parallel to each other

, The distance d between the two straight lines can be calculated by the following equation (4).

&Quot; (4) "

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be obvious to those of ordinary skill in the art.

100: sensor unit 200: calculation unit
300: Ship 310: Cargo hold

Claims (10)

A sensor unit for detecting three-dimensional coordinate values for each of a plurality of points on the upper surface of the ship including the cargo hold; And
Selecting a plurality of lower end representative line segments, a plurality of upper end representative line segments, a plurality of left representative line segments, and a plurality of right representative line segments constituting the rim of the cargo hold using the three-dimensional coordinate values, Line segments satisfying a parallel or orthogonal condition among the upper-end representative line segments, the plurality of lower-end representative line segments, the plurality of left-side representative line segments, and the plurality of right-side representative line segments is referred to as a lower end satisfactory line segment, And a calculation unit for calculating the size of the cargo hold by selecting a line segment that satisfies the line segment of satisfaction and a distance between the line segment that satisfies the lower end and the line segment that satisfies the upper end and a distance between the line segment of the line of satisfaction and the line segment of the line of satisfaction of the right Cargo hold size measuring device for ship.
The apparatus of claim 1, wherein the sensor unit
And a LIDAR sensor for detecting the three-dimensional coordinate values by irradiating a plurality of laser points on an upper surface of the ship.
The apparatus of claim 1, wherein the calculation unit
A histogram for the X axis and a histogram for Y are calculated for the coordinate values whose Z axis coordinate value is within a predetermined reference range, and the histogram for the X axis and the histogram for the Y Axis coordinate values and a plurality of Y-axis coordinate values in an area where the amount of change is equal to or greater than a reference value, and using the plurality of X-axis coordinate values and the plurality of Y- The representative line segments, the plurality of upper end representative line segments, the plurality of left representative line segments, and the plurality of right representative line segments.
4. The apparatus of claim 3, wherein the calculation unit
The right lower end corner representative coordinates, the left lower corner corner representative coordinates, the right upper corner corner representative coordinates, and the left upper corner corner representative coordinates by combining the plurality of X axis coordinate values and the plurality of Y axis coordinate values, And selecting the plurality of lower end representative line segments, the plurality of upper end representative line segments, the plurality of left representative line segments, and the plurality of right representative line segments using the calculated representative coordinates.
The apparatus of claim 1, wherein the calculation unit
After selecting line segments horizontal to each other among the plurality of lower end representative line segments and the plurality of upper end representative line segments and horizontal lines among the plurality of left representative line segments and the plurality of right representative line segments, Wherein when the line segments satisfy the orthogonal condition, each of the selected predetermined line segments is sorted into the lower end satisfaction line segment, the upper end satisfaction line segment, the left satisfaction line segment, and the right satisfaction line segment.
Detecting three-dimensional coordinate values for each of a plurality of points on a top surface of the vessel including the cargo hold;
Selecting a plurality of lower end representative line segments, a plurality of upper end representative line segments, a plurality of left representative line segments, and a plurality of right representative line segments constituting the rim of the cargo hold using the three-dimensional coordinate values;
Line segments satisfying a parallel or orthogonal condition among the plurality of upper-end representative line segments, the plurality of lower-end representative line segments, the plurality of left-side representative line segments, and the plurality of right-side representative line segments are referred to as a lower- , A left-side satisfaction line segment, and a right-side satisfaction line segment; And
Calculating a distance between the lower end satisfaction line segment and the upper end satisfaction line segment, and a distance between the left satisfaction line segment and the right satisfaction line segment to calculate the size of the cargo hold.
7. The method of claim 6, wherein detecting
And measuring the three-dimensional coordinates by irradiating a plurality of laser points on an upper surface of the ship.
The method of claim 6, wherein the step of selecting representative lines comprises:
A histogram for the X axis and a histogram for Y are calculated for the coordinate values whose Z axis coordinate value is within a predetermined reference range, and the histogram for the X axis and the histogram for the Y A first step of selecting a plurality of X-axis coordinate values and a plurality of Y-axis coordinate values in a region where a variation amount is equal to or greater than a reference value; And
Axis coordinate values and a plurality of Y-axis coordinate values, the plurality of lower-end representative line segments, the plurality of upper-end representative line segments, the plurality of left-side representative line segments, and the plurality of right- And a second step of selecting the ship members.
9. The method of claim 8, wherein the second step comprises
Calculating the right lower end corner representative coordinates, the lower left corner corner representative coordinates, the right upper corner corner representative coordinates, and the left upper corner corner representative coordinates by combining the plurality of X axis coordinate values and the plurality of Y axis coordinate values ; And
And selecting the plurality of lower end representative line segments, the plurality of upper end representative line segments, the plurality of left representative line segments, and the plurality of right representative line segments using the calculated representative coordinates, How to measure size.
7. The method of claim 6, wherein the step of selecting the satisfaction criteria comprises:
After selecting line segments horizontal to each other among the plurality of lower end representative line segments and the plurality of upper end representative line segments and horizontal lines among the plurality of left representative line segments and the plurality of right representative line segments, And selecting each of the selected predetermined line segments as the lower end satisfaction line segment, the upper end satisfaction line segment, the left satisfaction line segment, and the right satisfaction line segment when the segments satisfy the orthogonal condition.

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