KR102335850B1 - System and method for calculating logistics freight cost - Google Patents

Abstract

The present invention relates to a logistics freight costing system and method. Logistics freight cost estimating system according to an embodiment of the present invention, a laser scanner for detecting surface information about the shape of an object in motion; a speed sensor that detects the speed of the object; and a control unit that calculates the volume information of the object by using the detected surface information and speed, and calculates the logistics freight cost for the object based on the calculated volume information.

Description

System and method for calculating logistics freight cost

The present invention relates to a system and method for setting a logistics freight cost, and more particularly, to a system and method for setting a logistics freight cost for a corresponding object based on volume information of the object.

Logistics freight costs such as courier service are set according to the volume of the object, etc. However, in the prior art, only the approximate volume of the object was measured to determine the logistics freight cost, and there was no system for setting the logistics freight cost based on the volume or the like.

On the other hand, the conventional logistics system disclosed in Korean Patent Publication No. 10-1998384, etc. was a system for automatically classifying the types of objects. That is, the conventional logistics system has a limitation in that it is still not possible to determine the wheel freight cost according to the volume of the object.

In particular, when the logistics freight cost for a large amount of objects is set, such as when distribution of logistics from a parcel delivery logistics terminal to a local sales office, it inevitably takes a lot of time to set the logistics freight cost. Therefore, there is a need for a system that can more quickly and accurately determine the freight cost even for such a large amount of logistics.

In order to solve the problems of the prior art as described above, an object of the present invention is to provide a system for setting a logistics freight cost based on volume information of an object.

However, the problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

Logistics freight cost estimating system according to an embodiment of the present invention for solving the above problems, (1) a laser scanner that detects surface information about the shape of an object in motion, (2) that detects the speed of the object It includes a speed sensor, (3) a control unit for calculating the volume information of the object using the detected surface information and speed, and calculating the logistics freight cost for the object based on the calculated volume information.

A plurality of laser scanners may be provided to detect surface information for a plurality of directions of the object, and the controller includes a cross section of the object on a plane having a predetermined angle with respect to _{the moving direction (D 1 ) of the object among the detected surface information.} Volume information can be calculated using surface information (unit surface information) for

The cross section of the object may be a plane perpendicular to _{the moving direction (D 1 ) of the object.}

After obtaining the unit volume of the object using the unit surface information and the speed of the object, the controller may calculate the sum of the unit volumes as the volume information of the object.

The laser scanner may be provided to detect surface information on the upper surface, one side, and the other side of the object.

Logistics freight cost estimating system according to an embodiment of the present invention, (1) _{a transfer unit for moving the object toward D 1} on a plane, (2) the laser scanner is fixedly installed, a frame that penetrates the moving object It may further include, the laser scanner may detect the surface information of the object passing through the frame.

The control unit selects three points from among n coordinate points (P ₁ , P ₂ , ... P _n ) corresponding to the unit surface information (provided that n is a natural number greater than or equal to 3), but a reference point (P ₁ ), Two points selected once from among P ₁ to P _n may be selected to be included in each pair of three points.

After obtaining the area of a triangle formed by each pair of three points, the controller may obtain a unit volume from the sum of the obtained areas of the plurality of triangles.

The area (S _t ) of the triangle may be obtained using the following formula.

(ceremony)

, a는 P_b와 P_c 사이의 길이, b는 P_a와 P_c 사이의 길이, c는 P_a와 P_b 사이의 길이, P_a, P_b 및 P_c는 선택된 3개점)(only,

, a is _{the length between P b} and P _c , b is the length between P _a and P _c , c is the length between P _a and P _b , P _a , P _b and P _c are the selected three points)

The three-point pair is (P ₁ , P ₂ , P ₃ ), (P ₁ , P ₃ , P ₄ ), (P ₁ , P ₄ , P ₅ ), ... (P ₁ , P _{n-1 )} , P _n ), but P ₂ is the point closest _{to P 1 , P 3} is the _{point closest to P 2} among the remaining coordinate points except _{for P 1} , and P _r (provided that r is smaller than n or same natural number) may be a point closest to _{P r-1} among the coordinate points other than _{P 1} to P _r-2.

The control unit may exclude information on the fixed object scanned by the laser scanner installed at the fixed position from the surface information of the object.

The logistics freight cost setting method according to an embodiment of the present invention is a method in which a logistics freight cost setting system or an electronic device sets a logistic freight cost for an object, (1) the shape of a moving object detected by a laser scanner. It may include a volume calculation step of calculating the volume information of the object using the surface information and the speed of the object detected by the speed sensor, and (2) a cost calculation step of calculating the freight cost of logistics based on the calculated volume information can

The surface information may be detected for from a plurality of laser scanners in a plurality of directions of the object, it said volume calculation step is the moving direction of the object from the detected surface information (D ₁₎ and the surface information about the cross-section of a vertical object (Unit The method may further include calculating volume information using surface information).

The volume calculation step may further include (1) calculating the unit volume of the object using the unit surface information and the speed of the object, and (2) calculating the sum of each unit volume as the volume information of the object. .

The volume calculation step includes: (1) _{selecting three points from among the coordinate points (P n} , n is a natural number) corresponding to unit surface information, (2) obtaining the area of a triangle formed by a pair of three points, (3) It may further include the step of obtaining a unit volume from the sum of the obtained areas of the plurality of triangles.

The step of selecting each of the three points may further include selecting the reference point P ₁ and two _{points selected once from among P 1} to P _n to be included in each pair of three points.

The logistics freight costing method according to an embodiment of the present invention may further include excluding information about a fixed object scanned by a laser scanner installed at a fixed position from the surface information of the object.

The present invention configured as described above sets the logistics freight cost based on the volume information of the object calculated by using the sensor values of the laser scanner and the speed sensor, so that the logistics freight cost can be determined more conveniently.

In addition, since the present invention can determine the logistics freight cost by quickly and accurately calculating the volume information for the moving object, the logistics freight cost for a large amount of objects, such as when distribution of logistics from a courier logistics terminal to a local office, is reduced. Even in the case of pricing, there is an advantage that the logistics freight cost can be set more quickly and accurately.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be.

1 shows a block diagram of a logistics freight costing system 100 according to an embodiment of the present invention.
2 shows a state in which the volume of the object OB is calculated in the logistics freight costing system 100 according to an embodiment of the present invention.
3 is a flowchart illustrating an operation of a logistics freight cost setting method according to an embodiment of the present invention.
4 shows the principle of background recognition in the logistics freight costing system 100 according to an embodiment of the present invention.
5 shows the principle of performing angle correction for the laser scanner 10 in the logistics freight costing system 100 according to an embodiment of the present invention.
6 shows various examples of a cross-section of the object OB sensed by the laser scanner 10 .
7 shows a part in one cross section of the object OB sensed by the laser scanner 10 .

The above object and means of the present invention and its effects will become more apparent through the following detailed description in relation to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains can easily understand the technical idea of the present invention. will be able to carry out In addition, in describing the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

The terminology used herein is for the purpose of describing the embodiments, and is not intended to limit the present invention. In the present specification, the singular form also includes the plural form as the case may be, unless otherwise specified in the phrase. In this specification, terms such as “include”, “provide”, “provide” or “have” do not exclude the presence or addition of one or more other components other than the mentioned components.

In this specification, terms such as “or” and “at least one” may indicate one of the words listed together, or a combination of two or more. For example, “or B” and “at least one of B” may include only one of A or B, or both A and B.

In the present specification, descriptions according to “for example” and the like may not exactly match the information presented, such as recited properties, variables, or values, tolerances, measurement errors, limits of measurement accuracy, and other commonly known factors The embodiments of the present invention according to various embodiments of the present invention should not be limited by effects such as modifications including .

In this specification, when it is described that a certain element is 'connected' or 'connected' to another element, it may be directly connected or connected to the other element, but other elements may exist in between. It should be understood that there may be On the other hand, when it is mentioned that a certain element is 'directly connected' or 'directly connected' to another element, it should be understood that the other element does not exist in the middle.

In this specification, when it is described that a certain element is 'on' or 'in contact with' another element, it may be directly in contact with or connected to the other element, but another element may exist in the middle. It should be understood that On the other hand, when it is described that a certain element is 'directly above' or 'directly' of another element, it may be understood that another element does not exist in the middle. Other expressions describing the relationship between elements, for example, 'between' and 'directly between', etc. can be interpreted similarly.

In this specification, terms such as 'first' and 'second' may be used to describe various components, but the components should not be limited by the above terms. In addition, the above terms should not be construed as limiting the order of each component, and may be used for the purpose of distinguishing one component from another. For example, a 'first component' may be referred to as a 'second component', and similarly, a 'second component' may also be referred to as a 'first component'.

Unless otherwise defined, all terms used herein may be used with meanings commonly understood by those of ordinary skill in the art to which the present invention pertains. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

1 shows a block diagram of a logistics freight costing system 100 according to an embodiment of the present invention, and FIG. 2 is an object (OB) in the logistics freight costing system 100 according to an embodiment of the present invention. It shows how the volume of is calculated.

Logistics freight cost estimating system 100 (hereinafter referred to as “the present system”) according to an embodiment of the present invention is a system for setting the logistics freight cost of the corresponding object OB based on the volume information of the object OB am. To this end, the system 100, as shown in FIGS. 1 and 2, a laser scanner 10, a speed sensor 20, a transfer unit 30, a storage unit 40, a control unit 50, a frame (60) and the like.

For reference, as shown in FIG. 2 , the front direction in which the object OB moves is D ₁ , the opposite direction of D _{1 is D 2} , and the upward direction relative to the _{object OB is D 3} , the object OB ), the downward direction is referred to _{as D 4 , respectively.} In addition, among the four directions toward the side of the object OB, the directions of the remaining two sides except for the side toward _{D 1} and D ₂ are referred to _{as D 5} and D _{6 , respectively.} However, FIG. 2(b) shows a cross-section SA of the object OB scanned by the laser scanner 10 in FIG. 2(a) in more detail.

The laser scanner 10 detects surface information about the shape of the moving object OB using a laser. In this case, the laser scanner 10 may be preferably in a non-contact form. That is, the laser scanner 10 may detect the surface information by receiving a laser beam (including infrared rays) reflected after scanning the moving object OB.

For example, the laser scanner 10 may use LIDAR (Light Detection and Ranging) or LADAR (Laser Detection and Ranging), but is not limited thereto. That is, the laser scanner 10 scans a laser beam at regular intervals on the moving object OB, and uses the direction and measurement distance of the beam reflected from the surface of the object OB to determine the shape of the surface of the object OB. Surface information, that is, information about three-dimensional coordinate points can be obtained.

For example, for detecting surface information, the laser scanner 10 uses a time of flight (TOF) method for measuring the arrival time of the laser beam, or a triangulation method for triangulation using the difference between the distance between the laser transmitter and the receiver. However, the present invention is not limited thereto.

In particular, the laser scanner 10 may be provided with a plurality of (11, 12, 13) to detect the surface information of the plurality of directions of the object (OB). That is, referring to FIG. 2A , the first to third laser scanners 11 , 12 , and 13 may be installed on the frame 60 penetrating the moving object OB.

That is, the first laser scanner 11 may be installed to be positioned above the frame 60 . Accordingly, the first laser scanner 11 may have the sensing area SR _{1 facing D 4} to detect surface information on the upper surface of the object OB.

Also, the second laser scanner 12 may be installed to be positioned on one side of the frame 60 . Accordingly, the second laser scanner 12 may have the sensing region SR _{2 facing D 6 ,} and may detect surface information on one side of the object OB.

Similarly, the third laser scanner 13 may be installed to be positioned on the other side of the frame 60 . Accordingly, the third laser scanner 13 may have the sensing area SR _{3 facing D 5} to detect surface information on the other side of the object OB.

The plurality of laser scanners 11 , 12 , and 13 may detect surface information on the remaining surfaces except for the lower surface of the object OB. At this time, the plurality of laser scanners 11, 12, 13 detects some surface information on the moving object OB by scanning a partial area of the remaining surface except for the lower portion of the moving object OB during one scan. In addition, a plurality of scans may be performed to obtain the entire surface information of the object OB except for the lower portion.

In particular, for each scan, some surface information sensed by each of the laser scanners 11 , 12 , 13 may include surface information on the cross section SA excluding the lower portion of the object OB. At this time, the cross-section SA is a cross-section of the object OB on a plane having a predetermined angle (greater than 0°) with respect to _{the moving direction D 1 of the object OB among some detected surface information, that is, the corresponding plane.} When penetrating the object OB, it may be a cut surface of the corresponding object OB. For example, the predetermined angle may be 90°, but is not limited thereto. When the predetermined angle is 90˚, the cross section SA may be a cut surface of the object OB corresponding to when a plane _{perpendicular to D 1} and D ₂ and parallel to D ₃ to D _{6 passes through the object OB.} . For example, the cross-section SA is a surface corresponding to a surface formed by portions on which the plurality of laser scanners 11 , 12 , and 13 are installed, a surface corresponding to a surface formed by the frame 60 , or each sensing area SR ₁ , SR ₂ , SR ₃ ) may be a surface corresponding to a surface formed by an overlapping line, but is not limited thereto.

The surface information on the cross section SA of the object OB that can be sensed during such one scan is referred to as “unit surface information”. That is, the system 100 may calculate the volume information of the object OB by using the unit surface information. The process of calculating such volume information will be described in more detail in the logistics freight cost setting method according to an embodiment of the present invention, which will be described later.

The speed sensor 20 is a sensor for detecting the speed of the moving object OB. In this case, the speed sensor 20 may be a contact sensor installed in the transfer unit 30 or a non-contact sensor that detects the speed by receiving a reflected signal after scanning the moving object OB. For example, the non-contact sensor may include a radar sensor, an ultrasonic sensor, or a laser Doppler sensor, but is not limited thereto.

The transfer unit 30 moves the object OB on a plane. In this case, the transfer unit 30 may transfer the object OB in the direction of _{D 1 .} In addition, the speed (V _e) of the object (OB) to be conveyed by the conveyance portion 30 is preferably constant but may be, but is not limited to such. For example, the transfer unit 30 may include a conveyor system, but is not limited thereto.

The storage unit 40 stores various information and programs necessary for the operation of the present system 100 . For example, the storage unit 40 stores information detected by the laser scanner 10 and the speed sensor 20, algorithms related to a logistics freight cost setting method according to an embodiment of the present invention, which will be described later, reference information, etc. may be stored, but is not limited thereto.

For example, the storage unit 40 may be a hard disk type, a magnetic media type, a compact disc read only memory (CD-ROM), or an optical media type depending on the type. type), a Sagneto-optical media type, a multimedia card micro type, a flash memory type, a read only memory type, or a random type access memory type) and the like. In addition, the storage unit 40 may be a cache, a buffer, a main memory, an auxiliary memory, or a separately provided storage system according to its purpose/location.

The control unit 50 performs a logistics freight cost setting operation using information received from other devices, other systems, or servers or pre-stored in the storage unit 40 . For example, the control unit 50 may be a processor or a control program operating in the processor. Also, the controller 50 may control operations of the laser scanner 10 , the speed sensor 20 , the transfer unit 30 , the storage unit 40 , and the like.

Meanwhile, the present system 100 may further include a communication unit (not shown), an input unit (not shown), and a display unit (not shown), and the operation of these components may be controlled by the control unit 50 .

The communication unit is a component that performs communication with other devices, other systems, or servers. For example, the communication unit is a radio such as 5th generation communication (5G), long term evolution-advanced (LTE-A), long term evolution (LTE), Bluetooth, bluetooth low energe (BLE), or near field communication (NFC). Communication may be performed and wired communication such as cable communication may be performed, but is not limited thereto.

The input unit generates input data in response to the user's input. The input unit includes various input means. For example, the input unit may include a keyboard, a keypad, a dome switch, a touch panel, a touch key, a touch pad, and a mouse. , a menu button, and the like, but is not limited thereto.

The display unit displays various image data. In particular, the display unit may display volume information derived by the control unit 50 , freight cost, and the like. In addition, the display unit may be implemented as a touch screen or the like in combination with the input unit. The display unit may be configured as a non-emissive panel or a light-emitting panel.

For example, the light emitting panel includes a light emitting diode display panel, an organic electroluminescence display panel, or an organic light emitting diode (OLED) panel, and a backlight liquid crystal display panel (backlight liquid). crystal display panel) or a quantum dot display panel, but is not limited thereto. In addition, the non-light-emitting panel includes a liquid crystal display panel, an electrophoretic display panel, a cholesteric liquid crystal display panel, and a micro-electromechanical system display panel. electromechanical system display panel), an electrowetting display panel, or an electro-fluid display panel, but is not limited thereto.

Hereinafter, a logistics freight cost setting method according to an embodiment of the present invention controlled by the controller 50 will be described. However, the logistics freight cost setting method according to an embodiment of the present invention may be controlled and operated by an electronic device. In this case, the electronic device may serve as the control unit 50 .

For example, the electronic device includes a smartphone, a smartpad, a mobile phone, a tablet personal computer, a video phone, an e-book reader, and a desktop PC ( It may be a desktop personal computer, a laptop personal computer, a netbook computer, a workstation, or a server, but is not limited thereto.

3 is a flowchart illustrating an operation of a logistics freight cost setting method according to an embodiment of the present invention.

Referring to Figure 3, the logistics freight cost setting method according to an embodiment of the present invention is a method of setting the logistics freight cost of the corresponding object (OB) based on the volume information of the object (OB), including S100 to S300 can do.

In S100, the controller 50 obtains a sensor value detected by the laser scanner 10 and the speed sensor 20, that is, the surface information and the speed (V _e). That is, the controller 50 may acquire surface information on the shape of the moving object OB sensed from the laser scanner 10 . In addition, the controller 50 may obtain the velocity (V _e) of the object (OB) are the movement sensed by speed sensor 20. The

Specifically, the laser scanner 10 may perform a scan on the moving object OB at regular intervals of time (hereinafter, referred to as “interval time”) t. Accordingly, a gap according to the movement distance d of the object OB may occur between the cross-section SA of the object OB during one scan and the cross-section SA of the object OB during the next scan. have. That is, an interval of d occurs between the cross _{-section SA k-1} at the k-1 th scan and the k-th cross _{-section SA k} (where k is a natural number equal to or greater than 2).

In addition, while, between sigan (t), the object (OB) is moved while having a velocity (V _e) by a transfer of the transfer part (30). At this time, the velocity (V _e) of the object (OB) may be detected by the speed sensor 20.

4 shows the principle of background recognition in the logistics freight costing system 100 according to an embodiment of the present invention.

In particular, as shown in FIG. 4 , the controller 50 may perform background recognition of the fixed object FO in advance, that is, before scanning the object OB. In this case, the fixed object FO is an object in a fixed position, unlike the moving object OB, and is an object that is always recognized when the laser scanner 10 scans.

That is, since the laser scanner 10 is installed in the frame 60 , it may be installed in a fixed position. Accordingly, the control unit 50 may pre-recognize information on the fixed object FO that is always scanned by the laser scanner 10 installed at the fixed position as background information.

Thereafter, the controller 50 may perform an operation of excluding the previously recognized background, that is, excluding the fixed object FO from the detection range. Accordingly, the control unit 50 may exclude the pre-recognized background information from the scan information of the laser scanner 10 . As a result, surface information on the object OB from which the background information is excluded may be obtained, and thus the accuracy of obtaining surface information on the object OB may be improved. This operation of background recognition and exclusion may be performed for each laser scanner 11 , 12 , 13 .

5 shows the principle of performing angle correction for the laser scanner 10 in the logistics freight costing system 100 according to an embodiment of the present invention.

Meanwhile, the controller 50 may perform an angle correction operation for the laser scanner 10 in advance. That is, in the fixedly installed laser scanner 10 , the center line SL of the detection area SR may not coincide with the actual center line HL as a reference due to human error or the like. In this case, the controller 50 may correct the index of the scan information of the laser scanner 10 so that the center line SL of the sensing region SR coincides with the corresponding center line HL.

By reflecting the installation inclination of the laser scanner 10 as described above, errors that may occur when converting the coordinate values of the surface information of the object OB can be reduced. For example, in the case of the first laser scanner 11, the center line HL may be a line perpendicular to the ground, and in the case of the second and third laser scanners 12 and 13, the center line HL is parallel to the ground. It may be one line, but is not limited thereto. This angle correction operation may be performed for each laser scanner 11 , 12 , 13 .

Then, in S200, the control unit 50 calculates the volume information of the object OB by using the surface information and the speed of the moving object OB obtained in S100.

6 shows various examples of a cross-section of the object OB sensed by the laser scanner 10 .

To this end, the control unit 50 may extract surface information for each cross section SA of the object OB according to each scan of the laser scanner 10 , that is, each unit surface information. For example, referring to FIG. 2( a ), when the laser scanner 10 scans the object OB i times (where i is a natural number greater than or equal to 2), the control unit 50 controls i cross-sections ( Each unit surface information for SA ₁ , SA ₂ , ... SA _{i ) can be extracted.}

7 shows a part of a cross section of the object OB sensed by the laser scanner 10, that is, a triangle formed by any three of the coordinate points of the cross-sectional surface information.

Thereafter, the control unit 50 may obtain the area S of each section SA by using each unit surface information.

To this end, referring to FIGS. 6 and 7 , the control unit 50 controls n coordinate points P ₁ , P ₂ , ... P _n corresponding to the unit surface information for each cross section SA (provided that, n is a natural number greater than or equal to 3). In this case, the n coordinate points P ₁ , P ₂ , ... P _n may have coordinate values on a plane formed of two axes (eg, X and Y axes).

Meanwhile, each pair of three points may include a reference point P ₁ and two points selected once from among _{P 1} to P _n. That is, the reference point P ₁ may be a point commonly included in a pair of all three points. However, for convenience of calculating an area to be described later, a point having the same coordinate value for all the cross sections SA may be selected as the _{reference point P 1 , but is not limited thereto.} For example, the reference point P ₁ may be set as a point having a minimum coordinate value, but is not limited thereto.

The three-point pair is (P ₁ , P ₂ , P ₃ ), (P ₁ , P ₃ , P ₄ ), (P ₁ , P ₄ , P ₅ ), ... (P ₁ , P _n-1 , P _n ), respectively. In this case, P ₂ is a point closest to _{P 1 , and P 3} is a point closest _{to P 2} among the remaining coordinate points except _{for P 1 .} In addition, P ₄ is a point closest _{to P 3} among the remaining coordinate points except _{for P 1} to P _{2 .} Similarly, P _r (provided that r is a natural number less than or equal to n) is the point closest to _{P r-1} among those excluding _{P 1} to P _r-2. In this way, when a pair of three points is selected, each triangle (TA ₁ , TA ₂ , ... TA _m ) consisting of a pair of three points can be derived (however, m is a natural number greater than or equal to 2), and one cross section (SA) may consist of these triangles TA ₁ , TA ₂ , ... TA _m .

Thereafter, the control unit 50 controls _{the area (S TA1} , S _TA2 , ... S _{TAm) of each triangle (TA 1} , TA ₂ , ... TA _m ) (where m is a natural number greater than or equal to 2) _{formed by a pair of three points.} ) can be obtained. However, for the convenience of calculating the area, the reference point P ₁ may be set as the center point of the coordinate system, and _{the coordinate values may be set so that the remaining points correspond to the set reference point P 1} , but the present invention is not limited thereto.

On the other hand, in order to obtain the area (S _TA1 , S _TA2 , ... S _{TAm ) of each triangle (TA 1} , TA ₂ , ... TA _m ), the control unit 50, as shown in FIG. 7 , Heron's Formula according to the following (Equation) can be used.

(ceremony)

, a는 P_b와 P_c 사이의 길이, b는 P_a와 P_c 사이의 길이, c는 P_a와 P_b 사이의 길이를 각각 나타낸다. 또한, P_a, P_b 및 P_c는 선택된 3개점의 쌍을 각각 나타낸다.step,

, a represents _{the length between P b} and P _c , b represents the length between P _a and P _c , and c represents the length between _{P a} and P _{b , respectively.} In addition, P _a , P _b and P _c each represent a selected pair of three points.

Then, the control unit 50 uses the sum of the obtained areas _{(S TA1} , S _TA2 , ... S _{TAm ) of each triangle (TA 1} , TA ₂ , ... TA _m ) to the area of the cross section SA ( S) can be obtained (S= S _TA1 + S _TA2 + ... S _TAm ). That is, the controller 50 controls the area (S _{TA1 ) of each triangle (TA 1} , TA ₂ , ... TA _m ) according to the unit surface information for each unit surface information extracted through each scan of the laser scanner 10 . , S _TA2 , ... S _TAm ), the area (S ₁ , S ₂ , ... S _i ) of each cross section SA ₁ , SA ₂ , ... SA _i can be obtained. At this time, S ₁ is the area of the _{section SA 1} obtained using the unit surface information according to the first scan of the _{laser scanner 10, and S i} is the unit surface information according to the i-th scan of the laser scanner 10 The area of the cross-section (SA _{i ) obtained using}

Meanwhile, the control unit 50 may obtain a moving distance d of the object OB. In this case, the movement distance d is the distance traveled during the intervening time t. That is, in order to obtain a movement distance (d), the controller 50 can calculate the product of the velocity (V _e) and between sigan (t) (d = _e V × t). However, when the speed Ve _e of the object OB is changed, the respective movement distances d between the cross-sections SA may also be changed.

Thereafter, the control unit 50 controls the cross-section of the object OB derived for one scan, that is, the area of each obtained cross-section SA ₁ , SA ₂ , ... SA _i , S ₁ , S ₂ , .. by operation of the product S _i) and the object (OB) moving distance (d) can be determined for the object (OB), each part volume (V _o1, V _o2, ... of the V _oi) according to the unit of surface information (V _o = SA × d). _{A partial volume (V o} ) obtained for one scan, ie, one cross section (SA), is referred to as “unit volume (V _{o )”.}

That is, V _O1 can be obtained by multiplying the area of the _{section SA 1} obtained by using the unit surface information _{of the section SA 1} according to the scan of the first laser scanner 10 and the movement distance d. There is (V _o1 = SA ₁ × d). In addition, V _Oi can be obtained by multiplying the area of the _{section SA i} obtained by using unit surface information _{of the section SA i} according to the scan of the ith laser scanner 10 and the movement distance d. There is (V _oi = SA _i × d).

Thereafter, the control unit 50 _{calculates the sum of the obtained unit volumes V o1} , V _o2 , ... V _oi , and thereby the volume of the object OB (V = V _o1 + V _o2 + ... V _{oi )} ), that is, volume information can be calculated.

Then, in S300, the control unit 50 calculates the logistics freight cost of the object OB based on the volume information calculated in S200. For example, the controller 50 may calculate more logistics freight costs as the calculated volume V of the object OB increases, but is not limited thereto. In addition, the controller 50 may calculate the logistics freight cost according to the volume V of the object OB based on the reference information on the logistics freight cost pre-stored in the storage unit 40 . In this case, the reference information may include information on the range of the volume V, information on the cost according to the range of the volume V, and the like.

Using the present invention is a laser scanner 10 and the speed sensor surface information and speed (V _e) of the sensor values, that is, a moving object (OB) obtained via 20 is configured as described above, the object (OB) Since the volume information of the object OB is calculated and the logistics freight cost for the object OB is determined based on the calculated volume information of the object OB, there is an advantage in that the logistics freight cost can be more easily determined.

In addition, since the present invention can determine the logistics freight cost by quickly calculating the volume information for the moving object (OB), such as when distributing logistics from a courier logistics terminal to a local sales office, Even in the case of setting the logistics freight cost for Korea, there is an advantage in that the logistics freight cost can be set more quickly and accurately.

In the detailed description of the present invention, although specific embodiments have been described, various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention is not limited to the described embodiments, and should be defined by the following claims and their equivalents.

10: laser scanner 11: first laser scanner
12: second laser scanner 13: third laser scanner
20: speed sensor 30: transfer unit
40: storage unit 50: control unit
60: Frame 100: Logistics freight costing system

Claims (14)

a transfer unit for moving the object on a plane so that the object passes through the frame;
It is installed in the frame, and after scanning a laser beam at regular intervals on a moving object, receives the reflected laser beam from the object, and detects surface information about the shape of the object passing through the frame, but the surface of the object in multiple directions a plurality of laser scanners for sensing information;
a speed sensor that detects the speed of the object; and
A control unit that calculates the volume information of the object by using the detected surface information and speed, and calculates the logistics freight cost for the object based on the calculated volume information;
The plurality of laser scanners include a first laser scanner positioned on the upper portion of the frame to detect surface information on the upper surface of the object, and a second laser scanner positioned on one side of the frame to detect surface information on one surface of the object, , each comprising a third laser scanner positioned on the other side of the frame to detect surface information on the other side of the object,
The control unit is
The width of the cross-section of the object is obtained by using surface information (unit surface information) of the cross-section of the object on a plane having a predetermined angle with respect to _{the movement direction (D 1} ) of the object detected by a plurality of laser scanners for each scan,
Select a pair including 3 points each from n coordinate points (P ₁ , P ₂ , ... P _n ) (where n is a natural number greater than or equal to 3) _{After obtaining the area (S t} ) of the triangle formed by each pair of three points, using the sum of the _{areas (S TA1} , S _TA2 , ... S TAm ) of a plurality of obtained triangles, Find the area of the section,
The product between the area (S ₁ , S ₂ , ... S _{i ) of each section (SA 1} , SA ₂ , ... SA _i ) according to each scan obtained and the movement distance of the object derived according to the speed of the object by computing, for each part after obtaining the volume of the object (V _o1, V _o2, ... V _oi), calculates the sum of each part volume (V _o1, V _o2, ... _oi V) to the volume information of the object and
The pair is (P ₁ , P ₂ , P ₃ ), (P ₁ , P ₃ , P ₄ ), (P ₁ , P ₄ , P ₅ ), ... (P ₁ , P _n-1 , P _{n )} ), but P ₂ is the point closest _{to P 1 , P 3} is the _{point closest to P 2} among the remaining coordinate points except _{for P 1} , and P _r (where r is a natural number less than or equal to n) Logistics freight cost setting system, characterized in that the point closest to _{P r-1} among the remaining coordinate points except for this P ₁ to P _r-2. delete delete delete delete delete According to claim 1,
The area of the triangle (S _t ) is a logistics freight costing system, characterized in that it is obtained using the following formula.
(ceremony)

(only,

, a is _{the length between P b} and P _c , b is the length between P _a and P _c , c is the length between P _a and P _b , P _a , P _b and P _c are the selected three points) delete According to claim 1,
The control unit is a logistics freight cost estimating system, characterized in that the information on the fixed object scanned by the laser scanner installed at the fixed position is excluded from the surface information of the object. A method for a logistics freight costing system or electronic device to set a logistics freight cost for an object,
A volume calculation step of calculating the volume information of the object by using the surface information on the shape of the moving object detected by the plurality of laser scanners installed in the frame, and the speed of the object detected by the speed sensor; and
Cost calculation step of calculating freight cost of logistics based on the calculated volume information;
includes,
The plurality of laser scanners scan a laser beam at regular intervals on a moving object, receive a laser beam reflected from the object, detect the surface information of the object passing through the frame, and are located on the upper portion of the frame A first laser scanner that detects surface information on the frame, a second laser scanner that is positioned on one side of the frame to detect surface information on one side of the object, and the other side of the frame that has surface information on the other side of the object Each of the third laser scanners to detect
The volume calculation step is
The width of the cross-section of the object is obtained by using surface information (unit surface information) of the cross-section of the object on a plane having a predetermined angle with respect to _{the movement direction (D 1} ) of the object detected by a plurality of laser scanners for each scan, Select a pair including 3 points each from n coordinate points (P ₁ , P ₂ , ... P _n ) (where n is a natural number greater than or equal to 3) _{After obtaining the area (S t} ) of the triangle formed by each pair of three points, using the sum of the _{areas (S TA1} , S _TA2 , ... S TAm ) of a plurality of obtained triangles, finding the area of the cross section; and
The product between the area (S ₁ , S ₂ , ... S _{i ) of each section (SA 1} , SA ₂ , ... SA _i ) according to each scan obtained and the movement distance of the object derived according to the speed of the object By calculating each partial volume (V _o1 , V _o2 , ... _{Vo oi} ) of the object, the sum of each partial volume (V _o1 , V _o2 , ... V oi ) is calculated as volume information of the object to do;
includes,
Said pair is (P ₁ , P ₂ , P ₃ ), (P ₁ , P ₃ , P ₄ ), (P ₁ , P ₄ , P ₅ ), ... (P ₁ , P _n-1 , P _{n )} ), where P ₂ is the point closest _{to P 1 , P 3} is the _{point closest to P 2} among the remaining coordinate points except _{for P 1} , and P _r (however, r is a natural number less than or equal to n) Among the coordinate points other than this P ₁ to P _r-2 , the logistics freight cost setting method, characterized in that the point closest to _{P r-1.} 11. The method of claim 10,
The area of the triangle (S _t ) is a logistics freight cost setting method, characterized in that it is obtained using the following formula
(ceremony)

(only,

, a is _{the length between P b} and P _c , b is the length between P _a and P _c , c is the length between P _a and P _b , P _a , P _b and P _c are the selected three points) delete delete 11. The method of claim 10,
Logistics freight costing method, characterized in that it further comprises the step of excluding information on the fixed object to be scanned by the laser scanner installed at the fixed position from the surface information of the object.

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