KR102456468B1 - Method and system for measuring a volume of aggregate loaded in a truck, and system for managing aggregate - Google Patents

Abstract

The present invention relates to a method for measuring aggregate volume in a truck-loaded state, the method comprising: storing first scan data obtained by scanning a vehicle loaded with aggregate by a sensor; storing second scan data of scanning the vehicle in which the aggregate is emptied by the sensor; extracting aggregate data based on the stored first scan data and second scan data; and calculating the volume of aggregate loaded in the vehicle from the extracted aggregate data.

Description

A method for measuring aggregate volume in a truck-loaded state, a truck-loaded aggregate volume measurement system for performing the same, and an aggregate management system

The present invention relates to a method for measuring the volume of aggregate, and more particularly, to a method for measuring the volume of aggregate in a truck-loaded state, a truck-loaded aggregate volume measurement system for performing the same, and an aggregate management system.

In general, at a place where a vehicle (eg, a truck or a truck) is loaded with goods, the total weight of the vehicle is measured by adding the weight of the vehicle and the weight of the vehicle.

On the other hand, the aggregate (or building material) transported through the vehicle does not form a certain shape, so in order to measure the weight or volume, the aggregate must be unloaded from the vehicle and then placed in a separate container for measurement.

According to the prior art, in the Republic of Korea Patent Registration No. 10-1760312 "Cargo loading status detection system for road traffic safety service", a laser slit is irradiated to a cargo loading object and the position of the slit is detected through a camera image to determine the height in a triangular manner. An overload management system that calculates and generates camera images and 3D data to measure the height, width, and volume of cargo as the vehicle passes has been disclosed. However, since the sizes and structures of each vehicle are varied, it is difficult to accurately measure the volume or weight of only the aggregates loaded in the vehicle even by the above method.

[Document 1] Korean Patent Registration Publication No. 10-1760312 Cargo loading status detection system for road traffic safety service 2017.07.17

Accordingly, an object of the present invention is a method for measuring the volume of aggregate in a truck-loaded state that measures the volume of aggregate loaded in a vehicle based on data sensed at the time of exit and entry of the vehicle, and the truck-loaded aggregate volume for performing the same To provide a measurement system, and an aggregate management system.

The method for measuring aggregate volume in a truck-loaded state of the present invention for achieving the above object comprises the steps of: storing first scan data of scanning a vehicle loaded with aggregate by a sensor; storing second scan data of scanning the vehicle in which the aggregate is emptied by the sensor; extracting aggregate data based on the stored first scan data and second scan data; and calculating the volume of aggregate loaded in the vehicle from the extracted aggregate data.

Preferably, the sensor comprises a laser measuring sensor.

Preferably, the method further comprises: adjusting ranges of points included in the first scan data and the second scan data by a range filter.

Preferably, the method further comprises: identifying at least two vertices from vertices included in the first scan data and the second scan data.

Preferably, the method further comprises: aligning the coordinates of the first scan data and the second scan data with each other based on the at least two identified vertices.

Preferably, the method comprises: combining the extracted aggregate data and data of the aggregate box; and calculating a volume based on the combined data.

Preferably, the method for calculating the volume is characterized in that it is calculated by an alpha shape.

The system for measuring aggregate volume in a truck-loaded state of the present invention for achieving the above object includes a laser measurement sensor (LMS) device; and storing the first scan data of scanning the vehicle loaded with aggregate from the LMS device and the second scan data of scanning the vehicle in which the aggregate is emptied in a database, and based on the stored first scan data and second scan data, aggregate and a management server that extracts data and calculates the volume of aggregate loaded in the vehicle from the extracted aggregate data.

Preferably, the system further includes at least one touch panel for inputting information related to the vehicle.

Preferably, the information related to the vehicle includes at least one of a vehicle number, a vehicle type, and an aggregate type.

Preferably, the system further comprises; at least one camera for taking pictures related to the vehicle or aggregate loaded on the vehicle.

Preferably, the camera comprises: a first camera for photographing an upper surface of the vehicle; and a second camera for photographing the front of the vehicle or the rear of the vehicle.

Preferably, the management server adjusts ranges of vertices included in the first scan data and the second scan data by a range filter, and identifies at least two vertices from the vertices; Coordinates of the first scan data and the second scan data are aligned with each other based on the at least two confirmed vertices.

Preferably, the management server, combining the extracted aggregate data and data of the aggregate box, characterized in that the volume is calculated based on the combined data.

According to the present invention, it is possible to accurately and effectively estimate the volume of aggregate even when the aggregate is loaded in the vehicle by measuring the volume of the aggregate loaded in the vehicle based on the data sensed by the LMS when entering and leaving the vehicle. have.

In addition, by automatically measuring the volume of the aggregate when the vehicle enters and exits, there is an advantage in that it can be effectively measured without a separate operation for measuring the aggregate volume.

1 is a view showing a system for measuring aggregate volume in a truck loading state according to the present invention.
2 is a block diagram illustrating detailed structures of a management server and a database according to an embodiment of the present invention.
3 is a flowchart illustrating a procedure when entering a vehicle according to an embodiment of the present invention.
4 is a flowchart illustrating a procedure when taking out a vehicle according to an embodiment of the present invention.
5 is a flowchart illustrating a procedure for measuring aggregate volume in a truck loading state according to an embodiment of the present invention.
6 is a view illustrating a measurement concept when entering a truck-loaded aggregate volume measurement system according to an embodiment of the present invention.
7 is a view showing a measurement concept when taking out the aggregate volume measurement system in a truck loading state according to an embodiment of the present invention.
8 is an exemplary diagram illustrating a setting program of a servo motor according to an embodiment of the present invention.
9 is a diagram illustrating a concept of a measurement method by an LMS device according to an embodiment of the present invention.
10 is a diagram illustrating a scanning method according to rotation of a servo motor according to an embodiment of the present invention.
11A is a diagram illustrating a measurement distance according to rotation of an LMS device according to an embodiment of the present invention.
11B is a diagram illustrating a difference in a measurement distance according to rotation of an LMS device according to an embodiment of the present invention.
11C is a diagram illustrating a result of applying a rotation value according to rotation of an LMS device according to an embodiment of the present invention.
12A is a diagram illustrating data before rotation application of a measurement value according to an embodiment of the present invention.
12B is a diagram illustrating data after rotation application of a measurement value according to an embodiment of the present invention.
13A is a view showing a photograph of a vehicle loaded with aggregates taken when entering a vehicle according to an embodiment of the present invention.
13B is a view illustrating a photograph of a vehicle emptied of aggregates taken when taking out a vehicle according to an embodiment of the present invention.
14A is a diagram illustrating data before applying a range filter according to an embodiment of the present invention.
14B is a diagram illustrating data after applying a range filter according to an embodiment of the present invention.
15A is a diagram illustrating a result of detecting a corner point according to an embodiment of the present invention.
15B is a diagram illustrating data in which a rotation direction is aligned according to an embodiment of the present invention.
16 is a view showing a result of extracting aggregate data by comparison of scan data according to an embodiment of the present invention.
17 is a view showing a result of merging aggregate data and aggregate box data according to an embodiment of the present invention.
18 is a diagram illustrating a method of measuring a volume using an alpha shape algorithm according to an embodiment of the present invention.
19 is a diagram illustrating data of volume measurement using an alpha shape algorithm according to an embodiment of the present invention.
20A to 20E are views illustrating an aggregate volume management screen according to an embodiment of the present invention.

Hereinafter, detailed contents for carrying out the present invention will be described based on the embodiments with reference to the drawings. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the invention with respect to one embodiment. In addition, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description set forth below is not intended to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all scopes equivalent to those claimed by the claims. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a dictionary used in general are not to be interpreted ideally or excessively unless clearly defined in particular.

An embodiment of the present invention provides a method for measuring the volume of aggregate in a truck-loaded state for measuring the volume of aggregate (or building material) loaded in a vehicle (or truck) based on data sensed at the time of exiting and entering the vehicle, A truck-loaded aggregate volumetric system, and an aggregate management system are proposed.

According to an embodiment of the present invention, in the description to be described later, it is assumed that the aggregate is loaded when the vehicle (eg, a truck) enters the vehicle, and the aggregate is emptied when the vehicle exits the vehicle. However, the present invention is not limited thereto. For example, according to another embodiment, the present invention may be applied assuming that the aggregate is emptied when the vehicle enters the vehicle, and the aggregate is loaded when the vehicle exits the vehicle.

Hereinafter, in order to enable those of ordinary skill in the art to easily practice the present invention, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view showing a system for measuring aggregate volume in a truck loading state according to the present invention. Referring to FIG. 1 , the system according to the present invention includes a management server 110 , a database 111 , a communication network 120 , a laser measurement sensor (LMS) device 130 , an input/output device 140 , and a closed circuit (CCTV). television) 150 . The database 111 may be configured to be included in the management server 110 .

The communication network 120 may include, for example, at least one of LTE, LTE-A, CDMA, WCDMA, UMTS, WiBro, 5G, or GSM as a cellular communication protocol. In addition, the communication network 120 may be configured regardless of its communication mode, such as wired and wireless, and may include a personal area network (PAN), a local area network (LAN), a metropolitan area network (MAN; Metropolitan Area Network) and wide area network (WAN) may be composed of various communication networks. In addition, the communication network 120 may be a known World Wide Web (WWW), using a wireless transmission technology used for short-range communication such as infrared (Infrared Data Association; IrDA) or Bluetooth (Bluetooth). may be According to an embodiment of the present invention, the communication network 120 may be configured to transmit/receive data to each other using a TCP/IP communication protocol.

The LMS device 130 includes at least one sensor, for example, a laser measurement sensor, and transmits first scan data obtained by scanning a vehicle loaded with aggregate by the sensor to the management server 110 through the communication network 120 . send. In addition, the LMS device 130 transmits the second scan data of scanning the vehicle in which the aggregate is emptied by the sensor to the management server 110 through the communication network 120 . The management server 110 stores the first scan data and the second scan data received from the LMS device 130 in the database 111 .

The input/output device 140 may include an input unit (eg, a touch pad or a key pad) and an output unit (eg, a display). According to an embodiment of the present invention, the input/output device 140 may include a vehicle entrance touch panel 141 installed at a position where the vehicle enters and a vehicle exit touch panel 142 installed at a vehicle exit position.

The vehicle driver may input at least one of vehicle information, vehicle type, and aggregate type through the vehicle entry touch panel 141 when entering the vehicle, and input vehicle information through the vehicle exiting touch panel 142 when exiting the vehicle. can do.

According to an embodiment of the present invention, the CCTV 150 may include a plurality of CCTVs (eg, cameras) 151 , 152 , 153 . For example, the first CCTV (or first camera) 151 may be installed at an appropriate location to photograph the top surface of the vehicle, and the second camera 152 may be installed at an appropriate location to photograph the front surface of the vehicle. may be, and the third camera 153 may be installed at an appropriate location to photograph the rear of the vehicle. The first CCTV 151 may acquire an image loaded with aggregates by photographing the upper surface of the vehicle. The image data captured by each CCTV 150 is transmitted to the management server 110 through the communication network 120 . The management server 110 stores the image data received from each CCTV 150 in the database 111 .

The shopping mall management server 110 extracts aggregate data based on the first scan data and the second scan data stored in the database 111, and can calculate the volume of aggregate loaded in the vehicle from the extracted aggregate data have.

Detailed functions of the management server 110 will be described in detail with reference to FIGS. 2 and 5 .

2 is a block diagram illustrating detailed structures of a management server and a database according to an embodiment of the present invention. Referring to FIG. 2 , the management server 110 includes an input/output interface 210 and a processor 220 , and the processor 220 includes an LMS control module 221 , an aggregate volume calculation module 222 , and a data processing module. (223).

The database 111 may include vehicle information 231 , LMS measurement information 232 , volume calculation information 233 , photo information 234 , and statistical information 235 .

The input/output interface 210 performs a function of receiving data from an external device (eg, the LMS device 130, the input/output device 140, and the CCTV 150), and through each module of the management server 110 It performs a function of transmitting the generated data to the external device.

The LMS control module 221 generates a control signal for controlling the LMS device 130 and transmits it to the LMS device 130 through the communication network 120 . The control signal for controlling the LMS device 130 may correspond to a rotation value of a servo motor that enables the LMS device 130 to sense a vehicle by rotating by a specified angular unit.

The data processing module 223 includes data (eg, vehicle information 231 , LMS measurement information 232 ) received from the external device (eg, LMS device 130 , input/output device 140 , CCTV 150 ). , and performs a function of processing the photo information 234 ) or storing it in the database 111 . According to an embodiment of the present invention, the data processing module 223 generates data scanned from the LMS device 130 as a *.pcd file and stores it in the database 111 .

The aggregate volume calculation module 222 calculates the volume of the aggregate based on the LMS measurement information 232 stored in the database. The calculated volume calculation information 233 is stored in a database. The management server 110 generates statistical information 235 as shown in FIG. 20 from various information processed by the data processing module 223 and the volume calculation information calculated by the aggregate volume calculation module 222 . and the generated statistical information 235 is stored in the database 111 .

Hereinafter, a procedure for entering and exiting a vehicle according to an embodiment of the present invention will be described with reference to FIGS. 3 and 4 . As described above, in the following description, it is assumed that the aggregate is loaded when the vehicle (eg, a truck) enters the vehicle, and the aggregate is emptied when the vehicle exits the vehicle. However, according to another embodiment, the present invention may be applied assuming that the aggregate is emptied when the vehicle enters the vehicle, and the aggregate is loaded when the vehicle exits the vehicle.

3 is a flowchart illustrating a procedure when entering a vehicle according to an embodiment of the present invention. Referring to FIG. 3 , the vehicle is stopped at a designated location for scanning aggregates loaded when entering the vehicle ( 310 ). For example, as shown in Figure 6, when the vehicle enters and the vehicle driver's seat is located on the entrance touch panel 141, the driver stops the vehicle 310 and the vehicle number through the entrance touch panel 141, At least one of a vehicle type and an aggregate type may be input 320 .

The LMS device 130 located on the top surface of the vehicle scans the top surface of the vehicle to generate first scan data, and then transmits it to the management server 110 . The CCTV 150 for checking the license plate installed on the front or rear of the vehicle captures the license plate and transmits it to the management server 110 . According to an embodiment of the present invention, when the function of identifying a license plate through the photographed license plate photo is added, the procedure for the driver to input a vehicle number through the touch panel 141 for entering a vehicle may be omitted.

The CCTV 150 installed on the upper surface of the vehicle captures the upper surface of the aggregate (or building material) loaded on the truck and transmits it to the management server 110 .

The management server 110 stores data measured or scanned from the LMS device 130 in the database 111 . In addition, the management server 110 stores (330) the license plate photograph or aggregate top surface photograph taken through the CCTV (150) in the database (111).

When the above procedure is completed, the driver passes 340 the location by moving the vehicle.

4 is a flowchart illustrating a procedure when taking out a vehicle according to an embodiment of the present invention. Referring to FIG. 4 , the vehicle stops 410 at a location designated for scanning the upper surface of the vehicle emptied of aggregates when the vehicle is taken out. For example, as shown in FIG. 7 , when a vehicle enters and the driver's seat is positioned on the touch panel 142 for taking out, the driver stops the vehicle 410 and enters the vehicle number through the touch panel 141 for taking out. You can input 420 .

The LMS device 130 located on the upper surface of the vehicle scans the empty aggregate box on the upper surface of the vehicle to generate second scan data, and then transmits the second scan data to the management server 110 . The CCTV 150 for checking the license plate installed on the front or rear of the vehicle captures the license plate and transmits it to the management server 110 . According to an embodiment of the present invention, when the function of identifying a license plate through the photographed license plate photo is added, the procedure for the driver to input a vehicle number through the touch panel 142 for taking out may be omitted.

The CCTV 150 installed on the upper surface of the vehicle captures the upper surface of the vehicle emptied of aggregate (or building material) and transmits it to the management server 110 .

The management server 110 stores data measured or scanned from the LMS device 130 in the database 111 . In addition, the management server 110 stores (430) the license plate photograph or aggregate top surface photograph taken through the CCTV 150 in the database 111 (430).

Upon completion of the above procedure, the driver passes 440 the location by moving the vehicle.

According to an embodiment of the present invention, the management server 110 extracts aggregate data based on the first scan data and the second scan data received from the LMS device 130 , and the vehicle from the extracted aggregate data Calculate the volume of aggregate loaded in the The management server 110 stores (430) the calculated aggregate volume in the database 1110.

Hereinafter, with reference to FIG. 5 , a detailed embodiment of measuring the aggregate volume in the management server 110 according to an embodiment of the present invention will be described.

5 is a flowchart illustrating a procedure for measuring aggregate volume in a truck loading state according to an embodiment of the present invention. Referring to FIG. 5 , the LMS device 130 may apply the rotation value of the sensor according to the rotation of the servo motor. For example, whenever a control signal is received from the management server 110, the angle of the sensor may be increased by a specified value (eg, 0.17006°). In this case, whenever the servo motor rotates, the Y-axis of the scanned data may be rotated by an angle value and stored. The sensor of the LMS device 130 may scan (510) an image by collecting data by sensing for each corresponding angle.

8 is an exemplary diagram illustrating a setting program of a servo motor according to an embodiment of the present invention. Referring to FIG. 8 , the angle of the sensor may be adjusted in stages by controlling the rotation of the servo motor. For example, as shown in FIG. 8 , the sensor of the LMS device 130 may be controlled through a program for controlling the servo motor, and values for control may be set as follows.

- 50 Pulse/1Rotation

- Reducer = 10:1

- Velocity = 0.3 rps

- Resolution = 4096

- Command Distance (Steps) = 12,000

- Actual angle = 12,000/40,960*360 = 105.46°

- Number of incoming taco signals when turning 105 degrees: 600

- Angle value to be rotated per pulse: 105.46 / 600 = 0.175°

9 is a diagram illustrating a concept of a measurement method by an LMS device according to an embodiment of the present invention. Referring to FIG. 9 , according to an embodiment of the present invention, the upper surface of the vehicle may be scanned by the sensor of the LMS device 130 when entering or leaving the vehicle. For example, when the vehicle is loaded with aggregate, the servo motor rotates 105 degrees to scan the top surface of the vehicle to generate the first scan data. Then, when the vehicle unloads the aggregate, the servo motor rotates 105° again to scan the top surface of the vehicle to generate second scan data.

10 is a diagram illustrating a data scanning method according to rotation of a servo motor according to an embodiment of the present invention. Referring to FIG. 10, in order to move the angle of 105.46° as set through FIG. 8, by rotating 0.175° for each pulse signal (tacho signal) for 600 pulse signals, a total of 105.46° can be rotated. .

11A is a diagram illustrating a measurement distance according to rotation of an LMS according to an embodiment of the present invention, FIG. 11B is a diagram illustrating a difference in measurement distance according to rotation of an LMS according to an embodiment of the present invention, and FIG. It is a diagram showing a result of applying a rotation value according to the rotation of the LMS according to an embodiment of the present invention.

Referring to FIG. 11A , whenever the LMS device 130 rotates, the distance between the LMS device 130 and the ground gradually increases to receive an increased distance value. Currently, the servo motor does not rotate in place, but moves while moving. Referring to FIG. 11B , if the distances increased each time the LMS device 130 rotates are added together, as shown in FIG. 12A , both ends of the point cloud are gradually increased.

Accordingly, the rotation value is applied to each point cloud by using a rotation function by calculating how much the LMS device 130 rotates each time it is rotated. At this time, a value rotated by 0.175° using the rotate function is applied.

The rotation function calculates the actual length according to the angle as COS(RADIANS(a))*b. In this case, a is the rotation angle of the step motor, and b is the distance measured by the LMS device. When the rotation function is applied to the scanned data of FIG. 12A , the image may be corrected as shown in FIG. 12B .

According to an embodiment of the present invention, the scan data may be generated once when entering the vehicle and once when leaving the vehicle. The scanned data is stored (520) as an entrance file (first scan data) and an exit file (second scan data), respectively. The scanned data may be saved as *.pcd files.

In addition, according to an embodiment of the present invention, the upper surface of the vehicle may be photographed by a CCTV (camera) for photographing the upper surface of the vehicle when entering and leaving the vehicle. The photographed image data is transmitted to the management server. 13A is a view showing a photograph of a vehicle loaded with aggregates taken when entering the vehicle according to an embodiment of the present invention, and FIG. .

According to an embodiment of the present invention, the stored first scan data or the second scan data may include a noise component. Accordingly, as shown in FIGS. 14A and 14B , points other than a range set by a range filter may be removed ( 530 ) using the X, Y, and Z coordinate values. That is, FIG. 14A is a diagram illustrating data before applying a range filter according to an embodiment of the present invention, and FIG. 14B is a diagram illustrating data after applying a range filter according to an embodiment of the present invention. As points outside the range set by the range filter are removed, unnecessary points other than vehicles (eg, terrain, features, etc.) may be primarily removed from the first scan data and the second scan data.

Next, the management server finds a corner part in the first scan data or the second scan data and aligns (540) the wrong rotation direction of the truck. For example, both the first scan data obtained when entering the vehicle and the second scan data obtained when taking the vehicle out are aligned so that the two image data completely overlap. As such, the reason for the alignment is to match the scan data when entering the vehicle and the scan data when exiting the vehicle because the vehicle driver cannot accurately park the vehicle at the measurement position of the LMS device.

15A is a diagram illustrating a result of detecting a corner point according to an embodiment of the present invention, and FIG. 15B is a diagram illustrating data in which a rotation direction is aligned according to an embodiment of the present invention.

When the two image data are aligned in this way, aggregate data is extracted 550 by comparison between the scan data. For example, referring to FIG. 16 , a difference between the point clouds of two aligned scan images may be obtained as another point cloud. (OutputCloud = inputCloud - targetCloud). That is, if the SegmentDifference algorithm is used after aligning the scan data when loading and leaving aggregate and when emptying and leaving the aggregate so that they overlap, only the content of aggregate can be extracted as shown in FIG. 16 .

More specifically, the difference can be distinguished by receiving the maximum distance between the corresponding PointCloud points as a threshold value. At this time, it is most important to accurately align the two scan data of entering/exiting because if it is used in an improperly aligned state before using the SegmentDifference algorithm, the vehicle aggregate box is also output.

16 is a view showing a result of extracting aggregate data by comparison of scan data according to an embodiment of the present invention.

Next, by combining the scan data A from which only the aggregate is extracted and the aggregate box (cut to the aggregate height) B, only the volume of the aggregate actually loaded in the vehicle may be calculated ( 560 ). 17 is a view showing a result of merging aggregate data and aggregate box data according to an embodiment of the present invention.

Finally, the aggregate volume is calculated (570) from the combined data of the aggregate and the aggregate box. According to an embodiment of the present invention, an alpha shape algorithm may be applied as a method of calculating the volume of the aggregate. The alpha shape algorithm serves to create a boundary region or volume surrounding a set of points. By adjusting the threshold of the alpha-shape algorithm, a non-blocking region can be created by tight or loose fitting around a point, and points can be added or removed, or no holes or regions can be marked.

More specifically, the volume of the merged point cloud may be estimated using the alpha shape algorithm. An alpha shape is a polygon in which all interior angles are not less than a straight angle (180°), and at least one interior angle is greater than a straight angle. 18 is a diagram illustrating a method of measuring a volume using an alpha shape algorithm according to an embodiment of the present invention, and FIG. 19 is a diagram showing data for which a volume is measured using an alpha shape algorithm according to an embodiment of the present invention to be.

Referring to FIGS. 18 and 19 , a 3D stereoscopic image may be generated using points obtained by extracting only the points of the aggregate, and a volume value may be calculated for the stereoscopic image. According to the calculation, the actual volume of aggregate loaded in the vehicle may be calculated (570).

20A to 20E are views illustrating an aggregate volume management screen according to an embodiment of the present invention. 20A to 20E , the volume values calculated as described above are stored in a database. For example, as shown in FIG. 20A, it may be queried by the truck aggregate management program, and the collected data may be processed to output analysis results as shown in FIGS. 20B to 20E.

The invention has been described above for the purpose of method steps representing the performance of specific functions and their relationships. The boundaries and order of these functional components and method steps have been arbitrarily defined herein for convenience of description. Alternative boundaries and orders may be defined as long as the specific functions and relationships are properly performed. Any such alternative boundaries and orders are therefore within the scope and spirit of the claimed invention. In addition, the boundaries of these functional components have been arbitrarily defined for convenience of description. Alternative boundaries can be defined as long as any important functions are properly performed. Likewise, flowchart blocks may also be arbitrarily defined herein to represent any significant functionality. For extended use, the flowchart block boundaries and order may have been defined and still perform some important function. Alternative definitions of both functional components and flowchart blocks and sequences are therefore within the scope and spirit of the claimed invention.

The invention may also have been described, at least in part, in terms of one or more embodiments. Embodiments of the present invention are used herein to represent the present invention, aspects thereof, features thereof, concepts thereof, and/or examples thereof. A physical embodiment of an apparatus, an article of manufacture, a machine, and/or a process embodying the present invention may embody one or more aspects, features, concepts, examples, etc. described with reference to one or more embodiments described herein. may include Moreover, throughout the drawings, embodiments may incorporate the same or similarly named functions, steps, modules, etc., which may use the same or different reference numbers, as such, the functions, The steps, modules, etc. may be the same or similar functions, steps, modules, etc. or others.

As described above, the present invention has been described with specific matters such as specific components and limited embodiments and drawings, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , various modifications and variations are possible from these descriptions by those of ordinary skill in the art to which the present invention pertains.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and not only the claims to be described later, but also all those with equivalent or equivalent modifications to the claims will be said to belong to the scope of the spirit of the present invention. .

110: management server 111: database
120: communication network 130: LMS device
140: input/output device 141: touch panel for entrance
142: touch panel for exit 150: CCTV
210: input/output interface 220: processor
221: LMS control module 222: aggregate volume calculation module
223: data processing module 231: vehicle information
232: LMS measurement information 233: volume calculation information
234: photo information 235: statistical information

Claims (15)

Receives a control signal for controlling the LMS device 130 corresponding to the rotation value of the servo motor enabling the laser measurement sensor to rotate by a specified angular unit to sense the vehicle, and the rotation value of the laser measurement sensor according to the control signal In the method for measuring aggregate volume in a truck loading state by an LMS (laser measurement sensor) device located on the upper surface of the vehicle including a laser measurement sensor applying
Whenever the LMS device 130 located on the upper surface of the vehicle receives the control signal after the vehicle loaded with aggregate is stopped at a designated position, the server motor rotates to increase the angle of the laser measurement sensor by a specified value, storing the first scan data obtained by scanning the upper surface of the vehicle on which the aggregate is loaded by the laser measurement sensor;
Whenever the LMS device 130 located on the upper surface of the vehicle receives the control signal after the vehicle emptied of aggregate stops at a predetermined position, it rotates the server motor to increase the angle of the laser measurement sensor by a specified value to increase the laser angle for each angle. storing second scan data obtained by scanning the upper surface of the vehicle in which the aggregate is emptied by the measurement sensor;
extracting aggregate data based on the stored first scan data and second scan data; and
Calculating the volume of the aggregate loaded in the vehicle from the extracted aggregate data;
Calculating the volume of the aggregate is,
A method of measuring aggregate volume in a truck-loaded state, characterized in that it is performed by an alpha shape algorithm.
delete The method of claim 1, wherein the method comprises:
Adjusting a range of points included in the first scan data and the second scan data by a range filter; further comprising, a method for measuring aggregate volume in a truck-loaded state.
The method of claim 1, wherein the method comprises:
Identifying at least two vertices from the vertices included in the first scan data and the second scan data; further comprising, a method for measuring aggregate volume in a truck-loaded state.
5. The method of claim 4, wherein the method comprises:
Based on the at least two identified vertices, aligning the coordinates of the first scan data and the second scan data with each other; further comprising, a method for measuring aggregate volume in a truck-loaded state.
◈Claim 6 was abandoned when paying the registration fee.◈ The method of claim 1, wherein the method comprises:
combining the extracted aggregate data and data of the aggregate box; and
Calculating the volume based on the combined data; further comprising, a method for measuring aggregate volume in a truck loading state.
delete In the aggregate volume measurement system in a truck loading state by an LMS (laser measurement sensor) device including a laser measurement sensor,
Receives a control signal for controlling the LMS device 130 corresponding to the rotation value of the servo motor enabling the laser measurement sensor to rotate by a specified angular unit to sense the vehicle, and the rotation value of the laser measurement sensor according to the control signal LMS (laser measurement sensor) device including a laser measurement sensor located on the upper surface of the vehicle to which the application; and
The first scan data of scanning the vehicle loaded with aggregate from the LMS device and the second scan data of scanning the vehicle empty of aggregate are stored in a database, and aggregate data based on the stored first and second scan data Including; and a management server that extracts and calculates the volume of aggregate loaded in the vehicle from the extracted aggregate data.
Whenever the LMS device 130 located on the upper surface of the vehicle receives the control signal after the vehicle loaded with aggregate is stopped at a designated position, the server motor rotates to increase the angle of the laser measurement sensor by a specified value, Stores the first scan data of scanning the upper surface of the vehicle loaded with aggregate by the laser measurement sensor, and the LMS device 130 located on the upper surface of the vehicle after the vehicle in which the aggregate is emptied stops at a predetermined position to receive the control signal Each time, the server motor is rotated to increase the angle of the laser measurement sensor by a specified value, and the second scan data of scanning the upper surface of the vehicle in which the aggregate is emptied by the laser measurement sensor for each angle is stored,
The calculation of the volume of the aggregate is,
A system for measuring aggregate volume in a truck-loaded state, characterized in that it is performed by an alpha shape algorithm.
The method of claim 8, wherein the system comprises:
At least one touch panel for inputting information related to the vehicle; further comprising, a truck-loaded aggregate volume measurement system.
10. The method of claim 9, wherein the information related to the vehicle,
A system for measuring aggregate volume in a truck load state, comprising at least one of a vehicle number, vehicle type, and aggregate type.
The method of claim 8, wherein the system comprises:
At least one camera for taking a picture related to the vehicle or the aggregate loaded on the vehicle; further comprising, a truck-loaded aggregate volume measurement system.
According to claim 11, wherein the camera,
a first camera for photographing an upper surface of the vehicle; and
A second camera for photographing the front of the vehicle or the rear of the vehicle; Containing, the aggregate volume measurement system of the truck loading state.
The method of claim 8, wherein the management server,
The range of points included in the first scan data and the second scan data is adjusted by a range filter, and at least two vertices are identified from the vertices, and the identified at least two Based on the vertices, characterized in that the coordinates of the first scan data and the second scan data are aligned with each other, the system for measuring aggregate volume in a truck-loaded state.
The method of claim 8, wherein the management server,
Combining the extracted aggregate data and the data of the aggregate box, characterized in that the volume is calculated based on the combined data, the aggregate volume measurement system in the truck loading state.
A computer-readable recording medium recording a program for performing the method according to any one of claims 1 to 6 on a computer.

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