TWI785421B - Inventory management method and system - Google Patents

Inventory management method and system Download PDF

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TWI785421B
TWI785421B TW109141088A TW109141088A TWI785421B TW I785421 B TWI785421 B TW I785421B TW 109141088 A TW109141088 A TW 109141088A TW 109141088 A TW109141088 A TW 109141088A TW I785421 B TWI785421 B TW I785421B
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module
spatial information
information
target object
motor
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TW202221587A (en
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楊永發
陳聰田
徐紹馨
張琪詠
石邦岷
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大云永續科技股份有限公司
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Abstract

本發明為一種存量管理方法及系統，其中存量管理系統包含光感設備、資料伺服器、運算伺服器及管理伺服器，在運算伺服器更包含轉換模組、去背模組及計算模組，而存量管理方法係利用光感設備收集空間資訊，並以轉換模組將空間資訊轉換為去背模組可讀的點雲資訊後，再利用去背模組去除背景資訊，最後以計算模組計算點雲資訊所圍成的空間範圍，且以空間範圍為體積進行廢棄物重量的計算，以廢棄物重量為存量進行監控，本發明之存量管理方法及系統，得以在不侵犯營業秘密及隱私的情況下，提供廢棄物處理人員有關第三方廢棄物存量的資訊。 The present invention is an inventory management method and system, wherein the inventory management system includes a photosensitive device, a data server, a computing server, and a management server, and the computing server further includes a conversion module, a back-removing module, and a computing module. The inventory management method is to use light-sensing equipment to collect spatial information, and use the conversion module to convert the spatial information into point cloud information that can be read by the background removal module, then use the background removal module to remove the background information, and finally use the calculation module Calculate the space range enclosed by the point cloud information, and use the space range as the volume to calculate the weight of waste, and use the weight of waste as the stock to monitor. The stock management method and system of the present invention can be used without violating business secrets and privacy Provide waste handlers with information on third-party waste inventories, if applicable.

Description

存量管理方法及系統 Inventory management method and system

本發明屬於環境保護領域，尤其是一種以光達估算廢棄物存量的存量管理方法及系統。 The invention belongs to the field of environmental protection, in particular to an inventory management method and system for estimating the inventory of waste by using light sensors.

至我國制定《廢棄物清理法》以來，企業或法人團體所產生的事業廢棄物，必須由各地方政府的環境保護局，或經主管機關核准之公民營廢棄物清除處理機構，負責清除及處理。 Since the enactment of the "Waste Disposal Law" in our country, the industrial waste generated by enterprises or legal entities must be cleared and disposed of by the Environmental Protection Bureau of each local government, or by a private waste disposal agency approved by the competent authority. .

為此，一般企業或法人團體，習於在其廢棄物存量達到一定量時，通知廢棄物清除處理機構，將廢棄物載往指定地點進行處理，然而上述作法導致廢棄物清除處理機構無法即時掌握廢棄物存量，而難以安排最恰當的載運路線，為此，本案發明人提出，在企業或法人團體所在地搭建攝影設備，以影像估算廢棄物存量的解決方案。 For this reason, general enterprises or corporate bodies are accustomed to notifying waste removal and disposal agencies when their waste inventory reaches a certain amount, and carrying the waste to designated locations for disposal. Therefore, the inventor of this case proposes a solution to set up photographic equipment at the location of the enterprise or body corporate to estimate the waste stock with images.

然而，上述解決方案並無法適用於所有企業或法人團體，尤其對於注重營業秘密、資訊安全或隱私權之團體，無法接受將廠內影像分享至外界的技術提案，因此如何在不將影像分享至外的情況下，即時估算廢棄物存量，仍一項亟待解決之問題。 However, the above-mentioned solutions are not applicable to all enterprises or corporate bodies, especially for groups that pay attention to trade secrets, information security or privacy rights, they cannot accept the technical proposal of sharing the images in the factory to the outside world, so how to share the images without sharing them to the outside world? In other cases, real-time estimation of waste stock is still an urgent problem to be solved.

本案發明人鑑於上述先前技術所衍生的各項缺點，乃亟思加以改良創新，並經多年苦心孤詣潛心研究後，終於成功研發完成本發明之存量管理方法及系統。 In view of the various shortcomings derived from the above-mentioned prior art, the inventor of this case is eager to improve and innovate, and after years of painstaking research, he finally successfully developed the inventory management method and system of the present invention.

為解決上述先前技術之問題，本發明提供一種存量管理方法及系統，其目的在於：1.提供一種在不侵犯營業秘密、資訊安全或隱私權的情況下，即時監控廢棄物存量的方法及系統；2.提供一種有助於優化廢棄物處理流程的資訊。 In order to solve the problems of the above-mentioned prior art, the present invention provides an inventory management method and system, the purpose of which is: 1. To provide a method and system for real-time monitoring of waste inventory without violating business secrets, information security or privacy rights ; 2. Provide information that helps to optimize the waste disposal process.

本發明之光感設備，包含支架本體、光達(Light Detection And Ranging，LiDAR)模組、第一馬達、第二馬達及控制模組，其中光達模組以雷射元件及感光元件收集廢棄物存放區的空間資訊，而第一馬達及第二馬達則分別依據控制模組的指令，將光達模組往垂直方向及水平方向轉動，其中支架本體為一支撐腳架，使光達模組、第一馬達、第二馬達及控制模組得以較高的姿態，站立於廢棄物存放區內。 The light-sensing device of the present invention includes a bracket body, a LiDAR (Light Detection And Ranging, LiDAR) module, a first motor, a second motor, and a control module, wherein the LiDAR module uses laser elements and photosensitive elements to collect and discard The space information of the object storage area, while the first motor and the second motor rotate the LiDAR module in the vertical and horizontal directions respectively according to the instructions of the control module. The group, the first motor, the second motor and the control module can stand in the waste storage area with a higher posture.

本發明之存量管理系統，包含光感設備、資料伺服器、運算伺服器及管理伺服器，其中光感設備將其收集到的空間資訊儲存到後資料伺服器，再由運算伺服器讀取空間資訊，並利用在運算伺服器內的轉換模組、去背模組及計算模組，獲取廢棄物存放區中的廢棄物重量，然後將廢棄物重量管理伺服器，以供使用者監控廢棄物的存量。 The inventory management system of the present invention includes light-sensing equipment, a data server, a computing server, and a management server, wherein the light-sensing device stores the collected spatial information in the post-data server, and then the computing server reads the spatial information Information, and use the conversion module, the back module and the calculation module in the calculation server to obtain the weight of the waste in the waste storage area, and then transfer the weight of the waste to the management server for the user to monitor the waste stock.

其中，運算伺服器更包含轉換模組，將空間資訊中的座標資訊，轉換為以直角座標表示的點雲資訊。 Wherein, the calculation server further includes a conversion module, which converts the coordinate information in the spatial information into point cloud information represented by rectangular coordinates.

其中，運算伺服器更包含視覺化模組，將空間資訊視覺化為點雲影像，以便透過點雲影像定義廢棄物的座標範圍。 Among them, the calculation server further includes a visualization module, which visualizes spatial information into point cloud images, so as to define the coordinate range of waste through point cloud images.

其中，去背模組為密度對空間聚類分析(Density Based Spatial Clustering of Applications with Noise，DBSCAN)模組。 Among them, the back removal module is a Density Based Spatial Clustering of Applications with Noise (DBSCAN) module.

其中，計算模組為凸包(Convex Hull)模組。 Wherein, the calculation module is a convex hull (Convex Hull) module.

本發明之存量管理方法，包含利用轉換模組將空間資訊轉換為直角座標的點雲資訊，然後以去背模組去除背景資訊後，利用計算模組獲取點雲資訊的最小範圍，並計算範圍之體積，再依廢棄物的已知密度將體積轉換為重量。 The inventory management method of the present invention includes using the conversion module to convert the spatial information into point cloud information of Cartesian coordinates, and then using the background information removal module to remove the background information, and then using the calculation module to obtain the minimum range of the point cloud information and calculate the range The volume is then converted to weight based on the known density of the waste.

本發明之存量管理方法及系統，可以達到在不侵犯營業秘密及隱私的情況下，提供廢棄物處理人員有關第三方廢棄物存量的資訊。 The inventory management method and system of the present invention can provide waste disposal personnel with information about third-party waste inventory without violating business secrets and privacy.

1:光感設備 1: Light sensing equipment

10:支架本體 10: Bracket body

11:第一馬達 11: First motor

12:第二馬達 12: Second motor

13:光達模組 13: LiDAR module

14:控制模組 14: Control module

2:資料伺服器 2: Data server

21:儲存元件 21: storage element

22:傳輸元件 22: Transmission element

3:運算伺服器 3: Operation server

31:轉換模組 31: Conversion module

32:去背模組 32: Remove the back module

33:計算模組 33: Calculation module

34:視覺化模組 34:Visualization module

4:管理伺服器 4: Manage Server

41:介面模組 41:Interface module

51:廢棄電路板 51: waste circuit board

52:廢棄包材 52: Discarded packaging materials

6:廢棄紙箱 6: Discarded cartons

7:目標物件 7: Target object

8:點雲影像 8: Point cloud image

81:廢棄電路板標籤 81:Scrap Circuit Board Label

82:廢棄紙箱標籤 82: Discarded carton labels

83:牆壁標籤 83:Wall Tags

9:點雲資訊 9: Point cloud information

S201-205:步驟 S201-205: Steps

S301-307:步驟 S301-307: Steps

圖1 為本發明的存量管理系統示意圖；圖2 為本發明之存量管理方法步驟圖；圖3 為本發明之去背步驟圖；圖4 為本發明第一實施例之廢棄物存放區示意圖；圖5 為本發明第一實施例之點雲影像示意圖；圖6 為本發明第一實施例之去背結果示意圖；圖7 為本發明第一實施例之凸包結果示意圖；圖8 為本發明第二實施例之廢棄物存放區照片；圖9 為本發明第一實施例及第二實施例之光感設備照片；圖10 為本發明第二實施例之點雲影像；圖11 為本發明第二實施例之去背點雲影像；圖12 為本發明第二實施例之凸包影像。 Figure 1 is a schematic diagram of the inventory management system of the present invention; Figure 2 is a step diagram of the inventory management method of the present invention; Figure 3 is a step diagram of the present invention; Figure 4 is a schematic diagram of the waste storage area of the first embodiment of the present invention; Figure 5 is a schematic diagram of the point cloud image of the first embodiment of the present invention; Figure 6 is a schematic diagram of the result of removing the back of the first embodiment of the present invention; Figure 7 is a schematic diagram of the result of the convex hull of the first embodiment of the present invention; Figure 8 is the schematic diagram of the present invention The photo of the waste storage area of the second embodiment; Figure 9 is a photo of the photosensitive device of the first embodiment and the second embodiment of the present invention; Figure 10 is the point cloud image of the second embodiment of the present invention; Figure 11 is the photo of the present invention The point cloud image of the second embodiment with background removal; FIG. 12 is the convex hull image of the second embodiment of the present invention.

為利 貴審查委員了解本發明之技術特徵、內容與優點及其所能達到之功效，茲將本發明配合附圖，並以實施例之表達形式詳細說明如下，而其中所使用之圖式，其主旨僅為示意及輔助說明書之用，未必為本發明實施後之真實比例與精準配置，故不應就所附之圖式的比例與配置關係解讀、侷限本發明於實際實施上的權利範圍，合先敘明。 In order for the Ligui Examiner to understand the technical features, content and advantages of the present invention and the effects it can achieve, the present invention is hereby combined with the drawings and described in detail in the form of embodiments as follows, and the drawings used therein, its The subject matter is only for illustration and auxiliary instructions, and may not be the true proportion and precise configuration of the present invention after implementation. Therefore, the scale and configuration relationship of the attached drawings should not be interpreted to limit the scope of rights of the present invention in actual implementation. Together first describe.

請參閱圖1，其係為本發明的存量管理系統示意圖。本發明之存量管理系統包含光感設備1、資料伺服器2、運算伺服器3及管理伺服器4。 Please refer to FIG. 1 , which is a schematic diagram of the inventory management system of the present invention. The inventory management system of the present invention includes a photosensitive device 1 , a data server 2 , a computing server 3 and a management server 4 .

在本發明之一實施例中，光感設備1包含支架本體10、第一馬達11、第二馬達12、光達模組13及控制模組14，其中支架本體10提供支撐力，使光感設備1得以站立在廢棄物存放區，而在支架本體10上則設有第二馬達12，第二馬達12上又設有第一馬達11，且在第一馬達11還設有光達模組13，其中第一馬達11為負責垂直方向轉動的伺服馬達，而第二馬達12則為負責水平方向轉動的伺服馬達，藉由第一馬達12與第二馬達11的協作，光達模組13可以收集到整個球面的完整空間資訊，其中第一馬達11、第二馬達12及光達模組13同時與控制模組14連接，使用者可藉由控制模組14而操控光達模組13收集空間資訊的範圍，其中光達模組13所收集到的空間資訊為座標資訊。 In one embodiment of the present invention, the photosensitive device 1 includes a support body 10, a first motor 11, a second motor 12, a LiDAR module 13, and a control module 14, wherein the support body 10 provides support to enable the photosensitive The device 1 can stand in the waste storage area, and the second motor 12 is installed on the bracket body 10, and the first motor 11 is installed on the second motor 12, and a LiDAR module is also installed on the first motor 11 13, wherein the first motor 11 is a servo motor responsible for vertical rotation, and the second motor 12 is a servo motor responsible for horizontal rotation. Through the cooperation of the first motor 12 and the second motor 11, the LiDAR module 13 The complete spatial information of the entire spherical surface can be collected, wherein the first motor 11, the second motor 12 and the LiDAR module 13 are connected to the control module 14 at the same time, and the user can control the LiDAR module 13 through the control module 14 The scope of collecting spatial information, wherein the spatial information collected by the lidar module 13 is coordinate information.

在本發明之一實施例中，光達模組13原始的空間資訊型態，係由光達模組13與被測物之間的距離(ρ)、以及第一馬達11所轉動的垂直角度(φ)以及第二馬達12所轉動的水平角度(θ)所構成，換句話說原始的空間資訊係以(ρ,θ,φ)表示的極座標資訊。 In one embodiment of the present invention, the original spatial information type of the LiDAR module 13 is the distance (ρ) between the LiDAR module 13 and the measured object, and the vertical angle rotated by the first motor 11. (φ) and the horizontal angle (θ) rotated by the second motor 12, in other words, the original spatial information is the polar coordinate information represented by (ρ, θ, φ).

在本發明之一實施例中，資料伺服器2包含一個儲存元件21及傳輸元件22，其中傳輸元件22將光感設備1與資料伺服器2連接，並接收空間資訊，資料伺服器2再將收到的空間資訊儲存於儲存元件21中，以供運算伺服器3讀取。 In one embodiment of the present invention, the data server 2 includes a storage element 21 and a transmission element 22, wherein the transmission element 22 connects the photosensitive device 1 with the data server 2, and receives spatial information, and the data server 2 then transmits The received spatial information is stored in the storage element 21 for the computing server 3 to read.

在本發明之一實施例中，運算伺服器3與資料伺服器2連接，且運算伺服器3包含影轉換模組31、去背模組32及計算模組33，其中轉換模組31為一個座標轉換模組，具有將原始的座標資訊，轉換為以(x,y,z)直角座標系表示之座標資訊的功能，換句話說，轉換模組31將原始的座標資訊，轉換為去背模組32可讀的點雲座標資訊(後稱：點雲資訊)。 In one embodiment of the present invention, the calculation server 3 is connected to the data server 2, and the calculation server 3 includes a shadow conversion module 31, a back-removing module 32 and a calculation module 33, wherein the conversion module 31 is one The coordinate conversion module has the function of converting the original coordinate information into the coordinate information represented by the (x, y, z) Cartesian coordinate system. In other words, the conversion module 31 converts the original coordinate information into Point cloud coordinate information readable by module 32 (hereinafter referred to as: point cloud information).

其中，去背模組32為一個經過訓練的密度對空間聚類分析(Density Based Spatial Clustering of Applications with Noise，DBSCAN)模組，具有去除目標物件以外的背景資訊的功能，而計算模組33為一個凸包(Convex Hull)模組，具有依據點雲資訊的範圍，而計算目標物件體積的功能，以及依據已知密度及體積計算目標物件重量之功能，再將目標物件重量傳到管理伺服器4。 Wherein, the back module 32 is a trained density-based spatial clustering analysis (Density Based Spatial Clustering of Applications with Noise, DBSCAN) module, which has the function of removing background information other than the target object, and the calculation module 33 is A convex hull (Convex Hull) module, with the function of calculating the volume of the target object based on the range of point cloud information, and the function of calculating the weight of the target object based on the known density and volume, and then sending the weight of the target object to the management server 4.

本發明之一實施例中，運算伺服器3更設有一個視覺化模組34，具有依據點雲資訊繪製點雲影像之功能，以供使用者以人工標示的方式，定義目標物件的範圍，並輸入至去背模組32中，作為訓練去背模組32的檔案。 In one embodiment of the present invention, the calculation server 3 is further equipped with a visualization module 34, which has the function of drawing point cloud images based on point cloud information, so that users can define the range of target objects by manual marking. And input to go back module 32, remove the file of back module 32 as training.

在本發明之一實施例中，管理伺服器4包含一個介面模組41，使用者可以透過介面模組41監控目標物件重量，並以目標物件重量作為判斷目標物件存量的指標，而達到目標物件存量管理之目的。 In one embodiment of the present invention, the management server 4 includes an interface module 41, and the user can monitor the weight of the target object through the interface module 41, and use the weight of the target object as an indicator for judging the stock of the target object to achieve the target object The purpose of inventory management.

請參閱圖2，其係為本發明之存量管理方法步驟圖。本發明之存量管理方法包含：S201：利用光感設備1取得包含目標物件座標資訊在內的空間資訊，並將空間資訊存放於資料伺服器2； S202：讀取資料伺服器2中的座標資訊，並利用轉換模組31將原始的座標資訊，由極座標係轉換為直角座標系，換句話說，轉換模組31係將原始的座標資訊轉換為點雲資訊；S203：利用去背模組，依據各點雲資訊之間的距離，去除空間資訊中非為目標物件的點雲資訊；S204：利用計算模組，獲得點雲資訊所圍成的最小範圍，並計算範圍的體積；S205：再依據已知的密度，將體積換算為重量，並上傳至管理伺服器。 Please refer to FIG. 2 , which is a step diagram of the inventory management method of the present invention. The inventory management method of the present invention includes: S201: Obtain spatial information including target object coordinate information by using the photosensitive device 1, and store the spatial information in the data server 2; S202: Read the coordinate information in the data server 2, and use the conversion module 31 to convert the original coordinate information from the polar coordinate system to the rectangular coordinate system. In other words, the conversion module 31 converts the original coordinate information into Point cloud information; S203: Use the back-removing module to remove the point cloud information that is not the target object in the spatial information according to the distance between each point cloud information; S204: Use the calculation module to obtain the point cloud information formed by the point cloud information The smallest range, and calculate the volume of the range; S205: Based on the known density, convert the volume into weight, and upload it to the management server.

請參閱圖3，其係為本發明之去背步驟圖。本發明步驟S203進一步包含：S301：將點雲資訊輸入去背模組，其中點雲資訊包含複數個座標點；S302：設定各座標點的相鄰範圍，且計算在各座標點相鄰範圍內的座標點數量，以該座標點數量為相鄰點數量；S303：將相鄰點數量大於門檻值的各座標點設為核心點；S304：將核心點設為一個群集；S305：將相鄰點數量小於門檻值，且在核心點的相鄰範圍的各座標點設為邊際點；S306：將邊際點與核心點之間設為關聯；S307：去除其他不與核心點具有關聯的座標點。 Please refer to Fig. 3, which is a step diagram of the present invention. Step S203 of the present invention further includes: S301: Input point cloud information into the back module, wherein the point cloud information includes a plurality of coordinate points; S302: Set the adjacent range of each coordinate point, and calculate within the adjacent range of each coordinate point The number of coordinate points, the number of adjacent points is the number of adjacent points; S303: Set each coordinate point whose number of adjacent points is greater than the threshold value as a core point; S304: Set the core point as a cluster; S305: Set the adjacent points The number of points is less than the threshold value, and each coordinate point in the adjacent range of the core point is set as a marginal point; S306: set the relationship between the marginal point and the core point; S307: remove other coordinate points that are not associated with the core point .

其中，在步驟S203之前，更包含將點雲資訊視覺化成點雲影像，並以人工在點雲影像上定義目標物件的座標範圍，再由去背模組32學習目標物件的座標範圍，並調整相鄰範圍及門檻值的數值。 Wherein, before step S203, it further includes visualizing the point cloud information into a point cloud image, and manually defining the coordinate range of the target object on the point cloud image, and then learning the coordinate range of the target object by the back removal module 32, and adjusting Numeric values for adjacent ranges and thresholds.

請參閱圖4，其係為本發明第一實施例之廢棄物存放區示意圖。在本發明之第一實施例中，在事業團體的廠內設有廢棄物存放區，而在廢棄物存放區中存放有廢棄電路板51及廢棄紙箱6，其中多個廢棄電路板51所堆成的廢棄堆則為本發明第一實施例的目標物件7。 Please refer to FIG. 4 , which is a schematic diagram of the waste storage area according to the first embodiment of the present invention. In the first embodiment of the present invention, a waste storage area is provided in the factory of the business organization, and waste circuit boards 51 and waste cartons 6 are stored in the waste storage area, wherein a plurality of waste circuit boards 51 are stacked The resulting waste pile is the target object 7 of the first embodiment of the present invention.

在本發明之第一實施例中，光感設備1以光達模組13，收集廢棄物存放區內的空間資訊，並將空間資訊存放於資料伺服器2，再由運算伺服器3讀取空間資訊，並以轉換模組31，將空間資訊轉換為以直角座標表示的點雲資訊。 In the first embodiment of the present invention, the photosensitive device 1 uses the LiDAR module 13 to collect spatial information in the waste storage area, and stores the spatial information in the data server 2, which is then read by the computing server 3 Spatial information, and the conversion module 31 is used to convert the spatial information into point cloud information represented by Cartesian coordinates.

請參閱圖5，其係為本發明第一實施例之點雲影像示意圖。以去背模組32對點雲資訊進行去背處理之前，本發明須先提供人工標示的點雲資訊，使去背模組32學習目標物件7的通常座標範圍。 Please refer to FIG. 5 , which is a schematic diagram of a point cloud image according to the first embodiment of the present invention. Before the background removal module 32 performs back processing on the point cloud information, the present invention must first provide manually marked point cloud information, so that the back removal module 32 can learn the normal coordinate range of the target object 7 .

在本發明之第一實施例中，使用者先選用Point Processing Toolkit(pptk)為視覺化模組34，將點雲資訊視覺化為點雲影像8，再以人工標示的方式，在點雲影像8上標示適當的標籤，其中廢棄電路板51附近的座標被標示廢棄電路板標籤81，在廢棄紙箱6附近的座標被標示廢棄紙箱標籤82，在牆壁附近的座標則被標示牆壁標籤83。 In the first embodiment of the present invention, the user first selects Point Processing Toolkit (pptk) as the visualization module 34 to visualize the point cloud information into a point cloud image 8, and then manually marks the points on the point cloud image Appropriate labels are marked on 8, wherein the coordinates near the waste circuit board 51 are marked waste circuit board label 81, the coordinates near the waste carton 6 are marked waste carton label 82, and the coordinates near the wall are marked wall label 83.

藉由標示不同的標籤，去背模組32得以學習目標物件7所在的座標範圍，並調整相鄰範圍及門檻值的數值，以增加去背能力。 By marking different tags, the back removal module 32 can learn the coordinate range where the target object 7 is located, and adjust the value of the adjacent range and the threshold value to increase the back removal ability.

請參閱圖6，其係為本發明第一實施例之去背結果示意圖。在本發明之第一實施例中，使用者選用密度對空間聚類分析(Density Based Spatial Clustering of Applications with Noise，DBSCAN)模組為去背模組32，將作為環境背景的廢棄紙箱6及牆壁去除，只留下目標物件7的點雲資訊。 Please refer to FIG. 6 , which is a schematic diagram of the result of back removal according to the first embodiment of the present invention. In the first embodiment of the present invention, the user selects the Density Based Spatial Clustering of Applications with Noise (DBSCAN) module as the back removal module 32, and uses the discarded carton 6 and the wall as the environmental background Removed, leaving only the point cloud information of the target object 7.

請參閱圖7，其係為本發明第一實施例之凸包結果示意圖。在本發明之第一實施例中，使用者選用凸包(Convex Hull)模組為計算模組33，獲 得點雲資9所圍成的最小範圍，並計算範圍所圍成之體積，再以電路板4的已知密度，計算目標物件7的重量。 Please refer to FIG. 7 , which is a schematic diagram of the result of the convex hull according to the first embodiment of the present invention. In the first embodiment of the present invention, the user selects the convex hull (Convex Hull) module as the calculation module 33, and obtains Get the minimum range enclosed by the point cloud data 9, and calculate the volume enclosed by the range, and then calculate the weight of the target object 7 with the known density of the circuit board 4.

請參閱圖8-9，其係為本發明第二實施例之廢棄物存放區照片、光感設備照片及點雲影像。在本發明第二實施例之中，廢棄物存放區存放有廢棄包材52，而目標物件7則為廢棄包材52所堆成的廢棄堆。 Please refer to Figures 8-9, which are photos of the waste storage area, photosensitive equipment and point cloud images of the second embodiment of the present invention. In the second embodiment of the present invention, the waste storage area stores waste packaging materials 52 , and the target object 7 is a waste pile formed by the waste packaging materials 52 .

在本發明之第二實施例中，廢棄物存放區則架設有本發明之光感設備1，並面向目標物件7進行空間資訊的收集，其中光感設備1包含支架本體10、第一馬達11、第二馬達12、光達模組13及控制模組14。 In the second embodiment of the present invention, the waste storage area is equipped with the photosensitive device 1 of the present invention, and faces the target object 7 to collect spatial information, wherein the photosensitive device 1 includes a bracket body 10 and a first motor 11 , the second motor 12 , the LiDAR module 13 and the control module 14 .

請參閱圖10，其係為空間資訊經過視覺化後的點雲影像。 Please refer to FIG. 10 , which is a point cloud image after spatial information is visualized.

請參閱圖11-12，其係為本發明第二實施例之去背點雲影像及凸包影像。在本發明之第二實施例中，去背模組32再依據經過座標系轉換的點雲資訊進行去背，並傳到計算模組33進行運算，而獲得點雲資訊的各座標點所圍成的最小範圍，且計算範圍所圍成之體積，再以廢棄包材52的已知密度，計算目標物件7的重量。 Please refer to FIGS. 11-12 , which are the point cloud image and the convex hull image of the second embodiment of the present invention. In the second embodiment of the present invention, the back-removing module 32 carries out back-removing according to the point cloud information transformed by the coordinate system, and transmits it to the calculation module 33 for calculation, and obtains the points surrounded by each coordinate point of the point cloud information. The minimum range formed, and the volume enclosed by the range is calculated, and then the weight of the target object 7 is calculated based on the known density of the discarded packaging material 52 .

在本發明之第一及第二實施例中，運算伺服器3再將目標重量傳輸至管理伺服器4，令事業團體或廢棄物清除處理機構，可以透過介面模組41查看目標物件7的重量，藉以達到管理廢棄物存量之目的。 In the first and second embodiments of the present invention, the calculation server 3 then transmits the target weight to the management server 4, so that business groups or waste disposal organizations can check the weight of the target object 7 through the interface module 41 , so as to achieve the purpose of managing waste stock.

本發明之存量管理方法及系統，藉由光達設備，在不侵犯事業團體的營業秘密及隱私權之團體的情況下，即時將位於事業團體的廢棄物存量，傳回廢棄物清除處理機構，以達到監控廢棄物存量的目的。 The inventory management method and system of the present invention, by using LiDAR equipment, can immediately send the waste inventory located in the business organization back to the waste removal and processing organization without infringing on the business organization's business secrets and privacy rights. In order to achieve the purpose of monitoring waste inventory.

除此之外，本發明之存量管理方法及系統還包含管理伺服器，提供介面模組方便廢棄物清除處理機構查看廢棄物存量，藉以抹去事業團體與清除機構之間的資訊落差。 In addition, the inventory management method and system of the present invention also includes a management server, which provides an interface module to facilitate waste removal and treatment organizations to check the waste inventory, so as to eliminate the information gap between business groups and removal organizations.

進一步地，廢棄物清除處理機構更可以上述廢棄物存量資訊，安排廢棄物運輸的路線，以最有效率的方式收回廢棄物，減少運輸成本。 Furthermore, the waste removal and processing organization can use the above waste inventory information to arrange waste transportation routes, recover waste in the most efficient way, and reduce transportation costs.

以上僅為本發明之較佳實施例，並非用來限定本發明之實施範圍；如果不脫離本發明之精神和範圍，對本發明進行修改或者等同替換，均應涵蓋在本發明申請專利範圍的保護範圍當中。 The above is only a preferred embodiment of the present invention, and is not used to limit the implementation scope of the present invention; if it does not depart from the spirit and scope of the present invention, any modification or equivalent replacement of the present invention shall be covered by the protection of the patent scope of the present invention in the range.

S201-205:步驟 S201-205: Steps

Claims (6)

一種光感設備，包含：一支架本體，以複數支撐腳維持該光感設備的穩固；一光達(Light Detection And Ranging，LiDAR)模組，設於該支架本體上，並以光學元件收集一區域的空間資訊；一第一馬達，設於該光達模組與該支架本體之間，且以垂直方向轉動該光達模組；一第二馬達，設於該第一馬達與該支架本體之間，且以水平方向轉動該第一馬達及該光達模組；一控制模組，設於該支架本體上，且與該光達模組、該第一馬達及該第二馬達連接，並控制該光達模組收集該空間資訊的轉動方式；其中，該空間資訊係由該光達模組與一被測物之間的距離，以及該第一馬達所轉動的垂直角度與該第二馬達所轉動的水平角度所構成。 A light-sensing device, comprising: a bracket body, with a plurality of supporting legs to maintain the stability of the light-sensing device; a Light Detection And Ranging (LiDAR) module, set on the bracket body, and collecting a Spatial information of the area; a first motor is arranged between the LiDAR module and the bracket body, and rotates the LiDAR module in a vertical direction; a second motor is arranged between the first motor and the bracket body between, and rotate the first motor and the LiDAR module in a horizontal direction; a control module, set on the bracket body, and connected with the LiDAR module, the first motor and the second motor, And control the rotation mode of the lidar module to collect the spatial information; wherein, the spatial information is the distance between the lidar module and a measured object, and the vertical angle of the first motor rotation and the second The horizontal angle rotated by the two motors constitutes. 一種存量管理系統，包含：一光感設備，收集一空間資訊，且該空間資訊包含一目標物件的座標資訊，該空間資訊係由一光達模組與該目標物件之間的距離，以及一第一馬達所轉動的垂直角度與一第二馬達所轉動的水平角度所構成；一資料伺服器，與該光感設備連接，且係用於儲存該空間資訊；一運算伺服器，與該資料伺服器連接，且該運算伺服器包含： 一轉換模組，係用於將該空間資訊的該座標資訊，由極座標系轉換為直角座標系；一去背模組，與該轉換模組連接，且該去背模組利用密度對空間聚類分析(Density Based Spatial Clustering of Applications with Noise，DBSCAN)方法，去除該空間資訊中，非為該目標物件的該座標資訊；一計算模組，與該去背模組連接，且該計算模組利用凸包(Convex Hull)方法，獲得該目標物件之該座標資訊所圍成的範圍，並計算該範圍之體積，再依照該目標的密度將該體積換算為重量；一管理伺服器，與該運算伺服器連接，係用於接收該重量，並提供一介面模組，管理該目標物件的存量，其中該目標物件的存量以該重量表示。 An inventory management system, comprising: a light-sensing device that collects spatial information, and the spatial information includes coordinate information of a target object, the spatial information is determined by the distance between a lidar module and the target object, and a The vertical angle rotated by the first motor is formed by the horizontal angle rotated by a second motor; a data server is connected with the photosensitive device and is used to store the spatial information; a computing server is connected with the data Server connection, and the computing server contains: A conversion module is used to convert the coordinate information of the spatial information from a polar coordinate system to a rectangular coordinate system; a back-removing module is connected with the conversion module, and the back-removing module utilizes density to spatially gather Class analysis (Density Based Spatial Clustering of Applications with Noise, DBSCAN) method, remove the coordinate information that is not the target object in the spatial information; a calculation module, connected with the back removal module, and the calculation module Using the convex hull (Convex Hull) method to obtain the area surrounded by the coordinate information of the target object, and calculate the volume of the area, and then convert the volume into weight according to the density of the object; a management server, and the The calculation server connection is used to receive the weight and provide an interface module to manage the inventory of the target object, wherein the inventory of the target object is represented by the weight. 如請求項2所述之存量管理系統，其中該運算伺服器更包含一視覺化模組，與該轉換模組連接，且該視覺化模組係用於將該空間資訊視覺化為點雲影像。 The inventory management system as described in claim 2, wherein the computing server further includes a visualization module connected to the conversion module, and the visualization module is used to visualize the spatial information into a point cloud image . 一種存量管理方法，包含：利用一光感設備收集該空間資訊，該空間資訊包含一目標物件的座標資訊，該空間資訊係由一光達模組與該目標物件之間的距離，以及一第一馬達所轉動的垂直角度與一第二馬達所轉動的水平角度所構成； 利用密度對空間聚類分析方法，去除該空間資訊中，非為該目標物件的該座標資訊；利用凸包方法，由經過密度對空間具類分析方法處理過之該空間資訊中，獲得該目標物件之該座標資訊所圍成的最小範圍，並計算該範圍之體積，再依該目標物件的密度將該體積換算為重量。 A stock management method, comprising: using a photosensitive device to collect the spatial information, the spatial information includes the coordinate information of a target object, the spatial information is determined by the distance between a lidar module and the target object, and a first formed by the vertical angle rotated by a motor and the horizontal angle rotated by a second motor; Use the density-to-spatial cluster analysis method to remove the coordinate information that is not the target object from the spatial information; use the convex hull method to obtain the target from the spatial information that has been processed by the density-to-spatial class analysis method The minimum range enclosed by the coordinate information of the object, and calculate the volume of the range, and then convert the volume into weight according to the density of the target object. 如請求項4所述之存量管理方法，其中在提供該空間資訊之前，更包含利用一轉換模組，將該空間資訊的該座標資訊，由極座標系轉換為直角座標系。 The inventory management method as described in claim 4, further comprising converting the coordinate information of the spatial information from a polar coordinate system to a rectangular coordinate system by using a conversion module before providing the spatial information. 如請求項4所述之存量管理方法，其中在利用該去背模組之前，更包含利用一視覺化模組，將該空間資訊視覺化為點雲影像；以人工標示的方式，於該點雲影像上定義該目標物件的座標範圍，使該去背模組學習該目標物件在該空間資訊中的座標範圍。 The inventory management method as described in claim 4, wherein before using the back removal module, it further includes using a visualization module to visualize the spatial information as a point cloud image; manually marking the point at the point The coordinate range of the target object is defined on the cloud image, so that the background removal module can learn the coordinate range of the target object in the spatial information.
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TWM612079U (en) * 2020-11-24 2021-05-21 中衛環保科技股份有限公司 Optical sensing apparatus and reserve management system

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