DEVICE FOR COMPUTING THE EXCAVATED SOIL VOLUME USING STRUCTURED LIGHT VISION SYSTEM AND METHOD THEREOF
First Claim
1. A device for computing an excavated soil volume using structured light, comprising:
- a control sensor unit provided at hinge points of an excavator arm, and configured to detect and output a location and a bent angle of the excavator arm;
a microcontroller configured to output a control signal so as to capture images of a work area of a bucket, provided at one end of the excavator arm, using the output of the control sensor unit, convert the captured images into 3-Dimensional (3D) images, and compute an excavated soil volume;
an illumination module configured to include at least one light source that is controlled by the control signal and radiates light onto the work area; and
a structured light module configured to capture the work area in response to the control signal.
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Accused Products
Abstract
A device for computing an excavated soil volume using structured light is disclosed. A control sensor unit is provided at the hinge points of an excavator arm, and is configured to detect and output the location and the bent angle of the excavator arm. A microcontroller is configured to output a control signal so as to capture the images of a work area of a bucket, provided at one end of the excavator arm, using the output of the control sensor unit, convert the captured images into 3-Dimensional (3D) images, and compute an excavated soil volume. An illumination module is configured to include at least one light source that is controlled by the control signal and radiates light onto the work area. A structured light module is configured to capture the work area in response to the control signal.
80 Citations
23 Claims
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1. A device for computing an excavated soil volume using structured light, comprising:
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a control sensor unit provided at hinge points of an excavator arm, and configured to detect and output a location and a bent angle of the excavator arm; a microcontroller configured to output a control signal so as to capture images of a work area of a bucket, provided at one end of the excavator arm, using the output of the control sensor unit, convert the captured images into 3-Dimensional (3D) images, and compute an excavated soil volume; an illumination module configured to include at least one light source that is controlled by the control signal and radiates light onto the work area; and a structured light module configured to capture the work area in response to the control signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of computing an excavated soil volume using structured light, comprising:
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a first step of a control sensor unit, provided at hinge points of an excavator arm, outputting a relative location and a bent angle of the excavator arm to a microcontroller; a second step of computing a 3D location of a bucket of the excavator using the relative location and the bent angle, and then adjusting a camera and an illumination module so as to capture a work area of the bucket; a third step of, when excavation is performed by the excavator, turning on the illumination module so as to radiate light onto the work area of the bucket, and acquiring images of the work area using a structured light module; and a fourth step of computing an excavated soil volume by comparing ground shapes based on the obtained images of the work area. - View Dependent Claims (13, 14, 15)
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16. A device for computing an excavated soil volume using structured light, comprising:
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an illumination module configured to include at least one lamp for projecting structured light, which is coded patterned light, onto a work area; a structured light module configured to include a camera for capturing reflected light of the projected patterned light from the work area; and a microcontroller configured to compute an excavated soil volume in the work area using the captured reflected light. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23)
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Specification