Transport vehicle saddle automatic identification and positioning method and system based on three-dimensional data

Abstract

The invention provides a transport vehicle saddle automatic identification and positioning method and system based on three-dimensional data. The method comprises the steps that 1, a transport vehicle is parked to a preset parking space in an unmanned vehicle garage area; step 2, scanning the transport vehicle through a laser scanner mounted above the parking space to obtain scanning data; 3, performing three-dimensional data reduction according to the scanning data; 4, according to the three-dimensional data, whether the vehicle is parked in the parking space or not is judged; 5, feature extraction is conducted on the saddle according to the three-dimensional data; and step 6, according to the extracted characteristic values, carrying out saddle and vehicle positioning calculation. According to the invention, automatic identification and positioning of the grooves and the saddles of different types of transport vehicles are realized by adopting the laser scanning technology, manual auxiliary positioning is not needed, the identification and positioning problem of the grooves and the saddles of the transport vehicles is solved, automatic loading control of an unmanned driving system is realized, and the automation rate of a driving garage area is improved.

Description

technical field [0001] The present invention relates to the technical field of identification and positioning, in particular to an automatic identification and positioning method and system for saddles of transport vehicles based on three-dimensional data. Background technique [0002] At present, in the field of unmanned driving technology, the intelligent detection and positioning of transport vehicles is an indispensable link in unmanned warehouse areas. The laser scanner technology is used to achieve the effect of accurately positioning the center coordinates of the saddle. Install a scanner above the parking space in the parking garage area. When the transport vehicle enters the parking space area, the scanner installed above the parking space area starts scanning. Through the rotation and scanning of the scanner, it is correctly parked in the parking space area The vehicle in the saddle position calculation. It will realize the identification and positioning of the s...

AI Technical Summary

Problems solved by technology

[0005] Due to the complex models of steel products transport vehicles, the identification of transport vehicles in unmanned garage areas often requires manual intervention to complete the positioning of the loading position, or can only identify vehicles with known saddle types. There is no general positioning method for loading positions, thereby reducing the number of unnecessary Automation rate and intelligence degree of pedestrian garage area

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