Tractor and trailer positioning method and system, storage medium and vehicle

Abstract

The invention discloses a tractor and trailer positioning method and system, a storage medium and a vehicle, and the method comprises the following steps: fixing an identification plate base on the front surface of a semitrailer, arranging an identification plate on the identification plate base, collecting the point cloud data of the semitrailer and the tractor in an unhooking state, building a minimum bounding box, calculating the point cloud data, and determining the position of the semitrailer and the trailer. Obtaining a first center coordinate of the identification plate; setting small neighborhood search according to the obtained first center coordinate of the identification plate, performing plane equation fitting on point cloud data obtained by the small neighborhood search, and calculating a normal vector of the front surface of the trailer; setting a large neighborhood search according to the obtained first center coordinate of the identification plate, classifying and sorting point cloud data obtained by the large neighborhood search, and screening the point cloud data on a plane and the wiring harness thereof; and searching boundary points of the wire harnesses corresponding to the width of the base of the identification plate, screening the wire harnesses on the plane, and calculating to obtain a secondary center coordinate of the identification plate. Therefore, the relative position of the tractor and the trailer can be quickly and accurately determined.

Description

technical field [0001] The invention relates to the field of positioning, in particular to a method, system, storage medium and vehicle for positioning a tractor and a trailer. Background technique [0002] What is commonly referred to as "port unmanned" refers to the round-trip transportation from the cargo ship to the warehouse (unloading and loading). The traditional manual operation method has huge potential safety hazards, and various large-scale equipment at the wharf will pose a threat to the personal safety of workers. In addition, with the continuous increase of port throughput, the loading and unloading transportation is becoming more and more complicated, and the traditional semi-trailer tractor transporting goods has become a bottleneck restricting the loading and unloading efficiency. Therefore, it is urgent to solve the problem through automation technology. The connection process between the tractor and the semi-trailer is a crucial link. Only when the relati...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that it is difficult to determine the position when the saddle of the unmanned tractor is connected to the traction pin of the semi-trailer, and to provide a positioning method, system, storage medium and vehicle for the tractor and the trailer

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