The application discloses a van identification and
pose calculation method, which comprises the following steps: 1, an
initial point cloud is acquired by using a loading
robot TOF camera, and is converted to a world coordinate
system through coordinate transformation; 2, local point clouds meeting a normal vector threshold are screened out through pretreatment and surface normal vector calculation; 3, bottom
surface fitting is performed on the local point clouds; 4, local point clouds in a rear door bottom edge area are screened out; 5,
linear fitting is completed by selecting feature points at a set interval; 6, boundary points of left and right frames of the rear door are determined, two lower corner points of the rear door are obtained by projecting the boundary points on the fitted straight line, and a midpoint of the rear door bottom edge is calculated; 7, an axis of the van is calculated, a lower midpoint of the upper frame of the rear door is determined, and finally complete van
pose information including a van
deflection angle, a coordinate of the midpoint of the rear door bottom edge, a van width and a van height is calculated. The application can accurately and quickly realize van
pose calculation under a complex environment, so that the automatic loading task of the loading
robot is realized.