METHOD AND APPARATUS FOR STOCK PILE SCANNING BY POSITION MEASUREMENT OF STACKER

摘要

The present invention relates to a method and a device to measure a position of stockpile in accordance to a variation in position of a stacker. The present invention installs one GPS module on an end of an arm of a stacker moving on a rail; calculates a rotational angle and a coordinate point of the stacker using a coordinate value measured by the GPS module and a length of the arm; calculates an accurate coordinate point by converting each coordinate scanned by a laser scanner to a three-dimensional coordinate system using the movable coordinate and the rotation angle of the stacker; calculates a vertical inclined angle of the stacker from a variation in an altitude value measured by the GPS module; and then calculates a coordinate system conversion value due to a variation in irradiation angle occurred by an inclination of the laser scanner.