METHOD FOR RECOGNIZING 3D POSITION AND SHAPE OF TRUCK

摘要

PURPOSE: A 3D position and shape recognizing method of a truck is provided to operate an unmanned ceiling crane by measuring the 3D distance of the truck with a laser distance sensor and recognizing the position of a driver's seat and the shape of a box. CONSTITUTION: A laser distance sensor(6) is installed in the position to completely observe the upper surface of a truck. The distance from the laser distance sensor to the upper surface of the truck is measured by scanning through the laser distance sensor. A 3D image map of the truck is obtained after converting the measured distance value to 3D rectangular coordinates. The relative position between a driver's seat(2) and a box(1) is recognized from the 3D image map. The boundary of the truck is recognized from the 3D image map. The positions of four apexes are obtained by using an apex mask from the boundary.