US 11,841,436 B2
Container positioning method and apparatus based on multi-line laser data fusion
Zhi Feng, Shanghai (CN); Hao Liang, Shanghai (CN); and Huan Chen, Shanghai (CN)
Assigned to Shanghai Master Matrix Information Technology Co., Ltd., Shanghai (CN)
Appl. No. 18/023,938
Filed by Shanghai Master Matrix Information Technology Co., Ltd., Shanghai (CN)
PCT Filed Sep. 12, 2021, PCT No. PCT/CN2021/117872
§ 371(c)(1), (2) Date Feb. 28, 2023,
PCT Pub. No. WO2022/057747, PCT Pub. Date Mar. 24, 2022.
Claims priority of application No. 202010977538.3 (CN), filed on Sep. 17, 2020.
Prior Publication US 2023/0324554 A1, Oct. 12, 2023
Int. Cl. G01C 3/08 (2006.01); G01S 17/89 (2020.01); G06T 7/73 (2017.01); G06T 7/13 (2017.01); G01S 7/497 (2006.01)
CPC G01S 17/89 (2013.01) [G01S 7/497 (2013.01); G06T 7/13 (2017.01); G06T 7/73 (2017.01); G06T 2207/10028 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A container positioning method based on multi-line laser data fusion, comprising:
acquiring point cloud data of at least two multi-line laser radars, and performing point cloud data fusion according to a coordinate system relationship between the at least two laser radars;
performing clustering of scanning lines according to the fused point cloud data, and acquiring an edge point of a top surface or a side surface of a target container according to the clustered scanning lines;
acquiring a contour of the top surface or the side surface of the target container according to the edge point of the top surface or the side surface of the target container to determine a central point and a heading angle of the target container so as to determine a position of the target container;
the clustered scanning lines intersecting with a long side of the top surface of the target container to obtain a first group of edge points and/or a second group of edge points, the clustered scanning lines intersecting with a short side of the top surface of the container to obtain a third group of edge points and/or a fourth group of edge points, the first group of edge points and/or the second group of edge points being at least two, and the third group of edge points and/or the fourth group of edge points being at least one;
calibrating the at least two multi-line laser radars, the at least two multi-line laser radars respectively scanning two surfaces, perpendicular to each other, of the target container, obtaining two dimensions of a rotation relationship and a displacement relationship of the at least two multi-line lasers by fitting the two surfaces perpendicular to each other, and obtaining a third dimension by measuring a position relationship of the at least two multi-line laser radars.