Multi-height-layer contour recognition and coordinate calculation method and system based on similar plane

• Main Authors: DONG CHAOYUN, YIN YEHUA, PI KUN, SHEN ZHIYAN, YIN LEI
• Format: Patent
• Language: Chinese; English
• Published: 23.11.2021
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; REGULATING; TESTING

The invention relates to a multi-height-layer contour recognition and coordinate calculation method and system based on a similar plane, and belongs to the technical field of unmanned driving of steel plant profile or bar stacking. The method comprises the following steps: collecting point cloud data of a three-dimensional laser radar scanning system, storing the point cloud data into an original data table, then converting the point cloud data into a row-column mapping altimeter, searching in the altimeter in rows or columns, merging and sorting the found heights, performing layer contour recognition and layer region feature analysis according to the sorted heights, obtaining the row and column coordinates of the vertex, midpoint or layer boundary midpoint of the quasi-rectangular interest layer in the altimeter, mapping the points of the original data table by the coordinates to carry out xyz coordinate projection calculation, and finally obtaining the coordinates of the midpoint of the interest layer and t