Cuboid cargo pose state monitoring method

• Main Authors: CHENG RUOTING, ZHOU HUA, JIANG JUN, XU JINLI, CHEN HANMING, LI JINGSONG, WANG SHENBIAO, TAN JIANBIN, LI PENG, CUI BAOXIANG, DUAN XIAOJUN, SUN JIAN, FAN BAIJIA
• Format: Patent
• Language: Chinese; English
• Published: 02.02.2024
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING DISTANCES, LEVELS OR BEARINGS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention provides a cuboid cargo pose state monitoring method, which is used for monitoring the pose of a measured object in a non-point contact condition with the ground, and comprises the following steps: transmitting a plurality of distance measuring signals to the cuboid object to be measured so as to form a first state graph and a second state graph on the object to be measured, using a first calculation formula to calculate the inclination angle of the to-be-measured object according to the normal vector of the plane where the first state graph is located and the normal vector of the plane where the second state graph is located and the normal vector of the ground where the to-be-measured object is located; and calculating the rotation angle of the to-be-measured object by using a second calculation formula according to the normal vector of the plane where the first state pattern is located and the normal vector of the plane where the second state pattern is located, and judging the pose state of t