Vehicle wheel edge detection using ToF sensor for low cost of vehicle specification measurement system

Robot parking lots have recently appeared in areas where parking spaces are scarce around large cities. In the case of parking robots that directly lifts, the vehicle specifications must be measured because the fork to lift the vehicle must enter the lower part of the vehicle and be able to lift the vehicle. However, the cost-effectiveness is low even when an expensive sensor system is used due to the instrumentation environment. Therefore, this study proposes an inexpensive vehicle specification measurement system that combines ToF and ultrasonic sensors. Since the wheel outside is detected with a ToF sensor and the distance to the wheel outside is measured with an ultrasonic sensor, a basic experiment was conducted to check whether the wheel outside can be distinguished. The experiment replaced the wheels of the vehicle with a hexahedral box and aims to distinguish the corners of the box. As a result of the experiment, the measurement value of the area around the corner varies depending on the angle that was twisted, and the corners of the box could be distinguished.