| With the improvement of the safety requirements of engineering vehicles,the intelligent degree of vehicles becomes higher and the safety measures are gradually improved.When an accident occurs,the rollover protection device installed on the vehicle can protect the driver’s safety.However,due to the need of safety design,the structure of the roll over protective device is high.When the mower is mowing,it will collide with the static obstacles such as the hollow branches in the workplace,this will affect the efficiency of the mower mowing,even because of the crash,the vehicle will be turned over and the driver’s life safety will be threatened,which is contrary to the original intention of the design of the rollover protection device,therefore,the research and design of the automatic folding system for the automatic rollover protection device is a practical work.The design of this research is carried out in two aspects.First,the hardware of the original rollover protection device is improved,so that the protective bar can be freely controlled and folded on the rollover protection device.Secondly,a real-time obstacle detection system is added to detect the obstacles appearing in front of the vehicle in time,and whether or not it will collide with the rollover protection device and interfere with the normal running of the vehicle.The original rollover protection device is improved: the upper and lower protective bars of the original rollover protection device are fixedly connected by a bolt,and can not be controlled and folded in real time,In this regard,the rollover protection device is improved.The upper and lower guard bars of the rollover protection device are freely linked with a speed reducer.A PLC electric control device is added to control the protection bar to be folded in real time,so as to reduce the integral height of the dumper protection device.Thus,collision interference can be avoided with midair obstacles.Obstacle detection system: Obstacle Detection Based on binocular vision,the basic principle is to use the linear relationship between the binocular disparity map and the three-dimensional attributes of obstacles.The three-dimensional property of the obstacle is determined by the above linear relationship.This method can be applied to static obstacle detection in complex background environment outside without obvious color and edge features.The specific detection process includes binocular camera calibration,binocular image acquisition,binocular correction,stereo matching,binocular parallax image acquisition,and binocular disparity map for obstacle analysis.The obstacle detection detects three aspects of the obstacle,including:(1)the depth distance information of the obstacle and the overturn protection device is analyzed,and the timing of the collision between the rollover protection device and the obstacle is judged;(2)the size of the obstacle and its roughness information are analyzed to determine whether the obstacle has the ability to impede the continued movement of the mounted mower;(3)The barrier area information J of the barrier is analyzed to determine if there is a possibility of collision with the rollover protection device.According to the above three aspects,the system can control the rollover protection device automatically in order to improve the safety protection performance of the rollover protection device. |
