【摘要】：隨著人們對坐騎式割草機車輛在大型草坪場所中對割草效率和車輛行駛安全性的要求越來越高,坐騎式割草機車輛越來越智能化,安全措施也逐步提高。其中安裝在車輛上的翻車保護裝置便是起到割草機車輛意外側(cè)翻時保護駕駛員安全的作用。但是其翻車保護裝置因安全設(shè)計需求結(jié)構(gòu)設(shè)計偏高,當(dāng)坐騎式割草機進行割草作業(yè)時,會與作業(yè)場所中的半空的樹枝等靜態(tài)障礙物發(fā)生碰撞干涉,影響坐騎式割草機的割草效率,甚至?xí)蚺鲎矊?dǎo)致車輛側(cè)翻,危機駕駛員的生命安全,也違背了設(shè)計該翻車保護裝置的初衷,因此對基于雙目視覺障礙物檢測的翻車保護裝置自動折疊系統(tǒng)的研究設(shè)計是一件很有實際意義的工作。本研究設(shè)計從兩方面著手,一對原翻車保護裝置進行硬件改進,使翻車保護裝置上保護杠可被自由控制折疊。其二添加障礙物實時檢測系統(tǒng)裝置,實時檢測在車輛行駛時前方出現(xiàn)的障礙物,并判斷是否將與翻車保護裝置發(fā)生碰撞并干涉車輛正常行駛。原翻車保護裝置改進:原翻車保護裝置的上下保護杠采用插銷固定連接,無法被實時控制折疊,為此對其進行改進,上下保護杠采用減速機進行自由鏈接,并添加了PLC電氣控制裝置,可由此實時控制上保護杠進行折疊,以降低翻車保護裝置的整體高度,從而可避免與半空中的障礙物發(fā)生碰撞干涉。障礙物檢測系統(tǒng):采用基于雙目視覺的障礙物檢測,其基本原理是利用障礙物在雙目視覺中產(chǎn)生的雙目視差圖與障礙物三維屬性之間的線性對應(yīng)關(guān)系,進行障礙物的三維屬性判斷。這種檢測方法可適用于外界復(fù)雜環(huán)境背景中無明顯顏色和邊界特征的靜態(tài)障礙物檢測,具體檢測流程包括雙目攝像機標(biāo)定、雙目圖像獲取、雙目校正、立體匹配、獲取雙目視差圖和利用雙目視差圖進行障礙物分析過程。本障礙物檢測進行障礙物三個方面檢測包括:(1)障礙物與翻車保護裝置的深度距離信息分析,判斷翻車保護裝置與障礙物發(fā)生碰撞的時間性;(2)障礙物的大小粗度信息分析,判斷障礙物是否具備阻礙坐騎式割草機繼續(xù)車輛行駛的能力;(3)障礙物的阻擋區(qū)域信息分析,判斷是否具備與翻車保護裝置發(fā)生碰撞的可能性。系統(tǒng)依據(jù)以上三方面結(jié)果實時控制翻車保護裝置進行自動折疊,以此提高翻車保護裝置對駕駛員的安全保護性能。
[Abstract]:With the increasing demands on the efficiency of lawn mower and the driving safety of the vehicle in the large lawn, the riding lawn mower vehicle becomes more intelligent and the safety measures are improved step by step. The overturning protection device installed on the vehicle is used to protect the driver's safety when the mower vehicle overturns accidentally. However, due to the high structural design requirements for safety design, the overturning protection device will collide with static obstacles such as half-empty branches in the working place when the riding lawn mower is mowing. The impact on the efficiency of the riding mower will even cause vehicle rollover caused by collision, which will endanger the life safety of the driver, which also violates the original intention of designing the protection device for the vehicle. Therefore, the research and design of automatic folding system based on binocular visual obstacle detection is of great practical significance. The design of this study is based on two aspects. A pair of original overturning protection devices are improved in hardware so that the protection bars on the overturn protection device can be freely controlled and folded. The second is to add the obstacle real-time detection system device to detect the obstacle in front of the vehicle, and to judge whether the vehicle will collide with the overturning protection device and interfere with the normal running of the vehicle. The original overturning protection device is improved: the upper and lower protection bars of the original overturn protection device are fixed by a pin, which cannot be folded in real time, so it is improved, and the upper and lower protection bars are freely linked by a reducer. The PLC electric control device is added, which can fold the upper protection bar in real time, so as to reduce the overall height of the overturning protection device and avoid collision interference with obstacles in mid-air. Obstacle detection system: the basic principle of obstacle detection based on binocular vision is to use the linear correspondence between the binocular parallax generated by obstacle in binocular vision and the three-dimensional attributes of obstacle. The three-dimensional attribute of obstacles is judged. This detection method can be applied to the detection of static obstacles without obvious color and boundary characteristics in complex environment. The detection flow includes binocular camera calibration, binocular image acquisition, binocular correction, stereo matching, etc. The binocular parallax map is obtained and the obstacle analysis process is carried out by using the binocular parallax map. The obstacle detection includes the following three aspects: (1) analyzing the depth distance information between the obstacle and the overturning protection device to judge the time of collision between the overturn protection device and the obstacle; (2) analyzing the information of the size and roughness of the obstacle, judging whether the obstacle has the ability to prevent the riding lawn mower from moving on; (3) analyzing the blocking area information of obstacles and judging whether there is the possibility of collision with the overturning protection device. According to the above three results, the system can control the automatic folding of the overturning protection device in real time, so as to improve the safety protection performance of the overturning protection device to the driver.
【學(xué)位授予單位】：江蘇科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TU986.32;TP391.41

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