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Loading tracked vehicles under its own power on a trailer: control using a technical vision system
https://doi.org/10.32446/0368-1025it.2022-1-23-29
Abstract
The problems of safe loading and transportation of construction and special tracked vehicles on cargo platforms of heavy-duty trailers are highlighted. To improve the positioning accuracy of the specified tracked vehicles on trailer platforms, it is proposed to use a vision system. A fully functional physical model of such a system has been developed, which has been tested with automated control of the spatial position of tracked vehicles during loading onto the trailer cargo platform. The parameters of the spatial position of the equipment that affect the safety of its loading under its own power are revealed. Loading automation is implemented using a videogrammetric device mounted on the transported vehicle and three active-type sighting targets placed on the cargo platform. The technical vision system uses methods of digital video image processing, which made it possible to detect and identify sighting targets with a high probability by the frequency of their flashing. An algorithm for the operation of tracked vehicles under the control of a vision system is proposed, the implementation of which ensures the automation of loading. The operability of this system has been tested using physical models of a heavy-duty trailer and a tracked vehicle platform. The actual technical and metrological characteristics of the vision system have been experimentally determined. It is established that with a base distance of 2.5 m between the sighting targets, safe loading of equipment up to 8 m long on a cargo platform up to 16 m long is ensured.
About the Author
D. A. Roshchin
The 3rd Central Research Institute (CRI) of the Ministry of Defence of the Russian Federation
Russian Federation
Russian Federation
Dmitriy A. Roshchin
Moscow
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Review
For citations:
Roshchin D.A. Loading tracked vehicles under its own power on a trailer: control using a technical vision system. Izmeritel`naya Tekhnika. 2022;(1):23-29. (In Russ.) https://doi.org/10.32446/0368-1025it.2022-1-23-29
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