METHOD FOR DETERMINING PARAMETERS FOR LOADING SELF-PROPELLED TRACKED EQUIPMENT USING A COMPUTER VISION SYSTEM Russian patent published in 2023 - IPC G01C3/00 B65G67/04 

FIELD: measuring equipment.

SUBSTANCE: used when transporting self-propelled tracked vehicles by road or rail during loading and unloading operations using a computer vision system. The parameters for loading tracked vehicles under their own power onto a vehicle are determined using a computer vision system, which includes active-type sighting targets placed along the far edge of the vehicle's cargo platform at the same distance from each other, as well as a video camera with a targeting device for sighting targets, installed on the cabin of self-propelled tracked vehicles along the axis of rotation of the tracked chassis. In this case, the computer vision system detects sighting targets using a video camera, calculates the zenith and azimuthal angles of the sighting targets, and then determines the loading parameters of self-propelled tracked vehicles from the system of equations:

where χ is the angle between the longitudinal axes of the cargo platform and tracked vehicles;

s is the overhang of equipment tracks from the edge of the loading platform;

ψ is the roll of the cargo platform;

b_V is the width of the cargo platform of the vehicle;

b_M is the chassis width of transported tracked vehicles;

γ₁ andγ₂ are the modules of differences in azimuthal angles of sighting targets;

ω₁ andω₃ are the inclination angles of sighting targets.

EFFECT: increasing the safety of loading and unloading operations with self-propelled tracked vehicles and reducing the risk of damage during transportation.

1 cl, 2 dwg