Comparison of methods of obtaining visual data in the shape of obstacles in wastelands and forest areas for the purpose of automatic control of the stability of self-propelled machines

摘要

Comparative research was carried out on three methods of acquiring visual data on the shape of obstacles in wastelands and forest areas for automatic control of the stability of self-propelled machines. The tests were carried out for the following sensors: ultrasonic, 3D IFM O3M251 sensor, and Intel RealSense D455 sensor. The sensors were mounted on a common beam and positioned inline above the obstacles. Four cylindrical objects of various structures and sizes, placed on a driven belt conveyor, were used as recognition obstacles. Tests were carried out at two operating speeds. As a result of the research, obstacle heights were identified concerning relation to their movement under the sensors on the conveyor belt. The obtained results allowed for the assessment of the suitability of each of the methods in the context of their use as a substrate monitoring system for the stabilization systems of agricultural and forest self-propelled machines.