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      • Investigation of Terrain Slope Information and Tractor Driving Simulation on Reconstructed Ground

        ( Soyoung Shin ),( Eiji Inoue ),( Muneshi Mitsuoka ),( Takashi Okaysu ),( Yasmaru Hirai ),( Masami Matsui ) 한국농업기계학회 2018 한국농업기계학회 학술발표논문집 Vol.23 No.1

        Despite the efforts of many researchers to improve the safety of agricultural machinery, fatalities have been caused by agricultural machinery annually. In Japan, about 50% of casualties caused by agricultural machinery are occurred by tractor rollover. In particular, the rollover of agricultural machinery causes major fatalities on the farm road. Agricultural machinery is easily rollover due to its high center of gravity when compared to other vehicles. In addition, when the implements are attached, the center of gravity moves according to the position of the implements, thereby exposing it to a greater risk of rollover. ROPS has been developed in an effort to reduce fatalities caused by tractor rollover accidents. The ROPS keeps the operator's space in case the tractor is overturned, preventing the operator from laying down from the tractor. Since 1997, ROPS has been mandatory for all riding tractors in Japan. Despite these efforts, however, there are fatalities caused by tractor rollover, and safety devices such as ROPS and seatbelts can not prevent fundamental accidents. In this study, we reconstruct the terrain images in front of the tractor using the stereo camera and analyze the slope of the reconstructed ground to predict the rollover accident of the tractor sensitive to the slope. The high center of gravity provides an opportunity to rollover in response to unexpected obstacles or steep slope. A stereo camera was used to record the frontal ground, and the obtained images were processed into a three-dimensional space through image processing in Matlab. The slope of the road surface on which the tractor is to be driven was identified, and the tractor maneuvering was identified through simulation of the motion model.

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