CN104000698B - A kind of barrier-avoiding method of the Moped Scooter merging rarefaction representation particle filter - Google Patents
A kind of barrier-avoiding method of the Moped Scooter merging rarefaction representation particle filter Download PDFInfo
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- CN104000698B CN104000698B CN201410244469.XA CN201410244469A CN104000698B CN 104000698 B CN104000698 B CN 104000698B CN 201410244469 A CN201410244469 A CN 201410244469A CN 104000698 B CN104000698 B CN 104000698B
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Abstract
The invention discloses the barrier-avoiding method of a kind of Moped Scooter merging rarefaction representation particle filter, its step is mainly: by the forward image of two photographic head synchronous acquisition of Moped Scooter front portion, and is carried out the judgement of barrier by image processing module by image detection and particle filter tracking algorithm, is detected and find range.Automatically preceding object thing and distance thereof are detected, and the Moped Scooter transmitted according to image processing module (2) by central controller is to the distance of barrier, calculate the current control value of wheel hub motor (4) rotating speed of each wheel, if current control value is lower than current actual speed, then the rotating speed of wheel hub motor (4) is reduced to current control value by central controller (3), is simultaneously emitted by prompt tone.When making Moped Scooter have barrier in the non-security distance in front, automatic reduction of speed or brake, ensure user or other people life or property safety.
Description
Technical field
The present invention relates to the barrier-avoiding method of a kind of Moped Scooter merging rarefaction representation particle filter
Background technology
Along with the raising of people's rhythm of life, people less and less goes the old man of trip inconvenience, the people with disabilitys such as the walking looking after family is inconvenient, mental status is bad, have defective vision if having time.This kind of old man, people with disability generally go on a journey by Moped Scooter.Time old man, people with disability go on a journey by Moped Scooter, due to reasons such as its mental status is bad, weak-eyeds, it is easy to encounter the barrier in front and fall down, cause the injury to oneself or other people.
Summary of the invention
It is an object of the invention to provide the barrier-avoiding method of a kind of Moped Scooter merging rarefaction representation particle filter, when the method can make Moped Scooter have barrier in the non-security distance in front, automatic reduction of speed or brake, ensure user or other people life or property safety.
The present invention realizes its goal of the invention and be the technical scheme is that the barrier-avoiding method of a kind of Moped Scooter merging rarefaction representation particle filter, comprises the following steps:
A, image acquisition
Each on the left and right handrail of Moped Scooter installing a round-the-clock infrared camera, when Moped Scooter is advanced, two infrared cameras obtain the image of electric boosted front side with identical sample frequency；
B, image flame detection process
The image that two infrared cameras are collected by image processing module carries out image flame detection process；
C, barrier judgment
Image processing module is every 10 frames, and the first two field picture choosing two infrared cameras carries out images match process, obtains disparity map, it may be judged whether there is barrier: as there is barrier, performs the operation of D step, otherwise repeats the operation of this step；
D, detection of obstacles
Image processing module passes sequentially through dilation erosion algorithm, zone marker algorithm isolates each barrier, and the region of each barrier selected by frame；And use triangulation model that barrier is found range, obtain the Moped Scooter distance to barrier, in real time the distance of barrier is passed the central controller of Moped Scooter；
Meanwhile, the random number of 10 groups of Gaussian distributed that coordinate superposition variance is 5 of barrier region corner is obtained 10 contiguous barrier template area, again through affine transformation, the image information of 10 barrier template area is stored in barrier template T；
E, barrier are calculated: image processing module is to the 2-10 two field picture in 10 two field pictures, this two field picture constructs 50-100 the particle including positional information and image information centered by previous frame barrier region, image information in barrier template T is carried out particle filter, obtains the particle barrier as this frame of maximum observation probability；And use triangulation model that barrier is found range, obtain the Moped Scooter distance to barrier, in real time the distance of barrier is passed the central controller of Moped Scooter；
F, avoidance obstacle
The Moped Scooter that the central controller of Moped Scooter transmits according to image processing module is to the distance of barrier, calculate the current control value of the wheel hub motor rotating speed of each wheel, if current control value is lower than current actual speed, then central controller carries out deceleration control operation, the rotating speed of wheel hub motor is reduced to current control value, it is simultaneously emitted by prompt tone, makes the real-time automatic obstacle-avoiding of Moped Scooter；
Repeat the operation of above A-F step.
Compared with prior art, the invention has the beneficial effects as follows
One, the present invention is by the forward image of two photographic head synchronous acquisition of Moped Scooter front portion, and is carried out three-dimensional barrier judgment, detection and range finding by image processing module by image procossing and track algorithm.Automatically detect preceding object thing and distance thereof, and automatically carried out deceleration control operation by central controller, when making Moped Scooter have barrier in the non-security distance in front, automatic reduction of speed or brake, ensure user or other people life or property safety.
Two, in every 10 two field pictures, only the 1st two field picture is carried out dilation erosion algorithm, zone marker algorithm isolates each barrier, image information in the barrier template T that 2-10 two field picture is then obtained by the 1st two field picture and carry out particle filter matching treatment, well solve the tracking problem of barrier, achieve robustness to follow the tracks of, follow the tracks of efficiency high；It is achieved thereby that the accurately detection of barrier, efficiently follow the tracks of, the complexity of algorithm is low, real-time good.
Two, the use of dual camera can either carry out the range estimation of 3 dimension spaces more accurately, also make its field range wider, it is to avoid image blind area.
The max speed of above-mentioned Moped Scooter is 6km/h；
The Moped Scooter that in step F, the central controller of Moped Scooter transmits according to image processing module is to the distance of barrier, and the concrete grammar of the current control value calculating the wheel hub motor rotating speed of each wheel is:
5m < Moped Scooter is to the distance of barrier, and central controller does not carry out deceleration control operation；
To the distance of barrier, < during 5m, the current control value of the wheel hub motor rotating speed of each wheel is 5km/h to 3m < Moped Scooter；
To the distance of barrier, < during 3m, the current control value of the wheel hub motor rotating speed of each wheel is 3km/h to 0.5m < Moped Scooter；
To the distance of barrier, < during 0.5m, the current control value of the wheel hub motor rotating speed of each wheel is 0km/h to Moped Scooter.
The distance of such barrier and corresponding wheel hub motor rotating speed controlling value, can well ensure that Moped Scooter will not brush up against barrier, ensure user or other people life or property safety；Again that the normal traveling impact of Moped Scooter is little.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the Moped Scooter adopting the inventive method.
Detailed description of the invention
Embodiment
Fig. 1 illustrates, a kind of detailed description of the invention of the present invention is, the barrier-avoiding method of a kind of Moped Scooter merging rarefaction representation particle filter comprises the following steps:
A, image acquisition
Each on the left and right handrail of Moped Scooter installing a round-the-clock infrared camera 1, when Moped Scooter is advanced, two infrared cameras 1 obtain the image of electric boosted front side with identical sample frequency；
B, image flame detection process
The image that two infrared cameras 1 are collected by image processing module 2 carries out image flame detection process；
C, barrier judgment
Image processing module 2, every 10 frames, is chosen the first two field picture therein and is carried out images match process, obtain disparity map, it may be judged whether there is barrier: as there is barrier, performs the operation of D step, otherwise repeats the operation of this step；
D, detection of obstacles
Image processing module 2 passes sequentially through dilation erosion algorithm, zone marker algorithm isolates each barrier, and the region of each barrier selected by frame；And use triangulation model that barrier is found range, obtain the Moped Scooter distance to barrier, in real time the distance of barrier is passed the central controller of Moped Scooter；
Meanwhile, the random number of 10 groups of Gaussian distributed that coordinate superposition variance is 5 of barrier region corner is obtained 10 contiguous barrier template area, again through affine transformation, the image information of 10 barrier template area is stored in barrier template T；
E, barrier are calculated: image processing module 2 is to the 2-10 two field picture in 10 two field pictures, this two field picture constructs 50-100 the particle including positional information and image information centered by previous frame barrier region, image information in barrier template T is carried out particle filter, obtains the particle barrier as this frame of maximum observation probability；And use triangulation model that barrier is found range, obtain the Moped Scooter distance to barrier, in real time the distance of barrier is passed the central controller of Moped Scooter；
F, avoidance obstacle
The Moped Scooter that the central controller 3 of Moped Scooter transmits according to image processing module 2 is to the distance of barrier, calculate the current control value of wheel hub motor 4 rotating speed of each wheel, if current control value is lower than current actual speed, then central controller 3 carries out deceleration control operation, the rotating speed of wheel hub motor 4 is reduced to current control value, it is simultaneously emitted by prompt tone, makes the real-time automatic obstacle-avoiding of Moped Scooter；
Repeat the operation of above A-F step.
The max speed of the Moped Scooter of this example is 6km/h；
The Moped Scooter that in the step F of this example, the central controller 3 of Moped Scooter transmits according to image processing module 2 is to the distance of barrier, and the concrete grammar of the current control value calculating wheel hub motor 4 rotating speed of each wheel is:
5m < Moped Scooter is to the distance of barrier, and central controller 3 does not carry out deceleration control operation；
To the distance of barrier, < during 5m, the current control value of wheel hub motor 4 rotating speed of each wheel is 5km/h to 3m < Moped Scooter；
To the distance of barrier, < during 3m, the current control value of wheel hub motor 4 rotating speed of each wheel is 3km/h to 0.5m < Moped Scooter；
To the distance of barrier, < during 0.5m, the current control value of wheel hub motor 4 rotating speed of each wheel is 0km/h to Moped Scooter.
Claims (2)
1. merge a barrier-avoiding method for the Moped Scooter of rarefaction representation particle filter, comprise the following steps:
A, image acquisition
Each on the left and right handrail of Moped Scooter installing a round-the-clock infrared camera (1), when Moped Scooter is advanced, two infrared cameras (1) obtain the image of electric boosted front side with identical sample frequency；
B, image flame detection process
The image that two infrared cameras (1) are collected by image processing module (2) carries out image flame detection process；
C, barrier judgment
Image processing module (2), every 10 frames, is chosen the first two field picture therein and is carried out images match process, obtain disparity map, it may be judged whether there is barrier: as there is barrier, performs the operation of D step, otherwise repeats the operation of this step；
D, detection of obstacles
Image processing module (2) passes sequentially through dilation erosion algorithm, zone marker algorithm isolates each barrier, and the region of each barrier selected by frame；And use triangulation model that barrier is found range, obtain the Moped Scooter distance to barrier, in real time the distance of barrier is passed the central controller of Moped Scooter；
Meanwhile, the random number of 10 groups of Gaussian distributed that coordinate superposition variance is 5 of barrier region corner is obtained 10 contiguous barrier template area, again through affine transformation, the image information of 10 barrier template area is stored in barrier template T；
E, barrier are calculated: image processing module (2) is to the 2-10 two field picture in 10 two field pictures, this two field picture constructs 50-100 the particle including positional information and image information centered by previous frame barrier region, image information in barrier template T is carried out particle filter, obtains the particle barrier as this frame of maximum observation probability；And use triangulation model that barrier is found range, obtain the Moped Scooter distance to barrier, in real time the distance of barrier is passed the central controller of Moped Scooter；
F, avoidance obstacle
The Moped Scooter that the central controller (3) of Moped Scooter transmits according to image processing module (2) is to the distance of barrier, calculate the current control value of wheel hub motor (4) rotating speed of each wheel, if current control value is lower than current actual speed, then central controller (3) carries out deceleration control operation, the rotating speed of wheel hub motor (4) is reduced to current control value, it is simultaneously emitted by prompt tone, makes the real-time automatic obstacle-avoiding of Moped Scooter；
Repeat the operation of above A-F step.
2. a kind of Moped Scooter barrier-avoiding method merging rarefaction representation particle filter according to claim 1, it is characterised in that:
The max speed of described Moped Scooter is 6km/h；
The Moped Scooter that in described step F, the central controller (3) of Moped Scooter transmits according to image processing module (2) is to the distance of barrier, and the concrete grammar of the current control value calculating wheel hub motor (4) rotating speed of each wheel is:
5m < Moped Scooter is to the distance of barrier, and central controller (3) does not carry out deceleration control operation；
To the distance of barrier, < during 5m, the current control value of wheel hub motor (4) rotating speed of each wheel is 5km/h to 3m < Moped Scooter；
To the distance of barrier, < during 3m, the current control value of wheel hub motor (4) rotating speed of each wheel is 3km/h to 0.5m < Moped Scooter；
To the distance of barrier, < during 0.5m, the current control value of wheel hub motor (4) rotating speed of each wheel is 0km/h to Moped Scooter.
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| CN106671850B (en) * | 2016-08-26 | 2023-03-10 | 吉林省农业科学院 | Agricultural trailer with hydraulic loading hopper and guiding walking straight adjusting method |
| CN110806581B (en) * | 2019-10-21 | 2022-03-29 | 边缘智能研究院南京有限公司 | Medical cart anti-collision detection method, device and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101090482A (en) * | 2006-06-13 | 2007-12-19 | 唐琎 | Driver fatigue monitoring system and method based on image process and information mixing technology |
| CN101474116A (en) * | 2009-01-01 | 2009-07-08 | 薛明亮 | Electric bicycle |
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| US7092016B2 (en) * | 2001-02-09 | 2006-08-15 | Eastman Kodak Company | Method and system for motion image digital processing |
| JP2008140101A (en) * | 2006-12-01 | 2008-06-19 | Advanced Telecommunication Research Institute International | Unconstrained and real-time hand tracking device using no marker |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101090482A (en) * | 2006-06-13 | 2007-12-19 | 唐琎 | Driver fatigue monitoring system and method based on image process and information mixing technology |
| CN101474116A (en) * | 2009-01-01 | 2009-07-08 | 薛明亮 | Electric bicycle |
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