Electric bicycle obstacle avoiding method integrating sparse representation and particle filter

An electric moped, particle filter technology, applied in vehicle ambulance, patient chairs or special transportation tools, medical transportation, etc., can solve problems such as falls, poor mental condition, self or others injury, etc., and achieve tracking efficiency High, avoid image blind spots, solve tracking problems

Inactive Publication Date: 2014-08-27
SOUTHWEST JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

When the elderly and the disabled travel with the help of electric mopeds, due to their poor mental condition and poo

Method used

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  • Electric bicycle obstacle avoiding method integrating sparse representation and particle filter

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Embodiment

[0032] figure 1 It is shown that a specific embodiment of the present invention is an obstacle avoidance method for electric mopeds fused with sparse representation particle filter, comprising the following steps:

[0033] A. Image acquisition

[0034] An all-weather infrared camera 1 is respectively installed on the left and right armrests of the electric moped. When the electric moped is moving, the two infrared cameras 1 acquire images in front of the electric moped with the same sampling frequency;

[0035] B. Image correction processing

[0036] The image processing module 2 performs image correction processing on the images collected by the two infrared cameras 1;

[0037] C. Obstacle judgment

[0038] The image processing module 2 selects the first frame of images for image matching processing every 10 frames to obtain a disparity map, and judges whether there is an obstacle: if there is an obstacle, perform the operation of step D, otherwise repeat the operation of ...

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Abstract

The invention discloses an electric bicycle obstacle avoiding method integrating sparse representation and particle filter. The method mainly comprises the steps of: synchronously collecting images ahead by two cameras at the front part of an electric bicycle, judging, detecting and ranging obstacles by an imaging processing module through using an image detection and particle filter tracing algorithm. The obstacle ahead and distance to the same are automatically detected; a central controller works out current controlling value of rotating speed of a hub motor in each wheel according to the distance from the electric bicycle to the obstacle sent by the image processing module (2), and if the current controlling value is lower than current actual speed, the central controller (3) reduces the rotating speed of the hub motor (4) to the current controlling value and meanwhile emits a warning sound. Consequently, the electric bicycle can automatically speed down or brake when the obstacle is within the dangerous distance ahead so as to ensure the life or property safety of the user or other people.

Description

technical field [0001] The invention relates to an obstacle avoidance method for an electric moped with fusion of sparse representation particle filter Background technique [0002] With the improvement of people's pace of life, fewer and fewer people have time to take care of the elderly and disabled people who are inconvenient to walk at home, have poor mental conditions, and have poor eyesight. These old people and the disabled usually travel by means of electric mopeds. When the elderly and the disabled travel with the help of electric mopeds, due to their poor mental condition and poor eyesight, they are prone to fall when they encounter obstacles in front of them, causing injury to themselves or others. Contents of the invention [0003] The purpose of the present invention is to provide an obstacle avoidance method for an electric moped that integrates sparse representation particle filtering, which can automatically slow down or brake the electric moped when there...

Claims

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Application Information

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IPC IPC(8): A61G5/10A61G5/04
Inventor 张祖涛罗典媛徐宏孟冠军刘昱岗李校培晁志峰
Owner SOUTHWEST JIAOTONG UNIV
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