A wheel recognition based induction method for side-azimuth towing by road rescue equipment

Abstract

The invention discloses a wheel recognition based induction method for side-azimuth towing by road rescue equipment. The method combines the structure of road rescue equipment and the characteristicsof side azimuth towing operation, and firstly determines the area to be detected of the wheels of the towed vehicle. Then Gaussian smoothing filtering and edge detection are performed on the image ofthe region, and the gradient directions of each image point are calculated, and the non-zero edge image point set is obtained after binarization. Then the image points are clustered according to the edge continuity feature. Then the gradient direction histogram is established and the related parameters are calculated for the edge point set obtained by clustering. Then a two-step screening algorithm of wheel edge point set is proposed. Therefore, towing guidance is performed according to the selected wheel center position. Finally, the Kalman filter is used to predict and set the area of the next frame of the wheel to be detected. The guidance method provided by the invention has good real-time performance, environmental adaptability and anti-interference ability, and effectively improves the rescue efficiency of the road rescue equipment.

Description

technical field [0001] The invention belongs to the field of intelligent operation of road rescue equipment, and relates to a method for inducing lateral orientation dragging of road rescue equipment based on wheel recognition. Background technique [0002] With the continuous development of social economy, road traffic infrastructure conditions are gradually improving, and the number of motor vehicles is increasing year by year. China has now entered the automobile society. But while enjoying the convenience brought by cars, car breakdowns and traffic accidents have become social problems that affect the development of the national economy. Therefore, the social demand for road vehicle accident rescue, urban illegal vehicle handling, and natural disaster rescue and rescue has also increased rapidly, and the road rescue industry as an automotive aftermarket has gradually been valued and developed rapidly. However, according to relevant survey results, the current technologi...

AI Technical Summary

Problems solved by technology

In the traditional side towing operation, the efficiency of aligning the front wheel of the trailer with the support arm of the road rescue equipment mainly depends on human factors such as the driver's technical experience, and it usually requires repeated reversing to adjust the position. Correction, the operation takes too long and the rescue efficiency is low

Images