CN109998873A - A kind of wearable blindmen intelligent positioning and blind guiding system - Google Patents
A kind of wearable blindmen intelligent positioning and blind guiding system Download PDFInfo
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- CN109998873A CN109998873A CN201910292706.2A CN201910292706A CN109998873A CN 109998873 A CN109998873 A CN 109998873A CN 201910292706 A CN201910292706 A CN 201910292706A CN 109998873 A CN109998873 A CN 109998873A
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- binocular camera
- blind
- visible light
- positioning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/068—Sticks for blind persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
- A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
Abstract
The present invention includes backrest, the helmet, button controller, vibration bracelet, position fixing and navigation system, speech recognition broadcasting system, control system and operating system；Wherein backrest includes substrate, shell and the harness that front and back is oppositely arranged, there are master controller, multiple groups locating module, speech recognition device, infrared binocular camera, button controller etc. in backrest, there is visible light binocular camera II, LED light, photosensitive sensor on the helmet；Control system includes: master controller, button controller, signal reception transmitter and remote server, big data cloud；Speech recognition broadcasting system includes: speech recognition device and voice announcer；Operating system includes operation method of the invention；The present invention can solve the problem of low existing technology for guiding blind accuracy, poor reliability.
Description
Technical field
The present invention relates to technology for guiding blind fields, and in particular to a kind of wearable blindmen intelligent positioning and blind guiding system.
Background technique
According to the incomplete statistics of blind person alliance, the world, there are 4,000 ten thousand to 4,500 ten thousand blind persons, and researcher in the whole world in 2018
It indicates, the quantity to the year two thousand fifty, whole world blind person will reach present two to three times.China is the state that blind person is most in the world
Family, there are about 5,500,000 blind persons, and whether from the world or from China point of view, the quantity of blind person is all extremely huge.
The eyes of blind person do not see things, therefore it is extremely difficult to cause them to go on a journey, and greatly constrain their trip certainly
By this just needs to assist guide by extraneous tool.At present can by auxiliary tool mainly have seeing-eye dog, non intelligent guide
Cane, electronics blind-guiding stick and apparatus for guiding blind.
Seeing-eye dog will can complete short-range guide, it is difficult to meet client in time and lead by training for quite a long time
Blind demand.Seeing-eye dog is that animal can inevitably run chaotically, and seeing-eye dog is intended only as a kind of perception traction of animal, often people
Mistake is led, furthermore a good seeing-eye dog price can often sell for hundreds of thousands member, fairly expensive.It always to be supported as animal,
Breeding expenses, arrange expense expenditure be exactly it is a large number of, kennel, processing dog excrement etc. must be built, additionally to do many work.
Non intelligent blind-guiding stick judges peripheral obstacle by way of tapping ground, and this mode cannot know advance side
To, it is easy to get lost, can not know type, orientation, speed of barrier etc., it is extremely backward and dangerous.
Also occur blind waveguided shoe, guide vehicle etc. in recent years, blind waveguided shoe tool has disadvantages that, such as mixes meeting after a variety of instruments
Become very heavy, barrier cannot be accurately identified and positioned, be not suitable for the rainy day and be easily damaged.As for leading
Blind vehicle, although guide can be supported by force, prices are rather stiff, and cannot be used for the indoor and narrow place in channel, also
Blind person can not be directed into specified place.
Common electronics blind-guiding stick and apparatus for guiding blind generally use ultrasonic sensor and infrared sensor to barrier on the market
Object is hindered to position, ultrasonic wave propagation distance is fairly limited, and it is high to be affected by temperature the big distortion factor, and its infrared sensor used is
Object is judged by temperature, only judges the general shape of object, it is difficult to obtain specific orientation, distance and speed, make
It is less ideal with effect.Moreover these methods used in routine guide instrument are difficult to out what object barrier is now,
Three-dimensional map can not be constructed, this is difficult to know the location of blind person indoors, and people is also easy to lead mistake.These guides
Instrument often uses single positioning, and positioning and navigation accuracy be not high, can not record the separate feature in path of passing by, each time
All used as foreign environment.
In short, the positioning of traditional guide equipment or method, identification and guide accuracy be not strong, lack answering for intelligence aspect
With developing in artificial intelligence instantly, internet and big data the swift and violent epoch, traditional blind-guiding method will be eliminated by the epoch.
From the point of view of the era development general trend of events, guide product more intelligently, efficiently, safe, durable, reliable, portable, economic is
It can be received by people.From the point of view of blind person itself, although blind person's eyes are invisible, other sense organs are often permitted than ordinary person prosperity
More, such as the sense of hearing, we can use the sense of hearing and the sensory transmission navigation information of blind person, reaches for blind person's guide and normally to go on a journey
Purpose.
Summary of the invention
(1) the technical issues of solving
For disadvantages mentioned above present in the prior art, positions and lead the present invention provides a kind of wearable blindmen intelligent
Blind system can effectively overcome positioning present in the prior art and guide accuracy is low, defect of poor reliability.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs:
A kind of wearable blindmen intelligent positioning and blind guiding system, including backrest, the helmet, button controller, vibration bracelet,
Position fixing and navigation system, speech recognition broadcasting system, control system and operating system, the backrest include that front and back is oppositely arranged
Substrate, the substrate are fixedly connected by harness, and shell, LED light are fixed on the substrate, are located at solid on the substrate of front
Surely there is infrared binocular camera, be located behind being fixed with visible light binocular camera I on the substrate, be fixed on the helmet
Visible light binocular camera II is further fixed on photosensitive sensor, LED light on the helmet；
The interior of shell is equipped with master controller, signal receives transmitter, locating module, battery, is located at front institute
It states interior of shell and is accommodated with button controller, locating module is symmetrically fixed on the harness, the front substrate center is fixed
There is one group of locating module, is fixed with speech recognition device, voice announcer on the harness.
Preferably, revolving door is hinged on the shell, the revolving door and shell fix.
Preferably, the visible light binocular camera II is connected by Rotatable bracket with the helmet；At the top of the helmet
Photosensitive sensor perceives intensity of illumination, and when intensity of illumination is lower than threshold value, LED light and infrared binocular are opened in master controller control
Camera, the LED light and infrared binocular camera can also be opened using button controller by master controller pressure by blind person
It opens or closes.
Preferably, the control system includes master controller, button controller, signal reception transmitter, remote service
Device and big data cloud；The master controller is taken the photograph with visible light binocular camera I, visible light binocular camera II, infrared binocular
As head, LED light, photosensitive sensor, locating module, speech recognition device, voice announcer, signal receive transmitter, vibration bracelet,
Button controller, battery are connected, and the locating module receives transmitter with signal respectively, master controller is connected, the signal
It receives transmitter to be connected with remote server, position fixing and navigation system respectively, the remote server connection internet and big number
According to cloud；
The remote server is made of a powerful computer, and the connection as blind person and big data cloud is logical
Road is responsible for calculation processing and stores the guide information of one or more blind persons, is also used to optimal route planning, the depth of guide
It practises.
Preferably, the operating system operational process includes: that one, blind person is said by button controller unlatching speech recognition device
Specific destination or use button remote controller issue target instruction target word out；Two, remote server retrieves destination；Three, long-range clothes
Business device makees optimal route planning；Four, start to navigate, while voice announcer works；Five, binocular camera and each equipment start work
Make, the information of acquisition is real-time transmitted to remote server；Six, remote server handles data, treated data back,
Upload to big data cloud；Seven, continue real-time navigation until arriving at the destination.
Preferably, the infrared binocular camera, visible light binocular camera I, the composition view of visible light binocular camera II
Feel system, the infrared binocular camera make up visible light binocular camera I, visible light binocular camera II in insufficient light
The disadvantage of working effect difference, the ambient enviroment separate feature combination visible light binocular camera that the infrared binocular camera obtains
I, the information that visible light binocular camera II obtains does depth matching, obtains more perfect, accurate separate feature, by calculating
Characteristic point cloud three-dimensional map is constructed, remote server is the direct visual pattern and characteristic point cloud three-dimensional map generated in real time
Constantly it is transferred in big data cloud.
Preferably, the speech recognition broadcasting system includes speech recognition device, voice announcer, and institute's speech recognizer is used
In the voice messaging that identification blind person issues, the voice announcer is for broadcasting navigation information.
Preferably, the position fixing and navigation system includes locating module symmetrically fixed on harness, in the substrate of front
The heart fixed one group of locating module, satellite positioning and navigation system；The locating module is for determining blind person center, each institute
It states locating module and is directly positioned by position fixing and navigation system, obtain the direct positioning coordinate of each locating module, by known accurate
The ground base station of coordinate is modified direct positioning coordinate, and position fixing and navigation system carries out fusion operation to each amendment coordinate,
Mean value after taking operation is as human body center absolute coordinate.
Preferably, vibration bracelet vibration under the driving of signal, the vibration bracelet by different vibration frequencies,
To inform which kind of reminder alerting blind person is, the vibration bracelet is blind by the vibration reminding of right-hand man for vibration amplitude, vibration number
People deviates the direction of projected route and unsafe condition generation to which direction.
Preferably, the key on the button controller is provided with braille, and the button controller passes through master controller
Control the opening and closing of other equipment, the spy that the key on the button controller respectively represents each control switch, respectively sets
Position is levied, an emergency help button is additionally provided on the button controller, emergency help button is equipped with cover sheet, opens
Cover sheet and after pressing the button, master controller by signal receive transmitter the exact position where blind person issued it is responsible
The constant connection people of the blind person, and rescuing telephone is dialed to constant connection people.
(3) beneficial effect
Compared with prior art, the wearable blindmen intelligent positioning of one kind provided by the present invention being capable of essence with blind guiding system
Quasi- is efficiently blind person's positioning and guide, solves that traditional guide mode positioning accuracy is not high, is not suitable for indoor environment, discomfort
For night, guide effect is undesirable the problems such as, also compensate for and be difficult to the shortcomings that positioning in satellite positioning and navigation system room, effectively
Improve the efficiency and accuracy rate of guide, be artificial intelligence and big data undertakings for disabled people applications expanding channel.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.It should be evident that the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the transmitting of present system signal and control planning schematic diagram；
Total score schematic diagram of the Fig. 2 by present system comprising part；
Fig. 3 is present system operation schematic diagram；
Fig. 4 is present system structural schematic diagram；
Fig. 5 is Fig. 4 of the present invention backwards to structural schematic diagram；
In figure:
1, the helmet；2, LED light；3, visible light binocular camera II；4, harness；5, substrate；6, infrared binocular camera；7,
Visible light binocular camera I；8, shell.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
A kind of wearable blindmen intelligent positioning and blind guiding system, as shown in Figures 1 to 5, including backrest, the helmet 1, key
Controller, vibration bracelet, position fixing and navigation system, speech recognition broadcasting system, control system and operating system, before backrest includes
The substrate 5 being oppositely arranged afterwards, substrate 5 are fixedly connected by harness 4, and shell 8, LED light 2 are fixed on substrate 5, are located at front base
It is fixed with infrared binocular camera 6 on plate 5, is located behind being fixed with visible light binocular camera I 7 on substrate 5, it is solid on the helmet 1
Surely there is visible light binocular camera II 3, photosensitive sensor, LED light 2 are further fixed on the helmet 1；
Master controller, signal reception transmitter, locating module, battery are installed inside shell 8, are located at front shell 8
Inside is accommodated with button controller, and locating module is symmetrically fixed on harness 4, and substrate 5 center in front is fixed with one group of positioning mould
Block is fixed with speech recognition device, voice announcer on harness 4.
Revolving door is hinged on shell 8, revolving door and shell 8 fix.
Visible light binocular camera II 3 is connected by Rotatable bracket with the helmet 1；The photosensitive sensor sense at 1 top of the helmet
Know intensity of illumination, when intensity of illumination is lower than threshold value, LED light 2 and infrared binocular camera 6, LED are opened in master controller control
Lamp 2 and infrared binocular camera 6 can also pass through master controller enforced opening or closing using button controller by blind person.
Control system includes master controller, button controller, signal reception transmitter, remote server and big data
Cloud；Master controller and visible light binocular camera I 7, visible light binocular camera II 3, infrared binocular camera 6, LED light 2,
Photosensitive sensor, locating module, speech recognition device, voice announcer, signal receive transmitter, vibration bracelet, button controller,
Battery is connected, and locating module receives transmitter, master controller with signal respectively and is connected, and signal reception transmitter is respectively and remotely
Server, position fixing and navigation system are connected, and remote server connects internet and big data cloud；
Remote server is made of a powerful computer, as the interface channel of blind person and big data cloud, is born
It blames calculation processing and stores the guide information of one or more blind persons, be also used to optimal route planning, the deep learning of guide.
Operating system operational process, which includes: one, blind person, opens speech recognition device by button controller and says specific mesh
Ground or using button remote controller issue target instruction target word；Two, remote server retrieves destination；Three, remote server is made optimal
Route planning；Four, start to navigate, while voice announcer works；Five, binocular camera and each equipment are started to work, acquisition
Information be real-time transmitted to remote server；Six, remote server handles data, treated data back, uploads to greatly
Data cloud；Seven, continue real-time navigation until arriving at the destination.
Infrared binocular camera 6, visible light binocular camera I 7, visible light binocular camera II 3 form vision system, red
It is poor that outer binocular camera 6 makes up visible light binocular camera I 7, visible light binocular camera II 3 working effect in insufficient light
The shortcomings that, the ambient enviroment separate feature combination visible light binocular camera I 7 of the infrared acquisition of binocular camera 6, visible light binocular
The information that camera II 3 obtains does depth matching, obtains more perfect, accurate separate feature, constructs feature by calculating
Point cloud three-dimensional map, remote server are constantly transferred to the direct visual pattern and characteristic point cloud three-dimensional map that generate in real time
In big data cloud.
Speech recognition broadcasting system includes speech recognition device, voice announcer, and blind person issues speech recognition device for identification
Voice messaging, voice announcer is for broadcasting navigation information.
Position fixing and navigation system includes that locating module symmetrically fixed on harness 4,5 center of front substrate fixed one group is fixed
Position module, satellite positioning and navigation system；Locating module is for determining blind person center, and each locating module is by positioning and navigation
System directly positions, and obtains the direct positioning coordinate of each locating module, by the ground base station of known accurate coordinates to directly fixed
Position coordinate is modified, and position fixing and navigation system carries out fusion operation to each amendment coordinate, and the mean value after taking operation is as human body
Center absolute coordinate.
Bracelet vibration under the driving of signal is shaken, vibration bracelet passes through different vibration frequencies, vibration amplitude, vibration time
To inform which kind of reminder alerting blind person is, it is predetermined that vibration bracelet is deviateed by the vibration reminding blind person of right-hand man to which direction number
The direction that route and unsafe condition occur.
Key on button controller is provided with braille, and button controller controls opening for other equipment by master controller
It opens and closes, the feature locations that the key on button controller respectively represents each control switch, respectively sets, on button controller also
Equipped with an emergency help button, emergency help button is equipped with cover sheet, after opening cover sheet and pressing the button, center
Controller issues the exact position where blind person by signal reception transmitter the constant connection people for being responsible for the blind person, and to admittedly
Determine contact person and dials rescuing telephone.
One group of visible light binocular camera I 7 on rear end substrate 5 is used to see clearly the environmental aspect behind blind person, and
It informs the useful circumstance state information of blind person, can also blind person be warned to avoid when dangerous situation especially behind blind person, gram
It has taken blind person in conventional guide mode and has haveed the defects that blind area behind.One group of visible light binocular camera II 3 on the helmet 1 is
The entire most important acquisition of information source of blind guiding system, blind person can obtain more wide surrounding's ring by the flexible twisting on head
Border separate feature can easily obtain number, in the traffic lights information of certain altitude, information of left and right vehicle and pedestrian etc..
One group infrared binocular camera 6 on front end substrate 5 is equally controlled by photosensitive sensor by master controller indirectly
System, can also be by blind person by button controller enforced opening or closing, primarily to making up visible light binocular camera in light
The disadvantage of working effect difference, mainly uses when rather dark when line deficiency.The week that it is obtained when infrared binocular camera 6 uses
The information that collarette border separate feature combination visible light binocular camera obtains does depth matching, obtains more perfect, accurate thing
Object information enhances the accuracy of guide.
Shell 8 on substrate 5 protects the electronic devices such as master controller, water proof and dust proof, and openable facilitates dimension
Repair or replace internal components.
The helmet 1 has complied with the wearable trend of guide instrument, only has one group of visible light binocular camera II 3, light above
Dependent sensor and a LED light, for the bulky traditional guide helmet that seems with complicated various instrument, for blind person
For be undoubtedly more easily, and this group of visible light binocular camera II 3 can be around the holder pivots on the helmet 1, inclination angle
Be it is adjustable, be suitable for the different blind person of the degree of bowing and use.This group of visible light binocular camera when taking off the helmet 1
II 3 dig upwards, can protect camera.
When LED light 2 is for insufficient lights such as night, dim corridor, thick fog weather, by the photosensitive sensor at 1 top of the helmet
Intensity of illumination is perceived, when perceiving intensity of illumination lower than threshold value, is then controlled by master controller and opens LED light 2, it can also be by blind
People passes through button controller enforced opening or closing.LED light 2 is primarily to enhancing visible light binocular camera in low-light
Function and effect, and other pedestrians or driver can be warned to pay attention to avoiding the blind person, but in order to not influence other people, LED light 2 is not yet
It can be too bright.
Locating module directly positions each locating module using position fixing and navigation system for determining blind person position,
Obtain the direct positioning coordinate of each locating module, by known accurate coordinates ground base station Differential positioning method to direct
Positioning coordinate is modified, and obtained each locating module position coordinates are done fusion operation by position fixing and navigation system, after taking operation
Mean value as human body center absolute coordinate, absolute coordinate information is received transmitter by signal and is transferred to remotely by locating module
Server, remote server record real-time absolute coordinate.It can be reduced using more locating modules and Differential positioning by list
The error of one positioning modular belt, improves the robustness of positioning system, the accuracy and reliability of coordinate is effectively promoted, to make
It is more accurate to obtain guide instruction.
Signal receives the reception and transmitting that transmitter is responsible for signal, is the bridge of data transmission, uses 4G, 5G mobile network
The conversion for transmitting information data and signal, completes the real-time transmission of data.When using 5G mobile network technology, Neng Gouman
The huge binocular camera information transfer demands of foot.
Remote server is made of a more powerful computer of function, and the connection as blind person and big data cloud is logical
The guide information of calculation processing one or more blind person is responsible in road, is also used to the optimal route planning of guide.Remote server is negative
The specific works of duty are: the vision algorithm operation of binocular camera, the operation to the deep learning algorithm of image information, optimal road
Algorithm operation that line gauge is drawn, searches for useful information at three or more the fusion operations of locating module coordinate from big data cloud
Cloud computing uploads the operation of object image information and coordinate information and characteristic point information on walked route, three-dimensional map building
Operation with upload and the operation for blind person's precision navigation.
Shake there are two bracelets, one in left hand one only in the right hand, shaking bracelet under the driving of signal can shake, from
And hand is allowed to feel vibration.Vibration bracelet serves as the role of reminder alerting, when blind person's deviation route or in case of emergency, root
Different vibration frequencies, vibration amplitude, vibration number are set according to the difference of deviation route or degree of danger, to inform that blind person is
Kind reminder alerting deviates the side of projected route and unsafe condition generation by the vibration reminding blind person of right-hand man to which direction
To the vibration bracelet has effectively shared the burden of voice announcer, reduces the number of voice broadcast.
Key on button controller is provided with braille, and different key represents different control meanings, or represents infrared
The open and close of binocular camera 6, or the open and close of speech recognition device are represented, or represent the open and close of whole system, or represent different
Locality, by master controller, button controller can indirectly control the opening and closing of equipment.
Before starting guide, the locality of each fixation, blind guiding system are reached using blind guiding system by some normal person in advance
Obtain and be accurately positioned coordinate, environmental information and characteristic point cloud three-dimensional map, then by remote server locality this
A little information are uploaded to as feature locations module in big data cloud, on the key feature locations module collection to remote controler, by
Key represents feature locations.When blind person expect that feature locations are gone or speech recognition device goes wrong suddenly and failure or system not
When can position to feature locations precise search, after pressing remote controler the corresponding button, search call is originally stored in big data by system
Cloud is blind man navigation to feature locations after programme path.
Such as environment and location information at acquisition entrance, using locality entrance as fisrt feature position mould
Block, with first key of remote controler instead of no matter blind person at which, can navigate and go home after pressing first key.
In addition, also setting up emergency help button on button controller, there is cover board protection on the button, opens cover board and press the button
Afterwards, master controller will be received transmitter and the accurately located position where blind person is issued by signal is responsible for consolidating for the blind person
Determine contact person, and dials rescuing telephone etc. to constant connection people.By button controller, solves blind person because to be moved
Distance is very short and the problem of specific location can not navigate is not being retrieved not Chu Lai on map, solves conventional blind-guiding method because of accident
The problem of situation can not cry for help in time.
Before stroke starts, blind person opens speech recognition device by button controller, then says specific destination or makes
Target instruction target word is issued with button controller, speech recognition device identifies destination name information later, then connects again by signal
Transmitting-receiving emitter is transferred to remote server.Wherein, it when pressing the sending target instruction target word of some key using button controller, indicates before wanting
When toward feature locations representated by the key, master controller reads the key command, and transmits a signal to signal and receive hair
Emitter transmitting.
After remote server receives purpose earth signal, high definition map is obtained from big data cloud, is retrieved on map
Destination, and the default potential route for going to destination, remote server pass through cloud computing from big data cloud system again
In extract real time road information in each default route, which includes: car flow information, people information, red street lamp letter
Breath, lane line information, road signs information, zebra stripes distributed intelligence, pavement distributed intelligence and control traffic message etc..Then
Remote server counts the weight of each default route by optimal route planning algorithm, calculates weighting for each default route
Point, a point highest optimal route as navigation is obtained, and issue the control binocular camera operation of signal designation master controller.
Binocular camera is started to work, and every group of binocular camera successively absorbs visual pattern from ambient enviroment, and will
Image receives transmitter by signal and is continuously transferred to remote server, and remote server passes through vision algorithm from image
The characteristic point in image that two cameras for extracting characteristic point, while matching every group of binocular camera obtain, it is fixed using parallax
The method of position obtains distance and angle orientation of the characteristic point relative to people on object, calculates relative to people center absolute coordinate
Relative coordinate, then relative coordinate can be obtained the absolute coordinate of each characteristic point on object plus people center absolute coordinate, matching
Deep vision image afterwards is just used as a key frame, according to the feature point transformation on each key frame, can calculate locating for people
The angle and speed that object space changes in environment.
Meanwhile characteristic point absolute coordinate and deep vision image that remote server is obtained according to each group camera
Go out the characteristic point cloud three-dimensional map of each group in conjunction with high definition map structuring, remote server picks non-static target from the three-dimensional map
It removes, then final characteristic point cloud can be reconstructed dimensionally after the characteristic point cloud three-dimensional map of each group is matched and is fitted
Figure, remote server are constantly transferred to the visual pattern and characteristic point cloud three-dimensional map that generate in real time in big data cloud, image
It will be as a part in big data cloud with each characteristic point information.And before walking can be absorbed in same routes every time
Visual pattern do not absorb, new and characteristic point generate new three-dimensional map by processing, and remote server is new three-dimensional
Map and former three-dimensional map comparative analysis, extract no, incompact, vacancy the place of new three-dimensional map Central Plains three-dimensional map
Split is in former three-dimensional map, to obtain updated, more careful three-dimensional map.Therefore, the double of binocular camera are utilized
Visually feel, it will be able to which no matter indoors or outdoor, nothing the specific coordinate of outdoor acquisition ambient enviroment feature indoors makes guide
By being daytime or night precision all with higher.
In addition, carrying out depth to binocular camera by subject image and object feature point information using deep learning algorithm
Training is based on deep learning algorithm, binocular when binocular camera meets similar things again or walks identical route again
Camera can quickly be identified that binocular camera not only can know that orientation, coordinate, speed, the size of object to object, also
Can know that object is, and its " seeing more " allowed will to identify faster, is more accurate, realize more with it is more clever, more use
It is more safe and reliable.
Later, the ambient conditions information obtained by the positioning coordinate and binocular camera of the comprehensive people of remote server,
Navigation information is sent in real time to master controller using position fixing and navigation system.
Finally, master controller is according to the navigation information control voice announcer and vibration bracelet obtained in remote server
For blind man navigation, and the number that same route is walked is more, and it is more accurate to navigate, that is, " it the more walks the more quasi-, the more walks the more safe,
The more walk the more reliable ".
The wearable blindmen intelligent positioning of one kind provided by the present invention and blind guiding system can precisely efficiently be blind person
Positioning and guide, solve that traditional guide mode positioning accuracy is not high, is not suitable for indoor environment, is not suitable for night, guide
The problems such as effect is undesirable also compensates in satellite positioning and navigation system room and is difficult to the shortcomings that positioning, and effectively improves the effect of guide
Rate and accuracy rate be artificial intelligence and big data undertakings for disabled people applications expanding channel.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, can't be such that the essence of corresponding technical solution departs from the spirit and scope of the technical scheme of various embodiments of the present invention.
Claims (10)
1. a kind of wearable blindmen intelligent positioning and blind guiding system, it is characterised in that: including backrest, the helmet (1), press key control
Device, vibration bracelet, position fixing and navigation system, speech recognition broadcasting system, control system and operating system, before the backrest includes
The substrate (5) being oppositely arranged afterwards, the substrate (5) are fixedly connected by harness (4), are fixed with shell on the substrate (5)
(8), LED light (2) are located on the front substrate (5) and are fixed with infrared binocular camera (6), are located behind the substrate (5)
On be fixed with visible light binocular camera I (7), be fixed with visible light binocular camera II (3), the head on the helmet (1)
Photosensitive sensor, LED light (2) are further fixed on helmet (1)；
Master controller, signal reception transmitter, locating module, battery are installed inside the shell (8), are located at described in front
Button controller is accommodated with inside shell (8), is symmetrically fixed with locating module on the harness (4), in the front substrate (5)
The heart is fixed with one group of locating module, is fixed with speech recognition device, voice announcer on the harness (4).
2. wearable blindmen intelligent positioning and blind guiding system according to claim 1, it is characterised in that: the shell
(8) revolving door is hinged on, the revolving door and shell (8) fix.
3. wearable blindmen intelligent positioning and blind guiding system according to claim 1, it is characterised in that: the visible light
Binocular camera II (3) is connected by Rotatable bracket with the helmet (1)；Photosensitive sensor at the top of the helmet (1) perceives light
According to intensity, when intensity of illumination is lower than threshold value, LED light (2) and infrared binocular camera (6), institute are opened in master controller control
State LED light (2) and infrared binocular camera (6) can also by blind person using button controller by master controller enforced opening or
It closes.
4. wearable blindmen intelligent positioning and blind guiding system according to claim 1, it is characterised in that: the control system
System includes master controller, button controller, signal reception transmitter, remote server and big data cloud；The center control
Device and visible light binocular camera I (7), visible light binocular camera II (3), infrared binocular camera (6), LED light (2), light
Dependent sensor, locating module, speech recognition device, voice announcer, signal receive transmitter, vibration bracelet, button controller, electricity
Pond is connected, and the locating module receives transmitter with signal respectively, master controller is connected, and the signal receives transmitter difference
It is connected with remote server, position fixing and navigation system, the remote server connection internet and big data cloud；
The remote server is made of a powerful computer, as the interface channel of blind person and big data cloud, is born
It blames calculation processing and stores the guide information of one or more blind persons, be also used to optimal route planning, the deep learning of guide.
5. wearable blindmen intelligent positioning and blind guiding system according to claim 1, it is characterised in that: the operation system
System operational process includes: that one, blind person says specific destination by button controller unlatching speech recognition device or uses key
Remote controler issues target instruction target word；Two, remote server retrieves destination；Three, remote server makees optimal route planning；Four, it opens
Begin to navigate, while voice announcer works；Five, binocular camera and each equipment are started to work, the information real-time Transmission of acquisition
To remote server；Six, remote server handles data, treated data back, uploads to big data cloud；Seven, continue
Real-time navigation is until arriving at the destination.
6. wearable blindmen intelligent positioning and blind guiding system according to claim 1, it is characterised in that: described infrared double
Mesh camera (6), visible light binocular camera I (7), visible light binocular camera II (3) form vision system, described infrared double
Mesh camera (6) makes up visible light binocular camera I (7), visible light binocular camera II (3) working effect in insufficient light
The disadvantage of difference, the ambient enviroment separate feature combination visible light binocular camera I (7) of infrared binocular camera (6) acquisition,
The information that visible light binocular camera II (3) obtains does depth matching, obtains more perfect, accurate separate feature, by meter
Characteristic point cloud three-dimensional map is constructed in calculation, remote server the direct visual pattern and characteristic point cloud generated in real time dimensionally
Figure is constantly transferred in big data cloud.
7. wearable blindmen intelligent positioning and blind guiding system according to claim 1, it is characterised in that: the voice is known
Other broadcasting system includes speech recognition device, voice announcer, institute's speech recognizer voice messaging that blind person issues for identification,
The voice announcer is for broadcasting navigation information.
8. wearable blindmen intelligent positioning according to claim 1 and blind guiding system, it is characterised in that: the positioning with
Navigation system includes: one group of positioning mould of locating module symmetrically fixed on harness (4), the fixation of the front substrate (5) center
Block, satellite positioning and navigation system；The locating module for determining blind person center, each locating module by positioning with
Navigation system directly positions, and the direct positioning coordinate of each locating module is obtained, by the ground base station of known accurate coordinates to straight
It connects positioning coordinate to be modified, position fixing and navigation system carries out fusion operation to each amendment coordinate, the mean value conduct after taking operation
Human body center absolute coordinate.
9. wearable blindmen intelligent positioning and blind guiding system according to claim 1, it is characterised in that: the vibration hand
Ring vibration under the driving of signal, the vibration bracelet are blind to inform by different vibration frequencies, vibration amplitude, vibration number
Which kind of reminder alerting people is, the vibration bracelet by the vibration reminding blind person of right-hand man to which direction deviate projected route and
The direction that unsafe condition occurs.
10. wearable blindmen intelligent positioning and blind guiding system according to claim 1, it is characterised in that: the key
Key on controller is provided with braille, and the button controller controls unlatching and the pass of other equipment by master controller
It closes, the feature locations that the key on the button controller respectively represents each control switch, respectively sets, on the button controller
It is additionally provided with an emergency help button, emergency help button is equipped with cover sheet, after opening cover sheet and pressing the button, in
Heart controller is received transmitter and the exact position where blind person is issued by signal is responsible for the constant connection people of the blind person, and to
Constant connection people dials rescuing telephone.
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Application publication date: 20190712 |