KR20170053061A - Smart system for blind people and method for obstacle detection - Google Patents

Smart system for blind people and method for obstacle detection Download PDF

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KR20170053061A
KR20170053061A KR1020150155348A KR20150155348A KR20170053061A KR 20170053061 A KR20170053061 A KR 20170053061A KR 1020150155348 A KR1020150155348 A KR 1020150155348A KR 20150155348 A KR20150155348 A KR 20150155348A KR 20170053061 A KR20170053061 A KR 20170053061A
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obstacle
sensor
ultrasonic
generated
unit
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KR101773592B1 (en
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이성원
안계완
이용석
이승형
손성민
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경희대학교 산학협력단
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B3/00—Audible signalling systems; Audible personal calling systems
    • G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
    • G08B3/1008—Personal calling arrangements or devices, i.e. paging systems
    • G08B3/1016—Personal calling arrangements or devices, i.e. paging systems using wireless transmission
    • G08B3/1025—Paging receivers with audible signalling details
    • G08B3/1033—Paging receivers with audible signalling details with voice message alert
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0153—Support for the device hand-held
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0184—Means for preventing injuries by raising an alarm
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
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  • Life Sciences & Earth Sciences (AREA)
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  • Acoustics & Sound (AREA)
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  • Physical Education & Sports Medicine (AREA)
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  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Rehabilitation Tools (AREA)

Abstract

In order to detect obstacles in front of the visually impaired, the smart system measures the tilt value of the staff based on the sensing signal generated from the gyro sensor when the setting request signal of the staff is inputted from the outside, And transmits a control signal for adjusting the sensor direction of the plurality of ultrasonic sensors to the sensor position adjusting unit. The presence of obstacles in front of the visually impaired person is checked based on the reflected waves of the ultrasonic waves generated by the plurality of directionally adjusted ultrasonic sensors. If there is an obstacle, the processor unit controls the notification unit do.

Description

TECHNICAL FIELD [0001] The present invention relates to a smart system for blind people,

The present invention relates to a smart system for a visually impaired person and a method for detecting an obstacle using the smart system.

In general, white-cane is widely used as an aid for the visually impaired. In order to use a cane for the visually impaired, training for a long period of time is required, and it is difficult to easily grasp the detection information of the obstacle, so that the visually impaired person often experiences injury. In order to overcome this problem, research has been conducted on the electronic walking system.

However, even if the obstacle detection device is installed on the staff for the visually impaired, the electronic walking device mainly has obstacle detection device. Even if the obstacle detection device is installed on the wand for the visually impaired, due to various variables such as the user and environment, density of obstacles, It may not be recognized.

Accordingly, the present invention provides a user-customized cane by adjusting the angle value and the detection range of the ultrasonic sensor used for the distance measurement according to the user's physical condition and the environment to be used, easily collects the information of the surrounding obstacles, And provides a smart system for the visually impaired and an obstacle detection method using the smart system.

According to another aspect of the present invention, there is provided a smart system for a visually impaired person,

A sensing signal for sensing the ambient brightness of the visually impaired person is generated or a sensing signal for measuring the angle between the stick and the ground is generated and a first ultrasonic wave for detecting the obstacle is generated A first sensing unit; A second sensing unit installed at a second position of the wand for generating a second ultrasonic wave for detecting an obstacle; And a control unit for controlling the first sensing unit and the second sensing unit on the basis of the angle of the cane measured based on the sensing signal generated by the first sensing unit, And a control unit for checking presence or absence of an obstacle by using reflected waves of the obstacle.

Wherein the first sensing unit comprises: an illuminance sensor for sensing a surrounding brightness of a visually impaired person having the cane to generate a sensing signal for identifying night and day; A gyro sensor for generating a sensing signal for measuring a tilt value of the staff; A first ultrasonic sensor for generating a first ultrasonic wave for detecting the obstacle and adjusting an ultrasonic wave generating position under the control of the first sensor position adjusting unit; And the first sensor position adjusting unit adjusting the angle of the first ultrasonic sensor based on the control signal when receiving a control signal including the tilt value of the staff from the controller.

The second sensing unit may include a second ultrasonic sensor for generating a second ultrasonic wave for detecting the obstacle and adjusting an ultrasonic wave generating position under the control of the second sensor position adjusting unit. And a second sensor position adjuster for adjusting the angle of the second ultrasonic sensor on the basis of the control signal when receiving the control signal including the tilt value of the staff from the controller.

A gyro sensor for generating a light emission control signal by identifying day and night based on a sensing signal generated by the light sensor, measuring a tilt value of the stick on the basis of a sensing signal generated by the gyro sensor, And a control signal for controlling the position of the first ultrasonic sensor and the second ultrasonic sensor is generated and transmitted to the first sensor position adjuster and the second sensor position adjuster, respectively, and a plurality of reflected waves for the first ultrasonic wave and the second ultrasonic wave are generated A processor unit for detecting the presence or absence of an obstacle; And a light emitting unit that generates light based on the light emitting unit control signal generated by the processor unit or changes the state so that the light being generated is turned off.

According to another aspect of the present invention, there is provided a method for detecting an obstacle ahead of a visually impaired person in a smart system,

The smart system includes a gyro sensor, an illuminance sensor, a plurality of ultrasonic sensors, a plurality of sensor position control units connected to the plurality of ultrasonic sensors, and a processor unit. When a setting request signal of a wand held by the visually impaired person is inputted from the outside Measuring a tilt value of the wand by the processor unit based on a sensing signal generated from the gyro sensor; Transmitting a control signal for adjusting the sensor direction of the plurality of ultrasonic sensors to the plurality of sensor position adjusting units based on the tilt values of the measured sticks; Confirming presence or absence of an obstacle in front of the visually impaired person based on reflected waves of ultrasonic waves respectively generated in a plurality of directionally adjusted ultrasonic sensors; And when the obstacle exists, the processor unit controls the notification unit to control the notification unit to inform the blind person that the blind is present.

The step of confirming the presence or absence of the obstacle may include the steps of: confirming a predetermined basic angle set by the processor unit; Receiving reflected waves for ultrasonic waves generated by the plurality of ultrasonic sensors; Checking whether the detection cycle is completed based on the number of times the reflected wave is received; Comparing the number of times the obstacle is detected from the received reflected wave with a preset first reference value or a second reference value if the detection cycle is terminated; If the number of times the obstacle is detected is greater than or equal to the first reference value, narrowing down the predetermined basic angle so that the detection range is reduced; And adjusting the detection range to be wider by widening the preset basic angle if the number of times the obstacle is detected is less than or equal to the second reference value.

Checking whether a surrounding environment of the visually impaired person is in a first state or a second state based on a sensing signal generated in the illuminance sensor; Controlling the state of the light emitting unit provided on the wand so that light is not generated when the surrounding environment is in the first state; Controlling a state of the light emitting unit to emit light when the ambient environment is in a second state; And controlling the state to change from the second state to the first state when the ambient environment changes from a state in which light is generated to a state in which no light is generated.

According to the present invention, since the position of the sensor can be adjusted to the user in consideration of the tilt value of the staff depending on the physical condition of the user, the presence or absence of the obstacle can be accurately detected.

In addition, the presence of an obstacle is notified to the user in various forms, so that the user can easily grasp the presence of an obstacle.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is an illustration of a wand equipped with a smart system according to an embodiment of the present invention;
2 is a structural diagram of a smart system according to an embodiment of the present invention.
3 is an exemplary view illustrating an angle change of an ultrasonic sensor according to an embodiment of the present invention.
4 is an exemplary view of a detection angle range of an ultrasonic sensor according to an embodiment of the present invention.
5 is a diagram illustrating an obstacle detection range according to the detection range of the ultrasonic sensor according to the embodiment of the present invention.
6 is a diagram illustrating an example of a sensing method of an ultrasonic sensor according to an embodiment of the present invention.
7 is a flowchart of the operation of the smart system according to the embodiment of the present invention.
8 is a flowchart of a detection angle adjusting method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

Hereinafter, a smart system for a visually impaired person according to an embodiment of the present invention will be described with reference to the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is an illustration of a wand equipped with a smart system according to an embodiment of the present invention;

As shown in FIG. 1, the smart system 100 is dispersed at a first position near the handle, a second position away from the handle, and a third position near the ground, where the user grasps the wand at the visually impaired wand 10 Respectively. The smart system 100 is divided into a first sensing unit 110 and a second sensing unit 120. The first sensing unit is installed at a first position near the handle and the second sensing unit 120 is disposed near the ground And is installed at the third position. In the second position, a component functioning as the control unit 130 is provided.

The structure of such a smart system 100 will be described with reference to FIG.

2 is a structural diagram of a smart system according to an embodiment of the present invention.

As shown in FIG. 2, the smart system 100 includes a first sensing unit 110, a second sensing unit 120, and a controller 130. The first sensing unit 110 includes an illuminance sensor 111, a gyro sensor 112, a first ultrasonic sensor 113 and a first sensor position adjusting unit 114, 2 ultrasonic sensor 121 and a second sensor position adjusting unit 122. [ The control unit 130 includes a processor unit 131 and a light emitting unit 132.

The illuminance sensor 111 of the first sensing unit 110 senses the brightness of the user's surroundings and generates a sensing signal to identify day and night. The method by which the ambient light sensor 111 generates the sensing signal for sensing the ambient brightness is already known, and a detailed description thereof will be omitted in the embodiment of the present invention.

The gyro sensor 112 receives a cane tilt value acquisition request signal from the processor unit 131 and generates a sensing signal for measuring a tilt value of the cane. The method by which the gyro sensor 112 generates the sensing signal for measuring the tilt value of the staff is already known, and a detailed description thereof will be omitted in the embodiment of the present invention.

The first ultrasonic sensor 113 generates an ultrasonic wave in order to receive a reflected wave signal that comes back from the object in response to the presence of an obstacle and to detect whether an obstacle is present in front of the object. The function of the first ultrasonic sensor 113 is already known, and a detailed description thereof will be omitted in the embodiment of the present invention.

The first ultrasonic sensor 113 changes the ultrasonic wave generation angle of the ultrasonic sensor by the first sensor position adjustment unit 114. That is, if the angle at which the wand is perpendicular to the ground and the angle at which the ultrasonic waves are generated at the front (90 ° to the ground) is the basic angle, if the wand is tilted at 45 ° to the ground, The angle also changes. Accordingly, the first ultrasonic sensor 113 corrects the angle of the first ultrasonic sensor 113 so that the position where the ultrasonic wave is generated by the operation of the first sensor position adjustment unit 114 becomes horizontal with the ground.

Here, the ultrasonic waves generated by the first ultrasonic sensor 113 whose angles are corrected are shifted from the center of the ultrasonic sensor 113 to the left (hereinafter referred to as 'first direction' And a minimum angle of 7.5 degrees at a maximum of 22.5 degrees with respect to the center of the ultrasonic sensor 113 (hereinafter referred to as a " second direction " The generation of ultrasonic waves is described as an example, but the present invention is not limited thereto.

Also, in the embodiment of the present invention, it is described that the reference detection angle for detecting the obstacle according to the generation of the ultrasonic wave generated first by the first ultrasonic sensor 113 is 45 ° and the detection angle is changed according to whether the obstacle is detected or not But it is not necessarily limited thereto. At this time, when the reference detection angle is 45 °, the maximum angle of 22.5 ° in the first direction and the maximum angle of 22.5 ° in the second direction with respect to the center of the first ultrasonic sensor 113 and the angle of change of the ultrasonic wave generation are 5 ° But is not necessarily limited to such.

The first sensor position adjustment unit 114 adjusts the angle of the first ultrasonic sensor 113 under the control of the processor unit 131 to be described later on the basis of the inclination value of the wand ascertained by the gyro sensor 112. In the embodiment of the present invention, the sensor position adjustment unit 114 is implemented as a motor to adjust the angle of each sensor, but the present invention is not limited thereto.

The second ultrasonic sensor 121 of the second sensing unit 120 generates an ultrasonic wave in the same manner as the first ultrasonic sensor 113 included in the first sensing unit 110, Or not. In the embodiment of the present invention, the second ultrasonic sensor 121 and the first ultrasonic sensor 113 generate ultrasonic waves at the same time, but the present invention is not limited thereto.

The angle of the second ultrasonic sensor 121 is corrected by the first sensor position adjusting unit 122 so that the angle of the ultrasonic wave generated by the ultrasonic sensor is changed. Here, the ultrasonic waves generated by the angle-corrected second ultrasonic sensor 121 are at least 15 degrees at maximum 45 degrees and maximum 45 degrees at the second direction with respect to the center of the second ultrasonic sensor 121 in the first direction The ultrasonic wave is generated at an angle of at least 15 degrees in the example shown in Fig.

Further, in the embodiment of the present invention, it is described that the reference detection angle for detecting the obstacle according to the generation of the ultrasonic wave generated first by the second ultrasonic sensor 121 is 45 degrees and the detection angle is changed according to whether the obstacle is detected or not But it is not necessarily limited thereto. At this time, when the reference detection angle is 45 °, the maximum angle of 22.5 ° in the first direction and the maximum angle of 22.5 ° in the second direction with respect to the center of the second ultrasonic sensor 121, But is not necessarily limited to such.

The second sensor position adjustment unit 122 adjusts the angle of the second ultrasonic sensor 121 under the control of the processor unit 131 based on the tilt value of the stick detected by the gyro sensor 112.

The processor unit 131 of the control unit 130 receives an input value from a sensor and controls electronic devices such as a light emitting unit 132 such as an LED and sensor position adjusting units 114 and 122 such as a motor, And various sensors are connected to the controller 131 to control the operation. That is, the processor unit 131 receives brightness information, which is a sensing signal generated by the illuminance sensor 111, to detect whether it is daytime or nighttime, and when it detects nighttime, the processor unit 131 controls the light emitting unit 132, Is changed from the off state to the on state (On). On the other hand, when the user senses the light emitting diode 132 in the nighttime, the light emitting unit 132 is controlled to be in the off state.

In addition, the processor unit 131 receives the tilt value sensed by the gyro sensor 112 and confirms the tilt value of the stick. And controls the sensor position adjusting units 114 and 122 so that the angles of the plurality of ultrasonic sensors 113 and 121 are adjusted based on the tilt values of the checked wand.

When the cane setting request signal is input from the outside, the processor unit 131 requests the gyro sensor 112 to measure the tilt value of the cane. Here, the cane setting request signal input from the outside is generated at the same time as the user using the cane presses the setting button (not shown) included in one side of the cane, and does not limit the setting request signal to any one form .

The processor unit 131 receives the ultrasound signals reflected from the ultrasonic sensors 113 and 121 and generates distance information and height information of the obstacles based on the received ultrasound signals to the user who is blind, (For example, an earphone, a vibrator, or the like) worn by the user in order to inform the user of presence of an obstacle by notifying the user of the presence of the obstacle . In the embodiment of the present invention, an arduino is used as an example of the processor unit 131, but the present invention is not limited thereto.

The light emitting unit 132 is turned on and off according to the control of the processor unit 131 when the processor unit 131 confirms the current state at night according to the sensing value of the light intensity sensor 111. On the other hand, when the user enters the home by entering the house through a light house or a store while the user is outside at night, the processor unit 131 confirms the daytime, and the light emitting unit 132, which has been turned on under the control of the processor unit 131, The state is changed to the OFF state, and the light emission is stopped. In the embodiment of the present invention, the light emitting unit 132 is implemented by an LED or the like, but the present invention is not limited thereto.

The angular change of the ultrasonic sensor of the smart system and the detection range according to the angular change as described above will be described with reference to FIGS. 3 to 6. FIG.

3 is an exemplary view illustrating an angle change of an ultrasonic sensor according to an embodiment of the present invention.

As shown in FIG. 3, it is necessary to adjust the positions of a plurality of ultrasonic sensors 113 and 121 provided on the staff according to the physical condition of the user or the inclination of the wand used by the user. Although only two ultrasonic sensors 113 and 121 are described in the embodiment of the present invention, the number of the ultrasonic sensors 113 and 121 is not limited to two.

The position adjustment of the ultrasonic sensors 113 and 121 is performed by driving the sensor position adjusting units 114 and 122. The sensor position adjustment units 114 and 122 receive the tilt information of the wand collected by the gyro sensor 112 and then transmit the tilt information of the wand collected by the gyro sensor 112 to the ultrasonic sensors 113 and 121 by the sensor position adjustment units 114 and 122, So as to adjust the position of the second lens group. After the position of the ultrasonic sensors 113 and 121 has been adjusted, the ultrasonic sensors 113 and 121 are moved up and down at predetermined angles (from a minimum of 7.5 degrees to a maximum of 22.5 degrees in the first direction and a maximum of 22.5 degrees in the second direction, Direction and a total of a second direction from a minimum of 15 degrees to a maximum of 45 degrees), and the range of the detection angle will be described with reference to FIG.

4 is an exemplary view of a detection angle range of an ultrasonic sensor according to an embodiment of the present invention.

The surrounding environment is continuously changed according to the movement of the user. Therefore, it is necessary to narrow the search range in a narrow space to perform accurate detection, and to broaden the search range in a wide space to secure more stability. 4, the ultrasonic sensors 113 and 121 have a detection range of at least 15 degrees at a maximum of 45 degrees with respect to the center of the ultrasonic sensors 113 and 121 in order to detect an obstacle ahead As an example. For the detection of obstacles, the angle at which the ultrasonic waves are generated is shifted by 5 degrees.

In the embodiment of the present invention, it is assumed that the detection range angle is 45 deg. (22.5 deg. In the first direction and 22.5 deg. In the second direction) as the basic setting angle. The number of times of detection of obstacles Adjust the angle range based on. Here, the term "detection cycle" means the total number of times the detection range angle is adjusted by 5 ° within the detection range angle and is calculated as "detection range angle / 5 °". For example, if the default setting angle is 45 °, 10 times a total of 10 times is measured up to 45 ° with a detection at 0 ° and a second detection at 5 °. .

If the number of obstacles detected at the end of the detection cycle is less than 30% of the cycle, that is, if the obstacle is detected at 3 or less of 30% of the 10 detection cycles at 45 °, To detect a wide range by setting the detection range to 50 °. On the other hand, if the detected number is more than 70% of the cycle, ie if more than 7 obstacles corresponding to 70% of the 10 detection cycles at 45 ° are detected, the detection range is reduced by 5 ° so that the detection range is 40 ° So that the obstacle can be detected within a narrower range than the reference detection range.

An example in which an obstacle is detected according to the range of detection of the obstacles changed according to the detection angle range of the ultrasonic sensors 113 and 121 thus changed will be described with reference to FIG.

5 is a diagram illustrating an obstacle detection range according to the detection range of the ultrasonic sensor according to the embodiment of the present invention.

FIG. 5A is for an obstacle detection range when the detection range is 45 DEG, and FIG. 5B is for an obstacle detection range when the detection range is 20 DEG. Further, when the detection range of the ultrasonic sensors 113 and 121 is adjusted, the detection range when the detection range is 45 ° or 20 ° depends on the position of the ultrasonic sensors 113 and 121.

In the embodiment of the present invention, the detection distance according to the detection range of the ultrasonic sensors 113 and 121 can be defined as shown in Table 1 below. The detection distance shown in Table 1 shows the maximum detection distance that can be detected by the ultrasonic sensor regardless of the inclination of the wand.

Detection range angle Minimum detection distance Top Max Detection Bottom maximum detection 15-25 50cm 2m 1m 25 to 35 50cm 3m 2m 35 to 45 50cm 4m 3m

5 (a), the maximum detection distance of the first ultrasonic sensor 113 is 4 m, so that it is possible to detect a long and wide range of obstacles. However, Many obstacles that do not affect can be detected. Accordingly, if the detection range of the ultrasonic sensor is sequentially reduced and the detection range is reduced to 20 deg. As shown in FIG. 5 (b), the maximum detection distance becomes 2 m, which enables accurate detection of obstacles affecting the user's travel.

Detection of an obstacle by the ultrasonic sensors 113 and 121 after the angle of the detection range and the distance of the detection range described in FIGS. 4 and 5 are adjusted will be described with reference to FIG.

6 is a diagram illustrating an example of a sensing method of an ultrasonic sensor according to an embodiment of the present invention.

FIG. 6 shows distances to detect a front obstacle when the walking stick is inclined by 45 degrees from the ground. As shown in FIG. 6, the first ultrasonic sensor 113 measures an angle of about 2 m at an angle of 45 degrees. And the second ultrasonic sensor 121 detects an obstacle 1 m ahead at a 45 ° angle.

The velocity of the ultrasonic waves generated by the ultrasonic sensors 113 and 121 is calculated as '331.5+ (0.6 * temperature) m / s', and supposing that the temperature is 20 degrees, ultrasonic waves of 343.5 m / s are generated. The values calculated by the ultrasonic sensors 113 and 121 are calculated in units of ㎲, and 0.03435 cm / ㎲ when the generated ultrasonic waves are converted into cm / ㎲. Here, since the ultrasonic sensors 113 and 121 are parameters that are necessary for detecting an obstacle, the temperature is already known, so that detailed description will be omitted in the embodiment of the present invention.

Then, the ultrasonic waves are outputted from the ultrasonic sensors 113 and 121, reach the distance shown in FIG. 6, and then return to the wand equipped with the ultrasonic sensors 113 and 121, so that the actual distance is half of the calculated value. Accordingly, the final distance to the obstacle detected by the ultrasonic sensors 113 and 121 becomes '0.03435 cm / s * measured time / 2'.

Next, an operation method of informing a visually impaired user of the detection of a front obstacle through the operation of the smart system 100 will be described with reference to FIG.

7 is a flowchart of the operation of the smart system according to the embodiment of the present invention.

As shown in FIG. 7, when the user of the wand requests setting of the wand by pressing a setting button (not shown) installed at one side of the wand, the processor unit 131 receives the setting request signal (S100). Upon receiving the setting request signal, the processor unit 131 requests the gyro sensor 112 to measure the tilt of the staff. The gyro sensor 112 generates a sensing signal to acquire the stick inclination value, and the processor unit 131 measures the inclination value of the stick based on the sensed signal (S110).

When the processor unit 131 measures the tilt value of the staff in step S110, the processor unit 131 transmits the measured values to the sensor position adjusting units 114 and 122 to adjust the sensor directions of the ultrasonic sensors 113 and 121 (S120). In the embodiment of the present invention, two ultrasonic sensors 113 and 121 are installed on the wand. Thus, the sensor position adjusting units 114 and 122 connected to the two ultrasonic sensors 113 and 121, respectively, And transmits a control signal for adjusting the direction of the sensor.

In a state in which the directions of the ultrasonic sensors 113 and 121 are adjusted, the processor unit 131 receiving the two ultrasonic waves reflected by the ultrasonic sensors 113 confirms the presence of an obstacle (S130). Here, a method of generating an ultrasonic wave to adjust the detection angle to check for the presence of an obstacle will be described first with reference to FIG.

8 is a flowchart of a detection angle adjusting method according to an embodiment of the present invention.

As shown in FIG. 8, the processor unit 131 confirms the basic setting angle (S131) and receives the reflected wave for ultrasonic waves generated by the ultrasonic sensors 113 and 121 (S132). Then, it is determined whether the detection cycle is completed based on the number of received reflected waves (S133). In the embodiment of the present invention, since the default setting angle is assumed to be 45, the detection price is 10, and the number of received reflected waves becomes 10.

Accordingly, when the number of times of receiving the reflected wave is less than 10, the reflected wave generated in step S132 is continuously received. However, if the number of received reflected waves is 10, the processor unit 131 checks the number of obstacle detection through reflected waves (S134). Then, the number of detected obstacle probes is compared with a preset reference value (S135). In the embodiment of the present invention, the preset reference value is described by setting the first reference value to 70% of the detection frequency and the second reference value to 30% of the detection frequency, but is not limited thereto.

If it is determined in step S135 that the number of obstacle detections is 70% or more, that is, 7 or more of the 10th obstacle detection times, the processor unit 131 sets the detection range in advance Is decreased by an angle of 5 [deg.] (S136). On the other hand, if it is determined in step S135 that the obstacle is detected to be less than 30% of the second threshold value, that is, less than 3 times of the 10th obstacle detection number, the processor unit 131 sets the detection range in advance So that the obstacle can be detected for a wide range of areas (S137).

If the detection range is adjusted in step S136 or step S137, the processor unit 131 controls the ultrasonic sensor to generate an ultrasonic wave for detecting an obstacle again in the adjusted detection range (S138).

7, the processor unit 131 detects ultrasonic waves generated by the first ultrasonic sensor 113 and the second ultrasonic sensor 121, and detects the existence of the obstacle by adjusting the angles of the detection range through the above- Whether an obstacle has been detected or not. If it is determined that both of the ultrasonic sensors 113 and 121 have detected an obstacle, the processor unit 131 recognizes that there is an obstacle that can not pass through, such as a wall. On the other hand, if an obstacle is detected by the ultrasonic wave generated by the second ultrasonic sensor 121 of the first ultrasonic sensor 113 or the second ultrasonic sensor 121, it is recognized as an obstacle that can pass through the first ultrasonic sensor 113 or the second ultrasonic sensor 121, If an obstacle is detected by ultrasonic waves generated by the sensor 113, it is recognized that there is an obstacle such as a signboard.

If it is determined in step S130 that an obstacle is present, the processor unit 131 provides various types of notification signals to the user according to the obstacle (S140). Various types of notification signals are provided according to the shape of the obstacle and the distance from the user. In the embodiment of the present invention, as shown in the following Table 2, vibration occurs through a vibration generator (not shown) For example,

Short distance detection Long distance detection High detection Long vibration once Short vibration once Low detection Long vibration twice Short vibration twice

For example, if it is determined that the obstacle can not pass through the wall, the processor unit 131 controls the vibration to occur only once through the vibration generator (not shown) possessed by the user, Of course. Similarly, if the obstacle is an obstacle that can pass through the jaw, it is informed to the user that there is a low obstacle by controlling the vibration to occur twice through the vibration generating device.

Here, the notification of the possibility of passage of the obstacle is informed by the number of vibrations, and the length of the vibration is adjusted as a method of indicating how far the obstacle is away from the user. For example, as shown in Table 2, if the distance between the user and the obstacle is short, the vibration is lengthened. If the distance between the user and the obstacle is long, the vibration is shortened.

At this time, the criterion of the distance between the user and the obstacle is not limited to any one. However, in the embodiment of the present invention, it is assumed that the obstacle is located within 1m of the user and the obstacle is located near the obstacle within the detection range of 1m or more based on the user.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

Claims (10)

In a smart system for the visually impaired,
A sensing signal for sensing the ambient brightness of the visually impaired person is generated or a sensing signal for measuring the angle between the stick and the ground is generated and a first ultrasonic wave for detecting the obstacle is generated A first sensing unit;
A second sensing unit installed at a second position of the wand for generating a second ultrasonic wave for detecting an obstacle; And
And a control unit for controlling the first sensing unit and the second sensing unit on the basis of the angle of the measured cane, and controlling the first sensing unit and the second sensing unit based on the angle of the cane, based on the sensing signal generated by the first sensing unit, A control unit for checking presence or absence of an obstacle by using reflected waves
/ RTI > The method according to claim 1,
The first sensing unit includes:
An illuminance sensor for sensing a surrounding brightness of a visually impaired person having the cane to generate a sensing signal to identify day and night;
A gyro sensor for generating a sensing signal for measuring a tilt value of the staff;
A first ultrasonic sensor for generating a first ultrasonic wave for detecting the obstacle and adjusting an ultrasonic wave generating position under the control of the first sensor position adjusting unit; And
A first sensor position adjusting unit for adjusting an angle of the first ultrasonic sensor based on the control signal when receiving a control signal including a tilt value of the staff from the controller,
/ RTI > 3. The method of claim 2,
The second sensing unit includes:
A second ultrasonic sensor for generating a second ultrasonic wave for detecting the obstacle and adjusting an ultrasonic wave generating position under the control of the second sensor position adjusting unit; And
A second sensor position adjusting unit for adjusting the angle of the second ultrasonic sensor based on the control signal when receiving a control signal including the tilt value of the staff from the controller,
/ RTI > The method of claim 3,
A gyro sensor for generating a light emission control signal by identifying day and night based on a sensing signal generated by the light sensor, measuring a tilt value of the stick on the basis of a sensing signal generated by the gyro sensor, And a control signal for controlling the position of the first ultrasonic sensor and the second ultrasonic sensor is generated and transmitted to the first sensor position adjuster and the second sensor position adjuster, respectively, and a plurality of reflected waves for the first ultrasonic wave and the second ultrasonic wave are generated A processor unit for detecting the presence or absence of an obstacle; And
A light emitting unit for generating light based on the light emitting unit control signal generated by the processor unit or for changing the state so that light being generated is turned off,
/ RTI > 5. The method of claim 4,
The processor unit,
Requesting generation of a sensing signal for measuring the tilt value of the staff by the gyro sensor based on a cane setting request signal input from the outside,
When a plurality of reflected waves for the first and second ultrasonic waves generated by the first ultrasonic sensor and the second ultrasonic sensor are received, a different notification signal is generated depending on the distance to the obstacle and the size of the obstacle based on the received reflected wave , And transmits the notification to the notification device possessed by the visually impaired. A method for a smart system to detect an obstacle in front of a visually impaired person,
The smart system includes a gyro sensor, an illuminance sensor, a plurality of ultrasonic sensors, a plurality of sensor position controllers connected to the plurality of ultrasonic sensors, and a processor,
Measuring a tilt value of the wand by a processor based on a sensing signal generated from the gyro sensor, when a setting request signal of a wand possessed by the visually impaired person is input from the outside;
Transmitting a control signal for adjusting the sensor direction of the plurality of ultrasonic sensors to the plurality of sensor position adjusting units based on the tilt values of the measured sticks;
Confirming presence or absence of an obstacle in front of the visually impaired person based on reflected waves of ultrasonic waves respectively generated in a plurality of directionally adjusted ultrasonic sensors; And
When an obstacle exists, the processor unit controls to cause the notification unit
And detecting the obstacle. The method according to claim 6,
The step of verifying the existence of the obstacle includes:
Confirming a predetermined basic setting angle by the processor unit;
Receiving reflected waves for ultrasonic waves generated by the plurality of ultrasonic sensors;
Checking whether the detection cycle is completed based on the number of times the reflected wave is received;
Comparing the number of times the obstacle is detected from the received reflected wave with a preset first reference value or a second reference value if the detection cycle is terminated;
If the number of times the obstacle is detected is greater than or equal to the first reference value, narrowing down the predetermined basic angle so that the detection range is reduced; And
If the number of times the obstacle is detected is equal to or less than the second reference value, adjusting the predefined basic setting angle to widen the detection range
And detecting the obstacle. 8. The method of claim 7,
Wherein the detection period is calculated by dividing the basic angle by a predetermined angle,
Wherein the basic set angle refers to an angle at which ultrasonic waves are generated for obstacle detection. The method according to claim 6,
Wherein the notification is transmitted to the blind in a plurality of notifications according to the distance between the obstacle and the blind and the passage of the obstacle. The method according to claim 6,
Checking whether a surrounding environment of the visually impaired person is in a first state or a second state based on a sensing signal generated in the illuminance sensor;
Controlling the state of the light emitting unit provided on the wand so that light is not generated when the surrounding environment is in the first state;
Controlling a state of the light emitting unit to emit light when the ambient environment is in a second state; And
When the ambient environment changes from the second state to the first state, controlling to change from a state in which light is generated to a state in which no light is generated
And detecting the obstacle.
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