CN101509780A - Intelligent blind navigation system and navigation method - Google Patents
Intelligent blind navigation system and navigation method Download PDFInfo
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- CN101509780A CN101509780A CNA2009100215464A CN200910021546A CN101509780A CN 101509780 A CN101509780 A CN 101509780A CN A2009100215464 A CNA2009100215464 A CN A2009100215464A CN 200910021546 A CN200910021546 A CN 200910021546A CN 101509780 A CN101509780 A CN 101509780A
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Abstract
The invention discloses an intelligent navigation system for the blind and a navigation method. The system includes a portable navigator that carries out double-directional communication through a data radio station and a remote assistance platform. The portable navigator takes an FPGA development board as a core and a microwave sensor, a camera, an infrared ultrasonic sensor, the data radio station, GPS, an earphone and a keyboard for the blind are connected on the FPGA development board. When indicating road information to the blind, the FPGA development board processes obtained moving object information, image information and barrier information, conducting audio prompt for the blind through the earphone; when a route planning for the blind is carried out, the keyboard for the blind inputs traveling information to the FPGA development board and transmits the information to the remote assistance platform through the data radio station; and after determining the traveling proposal, the remote assistance platform transmits the information to the FPGA developing board through the data radio station, and carrying out audio prompt for the blind through the earphone. The intelligent navigation system for the blind solves the problems of not being convenient, safe and real-time in the existing guidance ways.
Description
Technical field
The invention belongs to embedded system development and multi-sensor information processing technology field, relate to a kind of navigational system, be specifically related to a kind of intelligent blind men navigation system, the invention still further relates to the method for utilizing this system to navigate.
Background technology
There are 1,691 ten thousand blind person disadvantaged group in China, can face various complexity, changeable traffic environment when they go on a journey, and the various barriers in increasing motor vehicles, the road all will threaten blind person's trip.Blind person's trip mode generally can be divided into two classes, and a class is the pad it mode, and the required help that obtains mainly is that guiding keeps away barrier in this trip mode; Another kind of is the long journey mode of riding, and in this mode, the required help that obtains mainly is to guide how to ride, and transfer manner, and provides prompting before getting off.Existing blind person's guiding tool is mainly walking stick and seeing-eye dog, can not make things convenient for, safe, real-time guiding blind person trip.
Summary of the invention
The purpose of this invention is to provide a kind of intelligent blind men navigation system, solved existing guidance mode inconvenience, dangerous, not real-time problem.
Another object of the present invention provides the method for utilizing above-mentioned navigational system to navigate.
The technical solution adopted in the present invention is, a kind of intelligent blind men navigation system, comprise portable navigation device and remote assistance platform, portable navigation device and remote assistance platform carry out two-way communication by data radio station, described portable navigation device is a core with the FPGA development board, is connected with microwave remote sensor, camera, infrared excess sonic sensor, data radio station, GPS, earphone and keyboard for blind person on the FPGA development board.
Characteristics of the present invention are that also the remote assistance platform is connected with at least two portable navigation devices by data radio station.
Another technical scheme of the present invention is, a kind of method of utilizing intelligent blind men navigation of the present invention system to navigate, the portable navigation device and the remote assistance platform of two-way communication carried out in employing by data radio station, portable navigation device is a core with the FPGA development board, on the FPGA development board, connect microwave remote sensor, camera, infrared excess sonic sensor, data radio station, GPS, earphone and keyboard for blind person respectively
Prompting blind person road information:
Microwave remote sensor is surveyed different moving object in the road by the launched microwave signal, and the velocity information of the moving object of obtaining is introduced the FPGA development board with the form of electric signal,
Image information on the camera collection road turns back to the FPGA development board with the vision signal on the road,
Infrared excess sonic sensor emission ultrasonic signal runs into the place ahead barrier reflected back electric signal, and the position of barrier is turned back to the FPGA development board with the form of electric signal,
The FPGA development board carries out overall treatment to the above-mentioned moving object information that receives, image information and obstacle information, after the processing road information is carried out voice suggestion by earphone to the blind person;
The blind person is carried out path planning:
The trip information that will inquire about by the keyboard for blind person handle is input to the FPGA development board, and the FPGA development board wants information inquiring to pass to the remote assistance platform by the data radio station handle,
GPS sends blind person's positional information to the remote assistance platform according to customed communication protocol by data radio station simultaneously,
Be pre-loaded into database and various trip computation schemes software in the remote assistance platform, after the positional information that receives trip information that above-mentioned blind person will inquire about and blind person, automatically inquire about internal database, determine the trip scheme, by data radio station riding information and direct of travel are sent to the FPGA development board
The FPGA development board carries out voice suggestion by earphone to the blind person with riding information and direct of travel, guiding blind person trip.
The invention has the beneficial effects as follows that adopt the structure of portable navigation device and two module mutual communication of remote assistance platform, portable navigation device is finished the various obstacles that run into are pointed out, also provide simultaneously and the communicating by letter of remote assistance console module; The remote assistance platform provides scheme by bus receiving after the user seeks advice from instruction, and according to the GPS positioning system, to its guiding of carrying out corresponding direct of travel, has solved existing guidance mode inconvenience, dangerous, not real-time problem.
Description of drawings
Fig. 1 is the structural representation of intelligent blind men navigation of the present invention system;
Fig. 2 is the structural representation of portable navigation device in the intelligent blind men navigation of the present invention system.
Wherein, 1. portable navigation device, 2. remote assistance platform, 3.FPGA development board, 4. microwave remote sensor, 5. camera, 6. infrared excess sonic sensor, 7. data radio station, 8.GPS, 9. earphone, 10. keyboard for blind person.
Embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
The structure of intelligent blind men navigation of the present invention system comprises portable navigation device 1 and remote assistance platform 2 as shown in Figure 1, and portable navigation device 1 and remote assistance platform 2 carry out two-way communication by data radio station 7.The structure of portable navigation device 1 is a core with FPGA development board 3 as shown in Figure 2, is connected with microwave remote sensor 4, camera 5, infrared excess sonic sensor 6, data radio station 7, GPS8, earphone 9, keyboard for blind person 10 on FPGA development board 3.
In the intelligent blind men navigation of the present invention system:
(1) the FPGA exploitation is dull and stereotyped
SOPC is integrated into the functional module that system designs such as Nios II processor, register, I/O mouth need on the FPGA, constitutes a programmable SOC (system on a chip), and can trigger interruption by PIO, coordinates the work of each module.The embedded soft-core processor of Nios II has characteristics such as dirigibility height, performance height, cost are low, and it is by the plug-in GPS 8 of I/O mouth, data radio station 7, and camera 5, infrared excess sonic sensor 6, microwave remote sensor 4 constitute an embedded system.
CPU: Cyclone II (EP2C35F484C8) processor that adopts ALTERA company.
Storer: 64M Byte high speed SDRAM is used as the data buffer of the soft nuclear of Nios; The quick FLASH of 32M Byte is used for preserving the application program of total system; 2 512K SRAM are used as the high speed FIFO of Flame Image Process; 32M Byte SD card is used for preserving all maps and voice messaging.
The Audio Processing chip: adopt the TLV320AIC23 of TI company, it is a stereo DAB codec, supports 8K～96K sampling, and the present invention adopts the 16K sampling.
Video frequency processing chip: adopt the A/D video conversion chip of ADV7181, support PAL and TSC-system formula, support ITU-R BT.656YCrCb 4:2:2 (16bit/8bit) data standard form simultaneously.One road CVBS, one road S_VIDEO is used for finishing image recognition.
(2) GPS8: adopt the LEA-5H of U-blox company, its precision is at 5～10 meters, and wherein 10 meters can reach 80%, 5 meter and reach 40%.One road 3V serial ports and RS232 standard serial port are provided, support the operating voltage of 3.15V to 5.25V scope, working temperature-40～85 degree is supported active antenna.
(3) data radio station 7: the semiduplex radio station of adopting the JZ875 medium short wave.Sighting distance reliable transmission distance can reach 2Km～10Km, adopts the modulation system of GFSK; Carrier frequency 433MHz, also can customized 315M/868M/915M etc. other carrier frequency, ISM band need not application frequently; 16 channels are provided,, can expand to 32 channels if the user needs; Interface rate: 1200bps/2400bps/4800bps/9600bps/19200bps/38400bps; Channel speed: 1200bps/2400bps/4800bps/9600bps/19200bps/38400bps; Interface mode: TTL/RS232/485 is selected by the user, interface format: 8N1/8E1/8o1 (special format needs fixation); Power consumption: transmitter current maximum＜1.5A, received current＜50mA, electric current＜0.1mA during minimum dormancy; Power supply: DC+4.5V～+ 5.5V; Working temperature :-20 ℃～+ 65 ℃.
(4) operating voltage of infrared excess sonic sensor 6:URM37 V3.2 ultrasonic sensor is+5v, and working current is less than 20mA, and energy consumption is low.The scope of working temperature is from-10 ℃～+ 70 ℃.The ultrasonic measurement scope is: maximum measuring distance 500cm, and minimum measuring distance 4cm, precision can reach 1cm.
(5) microwave remote sensor 4:HB100 microwave remote sensor full name microwave mobile object detector, adopt GAS FET, dielectric resonator as oscillation source, had the higher stable degree, adopted the surface printing device simultaneously, make that its volume is littler, consistance is better, and have lower harmonic wave output.Its frequency of operation 10.525Ghz, operating voltage+5VDC, direct current supply or CW (pulse power supply, during pulse power supply, frequency 2～4Khz, 20us), detection range is not less than 25m, surveys horizontal 72 degree in visual angle, vertically to 36 degree.Have good directionality during the microwave antenna emission, therefore be easy to the reach of controlled microwave probe; Microwave more easily is attenuated in transmission course, absorbs and reflects, and can be blocked when running into shelters such as wall.
(6) camera 5: the blind person is in the trip process, and crucial effect is played in the sidewalk for visually impaired people, but it can exist breakage, fracture, problem such as lack of standardization in the reality, and this can cause its trend of blind person's perception normally, thereby causes the trip difficulty.The present invention extracts the colouring information of sidewalk for visually impaired people by camera 5, in the sidewalk for visually impaired people under the damaged or crack conditions, with its terminal point information process binary conversion treatment, sidewalk for visually impaired people and background are separated, and obtain the side information of sidewalk for visually impaired people, and then calculate the mid point of lower limb on the fracture sidewalk for visually impaired people, connect two mid points and give outbound path, automatically provide the extension trend of road, connect two parts sidewalk for visually impaired people, correct blind person's trend by voice reminder.
Simultaneously, when blind person's safety is crossed traffic cross-road, the colouring information that camera 5 is gathered traffic lights and zebra stripes carries out the processing of image algorithm to it, simultaneously according to actual conditions, carry out image pre-service such as filtering, balance at picture noise, uneven illumination etc., in order to accurate identification traffic lights, recognition results such as voice prompt blind red light, green light, guiding blind person safety is passed through.
(7) the remote assistance platform 2: remote assistance platform 2 is based on the software platform of VC++ exploitation, mainly constitute with relevant operating key by electronic chart, on electronic chart, can show the data that GPS 8 passes back in real time, orient blind person's current location, and carry out optimal path computing, the inquiry of special place etc.
The method that the present invention utilizes above-mentioned navigational system to navigate, specifically implement according to the following steps:
Prompting blind person road information:
(1) microwave remote sensor 4, camera 5, infrared excess sonic sensor 6 obtain the various information of road, specific as follows: microwave remote sensor 4 is by the launched microwave signal, survey different moving object in the road, the information of obtaining is introduced FPGA development board 3 with the form of electric signal; The image information that camera 5 is gathered on the road turns back to FPGA development board 3 with the vision signal on the road; Infrared excess sonic sensor 6 emission infrared signals run into the place ahead barrier reflected back electric signal, and the barrier position is turned back to FPGA development board 3 with the form of electric signal;
(2) FPGA development board 3 carries out overall treatment with the above-mentioned moving object information that receives, image information and obstacle information: the image that obtains is carried out template matching algorithm, discern traffic signals such as traffic lights automatically; Infrared excess sonic sensor 6 is launched ultrasonic signal all the time, if barrier is arranged in 3.5m, can carry out corresponding function according to the signal that obtains and calculate, and access corresponding speech signal, otherwise, then can not calculate.After the processing road information is carried out voice suggestion by 9 couples of blind persons of earphone.
The blind person is carried out path planning:
(1) blind person keys in the trip information that will inquire about by keyboard for blind person 10, and information is input to FPGA development board 3, and FPGA development board 3 passes to remote assistance platform 2 to the trip information that will inquire about by data radio station 7;
(2) while GPS8 sends blind person's positional information to remote assistance platform 2 according to the communication protocol that defines by data radio station 7;
(3) on remote assistance platform 2, the managerial personnel of administrative center understand blind person's present position in real time on electronic chart, internal database can be inquired about automatically by system, finds the node of institute's Query Information correspondence, the walking along the street of going forward side by side is directly planned: short distance when trip, plan for optimum according to the path is the shortest; When go on a journey in way far away, consider and will take bus that wherein consider the situation of changing trains at first, that is: through train is better than changing trains once, change trains that it is two inferior once to be better than changing trains, next considers that route is the shortest.Remote assistance platform 2 is according to the problem of above two kinds of different priorities, plan whole trip path, by data radio station 7 the good routing information of planning is sent to FPGA development board 3, riding information and direct of travel are passed to the blind person, guiding blind person trip by earphone 9.
Intelligent blind men navigation system of the present invention and air navigation aid adopt the structure of navigating instrument and two module mutual communication of remote assistance platform, and navigating instrument is finished the various obstacles that run into are pointed out, and also provide simultaneously and the communicating by letter of another module; The remote assistance platform provides scheme by bus receiving after the user seeks advice from instruction, and according to the GPS positioning system, to its guiding of carrying out corresponding direct of travel, has solved existing guidance mode inconvenience, dangerous, not real-time problem.
Claims (3)
1. intelligent blind men navigation system, it is characterized in that, comprise portable navigation device (1) and remote assistance platform (2), portable navigation device (1) and remote assistance platform (2) carry out two-way communication by data radio station (7), described portable navigation device (1) is a core with FPGA development board (3), is connected with microwave remote sensor (4), camera (5), infrared excess sonic sensor (6), data radio station (7), GPS (8), earphone (9) and keyboard for blind person (10) on FPGA development board (3).
2. intelligent blind men navigation according to claim 1 system is characterized in that described remote assistance platform (2) is connected with at least two portable navigation devices (1) by data radio station (7).
3. method of utilizing the described intelligent blind men navigation of claim 1 system to navigate, it is characterized in that, adopt the portable navigation device (1) and the remote assistance platform (2) that carry out two-way communication by data radio station (7), portable navigation device (1) is a core with FPGA development board (3), on FPGA development board (3), connect microwave remote sensor (4) respectively, camera (5), infrared excess sonic sensor (6), data radio station (7), GPS (8), earphone (9) and keyboard for blind person (10)
Prompting blind person road information:
Microwave remote sensor (4) is surveyed different moving object in the road by the launched microwave signal, and the velocity information of the moving object of obtaining is introduced FPGA development board (3) with the form of electric signal,
Camera (5) is gathered the image information on the road, and the vision signal on the road is turned back to FPGA development board (3),
Infrared excess sonic sensor (6) emission ultrasonic signal runs into the place ahead barrier reflected back electric signal, and the position of barrier is turned back to FPGA development board (3) with the form of electric signal,
FPGA development board (3) carries out overall treatment to the above-mentioned moving object information that receives, image information and obstacle information, after the processing road information is carried out voice suggestion by earphone (9) to the blind person;
The blind person is carried out path planning:
By keyboard for blind person (10) trip information that will inquire about is input to FPGA development board (3), FPGA development board (3) by data radio station (7) wanting information inquiring to pass to remote assistance platform (2),
GPS (8) sends blind person's positional information to remote assistance platform (2) according to customed communication protocol by data radio station (7) simultaneously,
Be pre-loaded into database and various trip computation schemes software in the remote assistance platform (2), after the positional information that receives trip information that above-mentioned blind person will inquire about and blind person, automatically inquire about internal database, determine the trip scheme, by data radio station (7) riding information and direct of travel are sent to FPGA development board (3)
FPGA development board (3) carries out voice suggestion by earphone (9) to the blind person with riding information and direct of travel, guiding blind person trip.
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| CN2009100215464A CN101509780B (en) | 2009-03-16 | 2009-03-16 | Intelligent blind navigation system and navigation method |
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| CN2009100215464A CN101509780B (en) | 2009-03-16 | 2009-03-16 | Intelligent blind navigation system and navigation method |
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Cited By (18)
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| CN101964054A (en) * | 2010-09-29 | 2011-02-02 | 东南大学 | Friendly track detection system based on visual processing |
| CN102054319A (en) * | 2010-09-10 | 2011-05-11 | 华通电子科技有限公司 | Barrier-free voice prompt device for blind person |
| CN102087115A (en) * | 2010-12-21 | 2011-06-08 | 长春大学 | Local area positioning and navigating system and device for blinds |
| CN102670383A (en) * | 2011-03-05 | 2012-09-19 | 山东申普交通科技有限公司 | Full-automatic manned blind guide vehicle and control method based on image identification technology |
| CN103150896A (en) * | 2013-02-09 | 2013-06-12 | 林军 | System for indicating blind person to go across road junction |
| CN103513241A (en) * | 2013-07-22 | 2014-01-15 | 中国地质大学（武汉） | Moving object detecting device based on microwave transducer and ultrasonic transducer |
| CN104111072A (en) * | 2014-07-28 | 2014-10-22 | 福建星网视易信息系统有限公司 | Method, device and system for navigation in building |
| CN104173174A (en) * | 2014-08-22 | 2014-12-03 | 河海大学常州校区 | Portable walking aid blind guide device and method |
| CN105334516A (en) * | 2015-12-15 | 2016-02-17 | 广西民族师范学院 | High-precision ultrasonic range finder system |
| CN105902369A (en) * | 2016-06-14 | 2016-08-31 | 南昌大学 | Intelligent trolley health surveillance device capable of achieving real-time tracking |
| CN106377401A (en) * | 2016-09-14 | 2017-02-08 | 上海高智科技发展有限公司 | Blind guiding front-end equipment, blind guiding rear-end equipment and blind guiding system |
| CN106389077A (en) * | 2016-09-14 | 2017-02-15 | 上海高智科技发展有限公司 | Mobile terminal, blind guiding front-end equipment and blind guiding system |
| CN107822840A (en) * | 2017-12-04 | 2018-03-23 | 安徽理工大学 | A kind of intelligent blind-guiding crutch based on dsp chip |
| CN109141425A (en) * | 2018-08-07 | 2019-01-04 | 沈阳大学 | A kind of blind person's indoor navigation earphone based on LiFi communication |
| CN109191587A (en) * | 2018-08-23 | 2019-01-11 | 百度在线网络技术（北京）有限公司 | Color identification method, device, electronic equipment and storage medium |
| CN111121749A (en) * | 2019-12-26 | 2020-05-08 | 韩可 | 3D sound effect augmented reality blind person navigation system and navigation method based on neural network |
| CN111372188A (en) * | 2020-05-27 | 2020-07-03 | 腾讯科技（深圳）有限公司 | Method and device for determining hot spot track in area, storage medium and electronic device |
| CN114822010A (en) * | 2021-01-22 | 2022-07-29 | 丰田自动车株式会社 | Information processing apparatus, information processing method, and computer program |
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2009
- 2009-03-16 CN CN2009100215464A patent/CN101509780B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102054319A (en) * | 2010-09-10 | 2011-05-11 | 华通电子科技有限公司 | Barrier-free voice prompt device for blind person |
| CN102054319B (en) * | 2010-09-10 | 2013-06-05 | 华通电子科技有限公司 | Barrier-free voice prompt device for blind person |
| CN101964054A (en) * | 2010-09-29 | 2011-02-02 | 东南大学 | Friendly track detection system based on visual processing |
| CN102087115A (en) * | 2010-12-21 | 2011-06-08 | 长春大学 | Local area positioning and navigating system and device for blinds |
| CN102670383A (en) * | 2011-03-05 | 2012-09-19 | 山东申普交通科技有限公司 | Full-automatic manned blind guide vehicle and control method based on image identification technology |
| CN102670383B (en) * | 2011-03-05 | 2013-11-06 | 山东申普交通科技有限公司 | Full-automatic manned blind guide vehicle and control method based on image identification technology |
| CN103150896A (en) * | 2013-02-09 | 2013-06-12 | 林军 | System for indicating blind person to go across road junction |
| CN103513241B (en) * | 2013-07-22 | 2015-09-16 | 中国地质大学（武汉） | A kind of detector for moving object based on microwave and ultrasonic sensor |
| CN103513241A (en) * | 2013-07-22 | 2014-01-15 | 中国地质大学（武汉） | Moving object detecting device based on microwave transducer and ultrasonic transducer |
| CN104111072A (en) * | 2014-07-28 | 2014-10-22 | 福建星网视易信息系统有限公司 | Method, device and system for navigation in building |
| CN104173174A (en) * | 2014-08-22 | 2014-12-03 | 河海大学常州校区 | Portable walking aid blind guide device and method |
| CN105334516A (en) * | 2015-12-15 | 2016-02-17 | 广西民族师范学院 | High-precision ultrasonic range finder system |
| CN105902369A (en) * | 2016-06-14 | 2016-08-31 | 南昌大学 | Intelligent trolley health surveillance device capable of achieving real-time tracking |
| CN106389077A (en) * | 2016-09-14 | 2017-02-15 | 上海高智科技发展有限公司 | Mobile terminal, blind guiding front-end equipment and blind guiding system |
| CN106377401A (en) * | 2016-09-14 | 2017-02-08 | 上海高智科技发展有限公司 | Blind guiding front-end equipment, blind guiding rear-end equipment and blind guiding system |
| CN107822840A (en) * | 2017-12-04 | 2018-03-23 | 安徽理工大学 | A kind of intelligent blind-guiding crutch based on dsp chip |
| CN109141425A (en) * | 2018-08-07 | 2019-01-04 | 沈阳大学 | A kind of blind person's indoor navigation earphone based on LiFi communication |
| CN109191587A (en) * | 2018-08-23 | 2019-01-11 | 百度在线网络技术（北京）有限公司 | Color identification method, device, electronic equipment and storage medium |
| CN109191587B (en) * | 2018-08-23 | 2019-12-31 | 百度在线网络技术（北京）有限公司 | Color recognition method and device, electronic equipment and storage medium |
| CN111121749A (en) * | 2019-12-26 | 2020-05-08 | 韩可 | 3D sound effect augmented reality blind person navigation system and navigation method based on neural network |
| CN111372188A (en) * | 2020-05-27 | 2020-07-03 | 腾讯科技（深圳）有限公司 | Method and device for determining hot spot track in area, storage medium and electronic device |
| CN114822010A (en) * | 2021-01-22 | 2022-07-29 | 丰田自动车株式会社 | Information processing apparatus, information processing method, and computer program |
| CN114822010B (en) * | 2021-01-22 | 2024-03-05 | 丰田自动车株式会社 | Information processing apparatus and information processing method |
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