CN101986673A - Intelligent mobile phone blind-guiding device and blind-guiding method - Google Patents
Intelligent mobile phone blind-guiding device and blind-guiding method Download PDFInfo
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Abstract
The invention discloses an intelligent mobile phone blind-guiding device, comprising a mobile phone camera module, an embedded mobile phone processor, a software module, a mobile phone wireless signal emitting and receiving module, an input and output interactive module and a back ground server, wherein the mobile phone camera module comprises a mobile phone pick-up lens and an image sensor; the embedded mobile phone processor and the software module comprise an embedded processor and an embedded operating system of a mobile phone as well as application software running on the embedded operating system; and the application software is blind-guiding software. Feature analysis is carried out on collected images through a machine vision technology, and the features of field images are matched with obstacle parameters in a background database by using an artificial intelligence technology, thereby achieving recognition and position interpretation of barriers and using voice and vibratory modes to prompt a blind person to move. The blind-guiding device of the invention is in common use and is low in cost, and has functional expansibility and upgrading capabilities.
Description
Technical field
The present invention relates to a kind of blind guide technology, especially relate to a kind of blind guide technology and blind-guiding method of embedded system of mobile phone control.
Background technology
As everyone knows, mobile phone has been a requisite electronic product during people live.Along with gradually becoming strong of flush bonding processor disposal ability, machine vision technique, sensor technology, Radio Transmission Technology and artificial intelligence technology are able to the combination on the mobile phone hardware platform, make smart mobile phone develop a lot of Premium Features and the demand that should be used for better meeting people's life.
Utilize new technology, developing the product of helping the disabled to physical disabilities is an industry with latency development potentiality.Show that according to statistics in 2005 China is the maximum country of blind person in the world, and blind person 5,000,000 is arranged approximately, accounts for 18% of world blind person sum.We are annual, and new blind person can to occur about 450,000, and promptly 1 blind person will appear in per minute.
Human 70% information is all obtained by vision, so the blind person is the most painful among the disabled person, also needs most help.Blind person's independent ambulation generally needs the assistance of blind guide, traditional method is to utilize blind-guiding stick or training seeing-eye dog, the blind guide of electrical type generally is to adopt the principle of echo rangings such as ultrasonic wave, infrared probe to design, and also has to utilize imageing sensor and laser distance measurement method to carry out range finding to barrier.
Blind-guiding stick is to knock on the ground with it, can help the blind person to find 0.5 meter with interior barrier.Its major defect is barrier and the aerial outstanding barrier that can not find more a little further.Also can't discern traffic sign.
Ultrasonic wave guide device is to utilize the time difference principle of ultrasonic wave echo to realize range finding.Fig. 1 is a kind of ultrasonic wave guide device.This method can be surveyed the distance of the place ahead barrier from the people more accurately, but because probe can only be found range to the barrier on certain direction, so if all the detection of front space then needs to install the multichannel probe, make the device structure complexity, cost increases.And which kind of object is ultrasonic wave guide device can't cognitive disorders be also, also can't discern traffic sign.
The infrared ray blind guide is another instrument that utilizes echo ranging method detection range.Fig. 2 is the design drawing of infrared distance measuring method.His principle is the distance according to the difference judging distance of transmitted wave and close echo intensity.Equally, this method is subjected to the restriction of probe detection directivity, has functional defect for recognition object and traffic sign aspect.
The product of laser ranging class is a principle design of utilizing laser triangulation.Therefore the influence of environment is bigger to the interference of this kind method, also has functional defect for recognition object and traffic sign aspect.
Method with machine vision and artificial intelligence technology is the new breakthrough that solves the blind guide technical problem.Patent publication No. is that the patent of invention of CN 1969781A discloses a kind of computer-controlled blind guide that utilizes, this invention utilizes the combination (having comprised image and ultrasonic sensor) of multiple sensors technology to carry out the detection of front space, can carry out the identification of object and the judgement of distance.But, utilize portable computer to do the cost height of blind guide, and need accumulate huge background data base with realizing of Robot Vision artificial intelligence, it is not enough that this invention utilizes the computer local data base to exist for the counte-rplan of different geographical position and complex environment, when the blind person need be in wider and new environment the adaptive capacity of the blind guide of activity limited.
Image processing techniques realizes on the mobile phone hardware platform, also can be used as the solution of guide.Patent publication No. is that the patent of invention of CN 101227539A discloses a kind of guide mobile phone and method thereof, its characteristics are to utilize the flush bonding processor of mobile phone to carry out carrying platform as baseband module, combine distance, temperature, shock sensor then and carry out obtaining of information.But regular handset generally is not have infrared, the equidistant transducer of laser, does not also have temperature sensor.So, realize that guide need install new equipment additional on existing mobile phone, cost increases.And this patent of invention has been suitable for local data base equally, and the memory capacity of mobile phone is quite limited, be unfavorable for " obstacle " but the growth property accumulation of data, so the environmental suitability potentiality to be exploited of program is limited.
External similar products develop towards the direction of service robot, have so adopted complex mechanical construction and Control Software, make the cost of robot improve, and product is difficult to obtain promote.
Summary of the invention
The present invention is directed to deficiency and shortcoming that existing blind guide technology exists, a kind of Device-General is provided, with low cost, have the cell phone intelligent blind guide of function expansion and upgradability.
A kind of cell phone intelligent blind guide comprises cell-phone camera module, mobile phone flush bonding processor and application software module, the emission of mobile phone wireless signal and receiver module, input and output interactive module and background server.
Described cell-phone camera module is used for the collection of image, utilizes optical system to obtain image-forming principle and gets range information;
Described mobile phone flush bonding processor and software module are used for the realization and the mobile phone hardware control of treatment of picture, guide;
Described mobile phone wireless signal emission and receiver module are used for communicating by letter with background server, carry out the transmission of image and obstacle parameter;
Described background server is used for operation " map " and " obstacle " two databases, and preserves " ambient image " data of magnanimity.
Described cell-phone camera module comprises a cell-phone camera camera lens and imageing sensor, and the cell-phone camera camera lens is a standard lens, and the imageing sensor sensor devices is CMOS, CCM or the CCD sensor devices that mobile phone carries.Mobile phone cam is taken towards the place ahead of people's walking, and optical axis is from the horizontal by certain inclination angle, and the inclination angle angle utilizes the geometrical principle of photographic optical system to calculate space length between 30 °～90 °.
Described flush bonding processor and application software module comprise the flush bonding processor and the embedded OS of mobile phone and operate in application software on the embedded system.The embedded system of utilizing mobile phone is distributed the hardware of mobile phone photographing module, the emission of mobile phone wireless signal and receiver module, input and output interactive module and is controlled; Described application software comprises speech recognition software and guide software, and passes through map data base and obstacle database that mobile phone wireless signal transmitting and receiving module is connected with guide software, and these two databases all operate on the server on backstage.
Described guide software is core technology of the present invention, and its operation principle is to read in the digital picture that the cell-phone camera module collects, and image information is analyzed, the content of analyzing has comprised the moving target in the video, the color characteristic of barrier, contour feature, textural characteristics, the locus.Analysis result and current " the obstacle parameter " that obtains from " obstacle " database are compared, in barrier enters default early warning interval (about 2m), send the command prompt blind person and halt.Distance between people and barrier satisfies following functional relation:
Px is the image height (representing with pixel) in the digital picture, distance in the d space, θ is an optical axis angle, f ' is picture side's focal length of camera lens, a is the size dimension of a photo-sensitive cell, h is the height of blind guide, and these data can only be estimated afterwards manually input by height and use habit to the user at present, and w is the angle of half field-of view of mobile phone cam.
The early warning interval is between floating zone according to θ in the formula (1) and h, between px that calculates and the floating zone of d.Determine that θ and h can determine the corresponding relation of a kind of px and d.The early warning distance of setting (2m), permission θ and h change in certain interval, and to setting the meeting generation error that (h=1.2m) is worth the early warning distance 2m of measuring and calculating, the interval between error and the nearest error promptly is the early warning interval farthest.Error is exactly the minimum distance that may propose to report to the police recently, also is protection blind person's safe distance.
Described wireless signal transmission and accept module, its operation principle is to utilize mobile communication networks such as GSM, GPRS, CDMA to send position location and " image scene " that GPS or LBS calculate to background server, and accepts " obstacle parameter " response that background server sends.The obstacle parameter that sends over from the backstage has comprised the hsv color characteristic interval of feature object, contour feature parameter, textural characteristics parameter.And the obstacle parameter is applicable to current position location, and be different such as the meaning for the judgement of green in street mouth and park: it may be green light that the street corner is represented to run into, and then may represent lawn or trees in the park.Certainly identification also needs the reference of other information.The work station that the backstage of mobile phone blind guide is made up of server, the mobile phone blind guide is passed digital picture back to the backstage at set intervals, and the backstage is analyzed acquisition " obstacle parameter " to image and is kept in " obstacle " database." obstacle " database is constantly perfect in a process that dynamically expands.
Described input comprises the mobile phone speech microphone with the output interactive module, cell phone keyboard and mobile phone acceleration transducer are the input hardware device, utilize the inputs of mobile phone key input and natural language can realize control to software, acceleration transducer is to the optical axis angle θ of the induction judgement mobile phone cam of acceleration of gravity, and optical axis angle is the important parameter of guide procedure identification obstacle distance; Output equipment is by handset earphone, and the mobile phone vibrating motor is to play the phonetic order that the guide software editing produces for output hardware device, the effect of earphone, if the mobile phone vibrating motor will send the vibration prompt blind person and halt when too near apart from barrier.
At first the digital figure that photographs is passed to flush bonding processor and software module is carried out image processing by the cell-phone camera module, flush bonding processor and software module are carried out image processing also needs wireless signal that " the obstacle parameter " that sends over from the backstage with receiver module acceptance takes place simultaneously, background server takes place to send the view data of returning with receiver module with wireless signal and is stored in the accumulation of database (comprising map data base and obstacle database) as back-end data with " obstacle parameter " by taking place and the communicating by letter of receiver module with wireless signal; Everyone carries out man-machine interaction for the control operation of system by the input and output interactive module, input equipments such as mobile phone acceleration transducer, microphone, keyboard convey to flush bonding processor and software module with people's control command, realize control by flush bonding processor and software module for other modules, guide program in flush bonding processor and the software module will be made intelligent decision to environment and obstacle then, compile voice or vibration instruction, take place to guide the blind person with the earphone or the vibrating motor output equipment of receiver module by wireless signal.
A kind of blind-guiding method that utilizes cell phone intelligent blind guide of the present invention, carry out according to following steps:
Step 1: mobile phone cam is taken the place ahead image, and to image detection moving object and identification stationary body, the detection of dynamic object is with the difference of front and back two two field pictures, stationary body identification by with the template matches of backstage " obstacle database ".
Step 2: monitor moving body track its track that moves, point out warning to the blind person; Identify stationary body and calculate the early warning interval, when stationary body is outside the early warning interval, do not point out warning.If be bordering on the early warning interval, send the warning merit to blind person's vibration.
Step 3: judge the position of barrier in the space according to the position (keep left or keep right) of barrier in image again.At last, next step direction of travel of blind person is informed in editor and output voice suggestion.
Step 4: be higher than 90 ° if acceleration transducer records the angle inclination angle, enter traffic lights and other indicative marks' identification, and the corresponding phonetic order of editor's output.
The present invention utilizes software control existing hardware resource to realize the function of guide, so with low cost on the hardware platform of smart mobile phone.Every smart mobile phone is downloaded this software just can realize guiding function, so this blind guide is very suitable for marketing, has good versatility.
The present invention gathers by the cell-phone camera module for the collection of space length information, and for safe distance judgement certain early warning range and fault-tolerant interval are arranged, extra range sensor need be installed on mobile phone, compared with the blind-guiding method that needs the accurate Calculation distance, the blind-guiding method that calculates the early warning interval has more adaptive capacity for complex environment and moving object.
In addition, the present invention has utilized mobile communication networks such as GSM, GPRS, CDMA, communicate by letter with the backstage in the scene of can realizing, utilize long-range timing, the positioned update that the obstacle parameter is provided of cell phone network, and photo site is passed the backstage back and is deposited database in, can accumulate increasing " obstacle parameter ", be fit to the guide of more varying environments, so this is a product with upgradability.
Description of drawings
Fig. 1 is a kind of ultrasonic wave guide device schematic diagram;
Fig. 2 is a kind of infrared ray blind guide schematic diagram;
Fig. 3 is optical system range measurement principle figure of the present invention;
Fig. 4 is a system module structure chart of the present invention;
Fig. 5 is a program flow diagram of the present invention.
Embodiment
Fig. 3 has illustrated principle and the method for single mobile phone cam to the spatial obstacle distance-measurement computation.Be according to photographic optical system image height computing formula specifically:
y’＝y*f’/x (2)
X is object point distance to the object space interarea on optical axis direction, and f ' is picture side's focal length.In Fig. 4, suppose that thing appears at the A position, the distance between people and the thing is OA, is under the situation of θ at the optical system inclination angle, A is exactly to be image height in the optical system of reference with the optical axis to the distance A D of optical axis.That DP is exactly x in the formula (2), and f ' is the preset parameter of optical system.Bringing the length of DP and AD into formula (2) and just obtained image height y ', is exactly pixel with the height of y ' divided by the size of each photo-sensitive cell again.And DP and AD can calculate by trigonometric function relation, and two distances all are the functions about d, so just found the relationship of d to px:
Px is the image height (representing with pixel) in the digital picture, distance in the d space, θ is an optical axis angle, f ' is picture side's focal length of camera lens, a is the size dimension of a photo-sensitive cell, h is the height of blind guide, and these data are assessed manually input of back by height and use habit to the user, and w is the angle of half field-of view of mobile phone cam.
The mobile phone cam imageing sensor that uses in this embodiment is CMOS, is of a size of 1/2.5 inch, video sampling speed 15fps, and image resolution ratio 240 * 320, therefore minimum pixel is 2.54e-5m, and focal length is 5.45mm, and the F number is 2.8.
Fig. 4 is the functional relationship figure between 5 modules of the present invention, at first by cell-phone camera head module 1 digital figure that photographs is passed to flush bonding processor and software module 2 is carried out image processing, flush bonding processor and software module 2 are carried out image processing also needs wireless signal to take place to accept " the obstacle parameter " that send over from the backstage with receiver module 3 simultaneously.Background server 5 takes place to send view data and " the obstacle parameter " of returning with receiver module 3 with wireless signal and is stored in the accumulation of database (comprising map data base and " obstacle " database) as back-end data by taking place and the communicating by letter of receiver module 3 with wireless signal.Everyone carries out man-machine interaction for the control operation of system by input and output interactive module 4, input equipments such as mobile phone acceleration transducer, microphone, keyboard convey to flush bonding processor and software module 2 with people's control command, the control that realizes for other modules by flush bonding processor and software module 2, guide program in flush bonding processor and the software module 2 will be made intelligent decision to environment and obstacle then, compile voice or vibration instruction, earphone or vibrating motor output equipment by input and output interactive module 4 guide the blind person.
Outward appearance of the present invention is that mobile phone adds a set of headphones (earplug), and earphone can adopt wired or bluetooth approach with being connected of mobile phone.During use, the blind person is by voice command, as " beginning guide " or press the mobile phone key and start the program.The mobile phone blind guide is hand-held by the blind person, and the dead ahead that mobile phone cam is walked route towards People's Bank of China is taken.
The mobile phone acceleration transducer of present embodiment adopts the LIS302DL of ST Microelectronics (STMicroelectronics company).This acceleration transducer is three finishing velocity transducers of a low-power consumption, and what N95, N82 used all is that this is a, can measurement of x, and y, the acceleration of gravity of 3 directions of z axle.
The mobile phone acceleration transducer is the acceleration of gravity inclination angle of calculating camera lens optical axis of impression, the image of shooting and record optical axis angle θ and be delivered to the guide navigation software.
Guide software is respectively that motion determination, color are judged, profile is judged, texture is judged by the method detection and Identification of four kinds of identification objects; In the software running process, four kinds of determination methods integrated uses complement one another and strengthen.The identification of barrier is by " obstacle parameter " in each feature (such as color, profile) and " obstacle " storehouse of comparison present image, and what be complementary then is identified as barrier.Such as, having the green light that is identified as of green circular feature at the parting of the ways, an automobile of opening before the people can be identified as moving target.
The target that identifies is carried out the judgement of locus again, according to formula (1)
Can calculate the distance of barrier from the people.θ and h are parameters in the formula, the corresponding relation that each can obtain a pair of px and d to the θ that determines and h.And px is that the pixel with respect to central point is poor on image, can directly obtain from the Digital Image Processing program.θ can accurately obtain by the acceleration transducer that mobile phone carries, and h is decided to be 1.2m according to normal person's height height.Because θ takes place in hand-held meeting and h changes within the specific limits, so can produce error for the measuring and calculating of the safe distance 2m that sets, the upper limit of error and lower limit have constituted the interval that early warning may take place, and just fault-tolerant interval is concrete as table 1.
Table 1
Annotate: above data calculate according to the performance parameter of Nokia N85 and the people of 1.7m height.
Because the obstacle distance people is far, can remind.When obstacle apart from people's distance the time less than safe distance, the mobile phone vibration prompt is reported to the police, the blind person halts immediately.Then, come the position of disturbance in judgement thing in the space according to the position (keep left or keep right) of the image position of barrier in image in entire image.If the barrier on the left side, one section voice of program editing " left closely has cupboard, the walking of please keeping right " guiding blind person advances.Then point out rightabout on the right side.
Under different environment, guide software has and different environmental parameters is set also can selects different guide strategies as basis for estimation.Determine that current environment has two steps with which type of parameter and strategy, at first the coordinate passed back of cellphone GPS chip is judged your geographical position.In the map data base of backstage, find the geographical feature of the position at blind person place, such as the crossroad, park environment or the like.With the GSM mobile handset communication network " the obstacle parameter " that be suitable for this environment sent to mobile phone then, be temporary in the storage card.Mobile phone just can select suitable parameters and pattern to carry out guide.
Fig. 5 is a software flow pattern of the present invention, after the systemic circulation that the program program of entering begins, at first judges the signal that whether has program to stop.If no, then enter 3 threads, wherein thread 1 carries out image processing, and thread 2 carries out communicating by letter with background server, and thread three carries out output equipment control.Three thread synchronization operations, wherein the inlet point of thread 1,2 is after program start enable signal, and the inlet point of thread 3 is after the obstacle matching judgment.
Thread 1 carries out to dynamic image successively respectively that moving target feature detection, color characteristic detect, contour feature detects, textural characteristics detects, than and obtain " characteristics of image " by these detections.
After selecting the guide pattern to enter thread 3, whether program is divided into two kinds of promptings at first is to judge to have obstacle to need to report to the police, if, then to control starter motor and send vibration, this moment, the blind person need halt.Second kind is that barrier is arranged, and (such as the green light that is judged as the transport information lamp) then, do not skip alarming step but the selection of guide pattern decision does not need to report to the police, and directly enters voice suggestion.Finish thread then.1, finishes jointly when 2 two threads and EP (end of program), so thread 3 transmits the guide instruction to the blind person when, be uninterruptedly ongoing for the judgement of environment obstacle.
The mobile phone that the present invention adopts is smart mobile phone common on the market, the general intelligence mobile phone all adopts the ARM flush bonding processor, the system such as Symbain, Android, have the functions such as speech play, GPS chip, shooting, therefore smart mobile phone only, just can realize the repertoire that our guide needs, embody a tractor serves several purposes, the characteristics of good economy performance.
Claims (9)
1. a smart mobile phone blind guide comprises cell-phone camera module, mobile phone flush bonding processor and application software module, the emission of mobile phone wireless signal and receiver module, input and output interactive module and background server, it is characterized in that:
Described cell-phone camera module is used for the collection of image, utilizes the optical system imaging principle to obtain range information;
Described mobile phone flush bonding processor and software module are used for the realization and the mobile phone hardware control of treatment of picture, guide;
Described mobile phone wireless signal emission and receiver module are used for communicating by letter with background server, carry out the transmission of image and obstacle parameter;
Described input and output interactive module are used to obtain the control command sent by the people and the intelligent blind-guiding instruction of machine are passed to the people, realize man-machine interaction;
Described background server is used for operation " map " and " obstacle " two databases, and preserves " ambient image " data of magnanimity.
2. smart mobile phone blind guide as claimed in claim 1 is characterized in that: described cell-phone camera module comprises a cell-phone camera camera lens and imageing sensor.
3. smart mobile phone blind guide as claimed in claim 1, it is characterized in that: described flush bonding processor and application software module, comprise the flush bonding processor and the embedded OS of mobile phone and operate in application software on the operating system that described embedded system is distributed the hardware resource of mobile phone photographing module, the emission of mobile phone wireless signal and receiver module, input and output interactive module and controlled; Described application software comprises speech recognition software and guide software, and passes through map data base and obstacle database that mobile phone wireless signal transmitting and receiving module is connected with guide software, and these two databases all operate on the server on backstage.
4. smart mobile phone blind guide as claimed in claim 2, it is characterized in that: described guide software is: read in the digital picture that the cell-phone camera module collects, image information is analyzed, analysis result and current " the obstacle parameter " that obtains from " obstacle " database are compared, in barrier enters default early warning interval, send indication prompting blind person and halt.
5. smart mobile phone blind guide as claimed in claim 4 is characterized in that: described image information comprises the moving target in the video, color characteristic, contour feature, textural characteristics and the locus of barrier.
6. smart mobile phone blind guide as claimed in claim 4 is characterized in that: described " obstacle parameter " comprises the color characteristic interval of feature object, contour feature parameter, textural characteristics parameter.
7. smart mobile phone blind guide as claimed in claim 1, it is characterized in that: described wireless signal transmission and accept module, utilize mobile communication networks such as GSM, GPRS, CDMA to send GPS or LBS position location and " image scene ", and accept " obstacle parameter " response that background server sends to background server.
8. smart mobile phone blind guide as claimed in claim 1, it is characterized in that: described input comprises input equipment and output equipment with the output interactive module, input equipment comprises the mobile phone speech microphone, cell phone keyboard and mobile phone acceleration transducer, utilize mobile phone key input and the natural language input realization control to software, acceleration transducer is judged the optical axis angle of mobile phone cam to the induction of acceleration of gravity; Output equipment comprises handset earphone, and mobile phone vibrating motor, handset earphone are used to play the phonetic order that the guide software editing produces, if the mobile phone vibrating motor sends vibration signal prompting blind person and halts when too near apart from barrier.
9. blind-guiding method according to the described smart mobile phone blind guide of the arbitrary claim of right 1-8 comprises:
(1) mobile phone cam is taken the place ahead image, and to image detection moving object and identification stationary body, the detection of dynamic object is with the difference of front and back two two field pictures, stationary body identification by with the pattern matching of backstage " obstacle database ";
(2) monitor its movement locus of moving body track, point out warning to the blind person; Identify stationary body and calculate the early warning interval, when stationary body is outside the early warning interval, do not point out warning,, send warning to blind person's vibration if be bordering on the early warning interval;
(3) go out the position of barrier in the space according to the position judgment of barrier in image again.At last, next step direction of travel of blind person is informed in editor and output voice suggestion;
(4) be higher than 90 ° if acceleration transducer records the angle inclination angle, enter traffic lights and other indicative marks' identification, and the corresponding phonetic order of editor's output.
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