CN103284866A - Walking auxiliary system and walking auxiliary method - Google Patents
Walking auxiliary system and walking auxiliary method Download PDFInfo
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- CN103284866A CN103284866A CN2012100432858A CN201210043285A CN103284866A CN 103284866 A CN103284866 A CN 103284866A CN 2012100432858 A CN2012100432858 A CN 2012100432858A CN 201210043285 A CN201210043285 A CN 201210043285A CN 103284866 A CN103284866 A CN 103284866A
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Abstract
The invention provides a walking auxiliary method which is used for assisting a user to walk and comprises the steps that a scene image shot by a camera shooting device is acquired and comprises information of distances between each point of an article and the camera shooting device; whether an object exists in the scene image is detected; when the object exists in the scene image, a three-dimensional model of the scene is established according to the acquired scene image and the distances between each point of the article and the camera shooting device; whether the object is a specific object or a barrier is determined through detection of the three-dimensional model of the scene; and the distance between the specific object or the barrier in front of a user and the user is prompted through a voice output device. The invention further provides a walking auxiliary system which can assist the user to walk.
Description
Technical field
The present invention relates to a kind of walking aid system and walking householder method, relate in particular to a kind of user walking aid system and walking householder method.
Background technology
The person that looks the barrier can't discover the situation of surrounding by vision in daily life, and only can rely on sense of touch, audition to determine the state of surrounding owing to the feeling ability of Loss Of Vision.But for suspension type or irregular barrier, the person generally can't determine by sense of touch and audition to look the barrier, thereby causes the person that looks the barrier accident that bumps easily.Particularly when the person that looks the barrier goes to touch the object of surrounding by sense of touch, easily by the object of surrounding scald or incised wound etc.
Summary of the invention
In view of above content, be necessary to provide a kind of walking aid system and walking householder method, can assist the user walking.
A kind of walking aid system, this walking aid system is used for the walking of an auxiliary user, this system comprises: an image acquiring module, and this image acquiring module is used for obtaining the scene image of camera head picked-up, comprises the range information between article each point and the camera head in this scene image; One image analysing computer module, this image analysing computer module are used for this scene image of detecting and whether have object; One model building module, this model building module are used for when this image analysing computer module is detected this scene image and had object, set up the threedimensional model of this scene to the distance between the camera head according to this scene image that obtains and this article each point; One detecting module, this detecting module are used for determining that by the threedimensional model of detecting this scene this object is certain objects or barrier; One execution module, this execution module are used for by the certain objects in voice output prompting user the place ahead or the distance between barrier and the user.
A kind of walking householder method, this walking householder method is used for the walking of an auxiliary user, and this walking householder method comprises: obtain the scene image of camera head picked-up, comprise the range information between article each point and the camera head in this scene image; Detect and whether have object in this scene image; When there is object in detecting in this scene image, set up the threedimensional model of this scene to the distance between the camera head according to this scene image that obtains and this article each point; Determine that by the threedimensional model of detecting this scene this object is certain objects or barrier; By the certain objects in voice output prompting user the place ahead and the distance between barrier and this user.
The present invention sets up the threedimensional model of scene when having object in scene image, and the threedimensional model of detecting scene determines that this object is certain objects or barrier, and by voice output prompting user, thereby auxiliary user is walked.
Description of drawings
Fig. 1 is the block diagram of a walking aid system of an embodiment of the present invention.
Fig. 2 is the sketch map of a walking auxiliary device of an embodiment of the present invention.
Fig. 3 be an embodiment of the present invention the flow chart of walking householder method.
The main element symbol description
| Walk supporting device | 1 |
| Camera head | 2 |
| |
3 |
| The |
10 |
| |
20 |
| |
30 |
| Template is set up module | 11 |
| Image acquiring module | 12 |
| The image |
13 |
| |
14 |
| Detecting |
15 |
| |
16 |
The following specific embodiment will further specify the present invention in conjunction with above-mentioned accompanying drawing.
The specific embodiment
As shown in Figure 1, be the block diagram of the walking aid system 10 of an embodiment of the present invention.This walking aid system 10 is applied on the walking auxiliary device 1, this walk supporting device 1 is connected with a camera head 2 and voice output 3, the place ahead scene image according to these camera head 2 picked-ups is judged the distance that whether has object and object in the scene of the place ahead, and when having object in the scene forwardly, by the distance of object and object is arranged in these voice output 3 prompting user the place ahead scenes.Wherein, this object comprises certain objects, as desk, and chair etc., and barrier.This walk supporting device 1 also comprises a central processing unit 20 and a memorizer 30.
Please also refer to Fig. 2, in the present embodiment, this walk supporting device 1 is a glasses shape, and this voice output 3 is an earphone.This walk supporting device 1 comprises an audio interface and a video interface.This walk supporting device 1 can be connected with this camera head 2 by this video interface, thereby can from this camera head 2, obtain image, this walk supporting device 1 can be connected with this voice output 3 by this audio interface simultaneously, thereby output audio is to the ear of user, user can be by wearing this walk supporting device 1, and learn the particular location of the object in the scene of the place ahead by this voice output 3.
This camera head 2 is used for picked-up the place ahead scene, and generates scene image.In the present embodiment, described camera head 2 is a kind of degree of depth camera (Depth-sensing Camera), and (Time of Flight, TOF) camera are used for the picked-up scene image, comprise the depth of view information of subject in this scene image as time flight.The depth of view information of described subject refers to the range information of subject each point and camera head.Because camera head 2 is when the photographic subjects thing, signal with the certain wavelength of emission, when running into object, signal can reflex to camera head 2, can calculate the range information between the each point and camera head 2 on the object according to signal emission and time difference between the reception, therefore described camera head 2 can obtain the range information between the subject each point and camera head 2 in the scene image, inspired by what one seesly deeply convince breath, hereinafter referred to as the range information between subject each point in the scene image and the camera head 2.This camera head 2 is arranged on this walk supporting device 1, and when this walk supporting device 1 is worn by a user, can absorb the environment in this user the place ahead.
This walking aid system 10 comprises that a template sets up module 11, an image acquiring module 12, an image analysing computer module 13, a model building module 14, a detecting module 15 and an execution module 16.The alleged module of the present invention refers to a kind of can be by the central processing unit 20 of walk supporting device 1 performed and can finish the series of computation machine brick of specific function, and it is stored in the memorizer 30 of walk supporting device 1.In the present embodiment, this walk supporting device 1 also is used for determining the title of object, the size (for example length of object) of object, and informs user by voice output 3.
Wherein, also store the title of a plurality of different certain objects, corresponding three-dimensional template, and a plurality of audio files in this memorizer 30.The three-dimensional template of these a plurality of different certain objects is that this camera head 2 absorbs in advance.User can be done corresponding thing by determining those certain objects, as place article on desk or the chair determined is forwardly had a rest or entered a hackney vehicle and goes to and reach certain destination, perhaps prevent from meeting those certain objects and the accident that meets accident.Specifically, this template is set up the image that module 11 is used for obtaining respectively those certain objects of these camera head 2 picked-ups, sets up the three-dimensional template of those certain objects to the distance of camera head 2 according to each point in the image of the image of those certain objects and certain objects.
These a plurality of audio files comprise first audio file, some second audio files and some the 3rd audio files.This first audio file is the audio file that includes the descriptive statement that does not comprise concrete numeral of distance between this certain objects and this user and certain objects shape, for example, this descriptive statement is " the place ahead (space) rice has one to be (space) rice; wide is (space) rice, and height is (space) of (space) rice ".These some second audio files correspond to the title of all certain objects and the audio file of barrier respectively, as " desk " etc.These some the 3rd audio files are respectively the numerical value audio file, as " 1.1 ", " 9 " etc.
This image acquiring module 12 is used for obtaining user the place ahead scene image of these camera head 2 picked-ups.
This image analysing computer module 13 is used for this scene image that obtains of detecting and whether has object.Be specially: any consecutive points that this image analysing computer module 13 is judged these scene images that obtain are to the distance between the camera head 2, and the consecutive points that judge whether a predetermined level is exceeded to the difference of the distance between the camera head 2 above a predetermined value.When the consecutive points of a predetermined level is exceeded surpassed predetermined value to the difference of the distance between the camera head 2, this image analysing computer module 13 was determined to have object in the environment threedimensional model of these foundation.When the consecutive points that do not have a predetermined level is exceeded surpassed predetermined value to the difference of the distance between the camera head 2, this image analysing computer module 13 was determined not have object in the environment threedimensional model of these foundation.
This model building module 14 is used for setting up to the distance of camera head 2 according to this scene image that obtains and each point of this scene image the threedimensional model of this scene.
Whether the environment threedimensional model that this detecting module 15 also is used for this foundation of detecting exists certain objects.Be specially: this detecting module 15 compares the environment threedimensional model set up with a plurality of different three-dimensional template in being stored in memorizer 30, judge in this place ahead scene whether have certain objects.If exist at least in the environment threedimensional model that should set up with these a plurality of different three-dimensional template in an identical part, then this detecting module 15 is thought and is had certain objects in this place ahead scene that is ingested.If there be not the part identical with any one three-dimensional template in the scene threedimensional model of this foundation, then this detecting module 15 is thought and is not had certain objects in this place ahead scene that is ingested, and has barrier.When having certain objects in the scene threedimensional model of this foundation, this detecting module 15 also is used for determining the title of this certain objects.
This execution module 16 is used for when this detecting module 15 detects certain objects, calculate the length of this certain objects, wide and high, from this memorizer 30, read first audio file, in these some second audio files corresponding to second audio file of the title of certain objects, and in these some the 3rd audio files corresponding to the length of certain objects, the 3rd audio file of wide and high numerical value, and with this first audio file that reads, second audio file and the 3rd audio file synthesize a certain objects audio file, and by this this synthetic certain objects audio file of voice output 3 outputs.As: be 1.6 meters when 6 meters, the place ahead have recorded a length, wide is 1.1 meters, when height is 0.5 meter bench, this execution module 16 is by 3 outputs " 6 meters, the place ahead have to be 1.6 meters; wide is 1.1 meters; height is 0.5 meter bench " of this voice output, thereby the prompting user goes to this certain objects to do corresponding thing or prevent from running into certain objects and the accident that meets accident.Wherein, the minimum range of this certain objects and this user can be and thinks that this certain objects arrives the distance of this user.
When having barrier in this environment threedimensional model, this execution module 16 is used for calculating the length of this barrier, wide and high numerical value, from this memorizer 30, read first audio file, in this several second audio file corresponding to second audio file of this barrier, and in this several the 3rd audio file corresponding to this length of determining, the 3rd audio file of wide and high numerical value, and with this first audio file that reads, second audio file and the 3rd audio file synthesize a barrier audio file, and by this this synthetic barrier audio file of voice output 3 outputs, as: be 1.7 meters when 6 meters, the place ahead have recorded a length, wide is 0.8 meter, when height is 3.2 meters barrier, this execution module 16 is by these voice output 3 outputs " it is 1.7 meters that there is a length at 6 meters, the place ahead; wide is 0.8 meter; height is 3.2 meters barrier ", thereby the prompting user is avoided this barrier, prevents from running into certain objects and the accident that meets accident.Wherein, the minimum range of this barrier and this user can be and thinks that this barrier arrives the distance of this user.
Please refer to Fig. 3, be the flow chart of the present invention's one walking householder method.This walking householder method is applied on as shown in Figure 1 the walk supporting device 1.
In step S301, this image acquiring module 12 is obtained user the place ahead scene image of these camera head 2 picked-ups.
In step S302, this image analysing computer module 13 judges in this scene image that obtains whether have object.When not having object in the scene image that this obtains, execution in step S301.When having object in the scene image that this obtains, execution in step S303.Wherein, the concrete operations of this image analysing computer module 13 are: these image analysing computer module 13 more any consecutive points are to the distance between the camera head 2, and the consecutive points that judge whether a predetermined level is exceeded surpass predetermined value to the difference of the distance of camera head 2.When the consecutive points of a predetermined level is exceeded surpassed predetermined value to the difference of the distance of camera head 2, this image analysing computer module 13 was determined to have object in these scene images that obtain.When the consecutive points that do not have a predetermined level is exceeded surpassed predetermined value to the difference of the distance of camera head 2, this image analysing computer module 13 was determined not have object in these scene images that obtain.
In step S303, this model building module 14 is set up the threedimensional model of this scene to the distance of camera head 2 according to each point in this scene image that obtains and this scene image.
In step S304, whether there is certain objects in the scene threedimensional model of these detecting module 15 these foundation of detecting.When having certain objects in the scene threedimensional model of this foundation, execution in step S305.When not having certain objects in the scene threedimensional model of this foundation, execution in step S307.
In step S305, this detecting module 15 is determined the title of this certain objects.
In step S306, this execution module 16 calculates the length of this certain objects, wide and high, from this memorizer 30, read first audio file, in several second audio files corresponding to second audio file of the title of this certain objects of determining, and in several the 3rd audio files corresponding to the length of this certain objects of determining, the 3rd audio file of wide and high numerical value, and with this first audio file that reads, second audio file and the 3rd audio file synthesize a certain objects audio file, and by this this synthetic certain objects audio file of voice output 3 outputs.Thereby the prompting user goes to this certain objects to do corresponding thing, perhaps avoids this barrier and prevents from running into certain objects and the accident that meets accident.
In step S307, this execution module 16 calculates the length of this barrier, wide and high, from this memorizer 30, read first audio file, in several second audio files corresponding to second audio file of barrier, reach in several the 3rd audio files corresponding to length, the 3rd audio file of wide and high numerical value, and with this first audio file that reads, second audio file and the 3rd audio file synthesize a barrier audio file, and by this this synthetic barrier audio file of voice output 3 outputs, thereby the prompting user is avoided this barrier, prevents from running into barrier and the accident that meets accident.
It should be noted that at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not break away from the spirit and scope of technical solution of the present invention.
Claims (12)
1. walking aid system, this walking aid system is used for the walking of an auxiliary user, it is characterized in that this system comprises:
One image acquiring module, this image acquiring module is used for obtaining the scene image of camera head picked-up, comprises the range information between article each point and the camera head in this scene image;
One image analysing computer module, this image analysing computer module are used for this scene image of detecting and whether have object;
One model building module, this model building module are used for when this image analysing computer module is detected this scene image and had object, set up the threedimensional model of this scene to the distance between the camera head according to this scene image that obtains and this article each point;
One detecting module, this detecting module are used for determining that by the threedimensional model of detecting this scene this object is certain objects or barrier;
One execution module, this execution module are used for by the certain objects in voice output prompting user the place ahead or the distance between barrier and the user.
2. walking aid system as claimed in claim 1, it is characterized in that: this detecting module is used for when there is certain objects in the threedimensional model that detects this scene, determine the title of this certain objects, this execution module is used for exporting the title of this certain objects and the distance between this certain objects and this user by a voice output.
3. walking aid system as claimed in claim 2 is characterized in that:
The three-dimensional template of the threedimensional model of the scene that this detecting module will be set up and a plurality of certain objects of storage is compared, judge an identical part in the three-dimensional template that whether exists at least in the threedimensional model of this scene with this certain objects, when one in the three-dimensional template that exists at least in this scene threedimensional model with this certain objects identical part, this detecting module is determined to have certain objects in the threedimensional model of this scene, when not having any one part identical with the three-dimensional template of this certain objects in this scene threedimensional model, this detecting module is determined not have certain objects in the threedimensional model of this scene.
4. walking aid system as claimed in claim 3, it is characterized in that: this system comprises that also a template sets up module, this template is set up the image that module is obtained some certain objects of this camera head picked-up, comprise the object each point in the image of this certain objects to the range information between the camera head, this template is set up module is also set up those certain objects to the distance between the camera head according to the object each point in the image of the image of those certain objects and those certain objects three-dimensional template.
5. walking aid system as claimed in claim 1 is characterized in that:
The relatively more any consecutive points of this image analysing computer module are to the distance of camera head, and the consecutive points that judge whether to surpass a predetermined quantity to the difference of the distance of camera head above a predetermined value, as the consecutive points that surpass a predetermined quantity to the difference of the distance of camera head during above a predetermined value, this image analysing computer module is determined to have object in this scene image that obtains, when the consecutive points that do not have to surpass a predetermined quantity to the difference of the distance of camera head during above a predetermined value, this image analysing computer module is determined not have object in this scene image that obtains.
6. walking aid system as claimed in claim 1, it is characterized in that: this execution module also calculates length and width and the height of this object, and exports length and width and the height of this object by this voice output.
7. walking householder method, this walking householder method is used for the walking of an auxiliary user, it is characterized in that this walking householder method comprises:
Obtain the scene image of camera head picked-up, comprise the range information between article each point and the camera head in this scene image;
Detect and whether have object in this scene image;
When there is object in detecting in this scene image, set up the threedimensional model of this scene to the distance between the camera head according to this scene image that obtains and this article each point;
Determine that by the threedimensional model of detecting this scene this object is certain objects or barrier;
By the certain objects in voice output prompting user the place ahead and the distance between barrier and this user.
8. walking householder method as claimed in claim 7 is characterized in that, this walking householder method also comprises:
When in detecting the threedimensional model of this scene, having certain objects, determine the title of this certain objects;
Export the title of this certain objects and the distance between this certain objects and this user by a voice output.
9. walking householder method as claimed in claim 8 is characterized in that, this walking householder method also comprises:
The three-dimensional template of a plurality of certain objects of the threedimensional model of the scene of this foundation and storage is compared, judge an identical part in the three-dimensional template that whether exists at least in the threedimensional model of this scene with this certain objects;
When one in the three-dimensional template that exists at least in this scene threedimensional model with this certain objects identical part, determine to have certain objects in the threedimensional model of this scene;
When not having any one part identical with the three-dimensional template of this certain objects in this scene threedimensional model, determine not have certain objects in the threedimensional model of this scene.
10. walking householder method as claimed in claim 9 is characterized in that, this walking householder method also comprises:
Obtain the image of some certain objects of this camera head picked-up, comprise in the image of this certain objects that the object each point is to the range information between the camera head;
Set up the three-dimensional template of those certain objects to the distance between the camera head according to the object each point in the image of the image of those certain objects and those certain objects.
11. walking householder method as claimed in claim 7 is characterized in that, this walking householder method also comprises:
More any consecutive points are to the distance between the camera head, and the consecutive points that judge whether to surpass a predetermined quantity surpass a predetermined value to the difference of the distance between the camera head;
When the consecutive points that surpass a predetermined quantity surpass a predetermined value to the difference of the distance between the camera head, determine to have object in this scene image that obtains;
When the consecutive points that do not have to surpass a predetermined quantity surpass a predetermined value to the difference of the distance between the camera head, determine not have object in this scene image that obtains.
12. walking householder method as claimed in claim 7 is characterized in that, this walking householder method also comprises:
Calculate length and width and the height of this object, and export length and width and the height of this object by this voice output.
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| CN2012100432858A CN103284866A (en) | 2012-02-24 | 2012-02-24 | Walking auxiliary system and walking auxiliary method |
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| CN2012100432858A CN103284866A (en) | 2012-02-24 | 2012-02-24 | Walking auxiliary system and walking auxiliary method |
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| CN105267014A (en) * | 2015-09-22 | 2016-01-27 | 西交利物浦大学 | Depth map-based auxiliary walking device for blind and auxiliary method thereof |
| CN105701961A (en) * | 2014-11-24 | 2016-06-22 | 南京酷派软件技术有限公司 | Walking safety prompting method, system and terminal |
| CN105982786A (en) * | 2015-02-13 | 2016-10-05 | 深圳富泰宏精密工业有限公司 | Vision assisting system and wearable device provided with vision assisting system |
| CN109009903A (en) * | 2018-05-25 | 2018-12-18 | 深圳市沃特沃德股份有限公司 | The air navigation aid of vision guide blind walking stick and view-based access control model guide blind walking stick |
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Application publication date: 20130911 |