CN105662796A - Intelligent walking assisting garment for blind person and navigation method of intelligent walking assisting garment - Google Patents
Intelligent walking assisting garment for blind person and navigation method of intelligent walking assisting garment Download PDFInfo
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- CN105662796A CN105662796A CN201610143972.5A CN201610143972A CN105662796A CN 105662796 A CN105662796 A CN 105662796A CN 201610143972 A CN201610143972 A CN 201610143972A CN 105662796 A CN105662796 A CN 105662796A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Abstract
The invention relates to an intelligent walking assisting garment for a blind person and a navigation method of the intelligent walking assisting garment.The walking assisting garment comprises a walking assisting garment body, a blind guide unit is mounted on the walking assisting garment body, and the blind guide unit comprises an image acquisition module, a distance measurement module, a central control module, a voice output module, a path input module, a geographic information system and a GPS positioning module; the image acquisition module, the distance measurement module, the path input module, the geographic information system and the GPS positioning module are all connected with the central control module; the voice output module is connected with the output end of the central control module; in the navigation process, the blind person, wearing the intelligent walking assisting garment for the blind person, is led by a family member or a friend to walk at site for a cycle, the blind person enters the navigation mode, and the blind person is informed of the walking direction through the voice output module according to a stored path.By means of the intelligent walking assisting garment for the blind person, path planning and navigation for independent action of the blind person can be completed automatically, independent action of the blind person is assisted, and the self-care ability of the blind person is improved.
Description
Technical field
The present invention relates to a kind of blindmen intelligent walk help clothes and air navigation aid thereof, it is adaptable to the intelligent robot technology field of assisting blind action.
Background technology
People with disability is the typical disadvantaged group being worth our society to be concerned about. Such as blind person, owing to by visual disorder, major part blind person cannot take one's bearings, cannot know oneself locus, place, bring to its trip and be inconvenient for, the disappearance of these life autonomys causes that its basic living technical ability is lost, and has had a strong impact on its work, studying and living.
Although having occurred the team that guide machine is studied in present society, some team have even manufactured relevant guide product, but still can not get widely using. Its reason is: first, although achieve great success, but also each has something to recommend him. Because the guide machine function in ideal is very powerful, scientific and technical personnel have studied a part, especially that barrier detection and the research hiding method is few. So, barrier detection and the research hiding method should be gone into overdrive. Second, blind person is inadequate to the trust of guide machine, considers for the special mental of blind person's inherently safe and blind person, and blind person generally uses seeing-eye dog and carrys out guide. Therefore, a kind of powerful, stable performance of invention, and it is very great to obtain the guide machine meaning that blind community generally trusts.
Summary of the invention
It is an object of the invention to provide a kind of blind person independently to go out the intelligent walk help clothes of action and air navigation aid thereof, solve blind person and go out to be necessarily required to seeing-eye dog or professional carries out the technical barrier of road guiding.
For achieving the above object, the technical scheme that the present invention takes is applicable to situation two kinds different, a kind of situation being applicable to utilize blindmen intelligent walk help clothes to carry out outdoor navigation, the another kind of situation being applicable to utilize blindmen intelligent walk help clothes to carry out indoor navigation.
Situation for outdoor navigation, the technical solution used in the present invention is: a kind of blindmen intelligent walk help clothes, body is taken including walk help, it is characterized in that, described walk help takes and is provided with guide unit on body, and described guide unit includes image capture module, range finder module, voice input module, central control module, voice output module, path input module and GPS locating module; Described image capture module, described range finder module and described GPS locating module are connected with described path input module and described central control module simultaneously; Described path input module is also associated with voice input module, and described central control module is also associated with voice output module; Described image capture module is used for sending the ambient image information around the blind person collected to described path input module and described central control module, described range finder module is used for sending the range information of the blind person collected Yu peripheral obstacle to described path input module and described central control module, and described voice input module is used for sending the voice messaging collected to described path input module; Described GPS locating module is used for sending the positional information of the blind person collected to described path input module and described central control module; Described path input module is used for collecting various information coupling processing, it is cured as routing information and flows to described central control module, described central control module is used for contrasting the routing information of path input module with collecting real time information, calculate blind person from the range information of peripheral obstacle, positional information and follow-up correct routing information, and send blind person by voice output module to the form of natural-sounding.
In such scheme, described image capture module is photographic head, and described range finder module is ultrasonic transmission/reception probe.
In such scheme, described walk help takes body and includes vest, glasses, belt and trousers, described photographic head is positioned at described vest dead ahead, described ultrasonic transmission/reception probe includes the first ultrasonic transmission/reception probe, second ultrasonic transmission/reception probe, 3rd ultrasonic transmission/reception probe, 4th ultrasonic transmission/reception probe and the 5th ultrasonic transmission/reception probe, described first ultrasonic transmission/reception probe is positioned on described glasses, described second ultrasonic transmission/reception probe is positioned on described belt, described 3rd ultrasonic transmission/reception probe is positioned at the shank place of described trousers, described 4th ultrasonic transmission/reception probe and described 5th ultrasonic transmission/reception probe lay respectively at two shoulder sides of described vest.
In such scheme, described path input module includes general routes input module and newly-increased path input module, described general routes input module and described newly-increased path input module lay respectively at two shoulder sides of described vest, described general routes module is used for storing some conventional routing informations, described newly-increased path module is used for storing newly-increased routing information, and the newly-increased routing information of described newly-increased path module storage can be updated at any time.
In such scheme, described guide unit also includes power module, and described power module includes lithium battery, and described lithium battery includes in the pocket that working battery and reserve battery, described working battery and described reserve battery lay respectively at described vest front end.
In such scheme, described central control module is also associated with returning module, described return module is used for the routing information blind person store in central control module gone on a journey pattern in the opposite direction and sends described central control module to, and described central control module is back to starting point by described voice output module with the form guiding blind person of natural-sounding.
Further, a kind of method utilizing blindmen intelligent walk help clothes to carry out outdoor path navigation, comprise the steps:
S1: led blind person to wear blindmen intelligent walk help by household or friend and take outdoor and walk on the spot one time; Walking process gathers routing information and by path input module by relevant information coupling processing by image capture module, range finder module, voice input module and GPS locating module, and solidifies storage in central control module;
S2: when blind person walks voluntarily, first selects walking path to enter corresponding navigation pattern, and central control module informs, by voice output module, the direction that blind person walks according to the routing information stored; In walking process, the positional information of blind person is sent the image location information of barrier, GPS locating module to central control module by image capture module and range finder module in real time in real time, the real time information collected and the routing information stored are carried out contrast computing by central control module, and blind person are reminded to blind person from the range information of peripheral obstacle, positional information and follow-up correct routing information by earphone with the form of natural language by voice output module.
In such scheme, the mode reminding blind by double track of the earphone described in step S2, L channel broadcast path information, R channel plays obstacle height and range information.
In such scheme, when blind person requires over traffic lights zebra crossing, voice output module is by prior notice blind person, and the mode that blind person helps by asking pedestrian passes through zebra crossing.
In such scheme, when blind person goes on a journey alone because of various fortuitous events walk to one in advance solidify be not stored in central control module strange path time, module is returned by starting, the routing information that this blind person goes on a journey is pointed out in a reverse direction by voice output module with the form of natural-sounding, thus guiding blind person to be back to starting point.
Situation for indoor navigation, the technical scheme that the present invention takes is: a kind of blindmen intelligent walk help clothes, body is taken including walk help, it is characterized in that, described walk help takes and is provided with guide unit on body, and described guide unit includes image capture module, range finder module, voice input module, central control module, voice output module and path input module; Described image capture module and described range finder module are connected with described path input module and described central control module simultaneously; Described voice input module is individually connected with described path input module, and described path input module is connected with described central control module by GIS-Geographic Information System, and described central control module is connected with described voice output module; Described image capture module is used for sending the ambient image information around the blind person collected to described path input module and described central control module, described range finder module is used for sending the range information of the blind person collected Yu peripheral obstacle to described path input module and described central control module, and described voice input module is used for sending the voice messaging collected to described path input module; The various information collected are carried out location positioning by GIS-Geographic Information System by described path input module, form the routing information after solidifying and flow to described central control module, described central control module is used for the routing information after by solidification and contrasts with the real time information collected, calculate blind person from the range information of peripheral obstacle, positional information and follow-up correct routing information, and send blind person by voice output module to the form of natural-sounding.
In such scheme, described image capture module is photographic head, and described range finder module is ultrasonic transmission/reception probe.
In such scheme, described walk help takes body and includes vest, glasses, belt and trousers, described photographic head is positioned at described vest dead ahead, described ultrasonic transmission/reception probe includes the first ultrasonic transmission/reception probe, second ultrasonic transmission/reception probe, 3rd ultrasonic transmission/reception probe, 4th ultrasonic transmission/reception probe and the 5th ultrasonic transmission/reception probe, described first ultrasonic transmission/reception probe is positioned on described glasses, described second ultrasonic transmission/reception probe is positioned on described belt, described 3rd ultrasonic transmission/reception probe is positioned at the shank place of described trousers, described 4th ultrasonic transmission/reception probe and described 5th ultrasonic transmission/reception probe lay respectively at two shoulder sides of described vest.
In such scheme, described path input module includes general routes input module and newly-increased path input module, described general routes input module and described newly-increased path input module lay respectively at two shoulder sides of described vest, described general routes module is used for storing some conventional routing informations, described newly-increased path module is used for storing newly-increased routing information, and the newly-increased routing information of described newly-increased path module storage can be updated at any time.
In such scheme, described guide unit also includes power module, and described power module includes lithium battery, and described lithium battery includes in the pocket that working battery and reserve battery, described working battery and described reserve battery lay respectively at described vest front end.
In such scheme, described central control module is also associated with returning module, described return module is used for the routing information blind person store in central control module gone on a journey pattern in the opposite direction and sends described central control module to, and described central control module is back to starting point by described voice output module with the form guiding blind person of natural-sounding.
Further, a kind of method utilizing blindmen intelligent walk help clothes to carry out indoor path navigation, comprise the steps:
S3: led blind person to wear blindmen intelligent walk help by household or friend and take indoor and walk on the spot one time; Walking process is gathered routing information flowed to path input module by image capture module, range finder module, voice input module, relevant information is carried out location positioning by path input module Image Via Gis, and is cured as routing information and flows to described central control module;
S4: when blind person walks voluntarily, first selects walking path to enter corresponding navigation pattern, and central control module informs, by voice output module, the direction that blind person walks according to the routing information stored; In walking process, image capture module and range finder module send the image location information of barrier to central control module in real time, the real time information collected and the routing information stored are carried out contrast computing by central control module, and blind person are reminded to blind person from the range information of peripheral obstacle, positional information and follow-up correct routing information by earphone with the form of natural language by voice output module.
In such scheme, the mode reminding blind by double track of the earphone described in step S2, L channel broadcast path information, R channel plays obstacle height and range information.
In such scheme, when blind person goes on a journey alone because of various fortuitous events walk to one in advance solidify be not stored in central control module strange path time, module is returned by starting, the routing information that this blind person goes on a journey is pointed out in a reverse direction by voice output module with the form of natural-sounding, thus guiding blind person to be back to starting point.
Beneficial effects of the present invention: the blindmen intelligent walk help clothes of (1) present invention can be automatically performed the uninfluenced route planning of blind person and navigation, namely the several ways line that advance planning storage needs are movable, and can automatically calculate and record course of action, realize independent navigation, help blind person's autonomous actions, eliminate tradition and rely on accompanying and attending to of seeing-eye dog or professional, improve the self care ability of blind person. (2) image capture module and range finder module can transmit traffic information in real time, central control module carries out collecting, analyzing and processing according to traffic information in real time, automatically change out the voice signal corresponding with traffic information, helped by natural-sounding blind person to realize autonomous actions very intuitively. (3) by increasing a return module, when blind person goes on a journey alone because of various fortuitous events walk to one in advance solidify be not stored in central control module strange path time, have only to click return key, start and return module, central control module just can lead blind person to be back to starting point by path that this blind person is gone on a journey by voice output module information in a reverse direction, reduces the risk that blind person gets lost.
Figure of description
The principle of compositionality figure of apparatus of the present invention when Fig. 1 is outdoor navigation.
The principle of compositionality figure of apparatus of the present invention when Fig. 2 is indoor navigation.
The walk help that Fig. 3 is in the present embodiment takes specific configuration figure.
The walk help clothes that Fig. 4 provides for the present embodiment use state diagram.
In figure: 1. walk help takes body; 1-1. vest; 1-2. glasses; 1-3. belt; 1-4. trousers; 2. central control module; 3. photographic head; 4, the first ultrasonic transmission/reception probe; 5. the second ultrasonic transmission/reception probe; 6. the 3rd ultrasonic transmission/reception probe; 7. the 4th ultrasonic transmission/reception probe; 8. the 5th ultrasonic transmission/reception probe; 9. general routes load button; 10. newly-increased path load button; 11. working battery; 12. reserve battery.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is described in detail.
As shown in Figure 1, it is applicable to outdoor blindmen intelligent walk help clothes, its composition mainly includes walk help and takes body, walk help takes and is provided with guide unit on body, wherein, guide unit includes image capture module, range finder module, voice input module, central control module, voice output module, path input module and GPS locating module; Described image capture module, described range finder module and described GPS locating module are connected with described path input module and described central control module simultaneously; Described path input module is also associated with voice input module, and described central control module is also associated with voice output module; Described image capture module is used for sending the ambient image information around the blind person collected to described path input module and described central control module, described range finder module is used for sending the range information of the blind person collected Yu peripheral obstacle to described path input module and described central control module, and described voice input module is used for sending the voice messaging collected to described path input module; Described GPS locating module is used for sending the positional information of the blind person collected to described path input module and described central control module; Described path input module is used for collecting various information coupling processing, it is cured as routing information and flows to described central control module, described central control module is used for contrasting the routing information of path input module with collecting real time information, calculate blind person from the range information of peripheral obstacle, positional information and follow-up correct routing information, and send blind person by voice output module to the form of natural-sounding.
As shown in Figure 2, it is applicable to indoor blindmen intelligent walk help clothes, its composition mainly includes walk help and takes body, walk help takes and is provided with guide unit on body, wherein, guide unit includes image capture module, range finder module, voice input module, central control module, voice output module and path input module; Described image capture module and described range finder module are connected with described path input module and described central control module simultaneously; Described voice input module is individually connected with described path input module, and described path input module is connected with described central control module by GIS-Geographic Information System, and described central control module is connected with described voice output module; Described image capture module is used for sending the ambient image information around the blind person collected to described path input module and described central control module, described range finder module is used for sending the range information of the blind person collected Yu peripheral obstacle to described path input module and described central control module, and described voice input module is used for sending the voice messaging collected to described path input module; The various information collected are carried out location positioning by GIS-Geographic Information System by described path input module, form the routing information after solidifying and flow to described central control module, described central control module is used for the routing information after by solidification and contrasts with the real time information collected, calculate blind person from the range information of peripheral obstacle, positional information and follow-up correct routing information, and send blind person by voice output module to the form of natural-sounding.
Both are different in that, outdoor navigation, and when a certain path planning walking determined, blind person is positioned by GPS locating module, the accurate seat of real-time positioning, can know a certain seat oneself being in path planning when blind person walks in real time. And when indoor navigation, due to GPS no signal, it is impossible to be navigated and be accurately positioned. When therefore carrying out indoor navigation, the present invention gathers indoor routing information and by path input module comprehensively to GIS-Geographic Information System by image capture module, range finder module, voice input module, position navigation by drawing the barrier situation map of blind person's walking path, improve positioning precision.
The concrete structure of the walk help clothes being described in detail below in embodiment. as shown in Figure 3, the walk help of the present embodiment takes 1 and includes vest 1-1, glasses 1-2, belt 1-3 and trousers 1-4, preferably, described image capture module is photographic head 3, described photographic head is positioned at described vest dead ahead, described range finder module is ultrasonic transmission/reception probe, described ultrasonic transmission/reception probe includes the first ultrasonic transmission/reception probe 4, second ultrasonic transmission/reception probe 5, 3rd ultrasonic transmission/reception probe 6, 4th ultrasonic transmission/reception probe 7 and the 5th ultrasonic transmission/reception probe 8, described first ultrasonic transmission/reception probe 4 is positioned on described glasses 1-2, described second ultrasonic transmission/reception probe 5 is positioned on described belt 1-3, described 3rd ultrasonic transmission/reception probe 6 is positioned at the shank place of described trousers 1-4, described 4th ultrasonic transmission/reception probe 7 and described 5th ultrasonic transmission/reception probe 8 lay respectively at the two shoulder sides of described vest 1-1, described path input module includes general routes input module and newly-increased path input module, described general routes input module and described newly-increased path input module lay respectively at two shoulder sides of described vest, described general routes input module is used for having stored some conventional routing informations, described newly-increased path input module is used for storing the information in newly-increased path, and the newly-increased routing information of described newly-increased path module storage can be updated at any time. preferably, described vest is inlaid with reflective bright wisp to increase safety coefficient. described guide unit also includes power module, and described power module is lithium battery, and described lithium battery includes working battery 11 and reserve battery 12, and described working battery 11 and described reserve battery 12 lay respectively in the pocket of described vest front end. described central control module is also associated with returning module, and the routing information information alert blind person in a reverse direction that described return module is used for realizing having gone on a journey blind person is back to starting point.
Blindmen intelligent walk help clothes navigation is divided into two kinds of situations when carrying out the storage of routing information: 1, general routes information: the storage of general routes information is divided into interior wiring storage and outdoor route two kinds of situations of storage. during interior wiring storage, household or friend select 5 general routes, when every paths carries out path information storage, first led blind person to wear blindmen intelligent walk help by household or friend and take and walk on the spot one time. in walking process, indoor in-plant routing information gathers indoor routing information to path input module mainly through image capture module, range finder module, voice input module, and then routing information stream is integrated into GIS-Geographic Information System ultimately forming the routing information of solidification. concrete, it is responsible for gathering the image information of indoor closely guidance path by photographic head 3, the first ultrasonic transmission/reception probe 4 on walk help clothes, second ultrasonic transmission/reception probe 5, 3rd ultrasonic transmission/reception probe 6 totally three groups of ultrasound probes complete the detection (as shown in Figure 4) of path preceding object thing, cover the information of high, normal, basic three the height barrier things of blind person's dead ahead, the detection of the right and left barrier when the 4th ultrasonic transmission/reception probe 7 at two shoulder places, left and right and the 5th ultrasonic transmission/reception probe 8 have been responsible for blind person is walked, gathered by voice input module when information of voice prompt on the spot is then walked on the spot, finally in real time the various information of barrier on indoor closely guidance path and path are inputted GIS-Geographic Information System and stores in guide central control module, realize the gatherer process of indoor routing information. central control module then will carry out contrast computing, the final barrier situation obtained in real time on blind person's walking path according to real time information incoming on image capture module, range finder module and routing information. the storage of outdoor route is essentially the same with indoor, wherein the location in outdoor remote navigation path is completed by GPS locating module, during outdoor navigation, the detection and identifying of barrier is completed by image acquisition and range finder module equally, and the location information collected when walking at a distance in outdoor and each obstacle information are stored in central control module, it is achieved the collection of outdoor routing information. general routes information storage control by be positioned at walk help take on clothing angle, the left side arrange general routes load button 9 complete, putting on the Arabic numerals 1 to 5 of projection on general routes load button 9 respectively so that blind person identifies, the numeral 1 to 5 on button represents 5 paths that blind person commonly uses respectively. in order to better use blindmen intelligent walk help to take, after having stored 5 general routes, blind person preferably keeps the path essential information of each Digital ID firmly in mind. 2, the storage of newly-increased routing information: in order to meet blind person for the navigation task requirement except several general routes, blindmen intelligent walk help clothes are provided with the planning for newly-increased path and navigation feature. newly-increased path needs also exist for when planning being led the blind person wearing blindmen intelligent walk help clothes to walking one time on the spot by household or friend, is stored in central control module by the obstacle information on newly-increased routing information and path in real time. the control that newly-increased path stores is completed by the newly-increased path load button 10 being positioned on clothing angle, walk help clothes the right, the path that the projection Digital ID on newly-increased path load button 10 increases newly. after newly-increased path is filled with, then need to press corresponding digital button key on newly-increased path load button 10 to add new path, the path of path replacement Cheng Xin that will originally store.
After the storage completing blindmen intelligent walk help is taken general routes and newly-increased path, blind person can complete the selection for general routes information or newly-increased routing information by being positioned at the digital navigation button at clothing angle place, walk help vest left and right. blind person is when carrying out indoor and closely navigating, according to the routing information that GIS-Geographic Information System solidifies, central control module informs, by voice output module, the direction that blind person walks, image capture module and range finder module are started working in the process of walking, the information that photographic head and 5 groups of ultrasound probes collect barrier is reminded to blind person by earphone by central control module in the form of speech, the voice messaging mode reminding blind by double track, L channel broadcast path information, R channel plays obstacle height and range information, it is attached by wired mode between earphone and blindmen intelligent walk help clothes, do not take bluetooth or other be wirelessly attached, the each before travel earphone of blind person can be saved and all need the loaded down with trivial details preparation of charging. barrier report to the police by by R channel with different frequency reminding blinds, obstacle distance is more near, and R channel alert frequency is more high to indicate danger, and barrier warning message is based on dead ahead, comprising the information of high, normal, basic three the height barrier things of blind person's dead ahead, left and right sides is auxiliary. the position of blind person, when carrying out outdoor remote navigation, is accurately positioned by blind person by GPS module, and is compared with the outdoor path planning information stored position outdoor for blind person, and the direction to correct blind person's walking in time is unlikely to deviation. when blind person requires over traffic lights zebra crossing, central control module is by prior notice blind person, the mode that blind person then helps mainly through request pedestrian passes through zebra crossing, and which safety is more safe and reliable, is avoided that accident occur because of situation complicated and changeable on road. in order to increase the safety coefficient that blind person goes on a journey alone, blindmen intelligent walk help clothes will be inlayed the two reflective bright wisps of circle and remind periphery pedestrian and vehicle.
Automatically the routing information passed by will be able to be stored separately in central control module 2 additionally, return module when blind person goes on a journey every time. When if blind person goes on a journey alone because of various fortuitous events walk to a foreign environment time, want the starting point returning this trip, can press and be positioned at the upper return key (this button is larger compared with other navigation keys shape so that blind person is unlikely to push the wrong) of blindmen intelligent walk help clothes, start and return module, the routing information that this blind person is then gone on a journey by central control module 2 mode operation in the opposite direction, relies on voice output module to lead blind person to be back to starting point.
Claims (19)
1. blindmen intelligent walk help clothes, body is taken including walk help, it is characterized in that, described walk help takes and is provided with guide unit on body, and described guide unit includes image capture module, range finder module, voice input module, central control module, voice output module, path input module and GPS locating module; Described image capture module, described range finder module and described GPS locating module are connected with described path input module and described central control module simultaneously; Described path input module is also associated with voice input module, and described central control module is also associated with voice output module; Described image capture module is used for sending the ambient image information around the blind person collected to described path input module and described central control module, described range finder module is used for sending the range information of the blind person collected Yu peripheral obstacle to described path input module and described central control module, and described voice input module is used for sending the voice messaging collected to described path input module; Described GPS locating module is used for sending the positional information of the blind person collected to described path input module and described central control module; Described path input module is used for collecting various information coupling processing, it is cured as routing information and flows to described central control module, described central control module is used for contrasting the routing information of path input module with collecting real time information, calculate blind person from the range information of peripheral obstacle, positional information and follow-up correct routing information, and send blind person by voice output module to the form of natural-sounding.
2. a kind of blindmen intelligent walk help clothes according to claim 1, it is characterised in that described image capture module is photographic head, and described range finder module is ultrasonic transmission/reception probe.
3. a kind of blindmen intelligent walk help clothes according to claim 2, it is characterized in that, described walk help takes body and includes vest, glasses, belt and trousers, described photographic head is positioned at described vest dead ahead, described ultrasonic transmission/reception probe includes the first ultrasonic transmission/reception probe, second ultrasonic transmission/reception probe, 3rd ultrasonic transmission/reception probe, 4th ultrasonic transmission/reception probe and the 5th ultrasonic transmission/reception probe, described first ultrasonic transmission/reception probe is positioned on described glasses, described second ultrasonic transmission/reception probe is positioned on described belt, described 3rd ultrasonic transmission/reception probe is positioned at the shank place of described trousers, described 4th ultrasonic transmission/reception probe and described 5th ultrasonic transmission/reception probe lay respectively at two shoulder sides of described vest.
4. a kind of blindmen intelligent walk help clothes according to claim 3, it is characterized in that, described path input module includes general routes input module and newly-increased path input module, described general routes input module and described newly-increased path input module lay respectively at two shoulder sides of described vest, described general routes module is used for storing some conventional routing informations, described newly-increased path module is used for storing newly-increased routing information, and the newly-increased routing information of described newly-increased path module storage can be updated at any time.
5. a kind of blindmen intelligent walk help clothes according to claim 3, it is characterized in that, described guide unit also includes power module, described power module includes lithium battery, described lithium battery includes in the pocket that working battery and reserve battery, described working battery and described reserve battery lay respectively at described vest front end.
6. a kind of blindmen intelligent walk help clothes according to claim 1, it is characterized in that, described central control module is also associated with returning module, described return module is used for the routing information blind person store in central control module gone on a journey pattern in the opposite direction and sends described central control module to, and described central control module is back to starting point by described voice output module with the form guiding blind person of natural-sounding.
7. the method utilizing blindmen intelligent walk help clothes to carry out outdoor path navigation, comprises the steps:
S1: led blind person to wear blindmen intelligent walk help by household or friend and take outdoor and walk on the spot one time; Walking process gathers routing information and by path input module by relevant information coupling processing by image capture module, range finder module, voice input module and GPS locating module, and solidifies storage in central control module;
S2: when blind person walks voluntarily, first selects walking path to enter corresponding navigation pattern, and central control module informs, by voice output module, the direction that blind person walks according to the routing information stored; In walking process, the positional information of blind person is sent the image location information of barrier, GPS locating module to central control module by image capture module and range finder module in real time in real time, the real time information collected and the routing information stored are carried out contrast computing by central control module, and blind person are reminded to blind person from the range information of peripheral obstacle, positional information and follow-up correct routing information by earphone with the form of natural language by voice output module.
8. a kind of method utilizing blindmen intelligent walk help clothes to carry out outdoor path navigation according to claim 7, it is characterized in that, the mode reminding blind by double track of the earphone described in step S2, L channel broadcast path information, R channel plays obstacle height and range information.
9. a kind of method utilizing blindmen intelligent walk help clothes to carry out outdoor path navigation according to claim 7 or 8, it is characterized in that, when blind person requires over traffic lights zebra crossing, voice output module is by prior notice blind person, and the mode that blind person helps by asking pedestrian passes through zebra crossing.
10. a kind of method utilizing blindmen intelligent walk help clothes to carry out outdoor path navigation according to claim 9, it is characterized in that, when blind person goes on a journey alone because of various fortuitous events walk to one in advance solidify be not stored in central control module strange path time, module is returned by starting, the routing information that this blind person goes on a journey is pointed out in a reverse direction by voice output module with the form of natural-sounding, thus guiding blind person to be back to starting point.
11. blindmen intelligent walk help clothes, body is taken including walk help, it is characterized in that, described walk help takes and is provided with guide unit on body, and described guide unit includes image capture module, range finder module, voice input module, central control module, voice output module and path input module; Described image capture module and described range finder module are connected with described path input module and described central control module simultaneously; Described voice input module is individually connected with described path input module, and described path input module is connected with described central control module by GIS-Geographic Information System, and described central control module is connected with described voice output module; Described image capture module is used for sending the ambient image information around the blind person collected to described path input module and described central control module, described range finder module is used for sending the range information of the blind person collected Yu peripheral obstacle to described path input module and described central control module, and described voice input module is used for sending the voice messaging collected to described path input module; The various information collected are carried out location positioning by GIS-Geographic Information System by described path input module, form the routing information after solidifying and flow to described central control module, described central control module is used for the routing information after by solidification and contrasts with the real time information collected, calculate blind person from the range information of peripheral obstacle, positional information and follow-up correct routing information, and send blind person by voice output module to the form of natural-sounding.
12. a kind of blindmen intelligent walk help clothes according to claim 11, it is characterised in that described image capture module is photographic head, described range finder module is ultrasonic transmission/reception probe.
13. a kind of blindmen intelligent walk help clothes according to claim 12, it is characterized in that, described walk help takes body and includes vest, glasses, belt and trousers, described photographic head is positioned at described vest dead ahead, described ultrasonic transmission/reception probe includes the first ultrasonic transmission/reception probe, second ultrasonic transmission/reception probe, 3rd ultrasonic transmission/reception probe, 4th ultrasonic transmission/reception probe and the 5th ultrasonic transmission/reception probe, described first ultrasonic transmission/reception probe is positioned on described glasses, described second ultrasonic transmission/reception probe is positioned on described belt, described 3rd ultrasonic transmission/reception probe is positioned at the shank place of described trousers, described 4th ultrasonic transmission/reception probe and described 5th ultrasonic transmission/reception probe lay respectively at two shoulder sides of described vest.
14. a kind of blindmen intelligent walk help clothes according to claim 13, it is characterized in that, described path input module includes general routes input module and newly-increased path input module, described general routes input module and described newly-increased path input module lay respectively at two shoulder sides of described vest, described general routes module is used for storing some conventional routing informations, described newly-increased path module is used for storing newly-increased routing information, and the newly-increased routing information of described newly-increased path module storage can be updated at any time.
15. a kind of blindmen intelligent walk help clothes according to claim 13, it is characterized in that, described guide unit also includes power module, described power module includes lithium battery, described lithium battery includes in the pocket that working battery and reserve battery, described working battery and described reserve battery lay respectively at described vest front end.
16. a kind of blindmen intelligent walk help clothes according to claim 11, it is characterized in that, described central control module is also associated with returning module, described return module is used for the routing information blind person store in central control module gone on a journey pattern in the opposite direction and sends described central control module to, and described central control module is back to starting point by described voice output module with the form guiding blind person of natural-sounding.
17. utilize blindmen intelligent walk help to take the method carrying out indoor path navigation, comprise the steps:
S3: led blind person to wear blindmen intelligent walk help by household or friend and take indoor and walk on the spot one time; Walking process is gathered routing information flowed to path input module by image capture module, range finder module, voice input module, relevant information is carried out location positioning by path input module Image Via Gis, and is cured as routing information and flows to described central control module;
S4: when blind person walks voluntarily, first selects walking path to enter corresponding navigation pattern, and central control module informs, by voice output module, the direction that blind person walks according to the routing information stored; In walking process, image capture module and range finder module send the image location information of barrier to central control module in real time, the real time information collected and the routing information stored are carried out contrast computing by central control module, and blind person are reminded to blind person from the range information of peripheral obstacle, positional information and follow-up correct routing information by earphone with the form of natural language by voice output module.
18. a kind of method utilizing blindmen intelligent walk help clothes to carry out indoor path navigation according to claim 17, it is characterized in that, the mode reminding blind by double track of the earphone described in step S2, L channel broadcast path information, R channel plays obstacle height and range information.
19. a kind of method utilizing blindmen intelligent walk help clothes to carry out indoor path navigation according to claim 18, it is characterized in that, when blind person goes on a journey alone because of various fortuitous events walk to one in advance solidify be not stored in central control module strange path time, module is returned by starting, the routing information that this blind person goes on a journey is pointed out in a reverse direction by voice output module with the form of natural-sounding, thus guiding blind person to be back to starting point.
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