CN105686935A - An intelligent blind-guide method - Google Patents
An intelligent blind-guide method Download PDFInfo
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- CN105686935A CN105686935A CN201610012203.1A CN201610012203A CN105686935A CN 105686935 A CN105686935 A CN 105686935A CN 201610012203 A CN201610012203 A CN 201610012203A CN 105686935 A CN105686935 A CN 105686935A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
Abstract
The invention relates to an intelligent blind-guide method comprising the steps of obtaining position information; planning and analyzing a route; performing real-time analysis on road conditions; judging whether traffic signal detection for an intersection is needed according to a map and positioning information; analyzing the state of traffic information signal lights and prompting a user; establishing a Gaussian mixture model and performing background analysis on obtained road condition images to obtain an image background and further obtain foreground image information; performing feature analysis on the foreground image information to judge the road information and passenger and vehicle information and prompting the user. The method can perform accurate and comprehensive detection and reasonable evaluation on complex road conditions, can provide reasonable and timely prompts for users, can provide convenience for going out of special crowds, in particular the blind and the old, fulfills the functions of accurate positioning, route navigation, road condition detection and voice prompt, and is worthy of extensive promotion.
Description
Technical field
The invention belongs to technology for guiding blind field, be specifically related to a kind of intelligent blind-guiding method。
Background technology
In people's life, especially in some special population fields, there is many difficulties in such as blind person, old people in walking guiding。At present, blind person's trip relies primarily on the help of blind-guiding stick and seeing-eye dog, and seeing-eye dog needs long-time training, expensive, and raises trouble, relatively costly；Although blind-guiding stick is easy to use, cheap, but investigative range is little；It addition, mix section at traffic light crossing, people's car and do not have the environment of traffic marking, it is relatively difficult and dangerous that blind person relies solely on blind-guiding stick trip。
How continuous progressive along with science and technology, can provide a kind of effective blind-guiding method, provides accurate, concrete guide for the trip of friend blind person, is the focus paid close attention in society all the time。The application for a patent for invention that application number is [201510423197.4] proposes a kind of blind-guiding method and blind guiding system, and wherein blind-guiding method comprises the steps: the position that location blind person is current；The information of road surface of shooting current location；The information of road surface of current location is analyzed, and result verbal announcement blind person will be analyzed。Captured information of road surface, only by positioning and the information of road surface of shooting being analyzed, is contrasted with the information of road surface prestored, and then plays reminding effect for blind person's trip by this kind of mode。
But, aforesaid way is difficult to the real-time analysis to complex road condition, for the road conditions of real-time change, fails the barrier on track route, hollow, pedestrian, vehicle and traffic light etc. are made detection accurately and reasonably assesses；And also fail to carry out accurate path planning according to concrete road conditions blind person walked traffic path, and then preferred trip mode can not be rationally provided, make troubles for blind person's trip。
Summary of the invention
It is an object of the invention to propose a kind of intelligent blind-guiding device for the defect existed in above-mentioned prior art and the blind-guiding stick of this device is installed, deficiency for the detection of current blind-guide device road conditions, propose to utilize image detection and know method for distinguishing to carry out the real-time detection of road conditions, it is capable of carrying out path planning in conjunction with complex road condition real time status and road conditions are analyzed in real time, user is carried out real-time prompting, it is accurately positioned in conjunction with GPS, provides preferential trip mode for blind person。
In order to achieve the above object, the present invention proposes a kind of intelligent blind-guiding method, including:
S1, acquisition positional information: obtain user's current location information by navigation positional device, and according to user designated destination information, obtain destination locations information；
S2, path planning analysis: according to above-mentioned current location information and destination locations information planning path, it is determined that traffic path；
S3, road conditions are analyzed in real time: obtained the real-time road image of traffic path by image collecting device, and then carry out road conditions analyzing output real-time navigation information in real time, and report to user, to point out user to walk according to described real-time navigation information, road conditions are analyzed in real time and specifically include following steps:
S30, judge whether to need the traffic signal detection that carries out intersection in conjunction with map and location information, if so, then perform S31；Otherwise, S32 is performed；
S31, analysis transport information signal lamp state, and point out user；
S32, structure mixed Gauss model, carry out context analyzer to the road conditions image obtained and obtain image background, thus obtaining foreground image information；
S33, carry out feature analysis according to above-mentioned foreground image information, it is judged that information of road surface and pedestrian, information of vehicles, and point out user。
Further, described step S2 includes:
S21, search intersection point: limit search scope, combining cartographic information and location information are determined between customer location and destination and the intersection point of perimeter strip；
S22, the screening of some path, intersection: the path between the point of above-mentioned intersection is carried out Screening Treatment, and as the candidate vertices of the special pulling method of Dick Si, the walking path between two intersection points is as the candidate vertices length of side；
S23, determine optimal path: in conjunction with above-mentioned steps, obtain optimum traffic path by the special pulling method of Dick Si；
By improving both candidate nodes and the length of side space of path planning, reduce the input size of the special pulling method of Dick Si, thus ensureing the time efficiency of path planning。
Further, described step S31 includes:
S311, detection signal lights position: three kinds of colors of red, yellow, and green are carried out horizontal and vertical integral projection, combine at peak value both horizontally and vertically by comparing three kinds of integral projections, it is determined that traffic light position scope；
S312, signal lamp color, form fit: according to three kinds of colors of red, yellow, and green, candidate's scope being carried out image segmentation, analyzes the edge of each cut zone, it is thus achieved that shape, traffic light template is mated with prestoring；
S313, determine signal lights state: traffic signal combination identifies, it is thus achieved that traffic signal light condition, and points out user；
Simply effective compared to traditional method, meet real-time analysis efficiency, carry out shape color coupling in combination with image segmentation and rim detection, analyze speed fast, correct recognition efficiency is high。
Further, described step S33 includes the following steps of executed in parallel:
S331, analyze information of road surface and point out user: image is carried out rim detection and morphological method analysis, analyze position and the area information of foreground object image, it is made whether judge for the road conditions of hollow and make prompting, effectively reduce the real-time analysis time of hollow, barrier etc., be greatly improved detection efficiency；
S332, analyze information of vehicles and point out user: analyzing the Harr feature of foreground image, car modal mates with prestoring, and the match is successful is then judged as vehicle, and then analyzes vehicle location and make prompting；
S333, analyze pedestrian information and point out user: analyzing histograms of oriented gradients (HOG) feature of foreground image, and with the pedestrian's template matching that prestores, the match is successful is then judged as pedestrian, and then analyzes pedestrian position and make prompting；
By determining feature analysis region for different detection targets, reduce the data volume of feature analysis so that pedestrian and vehicle detection can reach real-time, improve time efficiency。
Further, in described step S32, the method that the Gauss submodel of the mixed Gauss model built is adopted circulation renewal, Gauss submodel is updated by circulating, avoid the time waste of analysis every time, in the application scenarios of the present invention, background is relatively single and changes slowly, effectively and substantially increase time efficiency。
Further, in described step S3, in the process that user walks according to described navigation information, the current location information of described blind users is constantly obtained by navigation equipment, and judge whether described current location information deviates described path planning, if described current location information deviates described path planning, then output information guides user to revise direction of travel, returns to described path planning。
Further, in the process that user walks according to described navigation information, in emergency circumstances can placement of emergency calls seeking help if running into, safety is secure。
Further, in described step S3 cartographic information by wireless telecommunications system real-time update, it is ensured that data in real time effectively, improve navigation efficiency and accuracy。
Compared with prior art, advantages of the present invention and having the active effect that
1. the inventive method is passed through: obtain positional information；Path planning is analyzed；Road conditions are analyzed in real time: judge whether the traffic signal detection needing to carry out intersection in conjunction with map and location information；Analyze transport information signal lamp state, and point out user；Build mixed Gauss model, the road conditions image obtained is carried out context analyzer and obtains image background, and then obtain foreground image information；Carry out feature analysis according to above-mentioned foreground image information, it is judged that information of road surface and pedestrian, information of vehicles, and point out user, it is achieved the monitoring analysis of complex road condition；
2, be equivalent to, by collection visual pattern, the visual field that normal eye sees, by image, road conditions are analyzed in real time, it is capable of traffic signal, barrier, hollow, pedestrian, vehicle etc. are made detection accurately and reasonably assesses, to user with rationally voice message timely；Trip for special population field particularly blind person, old people provides convenient, it is achieved be accurately positioned, path navigation, road conditions detect and sound prompt function。
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is some embodiments of invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings。
Fig. 1 is the real-time analytical structure flow charts of the road conditions described in the embodiment of the present invention；
Fig. 2 is the path planning analytical structure flow chart described in the embodiment of the present invention。
Detailed description of the invention
The present invention provides a kind of intelligent blind-guiding device and is provided with the blind-guiding stick of this device, below in conjunction with different embodiments, the present invention is described further。
The present invention proposes a kind of intelligent blind-guiding method, including: S1, acquisition positional information: obtain current location information and the signal of the destination information according to user's input by navigator fix, obtain destination locations information；S2, path planning analysis: determine optimum traffic path according to above-mentioned current location information and destination locations information；S3, road conditions are analyzed in real time: obtain the real-time road image between traffic path, road conditions are analyzed in real time, and real-time navigation information is pointed out user, make user walk according to described navigation information, including:
S30, judge whether to need the traffic signal detection that carries out intersection in conjunction with map and location information, if so, then perform S31；If it is not, then perform S32；
S31, analysis transport information signal lamp state, and point out user；
S32, structure mixed Gauss model, carry out context analyzer and obtain image background, and then obtain foreground image information the road conditions image obtained；
S33, carry out feature analysis according to above-mentioned foreground image information, it is judged that information of road surface and pedestrian, information of vehicles, and point out user。
With reference to Fig. 2, S21, search intersection point: limit search scope, combining cartographic information and location information are determined between customer location and destination and the intersection point of perimeter strip；S22, the screening of some path, intersection: the path between the point of above-mentioned intersection is carried out Screening Treatment, and as the candidate vertices of the special pulling method of Dick Si, the walking path between two intersection points is as the candidate vertices length of side；S23, determining optimal path: in conjunction with above-mentioned steps, obtaining optimum traffic path by the special pulling method of Dick Si is the structure flow chart that path planning is analyzed。
Concrete, first combining cartographic information and location information are determined between customer location and destination and the intersection point of perimeter strip, search intersection point: owing to the present embodiment user is towards special population (blind person or old people), therefore path planned range is retrained by this method by path planning scope restriction module, such as, when customer location distance location destination is more than 10 kilometers, prompting user resets slightly closely destination's (within 10 kilometers), and for the destination within 10 kilometers, hunting zone, intersection is also limited in customer location place and destination's periphery 5 kilometer range, by such operation, counted out minimizing in intersection, improve the time efficiency limit search scope of the special pulling method of Dick Si；
Then, using candidate vertices as the special pulling method of Dick Si of the intersection point that there is walking path, it is contemplated that the use scene of the present invention is primarily directed to pedestrian scenarios, is about subtracted module by path and the path between candidate vertices is about subtracted。Such as: the non-walking path, path between two summits, such as highway etc. on the one hand, this path is deleted from candidate；On the other hand, when there is a plurality of walking path between two summits, only retain beeline path, other walking paths are deleted, using the walking path distance of 2 the intersection points length of side as 2 candidate vertices；Last S23, being obtained customer location by the special pulling method of Dick Si to the optimal path between destination, by improving both candidate nodes and the length of side space of path planning, reducing the input size of the special pulling method of Dick Si, thus ensureing the time efficiency of path planning。
For the real-time analytical procedure of road conditions, with reference to Fig. 1, it is achieved the Real Time Monitoring of the instant complex road condition such as barrier, pedestrian, vehicle and pot hole run into during to trip, and remind user's walking by voice message。Specific as follows:
After collecting image, first according to the map and location information judge whether to need to carry out traffic signal detection, if desired, then detected by following steps:
S311, detection signal lights position: three kinds of colors of red, yellow, and green are carried out horizontal and vertical integral projection, combine at peak value both horizontally and vertically by comparing three kinds of integral projections, it is determined that traffic light position scope；
S312, signal lamp color, form fit: according to three kinds of colors of red, yellow, and green, candidate's scope is carried out image segmentation, analyzes the edge of each cut zone, it is thus achieved that shape, traffic light template (including CF) is mated with prestoring；
The combination of S313, traffic signal identifies, it is thus achieved that traffic signal light condition, and points out user；
Simply effective compared to traditional method, meet real-time analysis efficiency, carry out shape color coupling in combination with image segmentation and rim detection, analyze speed fast, correct recognition efficiency is high。
If signal lights need not be detected, then carry out context analyzer by structure GMM model and obtain image background, obtain display foreground information by background subtraction。In order to improve time efficiency, by determining feature analysis region for different detection targets, reduce the data volume of feature analysis, make pedestrian and vehicle detection can reach real-time, for carrying out feature analysis according to foreground image information, judge information of road surface and pedestrian, information of vehicles, and point out in user steps, specifically:
S331, analyze information of road surface and point out user: image is carried out rim detection and morphological method analysis, mainly corrosion and plavini, analyzing position and the area information of foreground object image。Concrete, first actual scene is carried out substantial amounts of image acquisition, hollow region, Obstacle Position is marked by great many of experiments analysis, then adopt SVM classifier hollow area, Obstacle Position area are carried out study obtain hollow area, Obstacle Position area threshold value and with prestore in the memory unit, and then analyze whether hollow area exceedes setting threshold value, it is made whether judge for the road conditions of hollow and make prompting, effectively reduce the real-time analysis time of hollow, barrier etc., be greatly improved detection efficiency；
S332, analyze information of vehicles and point out user: the foreground image for motor-driven road carries out Harr feature analysis, analyzes the Harr feature of foreground image, and car modal mates with prestoring, and the match is successful is then judged as vehicle, and then analyzes vehicle location and make prompting；
S333, analyze pedestrian information and point out user: in conjunction with the present embodiment application scenarios and cartographic information, foreground image near pedestrian walkway is carried out HOG feature analysis, analyze the HOG feature in the direction of foreground image, and with the pedestrian's template matching that prestores, the match is successful is then judged as pedestrian, and then analyzes pedestrian position and make prompting；
In the application scenarios of the present invention, owing to background is relatively single and changes slowly, for improving time efficiency in described step S32, the method that the Gauss submodel of the mixed Gauss model built is adopted circulation renewal, specifically, initial period, according to image/video, analyze initial GMM model, and preserve 10 Gauss submodel distributed constants in order, along with subsequent image acquisition, analyze new Gauss submodel, mate with the submodel prestored, if there is coupling, then according to prestoring Gauss submodel and gather the new GMM model distributed constant of Image estimation；If being absent from coupling, then utilize new Gauss submodel to replace last submodel in former Gauss submodel, then calculate new GMM model distributed constant, update GMM model submodel by circulating, avoid the time waste of every time analysis, effectively and substantially increase time efficiency。In described step S3, in the process that user walks according to described navigation information, the current location information of described blind users is constantly obtained by navigation equipment, and judge whether described current location information deviates described path planning, if described current location information deviates described path planning, then output information guides user to revise direction of travel, returns to described path planning。
In the process that user walks according to described navigation information, in emergency circumstances also can placement of emergency calls seeking help if running into, safety is secure, and to the cartographic information in the present invention by wireless telecommunications system real-time update, ensure the effective in real time of data, improve navigation efficiency and accuracy。
To sum up, a kind of intelligent blind-guiding method proposed by the invention, by obtaining positional information；Path planning is analyzed；Road conditions are analyzed in real time: judge whether the traffic signal detection needing to carry out intersection in conjunction with map and location information；Analyze transport information signal lamp state, and point out user；Build mixed Gauss model, the road conditions image obtained is carried out context analyzer and obtains image background, and then obtain foreground image information；Carry out feature analysis according to above-mentioned foreground image information, it is judged that information of road surface and pedestrian, information of vehicles, and point out user。Achieve and complex road condition is made detection accurately and reasonably assessment, to user rationally to point out timely, trip for special population field particularly blind person, old people provides convenient, realization is accurately positioned, path navigation, road conditions detect and sound prompt function, has a wide range of applications dissemination。
The above; it it is only presently preferred embodiments of the present invention; it is not the restriction that the present invention is made other form; the Equivalent embodiments that any those skilled in the art were changed or be modified as equivalent variations possibly also with the technology contents of the disclosure above is applied to other field; but it is every without departing from technical solution of the present invention content; according to any simple modification, equivalent variations and remodeling that above example is made by the technical spirit of the present invention, still fall within the protection domain of technical solution of the present invention。
Claims (8)
1. an intelligent blind-guiding method, it is characterised in that comprise the following steps:
S1, acquisition positional information: obtain user's current location information by navigation positional device, and according to user designated destination information, obtain destination locations information；
S2, path planning analysis: according to above-mentioned current location information and destination locations information planning path, it is determined that traffic path；
S3, road conditions are analyzed in real time: obtained the real-time road image of traffic path by image collecting device, and then carry out road conditions analyzing output real-time navigation information in real time, and report to user, to point out user to walk according to described real-time navigation information, road conditions are analyzed in real time and specifically include following steps:
S30, judge whether to need the traffic signal detection that carries out intersection in conjunction with map and location information, if so, then perform S31；Otherwise, S32 is performed；
S31, analysis transport information signal lamp state, and point out user；
S32, structure mixed Gauss model, carry out context analyzer to the road conditions image obtained and obtain image background, thus obtaining foreground image information；
S33, carry out feature analysis according to above-mentioned foreground image information, it is judged that information of road surface and pedestrian, information of vehicles, and point out user。
2. a kind of intelligent blind-guiding method according to claim 1, it is characterised in that described step S2 includes:
S21, search intersection point: limit search scope, combining cartographic information and location information are determined between customer location and destination and the intersection point of perimeter strip；
S22, the screening of some path, intersection: the path between the point of above-mentioned intersection is carried out Screening Treatment, and as the candidate vertices of the special pulling method of Dick Si, the walking path between two intersection points is as the candidate vertices length of side；
S23, determine optimal path: after intersection point search completes, in conjunction with above-mentioned steps, obtain optimum traffic path by the special pulling method of Dick Si。
3. a kind of intelligent blind-guiding method according to claim 1 and 2, it is characterised in that described step S31 includes:
S311, detection signal lights position: three kinds of colors of red, yellow, and green are carried out horizontal and vertical integral projection, combine at peak value both horizontally and vertically by comparing three kinds of integral projections, it is determined that traffic light position scope；
S312, signal lamp color, form fit: according to three kinds of colors of red, yellow, and green, candidate's scope being carried out image segmentation, analyzes the edge of each cut zone, it is thus achieved that shape, traffic light template is mated with prestoring；
S313, determine signal lights state: traffic signal combination identifies, it is thus achieved that traffic signal light condition, and points out user。
4. a kind of intelligent blind-guiding method according to claim 3, it is characterised in that described step S33 includes the following steps of executed in parallel:
S331, analyze information of road surface and point out user: image is carried out rim detection and morphological method analysis, analyzing position and the area information of foreground object image, be made whether judge for the road conditions of hollow and make prompting；
S332, analyze information of vehicles and point out user: analyzing the Harr feature of foreground image, car modal mates with prestoring, and the match is successful is then judged as vehicle, and then analyzes vehicle location and make prompting；
S333, analyze pedestrian information and point out user: analyzing the histograms of oriented gradients feature of foreground image, and with the pedestrian's template matching that prestores, the match is successful is then judged as pedestrian, and then analyzes pedestrian position and make prompting。
5. a kind of intelligent blind-guiding method according to claim 4, it is characterised in that in described step S32, the Gauss submodel of the mixed Gauss model built is adopted the method circulating renewal。
6. a kind of intelligent blind-guiding method according to claim 5, it is characterized in that, in described step S3, in the process that user walks according to described navigation information, constantly obtained the current location information of described blind users by navigation equipment, and judge whether described current location information deviates described path planning, if described current location information deviates described path planning, then output information guides user to revise direction of travel, returns on described path planning。
7. a kind of intelligent blind-guiding method according to claim 6, it is characterised in that in the process that user walks according to described navigation information, in emergency circumstances can placement of emergency calls seek help if running into。
8. a kind of intelligent blind-guiding method according to claim 7, it is characterised in that in described step S3, cartographic information passes through wireless telecommunications system real-time update。
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| CN105973264A (en) * | 2016-07-21 | 2016-09-28 | 触景无限科技（北京）有限公司 | Intelligent blind guiding system |
| CN106236525A (en) * | 2016-09-23 | 2016-12-21 | 河海大学常州校区 | A kind of voice guide method and system |
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