CN106074096A - A kind of blind person's portable navigating instrument based on computer vision - Google Patents
A kind of blind person's portable navigating instrument based on computer vision Download PDFInfo
- Publication number
- CN106074096A CN106074096A CN201610358923.3A CN201610358923A CN106074096A CN 106074096 A CN106074096 A CN 106074096A CN 201610358923 A CN201610358923 A CN 201610358923A CN 106074096 A CN106074096 A CN 106074096A
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- China
- Prior art keywords
- blind person
- control module
- photographic head
- module
- route
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- 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
- A61H3/068—Sticks for blind persons
-
- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
- A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
-
- 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
Abstract
The present invention discloses a kind of blind person's portable navigating instrument based on computer vision, and it includes accumulator, control module, GPS locating module, photographic head, ultrasonic sensor and prompting module；Prompting module includes voice-output unit；The outfan of photographic head, ultrasonic sensor and GPS locating module link control module respectively；Control module is provided with route and sets interface, circuit terminal that control module inputs according to user and origin information, selects corresponding route；And according to current position determination data information, export voice messaging by the voice-output unit of prompting module, to instruct blind person to walk according to route；Control module obtains according to photographic head simultaneously view data and the obstacle information that ultrasonic listening obtains, export voice messaging by voice-output unit, to instruct blind person to maintain or to change former route.The present invention is by connected applications GPS navigation technology, ultrasonic listening technology and computer vision technique, it is achieved multi-faceted blind man navigation, it is possible to instruct blind person according to the route independent ambulation of safety.And in the process of walking, can know in time for the barrier near blind person current location and accident, and notify that blind person is away from danger in time.
Description
Technical field
The present invention relates to field of navigation technology, a kind of blind person's portable navigating instrument based on computer vision.
Background technology
With the quickening pace of modern life, people increasingly focus on the application of various smart machine, lead as installed on automobile
Boat system, guides circuit for vehicle, it is to avoid take an unnecessary way more.Existing GPS navigation system has possessed and has navigated for true streetscape
Ability is under the combination of ripe computer vision technique and GPS navigation technology, and pilotless automobile also is able in various road conditions
Environment in carry out unmanned, and ensure that driving safety, for the providing a great convenience property of Working Life of people.
How blind person, as a specific group in society, can preferably live on one's own life, and is this colony and society
Can be all in the problem paid close attention to.How can the walking of safety, be also one of them basic problem.
Summary of the invention
The technical problem to be solved in the present invention is: by connected applications GPS navigation technology, ultrasonic listening technology and meter
Calculation machine vision technique, it is provided that the navigator that a kind of blind person of being applicable to walking is carried, reliability is higher.
For solving above-mentioned technical problem, the present invention provides a kind of blind person's portable navigating instrument based on computer vision, including
Accumulator, and by battery-driven control module, GPS locating module, photographic head, ultrasonic sensor and prompting mould
Block；Described control module is provided with the route of circuit terminal and origin information for receiving user's input and sets interface；Remind
Module includes voice-output unit；
GPS locating module is communicated with GPS server by antenna, to realize location；GPS positions mould
The outfan link control module of block；
Circuit terminal that control module inputs according to user and origin information, select corresponding route；And according to when prelocalization number
It is believed that breath, export voice messaging by the voice-output unit of prompting module, to instruct blind person to walk according to route；
Control module control photographic head operation so that the view-finder of photographic head with certain frequency towards front with towards ground
Between switch, to obtain front, current location and ground image data, and transmit to control module；
The outfan of ultrasonic sensor and control end link control module respectively, control module returning according to ultrasonic sensor
Ripple information, it is judged that the obstacle information in front, current location；
Obstacle information that control module obtains according to ultrasonic listening and the view data that camera collection arrives, pass through voice
Output unit output voice messaging, to instruct blind person to maintain or to change former route.
The present invention is in use, GPS locating module, ultrasonic sensor are all existing product, and control module can use existing
There is microprocessor products.Before blind person uses the navigator of the present invention, it is blind that family members can first pass through route setting interface input
People alone walk start starting point and terminal to be arrived, what then blind person can be walked in distance by navigator leads
Boat.When route needs turn round or run into possible dangerous time, navigator can notify that blind person is to take measures away from danger in time.
Concrete, route of the present invention sets interface and includes touching display screen, and control unit is by Map Data Transmission extremely
Touch display screen to show, touch display screen and gather the touch selection information transmission of user to control unit.Described control is single
Unit guides user to click beginning and end successively on map by programme-control, then obtains the positional information clicked, enters
And by existing navigation way algorithm, such as the shortest pathfinding method etc., analyze and obtain feasible route.Route sets interface and may be used without
Other form existing, as a lot of vehicle mounted guidances are selected: user inputs the location point providing of being consistent in place-lookup map
Selection-user selects-determines starting point and terminal, this form to carry out the setting of beginning and end.
Further, after control module of the present invention receives the view data of camera collection, also view data is carried out
Process, identify sidewalk for visually impaired people therein line position, and guide blind person to walk on the line of sidewalk for visually impaired people；If image does not exist sidewalk for visually impaired people line, then know
Other road edge position, guides blind person along road edge position walking.Control module of the present invention is for Xian Huo road in sidewalk for visually impaired people in image
The identification of Road Edge position uses prior art image to analyze.
Heretofore described prompting module also includes vibrator, and while exporting any voice reminder, control unit is all
Control vibrator output vibration signal, to guarantee blind person it can be noted that know prompting.Voice-output unit uses speaker or ear
Machine.
Present invention additionally comprises walking stick, photographic head is fixed on walking stick by mounting seat, for turning between photographic head and mounting seat
It is dynamically connected；Control module by webcam driver module control photographic head rotation, thus realize photographic head view-finder towards
Switching.Webcam driver module can use small-sized driving motor, coordinates existing motor-drive circuit, can be by the rotation of motor shaft
Be converted to the rotation of photographic head, thus realize view-finder towards switching.
In the present invention, the quantity of ultrasonic sensor is multiple, is individually fixed on walking stick, and towards different directions.Can
The information of multi-faceted detection blind person's periphery, by analyzing the echo-signal of each ultrasonic sensor, control module would know that respectively
The object that on direction, distance blind person is nearer, thus reminding blind is away from current location in time.Accident can be prevented to a certain extent
The generation of event, automobile as travelled is the most out of control rushes at the situations such as roadside.
The beneficial effect that the present invention is reached: combine ultrasonic listening technology, computer vision technique and GPS technology,
Realize omnibearing blind man navigation, it is possible to instruct blind person according to the route independent ambulation of safety.And in the process of walking, for blind
Barrier and accident near people current location can be known in time, and notify that blind person is away from danger in time.
Accompanying drawing explanation
Fig. 1 show the theory structure schematic block diagram of a kind of specific embodiment of the present invention.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention
Technical scheme, and can not limit the scope of the invention with this.
Refer to Fig. 1, present invention blind person based on computer vision portable navigating instrument, including accumulator, and by electric power storage
Battery-powered control module, GPS locating module, photographic head, ultrasonic sensor and prompting module；GPS locating module, shooting
The outfan of head and ultrasonic sensor link control module, the input link control module of prompting module respectively.Control mould
Block is provided with the route of circuit terminal and origin information for receiving user's input and sets interface；
GPS locating module is communicated with GPS server by antenna, to obtain map datum and location
Data, it is achieved location；The outfan link control module of GPS locating module；Make control module can obtain location information；
Circuit terminal that control module inputs according to user and origin information, select corresponding route；And according to when prelocalization number
It is believed that breath, export voice messaging by the voice-output unit of prompting module, to instruct blind person to walk according to route；
Control module control photographic head operation so that the view-finder of photographic head with certain frequency towards front with towards ground
Between switch, to obtain front, current location and ground image data, and transmit to control module；
The outfan of ultrasonic sensor and control end link control module respectively, control module returning according to ultrasonic sensor
Ripple information, it is judged that the obstacle information in front, current location；
Obstacle information that control module obtains according to ultrasonic listening and the view data that camera collection arrives, pass through voice
Output unit output voice messaging, to instruct blind person to maintain or to change former route.
Embodiment
In use, GPS locating module, ultrasonic sensor are all existing product, control module can use existing miniature
Processor products.Before blind person uses navigator, family members can first pass through route and set interface input blind person and walk alone and start
Starting point and terminal to be arrived, the navigation that then blind person can be walked in distance by navigator.When route needs
Turn round or run into possible dangerous time, navigator can notify that blind person is to take measures away from danger in time.
Route sets interface and includes touching display screen, and Map Data Transmission is shown by control unit to touching display screen
Show, touch display screen and gather the touch selection information transmission of user to control unit.Control unit is guided by programme-control and is used
Family clicks beginning and end successively on map, then obtains the positional information clicked, and then is calculated by existing navigation way
Method, such as the shortest pathfinding method etc., analyzes and obtains feasible route.Route sets interface and may be used without other form existing, as very
Many vehicle mounted guidances are selected: user inputs the location point provide selection-user and select-determine of being consistent in place-lookup map
Starting point and terminal, this form carries out the setting of beginning and end.
After control module receives the view data of camera collection, also view data is processed, identify therein
Sidewalk for visually impaired people line position, and guide blind person to walk on the line of sidewalk for visually impaired people；If image does not exist sidewalk for visually impaired people line, then identify road edge position,
Guide blind person along road edge position walking.Control module of the present invention is for sidewalk for visually impaired people line in image or the identification of road edge position
Prior art image is used to analyze.
Prompting module also includes vibrator, and while exporting any voice reminder, it is defeated that control unit all controls vibrator
Go out vibration signal, to guarantee blind person it can be noted that know prompting.Voice-output unit uses speaker or earphone.
Present invention additionally comprises walking stick, photographic head is fixed on walking stick by mounting seat, for turning between photographic head and mounting seat
It is dynamically connected；Control module by webcam driver module control photographic head rotation, thus realize photographic head view-finder towards
Switching.Webcam driver module can use small-sized driving motor, coordinates existing motor-drive circuit, can be by the rotation of motor shaft
Be converted to the rotation of photographic head, thus realize view-finder towards switching.
In the present invention, the quantity of ultrasonic sensor is multiple, is individually fixed on walking stick, and towards different directions.Can
The information of multi-faceted detection blind person's periphery, by analyzing the echo-signal of each ultrasonic sensor, control module would know that respectively
The object that on direction, distance blind person is nearer, thus reminding blind is away from current location in time.Accident can be prevented to a certain extent
The generation of event, automobile as travelled is the most out of control rushes at the situations such as roadside.
The present invention combines ultrasonic listening technology, computer vision technique and GPS technology, it is achieved omnibearing blind person leads
Boat, it is possible to instruct blind person according to the route independent ambulation of safety.And in the process of walking, for the barrier near blind person current location
Hinder thing and accident to know in time, and notify that blind person is away from danger in time.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and deformation, these improve and deformation
Also should be regarded as protection scope of the present invention.
Claims (7)
1. blind person's portable navigating instrument based on computer vision, is characterized in that, including accumulator, and by storage battery power supply
Control module, GPS locating module, photographic head, ultrasonic sensor and prompting module；Described control module be provided with for
The route of the circuit terminal and origin information that receive user's input sets interface；Prompting module includes voice-output unit；
GPS locating module is communicated with GPS server by antenna, to realize location；GPS positions mould
The outfan link control module of block；
Circuit terminal that control module inputs according to user and origin information, select corresponding route；And according to when prelocalization number
It is believed that breath, export voice messaging by the voice-output unit of prompting module, to instruct blind person to walk according to route；
Control module control photographic head operation so that the view-finder of photographic head with certain frequency towards front with towards ground
Between switch, to obtain front, current location and ground image data, and transmit to control module；
The outfan of ultrasonic sensor and control end link control module respectively, control module returning according to ultrasonic sensor
Ripple information, it is judged that the obstacle information in front, current location；
Obstacle information that control module obtains according to ultrasonic listening and the view data that camera collection arrives, pass through voice
Output unit output voice messaging, to instruct blind person to maintain or to change former route.
Blind person's portable navigating instrument based on computer vision the most according to claim 1, is characterized in that, described route sets
Interface includes touching display screen, and Map Data Transmission is shown by control unit to touching display screen, touches display screen collection
The touch of user selects information to transmit to control unit.
Blind person's portable navigating instrument based on computer vision the most according to claim 1, is characterized in that, control module receives
After the view data of camera collection, also view data is processed, identify sidewalk for visually impaired people therein line position, and guide blind person
Sidewalk for visually impaired people line is walked；If image does not exist sidewalk for visually impaired people line, then identify road edge position, guide blind person along road edge position
Walking.
Blind person's portable navigating instrument based on computer vision the most according to claim 1, is characterized in that, described prompting module
Also including vibrator, while exporting any voice reminder, control unit all controls vibrator output vibration signal.
Blind person's portable navigating instrument based on computer vision the most according to claim 1, is characterized in that, voice-output unit
Use speaker or earphone.
Blind person's portable navigating instrument based on computer vision the most according to claim 1, is characterized in that, also include walking stick,
Photographic head is fixed on walking stick by mounting seat, for being rotationally connected between photographic head and mounting seat；Control module passes through photographic head
Drive module control photographic head rotation, thus realize photographic head view-finder towards switching.
Blind person's portable navigating instrument based on computer vision the most according to claim 1, is characterized in that, ultrasonic sensor
Quantity be multiple, be individually fixed on walking stick, and towards different directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610358923.3A CN106074096A (en) | 2016-05-27 | 2016-05-27 | A kind of blind person's portable navigating instrument based on computer vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610358923.3A CN106074096A (en) | 2016-05-27 | 2016-05-27 | A kind of blind person's portable navigating instrument based on computer vision |
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| CN106074096A true CN106074096A (en) | 2016-11-09 |
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| CN201610358923.3A Pending CN106074096A (en) | 2016-05-27 | 2016-05-27 | A kind of blind person's portable navigating instrument based on computer vision |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597477A (en) * | 2017-01-17 | 2017-04-26 | 大连理工大学 | Intelligent guiding device |
| CN106821695A (en) * | 2017-03-26 | 2017-06-13 | 王金锁 | Blind person's speech electronic blind-guide brick |
| CN106859929A (en) * | 2017-01-25 | 2017-06-20 | 上海集成电路研发中心有限公司 | A kind of Multifunctional blind person guiding instrument based on binocular vision |
| CN106871906A (en) * | 2017-03-03 | 2017-06-20 | 西南大学 | A kind of blind man navigation method, device and terminal device |
| CN106908053A (en) * | 2017-03-03 | 2017-06-30 | 西南大学 | A kind of blind man navigation method, apparatus and system |
| CN107224393A (en) * | 2017-08-10 | 2017-10-03 | 李海强 | Can programme path blind guiding stick |
| CN108078748A (en) * | 2018-01-02 | 2018-05-29 | 成都觅瑞科技有限公司 | It is capable of the perception strengthening system of programme path |
| CN108095987A (en) * | 2017-12-06 | 2018-06-01 | 英业达科技有限公司 | Visually impaired navigation system and its method |
| CN108451755A (en) * | 2018-04-28 | 2018-08-28 | 李良杰 | Intelligent guiding walking stick for blind person |
| CN108519779A (en) * | 2018-05-09 | 2018-09-11 | 深圳市雅士长华智能科技有限公司 | A kind of Intelligent flight follower for blind man navigation |
| CN108514499A (en) * | 2018-05-02 | 2018-09-11 | 李良杰 | Intelligent blind-guiding waistband |
| CN108548532A (en) * | 2017-12-27 | 2018-09-18 | 达闼科技（北京）有限公司 | Blind man navigation method, electronic equipment and computer program product based on cloud |
| CN109199808A (en) * | 2018-10-25 | 2019-01-15 | 辽宁工程技术大学 | Intelligent walking sticks for blindman based on computer vision |
| CN110269787A (en) * | 2019-06-26 | 2019-09-24 | 青岛海尔科技有限公司 | A kind of blind-guiding method, device and cap |
| CN110448436A (en) * | 2019-07-29 | 2019-11-15 | 清华大学 | A kind of intelligent guiding walking stick for blind person and blind-guiding method with blind way detection positioning function |
| CN110725182A (en) * | 2019-10-08 | 2020-01-24 | 中兴健康科技有限公司 | Blind road information identification system based on positioning assistance |
| CN111035543A (en) * | 2019-12-31 | 2020-04-21 | 北京新能源汽车技术创新中心有限公司 | Intelligent blind guiding robot |
| CN111084710A (en) * | 2018-10-24 | 2020-05-01 | 上海博泰悦臻网络技术服务有限公司 | Method and system for providing navigation for special user |
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| CN104739622A (en) * | 2015-02-04 | 2015-07-01 | 覃泳睿 | Novel wearable blind guiding equipment and working method thereof |
| CN204814723U (en) * | 2015-07-16 | 2015-12-02 | 深圳前海达闼科技有限公司 | Lead blind system |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597477A (en) * | 2017-01-17 | 2017-04-26 | 大连理工大学 | Intelligent guiding device |
| CN106859929B (en) * | 2017-01-25 | 2019-11-22 | 上海集成电路研发中心有限公司 | A kind of Multifunctional blind person guiding instrument based on binocular vision |
| CN106859929A (en) * | 2017-01-25 | 2017-06-20 | 上海集成电路研发中心有限公司 | A kind of Multifunctional blind person guiding instrument based on binocular vision |
| CN106871906A (en) * | 2017-03-03 | 2017-06-20 | 西南大学 | A kind of blind man navigation method, device and terminal device |
| CN106908053A (en) * | 2017-03-03 | 2017-06-30 | 西南大学 | A kind of blind man navigation method, apparatus and system |
| CN106821695A (en) * | 2017-03-26 | 2017-06-13 | 王金锁 | Blind person's speech electronic blind-guide brick |
| CN107224393A (en) * | 2017-08-10 | 2017-10-03 | 李海强 | Can programme path blind guiding stick |
| CN108095987A (en) * | 2017-12-06 | 2018-06-01 | 英业达科技有限公司 | Visually impaired navigation system and its method |
| CN108548532A (en) * | 2017-12-27 | 2018-09-18 | 达闼科技（北京）有限公司 | Blind man navigation method, electronic equipment and computer program product based on cloud |
| CN108078748A (en) * | 2018-01-02 | 2018-05-29 | 成都觅瑞科技有限公司 | It is capable of the perception strengthening system of programme path |
| CN108451755A (en) * | 2018-04-28 | 2018-08-28 | 李良杰 | Intelligent guiding walking stick for blind person |
| CN108514499A (en) * | 2018-05-02 | 2018-09-11 | 李良杰 | Intelligent blind-guiding waistband |
| CN108519779A (en) * | 2018-05-09 | 2018-09-11 | 深圳市雅士长华智能科技有限公司 | A kind of Intelligent flight follower for blind man navigation |
| CN111084710A (en) * | 2018-10-24 | 2020-05-01 | 上海博泰悦臻网络技术服务有限公司 | Method and system for providing navigation for special user |
| CN111084710B (en) * | 2018-10-24 | 2023-02-28 | 上海博泰悦臻网络技术服务有限公司 | Method and system for providing navigation for special user |
| CN109199808A (en) * | 2018-10-25 | 2019-01-15 | 辽宁工程技术大学 | Intelligent walking sticks for blindman based on computer vision |
| CN109199808B (en) * | 2018-10-25 | 2020-07-03 | 辽宁工程技术大学 | Intelligent walking stick for blind based on computer vision |
| CN110269787A (en) * | 2019-06-26 | 2019-09-24 | 青岛海尔科技有限公司 | A kind of blind-guiding method, device and cap |
| CN110448436A (en) * | 2019-07-29 | 2019-11-15 | 清华大学 | A kind of intelligent guiding walking stick for blind person and blind-guiding method with blind way detection positioning function |
| CN110725182A (en) * | 2019-10-08 | 2020-01-24 | 中兴健康科技有限公司 | Blind road information identification system based on positioning assistance |
| CN111035543A (en) * | 2019-12-31 | 2020-04-21 | 北京新能源汽车技术创新中心有限公司 | Intelligent blind guiding robot |
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