CN108836769A - A kind of intelligent blind trip auxiliary device and method - Google Patents

A kind of intelligent blind trip auxiliary device and method Download PDF

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Publication number
CN108836769A
CN108836769A CN201810470905.3A CN201810470905A CN108836769A CN 108836769 A CN108836769 A CN 108836769A CN 201810470905 A CN201810470905 A CN 201810470905A CN 108836769 A CN108836769 A CN 108836769A
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module
detection
user
obstacle
sensor
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张汝民
杨丰
杨一丰
刘志励
陈建文
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University of Electronic Science and Technology of China
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University of Electronic Science and Technology of China
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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

Abstract

The invention discloses a kind of intelligent blind trip auxiliary device and methods, including voice module, identification module, obstacle detection module, navigation module and message processing module；Compared to existing blind guiding system, the present invention provides necessary navigation informations and avoidance information, wherein detection of obstacles module can not only detect lesser barrier on ground, hanging barrier, biggish barrier on ground can also be detected, the width information that can predict barrier simultaneously, provides precise information simultaneously for blind person's avoiding barrier；Increasing Traffic Sign Recognition also can guarantee that blind person's trip is safer.

Description

A kind of intelligent blind trip auxiliary device and method
Technical field
The present invention relates to blind person's apparatus fields, and in particular to a kind of intelligent blind trip auxiliary device and method.
Background technique
According in October, 2016 CCTV network data, China vision disorder disabled person has 17,310,000 within 2016, accounts for about the whole world 50%, and with the speed sustainable growth of about 400,000 people every year.Illustrate numerous for China's vision disorder personage's number, society is each Boundary should give enough cares and look after.Easily ten tens of thousands of expenses allow other front yard of general Blind to be difficult to bear to seeing-eye dog, so mesh The vision disorder personage in preceding China mainly or by blind guiding bar goes on a journey.Although existing much based on infrared ray, radar etc. at present Blind person's blind guiding system, but these sensor prices are higher, the equipment volume after integrating is not huge portable, complicated for operation；Except this Except, these systems have a single function mostly, only provide guiding function, cannot provide more information and carry out for blind person and the external world Interaction.For blind person, social information is also very important.
Urban road situation in China's is relatively complicated at present, has for blind person's trip greatly not convenient.And go on a journey by Resistance, also causes vision disorder personage daily life and social activity to be difficult to carry out.A kind of effective blind person how is provided to go out Row householder method or system solve the problems, such as its trip and human communication disorders for the daily life of friend blind person, are society all the time The research emphasis of concern and scientific research personnel.
Summary of the invention
It is an object of the invention to：A kind of intelligent blind trip auxiliary device and method are provided, solve current blind person Trip auxiliary device has a single function, can not effective solution blind person human communication disorders and the technical issues of safety.
The technical solution adopted by the present invention is as follows：
A kind of intelligent blind trip auxiliary device, including voice module, identification module, obstacle detection module, navigation module And message processing module；
Voice module, for carrying out interactive voice between user and information processor module；
Identification module will be handed over for obtaining the image of user surrounding environment and identifying to the traffic sign in image Logical landmark identification result is sent to navigation module；
Obstacle detection module is sent to navigation for detecting user's front obstacle information, and by detection of obstacles result Module, while being back to message processing module；
Navigation module, for planning user path and integrating Traffic Sign Recognition result with detection of obstacles as a result, by whole Navigation information after conjunction is sent to message processing module；
Signal processing module, for distribute from voice module, identification module, navigation module and obstacle detection module letter Breath, and call navigation module, obstacle detection module and identification module.
Further, the identification module further includes identifying to the face in image, and face recognition result is sent out It send to message processing module, the face that identification module will test is compared with the face prestored, and recognition result is passed through Voice module feeds back to user, meets user social contact demand.
Further, the obstacle detection module includes the sensor that user's loins is arranged in, and the sensor at least wraps Containing two groups, every group of sensor includes ground low obstructions detection sensor, for detecting the short barrier in front of user on ground Hinder object；
Hanging detection of obstacles sensor, for detecting the hanging barrier in front of user；
Ground is compared with high obstacle analyte detection sensor, for detecting the higher ground obstacle of user's anterior height.
A kind of implementation method of intelligent blind trip auxiliary device, includes the following steps：
Step 1：User inputs phonetic order, and voice module identifies the phonetic order, and recognition result is sent out It send to message processing module；
Step 2：The message processing module calls navigation module, and the recognition result is sent to navigation module and is carried out Path planning；
Step 3：The message processing module calls obstacle detection module and identification module, and the obstacle detection module will hinder Analyte detection result is hindered to be sent to navigation module by message processing module, the identification module sends Traffic Sign Recognition result To navigation module, the Traffic Sign Recognition result and detection of obstacles result are fused in path by the navigation module, Complete navigation；Detection of obstacles result is fed back to user by voice module and realizes local avoidance by the message processing module.
Further, the method merged in the step 3 is：When Traffic Sign Recognition result is red light, and navigation module Middle navigation signal is straight trip signal, suspends the update of navigation signal, until Traffic Sign Recognition result is green light, recovery navigation letter Number；Navigation signal is straight trip signal when obstacle detection module detects barrier, and in navigation module, suspends navigation signal It updates, after the completion of user partial avoidance, restores navigation signal.
Further, as follows the step of local avoidance in the step 3：
S31：Obstacle detection module respectively examines ground low obstructions, hanging barrier and ground compared with high obstacle object It surveys；
S32：Detection of obstacles module will test result and be sent to message processing module, and the message processing module is according to inspection It surveys result prompt user and carries out local avoidance.
Further, in the step S31, the ground low obstructions detection method is specially：
Enabling user's height is L, the ground low obstructions detection sensor direction of the launch and trunnion axis in obstacle detection module Angle be θ1, the height of ground low obstructions is h1, ground low obstructions detection sensor detects to obtain the short barrier in ground Hindering object is l at a distance from user1, then：
When people when walking, ground low obstructions height h1' and distance l1The relationship of ' is：
The hanging object disorder detection method is specially：
Enabling user's height is L, the direction of the launch of hanging detection of obstacles sensor and trunnion axis in obstacle detection module Angle is θ2, hanging barrier and user's lap height are h2, hanging barrier that hanging detection of obstacles sensor detects Hindering object is l at a distance from user2,
Then：
When people when walking, hanging obstacle height h2' and distance l2The relationship of ' is：
Ground is specially compared with high obstacle object detecting method：
The average torso width for enabling user is W, diverging of the ground compared with high obstacle analyte detection sensor in obstacle detection module Angle α1, ground is l compared with the BURN-THROUGH RANGE that high obstacle analyte detection sensor detects3, sensor detection minimum widith be W0,
Then have
Ground is compared with the distance between high obstacle object and user l3' is：
Further, the local barrier-avoiding method is specially：
S321：According to the detection case of sensor in the detection of obstacles module, judgement has to hinder message processing module The position for the sensor for hindering signal to return；
S322：Message processing module utilizes the position of the position disturbance in judgement object of the sensor, and according to the obstacle The detection data that the position of object and the sensor return, the distance between Use barriers object and user relationship calculate barrier Size；
S323：User hides according to the size of barrier and the position of barrier.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1. the present invention provides not only necessary navigation information and avoidance information, simultaneously compared to existing blind guiding system Social information (face information) is additionally provided, the social activity of blind person is facilitated.Meanwhile it increasing Traffic Sign Recognition and can guarantee Blind person's trip is safer.
2. most of blind guiding system is interacted by the way of key, this interactive mode can be brought not to user Just.And interactive mode of the invention is more succinct, is interacted by voice signal with user, reduces user and uses the system When learning cost.
3. detection of obstacles module can not only detect lesser barrier on ground, hanging barrier, can also detect Biggish barrier on ground, while can predict the width information of barrier, precise information is provided for blind person's avoiding barrier.
Detailed description of the invention
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is integrated stand composition of the invention；
Fig. 2 is the distribution map of each sensor of obstacle detection module in the present invention；
Fig. 3 is that the detection of low obstructions detection sensor and hanging detection of obstacles sensor in obstacle detection module is shown It is intended to；
Fig. 4 is in obstacle detection module compared with the detection schematic diagram of high obstacle analyte detection sensor.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive Feature and/or step other than, can combine in any way.
It elaborates below with reference to Fig. 1-4 couples of present invention.
A kind of intelligent blind trip auxiliary device, including voice module, identification module, obstacle detection module, navigation module And message processing module；
Voice module, for carrying out interactive voice between user and information processor module；
Identification module will be handed over for obtaining the image of user surrounding environment and identifying to the traffic sign in image Logical landmark identification result is sent to navigation module；
Obstacle detection module is sent to navigation for detecting user's front obstacle information, and by detection of obstacles result Module, while being back to message processing module；
Navigation module, for planning user path and integrating Traffic Sign Recognition result with detection of obstacles as a result, by whole Navigation information after conjunction is sent to message processing module；
Signal processing module, for distribute from voice module, identification module, navigation module and obstacle detection module letter Breath, and call navigation module, obstacle detection module and identification module.
The identification module further includes identifying to the face in image, and face recognition result is sent at information Module is managed, the face that identification module will test is compared with the face prestored, and recognition result is anti-by voice module It is fed to user, meets user social contact demand.
The obstacle detection module includes the sensor that user's loins is arranged in, and the sensor includes at least two groups, often Group sensor includes ground low obstructions detection sensor, for detecting the low obstructions in front of user on ground；
Hanging detection of obstacles sensor, for detecting the hanging barrier in front of user；
Ground is compared with high obstacle analyte detection sensor, for detecting the higher ground obstacle of user's anterior height.
A kind of implementation method of intelligent blind trip auxiliary device, includes the following steps：
Step 1：User inputs phonetic order, and voice module identifies the phonetic order, and recognition result is sent out It send to message processing module；
Step 2：The message processing module calls navigation module, and the recognition result is sent to navigation module and is carried out Path planning：
Step 3：The message processing module calls obstacle detection module and identification module, and the obstacle detection module will hinder Analyte detection result is hindered to be sent to navigation module by message processing module, the identification module sends Traffic Sign Recognition result To navigation module, the Traffic Sign Recognition result and detection of obstacles result are fused in path by the navigation module, Complete navigation；Detection of obstacles result is fed back to user by voice module and realizes local avoidance by the message processing module.
The method merged in the step 3 is：When Traffic Sign Recognition result is red light, and navigation signal in navigation module For signal of keeping straight on, suspend the update of navigation signal, until Traffic Sign Recognition result is green light, recovery navigation signal；Work as obstacle When detection module detects barrier, and navigation signal is straight trip signal in navigation module, suspends the update of navigation signal, until After the completion of user partial avoidance, restore navigation signal.
The step of local avoidance, is as follows in the step 3：
S31：Obstacle detection module respectively examines ground low obstructions, hanging barrier and ground compared with high obstacle object It surveys；
S32：Detection of obstacles module will test result and be sent to message processing module, and the message processing module is according to inspection It surveys result prompt user and carries out local avoidance.
In the step S31, the ground low obstructions detection method is specially：
Enabling user's height is L, the ground low obstructions detection sensor direction of the launch and trunnion axis in obstacle detection module Angle be θ1, the height of ground low obstructions is h1, ground low obstructions detection sensor detects to obtain the short barrier in ground Hindering object is l at a distance from user1, then：
When people when walking, ground low obstructions height h1' and distance l1The relationship of ' is：
The hanging object disorder detection method is specially：
Enabling user's height is L, the direction of the launch of hanging detection of obstacles sensor and trunnion axis in obstacle detection module Angle is θ2, hanging barrier and user's lap height are h2, hanging barrier that hanging detection of obstacles sensor detects Hindering object is l at a distance from user2,
Then：
When people when walking, hanging obstacle height h2' and distance l2The relationship of ' is：
Ground is specially compared with high obstacle object detecting method：
The average torso width for enabling user is W, diverging of the ground compared with high obstacle analyte detection sensor in obstacle detection module Angle α1, ground is l compared with the BURN-THROUGH RANGE that high obstacle analyte detection sensor detects3, sensor detection minimum widith be W0,
Then have
Ground is compared with the distance between high obstacle object and user l3' is：
It is described part barrier-avoiding method be specially：
S321：According to the detection case of sensor in the detection of obstacles module, judgement has to hinder message processing module The position for the sensor for hindering signal to return；
S322：Message processing module utilizes the position of the position disturbance in judgement object of the sensor, and according to the obstacle The detection data that the position of object and the sensor return, the distance between Use barriers object and user relationship calculate barrier Size；
S323：User hides according to the size of barrier and the position of barrier.
Specific embodiment 1
The course of work of the identification module is：
(1) visual sensor obtains RGB image in identification module, and is pre-processed：
A. the call instruction from message processing module is received, visual sensor is called to obtain RGB image；
B. image preprocessing (denoising, enhancing contrast etc.) is carried out to the image that gets, and the RGB figure that exports that treated Picture；
(2) to treated, RGB image is identified：
A. using treated, RGB image carries out Traffic Sign Recognition (including blind way, traffic lights, zebra stripes etc.), identification Method uses the object recognition algorithm based on deep learning；
B. using treated, RGB image carries out face critical point detection, the face occurred in detection image：
Authentication is carried out to the face detected；
Face character identification (gender, age, expression etc.) is carried out to the face detected；
(3) Traffic Sign Recognition result is exported to navigation module；Export face character identification, authentication result to information Processing module.
Specific embodiment 2
The course of work of voice module is as follows：
1, when user issues voice command：
(1) receive voice signal from the user using voice receiver (microphone) (comprising starting point, endpoint information)；
(2) voice signal received is pre-processed；
(3) to treated, voice signal carries out spectrum analysis, extracts feature frame by frame；
(4) phonetic feature in the feature and module library extracted is done into similarity mode, obtains corresponding text；
(5) semantic analysis is done to text obtained in the previous step, extracts key message (starting point, terminal).
2, when receiving text (face recognition result, complaint message, the navigation information) that message processing module is passed to：
(1) semantic analysis is carried out to content of text, generates the text for meeting speech habits；
(2) the word packet in the text and template library that obtain in previous step is done into similarity mode, it is special obtains corresponding voice Sign；
(2) by speech synthesizer, phonetic feature is generated as voice signal, feeds back to user；
Specific embodiment 3
The obstacle detection module includes the sensor that user's loins is arranged in, and the sensor includes at least two groups, often Group sensor includes ground obstacle detection sensor, hanging detection of obstacles sensor and user front earth bulging analyte detection Sensor.
In the present embodiment, 3 groups of sensors are arranged in obstacle detection module, are separately positioned on left side, the middle side, the right side of user's loins Side, since the average torso width of user is W, then the distance between every group of sensor is
Every group of sensor includes that ground low obstructions detection sensor, hanging detection of obstacles sensor and ground are higher Detection of obstacles sensor；Sensor model number uses the ultrasonic sensor of HC-SR04, and induction angle is not more than 15 degree, detection Distance is 2cm-450cm, precision 0.3cm, voltage DC5V；
Due to the upper lower part of the body ratio substantially 2: 3 of people, it is assumed that user's height is 175cm, then Leg length is 105cm, upper body Length is 70cm, and the angle of the ground low obstructions detection sensor direction of the launch and trunnion axis is θ1, ground low obstructions Height be h1, the ground low obstructions that ground low obstructions detection sensor detects are l at a distance from user1, Then：
When people when walking, ground low obstructions height h1' and distance l1The relationship of ' is：
As the distance l that sensor detects1When=150cm,
I.e. as ground obstacle height h1When '=7cm, the distance between user and barrier l1'=148cm.
The hanging object disorder detection method is specially：
User's height is 175cm, the direction of the launch and trunnion axis of hanging detection of obstacles sensor in obstacle detection module Angle be θ2, the hanging barrier and user's lap height that sensor detects are h2, hanging barrier and user's Distance is l2,
Then：
When people when walking, hanging barrier and user's lap height h2' and distance l2The relationship of ' is：
When sensor detects to obtain l2When=150cm,
I.e. when hanging barrier and user's lap height h2When '=7cm, the distance between user and hanging barrier l2'=147cm.
Ground is specially compared with high obstacle object detecting method：
The average torso width for enabling user is W, hair of the detection ground compared with the sensor of high obstacle object in obstacle detection module Dissipate angle α1, the BURN-THROUGH RANGE of sensor is l3, the minimum widith of sensor detection is W0,
Then have
The distance between ground obstacle and user l in front of user3' is：
Work as l3When=150cm, W=40cm,
I.e. as the minimum widith W of sensor detection0When=2cm, l3'=135.
Specific embodiment 4
The present embodiment is based on embodiment 3, illustrates the specific method of local avoidance：
Message processing module is according to the detection case of sensor in the detection of obstacles module, and judgement is with obstacle signal The position of the sensor of return；Message processing module utilizes the position of the position disturbance in judgement object of the sensor, when only one When one sensor of group sensor detects barrier, there is barrier on the sensor corresponding direction；
Such as the ground low obstructions detection sensor of only this group of sensor in left side detects barrier, then in user There are barrier on ground on left direction, according to the data that the sensor acquires, judgement user's barrier from the ground at this time Distance, when distance close to when, user turns right certain angle, and when barrier is not detected in the sensor, user according to Direction at this time is advanced, and hiding for barrier is completed；
If wherein the ground in this group of left side sensor and intermediate this group of sensor is detected compared with high obstacle analyte detection sensor To barrier, and the distance that the two sensors return is l ', and the preset investigative range of sensor is l, then barrier at this time Width is W '=(l-l ') tan α, and wherein α indicates the angle between sensor and trunnion axis, i.e. the user W ' that turns right realizes barrier Hinder and hides；
If wherein the ground in 2 groups of sensors detects barrier compared with high obstacle analyte detection sensor, and the two are passed The distance that sensor returns is l ', and the preset investigative range of sensor is l, then barrier width is '=2 W (l-l ') tan at this time α, i.e. user to the right or rotate to the left certain angle, if turn left, barrier is not detected in this group of left side sensor, i.e., Hidden to the left.
Hide the case where method detects barrier to different sensors above to be applicable in.

Claims (8)

  1. The auxiliary device 1. a kind of intelligent blind is gone on a journey, it is characterised in that：Including voice module, identification module, obstacle detection module, Navigation module and message processing module；
    Voice module, for carrying out interactive voice between user and information processor module；
    Identification module, for obtaining the image of user surrounding environment and being identified to the traffic sign in image, by traffic mark Will recognition result is sent to navigation module；
    Obstacle detection module is sent to navigation module for detecting user's front obstacle information, and by detection of obstacles result, It is back to message processing module simultaneously；
    Navigation module, after planning user path and integrating Traffic Sign Recognition result and detection of obstacles as a result, will integrate Navigation information be sent to message processing module；
    Signal processing module, for distributing the information from voice module, identification module, navigation module and obstacle detection module, And call navigation module, obstacle detection module and identification module.
  2. The auxiliary device 2. a kind of intelligent blind according to claim 1 is gone on a journey, it is characterised in that：The identification module also wraps It includes and the face in image is identified, and face recognition result is sent to message processing module, identification module will test Face be compared with the face prestored, and recognition result is fed back into user by voice module, meets user social contact need It asks.
  3. The auxiliary device 3. a kind of intelligent blind according to claim 1 is gone on a journey, it is characterised in that：The obstacle detection module Sensor including user's loins is arranged in, the sensor include at least two groups, and every group of sensor includes the short obstacle in ground Analyte detection sensor, for detecting the low obstructions in front of user on ground；
    Hanging detection of obstacles sensor, for detecting the hanging barrier in front of user；
    Ground is compared with high obstacle analyte detection sensor, for detecting the higher ground obstacle of user's anterior height.
  4. The householder method 4. a kind of intelligent blind is gone on a journey, it is characterised in that：Include the following steps：
    Step 1：User inputs phonetic order, and voice module identifies the phonetic order, and recognition result is sent to Message processing module；
    Step 2：The message processing module calls navigation module, and the recognition result of the voice module is sent to navigation mould Block carries out path planning：
    Step 3：The message processing module calls obstacle detection module and identification module, and the obstacle detection module is by barrier Testing result is sent to navigation module by message processing module, and Traffic Sign Recognition result is sent to and leads by the identification module The Traffic Sign Recognition result and detection of obstacles result are fused in path by model plane block, the navigation module, are completed Navigation；Detection of obstacles result is fed back to user by voice module and realizes local avoidance by the message processing module.
  5. The householder method 5. a kind of intelligent blind according to claim 4 is gone on a journey, it is characterised in that：It is merged in the step 3 Method be：When Traffic Sign Recognition result be red light, and in navigation module navigation signal be straight trip signal, suspend navigation signal Update, until Traffic Sign Recognition result be green light, restore navigation signal；When obstacle detection module detects barrier, And navigation signal is straight trip signal in navigation module, suspends the update of navigation signal, after the completion of user partial avoidance, is restored Navigation signal.
  6. The householder method 6. a kind of intelligent blind according to claim 4 is gone on a journey, it is characterised in that：Part in the step 3 The step of avoidance, is as follows：
    S31：Obstacle detection module respectively detects ground low obstructions, hanging barrier and ground compared with high obstacle object；
    S32：Detection of obstacles module will test result and be sent to message processing module, and the message processing module is tied according to detection Fruit prompts user to carry out local avoidance.
  7. The householder method 7. a kind of intelligent blind according to claim 6 is gone on a journey, it is characterised in that：The step S31
    In, the ground low obstructions detection method is specially：
    Enabling user's height is L, the folder of ground the low obstructions detection sensor direction of the launch and trunnion axis in obstacle detection module Angle is θ1, the height of ground low obstructions is h1, ground low obstructions detection sensor detects to obtain ground low obstructions With at a distance from user be l1, then：
    When people when walking, ground low obstructions height h1' and distance l1The relationship of ' is：
    The hanging object disorder detection method is specially：
    Enabling user's height is L, the direction of the launch of hanging detection of obstacles sensor and the angle of trunnion axis in obstacle detection module For θ2, hanging barrier and user's lap height are h2, hanging barrier that hanging detection of obstacles sensor detects With at a distance from user be l2,
    Then：
    When people when walking, hanging obstacle height h2' and distance l2The relationship of ' is：
    Ground is specially compared with high obstacle object detecting method：
    The average torso width for enabling user is W, angle of divergence alpha of the ground compared with high obstacle analyte detection sensor in obstacle detection module1, Ground is l compared with the BURN-THROUGH RANGE that high obstacle analyte detection sensor detects3, the minimum widith of sensor detection is W0,
    Then have
    Ground is compared with the distance between high obstacle object and user l3' is：
  8. The householder method 8. a kind of intelligent blind according to claim 7 is gone on a journey, it is characterised in that：The part barrier-avoiding method Specially：
    S321：Message processing module is according to the detection case of sensor in the detection of obstacles module, and judgement is with obstacle letter Number return sensor position；
    S322：Message processing module utilizes the position of the position disturbance in judgement object of the sensor, and according to the barrier The detection data that position and the sensor return, the distance between Use barriers object and user relationship calculate the ruler of barrier It is very little；
    S323：User hides according to the size of barrier and the position of barrier.
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CN114767483A (en) * 2022-05-07 2022-07-22 宏脉信息技术（广州）股份有限公司 Intelligent navigation cap and control method thereof
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CN110664594A (en) * 2019-09-06 2020-01-10 江苏中云科技有限公司 Blind system is led to intelligence based on blind road
CN111388290A (en) * 2020-03-26 2020-07-10 江南大学 Blind person walking aid based on deep learning and embedded development
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CN112168634A (en) * 2020-10-29 2021-01-05 中国电子科技集团公司第二十八研究所 Multifunctional blind guiding stick
CN114767483A (en) * 2022-05-07 2022-07-22 宏脉信息技术（广州）股份有限公司 Intelligent navigation cap and control method thereof
CN116642506A (en) * 2023-05-30 2023-08-25 黑龙江大学 Ant colony algorithm-based blind person guiding map simulation reminding system
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Application publication date: 20181120