CN109223346B

CN109223346B - Voice-controlled navigation wheelchair for blind people and control method thereof

Info

Publication number: CN109223346B
Application number: CN201811374139.7A
Authority: CN
Inventors: 彭子桂
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-11-16
Filing date: 2018-11-16
Publication date: 2023-06-06
Anticipated expiration: 2038-11-16
Also published as: CN109223346A

Abstract

The invention relates to the fields of video environment recognition, voice navigation and electric wheelchairs, and particularly discloses a voice-controlled navigation wheelchair for the blind and a control method thereof, wherein the wheelchair comprises a wheelchair body, a mainframe box is arranged below or behind the wheelchair body, and a central control computer, a motor controller and a network module are arranged in the wheelchair body; the front equipment set is arranged in front of the wheelchair body, the rear equipment set is arranged at the rear of the wheelchair body, the ranging sensors are respectively arranged at two sides of the wheelchair body, the battery set is connected with the central control computer and the motor controller through wires, the motor controller is connected with the steering motor and the power motor through wires, and the front equipment set and the rear equipment set are connected with the central control computer through data wires. The invention adopts voice control and video intelligent recognition technology, so that the blind or amblyopia crowd can know the surrounding environment condition through voice information, and the electric wheelchair is controlled to move according to the intelligent navigation set selectable route through voice command, thereby providing the possibility of independent movement and outgoing for the amblyopia crowd with inconvenient actions.

Description

Voice-controlled navigation wheelchair for blind people and control method thereof

Technical Field

The invention relates to the fields of video environment recognition, voice navigation and electric wheelchairs, and particularly discloses a voice-controlled navigation wheelchair for the blind and a control method thereof.

Background

With the development of electric technology and electronic technology, electric wheelchairs are gradually popularized in the market, and the electric wheelchairs provide the possibility of independent movement for more and more patients with inconvenient movement.

However, when the blind or amblyopia people suffer from the inconvenience of the movement of the legs, even if the electric wheelchair is used, the surrounding environment cannot be seen, so that the blind or amblyopia people cannot move or travel independently by using the electric wheelchair, the capability of independent life is greatly limited, and the blind or amblyopia people cannot be separated from the care of other people.

Disclosure of Invention

The invention provides a voice-controlled navigation wheelchair for the blind and a control method thereof, which aims to solve the problem that the existing amblyopia group cannot move independently when the movement is inconvenient.

The technical scheme adopted by the invention is as follows: the utility model provides a blind person's wheelchair of voice control navigation, includes the wheelchair automobile body, and the wheelchair automobile body includes steering spindle, steering motor, group battery, rear wheel, front wheel, power motor, wheelchair handrail and back, characterized by: a main case is arranged below or behind the wheelchair body, and a central control computer, a motor controller and a network module are arranged in the main case; the left and right sides in front of the wheelchair body are respectively provided with a left ranging sensor and a right ranging sensor for detecting pavement pits; a front equipment set is arranged in front of the wheelchair body and comprises a microphone, a loudspeaker and a front camera ranging sensor; a rear equipment set is arranged behind the wheelchair body and comprises a loudspeaker, a microphone and a rear camera ranging sensor; the battery pack is connected with the central control computer and the motor controller through wires, the motor controller is connected with the steering motor and the power motor through control wires, and the front equipment set and the rear equipment set are connected with the central control computer through data wires.

Preferably, the front equipment set is arranged at the front end below the wheelchair armrest, and the rear equipment set is arranged above the backrest.

Preferably, the front camera ranging sensor comprises a front camera and a front ranging radar, and the rear camera ranging sensor comprises an omnidirectional rear camera and an omnidirectional ranging radar.

Preferably, the front-facing camera ranging sensor is a forward-facing depth camera, and the rear-facing camera ranging sensor is an omni-directional depth camera.

Preferably, the upper surface of the wheelchair armrest is provided with a control panel, and the control panel is provided with a button group and a rocker for controlling the central control computer.

Preferably, the upper surface of the wheelchair armrest is provided with an external headset interface.

Preferably, the periphery of the wheelchair body is provided with a flashing warning lamp.

The control method of the blind wheelchair for voice control navigation comprises a control system for realizing the control method, wherein the control system comprises the following system modules:

the central control system is used for running application programs of all the functional modules and driving the bottom hardware functions of the central control computer;

the voice recognition module is used for intelligently recognizing the voice instructions collected by the microphone into executable commands;

the intelligent voice module is used for converting the text information into a voice audio signal and playing the voice audio signal;

the environment recognition module is used for modeling the surrounding environment of the wheelchair through the environment data collected by the front camera ranging sensor, the rear camera ranging sensor, the left ranging sensor and the right ranging sensor so as to enable a computer to carry out environment judgment;

the electronic map navigation module is used for carrying out position determination and overall route navigation through GPS signals and an electronic map;

the intelligent navigation path module is used for calculating a final wheelchair walking path after combining the data of the environment identification module and the electronic map navigation module;

a travel control system for controlling travel of the wheelchair according to the final wheelchair travel path;

the control system realizes a control method of the blind wheelchair for voice control navigation, which comprises the following steps:

s1, inquiring a destination to which an occupant goes through an intelligent voice module, identifying a voice instruction of the occupant through a voice identification module to determine a driving destination, and determining whether an identification result is correct through the intelligent voice module;

s2, confirming the current position and the destination position of the wheelchair through an electronic map navigation module, and obtaining a navigation route by using the navigation function of the electronic map;

s3, the environment recognition module recognizes surrounding environment data in real time through the front camera ranging sensor and the rear camera ranging sensor, and the intelligent navigation path module intelligently plans a forward path of the wheelchair according to the direction of navigation path knowledge of S2, wherein the forward path is updated in real time according to environmental changes;

s4, controlling the wheelchair to travel towards the destination through the travel control system according to the advancing route determined in the S3.

Preferably, the control system further comprises the following system modules:

the road memory module is used for recording common routes and problematic routes;

the electric quantity intelligent management module is used for monitoring and managing electric quantity;

the intelligent alarm module is used for actively sending out alarm help seeking information and starting a passive help seeking prompt under an emergency;

the intelligent whistle module is used for automatically whistling when the environment recognition module recognizes that obstacles such as travelers, vehicles and the like block the wheelchair driving route.

Preferably, the step S4 includes the substeps of:

s4a, when no operation or voice instruction is given to the personnel, the running control system automatically controls the wheelchair to automatically run according to the forward route determined in the S3;

and S4b, when a person controls the wheelchair to move through manual operation or a voice instruction, the running control system moves according to the person control instruction, and the intelligent voice module automatically reports the advancing direction of the advancing route determined by the S3, the obstacle position identified by the environment identification module and the position of the wheelchair determined by the electronic map navigation module.

The beneficial effects of the invention are as follows: by adopting voice control and video intelligent recognition technology, the blind or amblyopia crowd can learn the surrounding environment condition through voice information, and the electric wheelchair is controlled to move according to the intelligent navigation set selectable route through voice command, so that the possibility of independent movement and outgoing is provided for the amblyopia crowd with inconvenient actions.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic diagram of the device connection of the present invention.

Fig. 3 is a system architecture diagram of the present invention.

In the figure: 1. the wheelchair comprises a wheelchair body, 2, a steering shaft, 3, a steering motor, 4, a battery pack, 5, rear wheels, 6, front wheels, 7, a mainframe box, 8, a power motor, 9, wheelchair armrests, 10, a front-mounted equipment set, 11, a front-mounted camera, 12, a control panel, 13, an earphone external interface, 14, a backrest, 15, a rear-mounted equipment set, 16 and a rear-mounted camera.

Detailed Description

Referring to fig. 1 and 2, the invention relates to a voice-controlled navigation wheelchair for the blind, which comprises a wheelchair body 1 and a mainframe box 7.

Referring to fig. 1, a wheelchair body 1 includes a steering shaft 2, a steering motor 3, a battery pack 4, rear wheels 5, front wheels 6, a power motor 8, wheelchair armrests 9, and a backrest 14; the battery pack 4 is arranged below the wheelchair body 1, the power motor 8 is arranged below and behind the wheelchair body 1, the rear wheel 5 is arranged on the side face of the power motor 8, the steering motor 3 is arranged below and in front of the wheelchair body 1, the steering shaft 2 is arranged below the steering motor 3, and the front wheel 6 is fixedly connected to the steering shaft 2 through a bearing.

Referring to fig. 1 and 2, a mainframe box 7 is arranged below or behind a wheelchair body 1, and a central control computer, a motor controller and a network module are arranged in the mainframe box 7; the left and right sides in front of the wheelchair body 1 are respectively provided with a left ranging sensor and a right ranging sensor for detecting the depression of the road surface and preventing the wheel from sinking, and are preferably arranged below the front ends of armrests on the two sides; the front equipment set 10 is arranged at the front end below the wheelchair armrest 9 and can be integrated with a left ranging sensor or a right ranging sensor; the front-end equipment set 10 comprises a microphone, a loudspeaker and a front-end camera ranging sensor; the front camera ranging sensor includes a front camera 11 and a range radar or a depth camera having a depth detection function. The rear equipment set 15 is arranged above the backrest 14; the rear-mounted equipment group 15 comprises a loudspeaker, a microphone and a rear-mounted camera ranging sensor; the rear camera ranging sensor comprises an omnidirectional rear camera 16 and an omnidirectional range radar or an omnidirectional depth camera with a depth detection function; the rear equipment set 15 can be heightened by a support rod as required to meet the angle of overlooking the surrounding environment of the wheelchair.

The left ranging sensor and the right ranging sensor are high-precision ranging sensors at short distance, whether the short-distance road surface on the vehicle advancing route is smooth enough or not can be scanned and can pass, and when the accuracy of the front-mounted camera ranging sensor is high enough and the observation range can cover the measurement range of the left ranging sensor and the right ranging sensor, the left ranging sensor and the right ranging sensor can be removed and the purpose of preventing a pit can be realized by directly using the measurement data of the front-mounted camera ranging sensor.

The battery pack 4 is connected with the central control computer and the motor controller through power lines, the motor controller is connected with the steering motor 3 and the power motor 8 through control lines, and the front equipment set 10 and the rear equipment set 15 are connected with the central control computer through data lines.

The upper surface of the wheelchair armrest 9 is provided with a control panel 12, the control panel 12 is provided with a button group and a rocker for controlling a central control computer, wherein the button and the rocker are provided with concave-convex patterns, shapes or braille which are convenient for the blind or the amblyopia people to touch and distinguish.

The upper surface of the wheelchair armrest 9 is provided with an external headset interface 13, so that passengers can access the headset and the microphone to conduct voice control when using the wheelchair in a noisy environment, and the wheelchair armrest can also use the Bluetooth headset and the Bluetooth microphone to conduct wireless connection with a central control host.

The wheelchair body 1 is provided with flashing warning lights around to alert surrounding persons to avoid disabled persons or assist in getting attention of surrounding persons when the surrounding persons need help.

Referring to fig. 3, the programs and circuits in the central control computer can be divided into: the intelligent electronic map navigation system comprises a central control system, a driving control system, an electric quantity intelligent management module, an intelligent navigation path module, an intelligent alarm module, an intelligent whistle module, an intelligent voice module, a voice recognition module, an environment recognition module and an electronic map navigation module.

The central control system is a basic operation system of all functions of the invention, is used for running application programs of the functional modules and driving the bottom hardware functions of the central control computer, and the rest control programs are developed and executed based on the central control system. The invention can adopt an android system, a Windows system or a linux system and the like, and other module software is developed according to the selected operating system.

The voice recognition module is connected with a voice recognition cloud service program in the Internet through the network module, intelligently recognizes the voice instructions of passengers in the audio signals collected by the microphone, and converts the voice instructions into text information for the central control system to recognize and execute the corresponding voice instructions.

The intelligent voice module is used for automatically converting the existing state of the system, the position of the wheelchair, the description of the surrounding environment and the prompt when the program needs voice instruction input into voice signals, and the voice signals are played through a loudspeaker so that the blind or amblyopia people can know the state and the surrounding condition of the system through voice.

The environment recognition module converts image information and space distance information acquired by the front camera ranging sensor, the rear camera ranging sensor, the left ranging sensor and the right ranging sensor into mathematical models which can be recognized by a computer through an image recognition program and a space modeling program, hardware can adopt a Graphic Processing Unit (GPU) operation display card with a deep learning function or use cloud service to replace the GPU operation display card, and the cloud service of the Internet is connected through a network module to carry out digital environment judgment combining image recognition and space modeling so as to enable a central control computer to automatically judge a walking route of an electric wheelchair, avoid obstacles, traffic light signals when the electric wheelchair passes through a road, and the like.

The electronic map navigation module is connected with the Internet through the network module to download and prestore an electronic map, determines the geographic position of the wheelchair according to GPS positioning, and determines the place name, the street name, the specific position and place and the rough navigation path to the destination; when the passenger inquires the position, the nearby bus stations are preferentially adopted to confirm the position relationship, the road name is fed back when the nearby bus stations are not available, the passenger can custom name the current position through voice control and record the current position in a central control computer, and the current position can be backed up in personal data of network service. The electronic map is updated on a periodic network.

The intelligent navigation path module is used for intelligently judging a specific path through which the electric wheelchair can pass and reach a destination according to the combination of the data of the electronic map navigation module and the environment identification module.

The road memory module is used for recording common routes and problematic routes, can try to advance according to the routes which have been memorized when walking, reduces the calculated amount of the system and the network flow, and reduces the priority of the routes passing through the position when the navigation route is selected when the implied road section is memorized as not suitable for passing.

The running control system controls the power motor 8 and the steering motor 3 through a program and a motor controller according to the specific path calculated by the intelligent navigation path module, so that the wheelchair runs according to the specific path.

The electric quantity intelligent management module comprises an electric quantity detection program unit, a remaining driving distance calculation program unit, an electric quantity control program unit and an electric quantity prompt program unit; the electric quantity detection program unit detects the residual electric quantity of the battery pack 4 in real time; the remaining driving distance calculation program unit calculates the distance that the whole electric wheelchair can also drive according to the remaining electricity quantity, compares the remaining distance of the destination, and gives an alarm when the electricity quantity is insufficient to reach the destination; when the residual electric quantity is lower than the protection value, the electric quantity control program unit closes most of power consumption functions, and only retains necessary alarm, help seeking and basic control functions; the electric quantity prompting program unit can feed back the real-time residual electric quantity when the residual electric quantity reaches preset values of all levels or when the passenger inquires.

The intelligent alarm module calls and alarms when each program module of the central control system finally judges that the electric wheelchair cannot safely move the passenger to the destination by sleeving a preset contact way and a telephone, calls the specific position and state of the electric wheelchair through voice signals, and sends text information to a designated address.

The intelligent whistle module automatically whistles and draws attention of surrounding personnel when the environment recognition module detects that pedestrians or vehicles in front block the advancing path.

The step S4 comprises the following substeps:

The passenger can manually control the wheelchair to move, the central control computer plays a role in assisting the passenger to know the surrounding environment of the wheelchair through voice, and the passenger can also directly use voice instructions to enable the wheelchair to automatically navigate and run.

The invention adopts voice control and video intelligent recognition technology, so that the blind or amblyopia crowd can know the surrounding environment condition through voice information, and the electric wheelchair is controlled to move according to the intelligent navigation set selectable route through voice command, thereby providing the possibility of independent movement and outgoing for the amblyopia crowd with inconvenient actions. The safety of the electric wheelchair during intelligent movement is ensured through various safety protection functions.

Claims

1. The utility model provides a blind person's wheelchair of voice control navigation, includes wheelchair automobile body (1), and wheelchair automobile body (1) include steering spindle (2), steering motor (3), group battery (4), rear wheel (5), front wheel (6), power motor (8), wheelchair handrail (9) and back (14), characterized by: a main case (7) is arranged below or behind the wheelchair body (1), and a central control computer, a motor controller and a network module are arranged in the main case (7); the left and right sides in front of the wheelchair body are respectively provided with a left ranging sensor and a right ranging sensor for detecting pavement pits; a front equipment set (10) is arranged in front of the wheelchair body (1), and the front equipment set (10) comprises a microphone, a loudspeaker and a front camera ranging sensor; a rear equipment set (15) is arranged behind the wheelchair body (1), and the rear equipment set (15) comprises a loudspeaker, a microphone and a rear camera ranging sensor; the battery pack (4) is connected with the central control computer and the motor controller through power lines, the motor controller is connected with the steering motor (3) and the power motor (8) through control lines, and the front equipment set (10) and the rear equipment set (15) are connected with the central control computer through data lines;

the control system is used for realizing the control method, and comprises the following system modules:

s4, controlling the wheelchair to travel towards a destination through the travel control system according to the advancing route determined in the S3;

the control system also comprises the following system modules:

the intelligent whistle module is used for automatically whistling when the environment identification module identifies that travelers and vehicles block the wheelchair driving route;

the step S4 comprises the following substeps:

2. The voice-controlled navigation wheelchair for the blind according to claim 1, wherein: the front equipment set (10) is arranged at the front end below the wheelchair armrest (9), and the rear equipment set (15) is arranged above the backrest (14).

3. The voice-controlled navigation wheelchair for the blind according to claim 2, wherein: the front camera ranging sensor comprises a front camera (11) and a front ranging radar, and the rear camera ranging sensor comprises an omnidirectional rear camera (16) and an omnidirectional ranging radar.

4. The voice-controlled navigation wheelchair for the blind according to claim 2, wherein: the front camera distance measuring sensor is a forward depth camera, and the rear camera distance measuring sensor is an omnidirectional depth camera.

5. The voice-controlled navigation wheelchair for the blind according to claim 1, wherein: the wheelchair is characterized in that a control panel (12) is arranged on the upper surface of the wheelchair armrest (9), and a button group and a rocker for controlling the central control computer are arranged on the control panel (12).

6. The voice-controlled navigation wheelchair for the blind according to claim 1, wherein: the upper surface of the wheelchair armrest (9) is provided with an external headset interface (13).

7. The voice-controlled navigation wheelchair for the blind according to claim 1, wherein: the periphery of the wheelchair body (1) is provided with a flickering warning lamp.