CN109646256A - A kind of Intelligent travel suitcase blind guiding system and blind-guiding method based on Beidou - Google Patents

Abstract

The present invention provides a kind of Intelligent travel suitcase blind guiding system and blind-guiding method based on Beidou, including travel box and setting in the intracorporal intelligent blind guiding system of the suitcase；Intelligent blind guiding system includes: Beidou positioning module, environment monitoring module, central processing module, voice conversion module and motion module.Intelligent travel suitcase blind guiding system and blind-guiding method based on Beidou of the invention, it solves to realize present in existing technology for guiding blind scheme complicated, the larger problem of cost input, while facilitating the trip of user to realize, realization suitcase is monitored to information such as the geographical locations of user and navigational assistance, and then ensures its safety.

Description

A kind of Intelligent travel suitcase blind guiding system and blind-guiding method based on Beidou

Technical field

The present invention relates to information engineering technical fields, lead more specifically to a kind of Intelligent travel suitcase based on Beidou Blind system and blind-guiding method.

Background technique

Traditional blind person's trip is usually carried out with supplementary means such as walking stick, blind way and seeing-eye dogs, this is each due to reality Kind situation, the use of walking stick have limitation, especially are just more difficult to play a role in the complicated place of road conditions, blind way is largely very much Will be dependent on construction and maintenance condition of the society to blind way, at home and abroad situation is similar for this, be difficult it is comprehensive accomplish perfection, Blind person's trip especially to a unfamiliar place when be difficult to go on a journey by blind way completely, and the training of seeing-eye dog and expense are all very It is difficult to resolve certainly blind person's trip problem.

The ancillary equipments such as existing published intelligent guiding walking stick for blind person, blind-guidance robot.Blind-guiding stick, which will largely rely on, to be made Its booster action of the cooperation competence exertion of user, it is special it is some it is complicated in the case where, booster action is limited.Blind-guidance robot It is described autonomous guiding function, but wants special planing machine, cost can be very high if intelligence is strong, similar with seeing-eye dog to be difficult It is universal, present situation is seen that Social Acceptability is very low, usually sees and has less arrived blind person's use.

Application No. is the Chinese patent applications of " CN200920106230.0 " to disclose a kind of intelligence based on high accuracy positioning Energy blind guiding system, the intelligent blind guiding system include four parts: intelligent blind guiding call center, high-precision GPS location receiver are high-precision Spend urban road space database and intelligent blind-guiding instrument；The intelligent blind guiding call center is internally established and high-precision urban road is empty The connection with intelligent blind-guiding instrument is externally established in connection between spatial database.Application No. is " CN201010118105.9 " China A kind of intelligent blind-guiding method of patent application publication identifies the radio frequency identification being set in advance on blind way by radio frequency identification module Address information in label；It is user according to the destination address information in voice messaging and the address information in RFID tag Coupling path information.The technical solution of both the above guide requires a whole set of conveyance system, as high-precision urban road is empty Spatial database and city blind way RFID tag.This will lead to the above equipment promotion and a city even country needed to build If unified auxiliary facility, engineering is very huge, and inconvenience is promoted.Application No. is the Chinese patent applications of " CN200710062852.3 " A kind of blind guiding mobile phone and blind-guiding method are disclosed, camera fixation and recognition barrier is based on, according to the collected figure of camera As data obtain by comparing complicated algorithm the profile of object, then image is carried out to barrier with local object template library With identification.This kind of fixation and recognition algorithm is excessively complicated, can not efficiently reach the effect of autonomous guide.

Summary of the invention

In view of this, the Intelligent travel suitcase blind guiding system that the purpose of the present invention is to provide a kind of based on Beidou and guide side Method, solves to realize complicated, the larger problem of cost input present in existing technology for guiding blind scheme, facilitates going out for user to realize While row, realization suitcase is monitored to information such as the geographical locations of user and navigational assistance, and then ensures its safety.

In order to achieve the above object, the invention provides the following technical scheme:

A kind of Intelligent travel suitcase blind guiding system based on Beidou, including travel box and be arranged it is intracorporal in the suitcase Intelligent blind guiding system；

The intelligent blind guiding system includes:

Beidou positioning module, for obtaining the location information of blind person；

Environment monitoring module, for acquiring environmental information in travel box moving process, environmental information includes image letter Breath, obstacle distance and/or obstacle identity and traffic signal information；

Central processing module, for obtaining the location information of blind person from the Beidou positioning module and by the position of blind person Information and destination information Combined planning go out optimal movement routine, are also used to obtain environmental information from the context detection module And according to environmental information generation action behavior path and according to optimal movement routine and action behavior coordinates measurement navigation information；

Voice conversion module plays to blind person for navigation information to be converted into navigation voice, is also used to acquire blind person's It controls voice and is converted into control instruction and be transferred to central processing module；

Motion module is also used to for driving the travel box mobile according to optimal movement routine in the suitcase The travel box according to action behavior path drives acts in body moving process.

Preferably, the environment monitoring module includes picture recognition module, for obtaining the figure during blind person's traveling road As information and traffic signal information, and image information and traffic signal information are transferred to central processing module.

Preferably, the context detection module further includes ultrasonic wave module, for detecting the obstacle distance in front of blind person And/or obstacle identity, and by barrier at a distance from blind person and/or obstacle identity is exported to central processing module.

Preferably, further includes: communication module is connected with the central processing module, for leading to extraneous personnel Letter.

Preferably, further includes: power module, for providing mains power for intelligent blind guiding system.

Preferably, further includes: wireless network module, the voice conversion module identify that blind person's is defeated by voice receiver Enter voice, and by establishing connection between the wireless network module and the central processing module.

Preferably, further includes: human-machine interface module, display when for providing travel box and blind person's progress information connection Interface.

Preferably, the motion module includes driving unit, the unit that tests the speed, gyroscope and acceleration transducer.

A kind of Intelligent travel suitcase blind-guiding method based on Beidou, comprising the following steps:

Obtain the location information of blind person；

Acquire environmental information in travel box moving process, environmental information include image information, obstacle distance and/or Obstacle identity and traffic signal information；

The location information of blind person and destination information Combined planning are gone out into optimal movement routine, obtain environmental information and root Action behavior path is generated according to environmental information and according to optimal movement routine and action behavior coordinates measurement navigation information；

Navigation information is converted into navigation voice and plays to blind person；

Drive the travel box mobile according to optimal movement routine, according to action row in the travel box moving process It is acted for travel box described in path drives.

Preferably, further comprising the steps of:

The communication between extraneous personnel and blind person is established, extraneous personnel are linked up by video and/or voice and blind person.

According to above-mentioned technical solution, it is recognised that the present invention utilizes Beidou technology, covering China and surrounding countries and ground Area, 24-hour service in 24 hours, no communication blind district, safe and reliable, stable, blind guiding system of the invention can be to path and periphery Environment is measured in real time analysis, and is changed according to the environment in walking process and adjust guide route in real time, and pass through movement The movement of module drive travel box can realize remote assistance function by communication module to provide guide support for blind person Can, implement operation control using speech recognition technology, can identify the control command that blind person issues, and execute behaviour in accordance with order Make, while also can issue suggestion voice to blind person, the item informing travelling route and pointing out allows blind person's trip not by reality The limitation of environment, product cost is low, reliable performance.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.

Fig. 1 is the structure principle chart of Intelligent travel suitcase of embodiment of the present invention blind guiding system；

Fig. 2 is the flow chart of Intelligent travel suitcase of embodiment of the present invention blind-guiding method；

Fig. 3 is the working principle diagram of Intelligent travel suitcase of embodiment of the present invention blind-guiding method；

Fig. 4 is Beidou of embodiment of the present invention finder flow chart；

Wherein, it is marked in attached drawing as follows:

101- Beidou positioning module, 102- voice conversion module, 103- power module, 104- communication module, 105- are man-machine Interface module, 106- motion module, 107- wireless network module, 108- central processing module, 109- environment monitoring module, 110- Picture recognition module, 111- ultrasonic wave module.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

As shown in Figs 1-4, a kind of Intelligent travel suitcase blind guiding system based on Beidou, including travel box and setting are described The intracorporal intelligent blind guiding system of suitcase；

The intelligent blind guiding system includes:

Beidou positioning module 101, for obtaining the location information of blind person；Beidou positioning module 101 is for acquiring Beidou system The position of system and the location information of blind person, and relevant information is passed into central processing module 108, central processing module 108 is logical The planning that genetic algorithm carries out optimal path according to the destination locations information that the location information of blind person and blind person determine is crossed, heredity is calculated The path planning randomness and specific aim of method are more preferable, while path planning more precise and high efficiency, are applicable in different environment；

Environment monitoring module 109, for acquiring environmental information in travel box moving process, environmental information includes image Information, obstacle distance and/or obstacle identity and traffic signal information, travel box are carrying out the mobile process of navigation In, it is continuous to acquire surrounding enviroment information, and surrounding enviroment information is passed into central processing module 108；

Central processing module 108, for obtaining the location information of blind person from the Beidou positioning module 101 and by blind person Location information and destination information Combined planning go out optimal movement routine, be also used to from the context detection module obtain ring Border information simultaneously generates action behavior path according to environmental information and is navigated according to optimal movement routine and action behavior coordinates measurement Information；Voice conversion module 102 plays to blind person for navigation information to be converted into navigation voice, is also used to acquire blind person's It controls voice and is converted into control instruction and be transferred to central processing module 108；Navigation is believed by earphone, bluetooth headset or loudspeaker Breath is converted into navigation voice broadcast and is exported to blind person；

Motion module 106 is also used to for driving the travel box mobile according to optimal movement routine in the travelling The travel box according to action behavior path drives acts in cabinet moving process.Motion module 106 will by multisensor The image information of optimal path, the acquisition of described image identification module 110 that the central processing module 108 is cooked up detects Obstacle distance or the information of obstacle identity, traffic signals and current environment merged, and by neural network and The algorithm that Kalman filter technology combines, preferably to handle comprehensive and complicated guide road conditions, further purified signal makes The system of obtaining is more comprehensively and accurate to the acquisition of information, so that blind person be guided to advance.Motion module 106 by driving unit, test the speed Unit, gyroscope, acceleration transducer composition, control the factors such as the travel speed of suitcase by improved pid algorithm System makes suitcase be truly realized operation intelligent, accurate, flexible.

In another specific embodiment of the invention, environment monitoring module 109 includes picture recognition module 110, is used for Image information and traffic signal information during acquisition blind person's traveling road, and image information and traffic signal information are transferred to Central processing module 108.What needs to be explained here is that picture recognition module 110 can be video camera or video recorder, to adopt Collect the image information and traffic signal information of the varying environment in blind person's traveling process, context detection module further includes ultrasonic wave mould Block 111, for detecting obstacle distance and/or obstacle identity in front of blind person, and by barrier at a distance from blind person and/or Obstacle identity is exported to central processing module 108.What needs to be explained here is that ultrasonic wave module 111 can be for ultrasound The ultrasonic sensor of wave detection barrier.As it is known by one skilled in the art, ultrasonic distance measurement principle is to pass through ultrasonic wave Transmitter emits ultrasonic wave to a direction, starts timing while emission time, encounters when ultrasonic wave is propagated in air Barrier just returns immediately, and ultrasonic receiver receives back wave and just stops timing immediately.Known ultrasonic wave need to only be utilized Aerial spread speed and sending transmitting signal and the time difference for receiving response signal can calculate launch point Distance away from barrier.Specifically, when providing a short term pulse signal to the ultrasonic sensor, such as provide one The pulse input signal of short-term 10us will then issue level and the inspection in 8 40kHz periods inside the ultrasonic sensor Survey time wave then exports response signal once having detected echo-signal.Wherein, response signal be a pulse and width at Direct ratio apart from object, distance can be calculated by transmitting signals to the time interval of the response signal received, namely Can detecte out user current location, whether there are obstacles in preset position range threshold value, makes so as to user and in time Corresponding judgement, avoids unnecessary safety problem.Central processing module 108 combines the location information and destination information obtained, The obstacle information adjusts path planning for further ultrasonic wave module 111 being combined to obtain, and optimal path is made, meanwhile, fortune Dynamic model block 106 combines optimal path adjusted and traffic signals and current environment at this time, further determines that optimal path Blind person is guided to advance.The mutual fusion of multiple module enables travel box to obtain one than more comprehensive information, leads to be able to achieve It is blind to lay a good foundation, the road conditions of all kinds of complexity can be handled, and be finally completed task.

It further include communication module 104, communication module 104 and the center in another specific embodiment of the invention Processing module 108 is connected, and communicates for blind person with extraneous personnel, central processing module 108 establish extraneous personnel with it is blind Image and/or voice connection, extraneous personnel between people pass through the image information analysis blind person institute that picture recognition module 110 obtains The scene at place is linked up by video and/or voice and blind person, is provided guide for blind person and is helped；Blind person is sent out by communication module 104 The auxiliary guide request that the request of active guide or extraneous personnel risen is initiated by communication module 104 can be achieved, and can be Video communication or voice communication, autonomous guide and video artefacts assist guide parallel, convert freely, while improving hommization Safety is also increased, communication module 104 can select GPRS communication module, be mainly used for receiving voice SMS or video Short message and transmission voice SMS or video message then send correlation when the GPRS communication module receives short-message instruction Information is to the communication equipment set in advance, such as mobile phone.It is understood that with the development of science and technology, present logical Conveniently section is not limited to GPRS communication, and there are also other communication modes, such as WiFi to wirelessly communicate, Bluetooth wireless communication.So The communication module 104 of intelligent blind guiding system disclosed in the embodiment of the present application is it is also an option that bluetooth communication etc..

It further include power module 103 in another specific embodiment of the invention, for the travel box and to set It sets and provides mains power in the intracorporal intelligent blind guiding system of the suitcase；What needs to be explained here is that power module 103 may be used also To be provided with charging interface, the specific structure of power module 103 is arranged here without limitation, as long as can reach identical technology Effect.

It further include wireless network module 107, the voice conversion module in another specific embodiment of the invention 102 identify the input voice of blind person by voice receiver, and pass through the wireless network module 107 and the central processing mould Connection is established between block 108.Such as bluetooth module, the bluetooth of the bluetooth bracelet and voice conversion module 102 worn by blind person Earphone etc. establishes touch between equipment and travel box or voice communicates with each other, then is issued by central processing module 108 Signal so that blind person obtains the speech exchange information between guide information or acquisition and extraneous personnel by sound, very Good solves the problems, such as human-computer interaction, and more convenient to use, and effect at low cost is good.

Further include human-machine interface module 105 in another specific embodiment of the invention, for provide travel box with Blind person carries out display interface when information connection, and the display information in display interface is turned by central processing module 108 and voice Mold changing block 102 be converted into voice messaging be sent to blind person into.When needing, flash appeal, generation are urgent to protrude situations such as road conditions are forecast When, display interface can generate corresponding display information at once, be converted by pass down the line to the voice of central processing module 108 Module 102 and communication module 104, are further converted into audio signal and exchange with blind person, or extraneous personnel pass through display Interface is remotely monitored and is commanded to blind person.It is understood that intelligent blind guiding system disclosed in the embodiment of the present application is more A module can provide corresponding information to blind person by way of alarm and show in the display interface, such as environment prison It surveys module 109 and detects that there are when barrier or to encounter traffic urgent in preset position range threshold value for blind person current location What when failure, by corresponding alarm, can such as be told in a manner of voice prompting at several meters of the direction of blind person current location There is barrier, with call user's attention safety.

The present invention also provides a kind of Intelligent travel suitcase blind-guiding method based on Beidou, comprising the following steps:

S1: the location information of blind person is obtained；

S2: acquiring environmental information in travel box moving process, and environmental information includes image information, obstacle distance And/or obstacle identity and traffic signal information；

S3: the location information of blind person and destination information Combined planning are gone out into optimal movement routine, obtain environmental information And according to environmental information generation action behavior path and according to optimal movement routine and action behavior coordinates measurement navigation information；

S4: navigation information is converted into navigation voice and plays to blind person；

S5: drive the travel box mobile according to optimal movement routine, according to dynamic in the travel box moving process Make the movement of travel box described in behavior path drives.

In another specific embodiment of the invention, blind-guiding method can also include the following steps: outer when needing to carry out When boundary seeks help,

S6: establishing the communication between extraneous personnel and blind person, and extraneous personnel are linked up by video and/or voice and blind person.

In of the invention one specific execution step, the work step of intelligent blind-guiding suitcase of the invention is as follows:

S11: by power module 103, opening battery main switch, opens simultaneously master subswitcher and motor is high-power opens It closes, software section enters initialization, and each functional module enters self-test, audio alert prompt is then carried out if any abnormal, if each function Module normally then enters standby mode；

S22: blind person takes the necessary equipment such as bluetooth bracelet, earphone, after being ready to can by the specific keys of bracelet, Into navigation mode, otherwise continue to keep standby mode；

S33: by voice conversion module 102, pass through earphone or bluetooth bracelet and the intracorporal intelligence of suitcase with voice Blind guiding system carries out exchange setting destination, and when each function is set, the intracorporal intelligent blind guiding system of suitcase all can be with using Person talks with confirmation, for example destination is set as " West Lake scenic spot Leifeng Tower ", and suitcase will ask that destination is set as " West Lake scenic spot Leifeng Tower " please accurately answer confirmation, and after user answers confirmation, suitcase can say that this item is arranged successfully.When destination is set up Cheng Hou, user say that setting completed, exit setting state；External personnel can also be allowed to help before setting out to be arranged, it can also be in trip It is completed on row case by manual setting state is changed by the specific keys on display interface；

S44: entering guide state, first by Beidou positioning module 101, determines the location information of blind person, central processing Module 108 combines the location information of destination information and blind person, by genetic algorithm, cooks up optimal path, and pass through Navigation voice is played to blind person by voice conversion module 102, is got redy to start off, please be prepared, and blind person will hold handle for trunk at this time, When blind person issues " setting out " instruction, suitcase executes guide operation by motion module 106；

S55: in guide operational process, environment monitoring module 109 passes through picture recognition module 110 and ultrasonic wave module 111 It obtains surrounding enviroment information and generates action behavior path, with the movement routine guidance blind person's walking for selecting safety optimal, work as ring Border monitoring modular 109 judges that road has hidden danger by the information acquired, such as hollow place, high drop, road maintenance block Situations such as, it at this moment can pass through voice conversion module 102 at the first time, tell the real-time condition of user's road, and suspend guide, Simultaneously can be by communication module 104, auto dialing carries out emergency help to default number, if default number is not put through, uses Person can replace other numbers set and dial, and other side's response enters video auxiliary guide, and respondent can open The APP being previously installed on mobile phone is walked with remote software control suitcase, while being carried out with video speech with blind person user Effective to link up, until abnormal section of passing by, suitcase all can be by real-time road during entire guide, and making a policy is No first aid, once there is first aid request to enter interrupt processing.When blind person oneself feel it is necessary to enter human assistance guide, can also To be completed by the specific keys on bracelet, information is transmitted to that communication module 104 is called or the kith and kin of user are good Friend is worried, can be by APP real time inspection guide situation, further can be by the user that dials, can if response Guide state is assisted to enter video artefacts on the display interface of human-machine interface module 105；

S66: in the alternating of autonomous guide or auxiliary guide, reasonably completing each task, until arrive at the destination, Complete guide work.

In conclusion the Intelligent travel suitcase blind guiding system and blind-guiding method of the invention based on Beidou, solves existing guide Complicated, the larger problem of cost input is realized present in technical solution, while facilitating the trip of user to realize, realizes trip Row case is monitored to information such as the geographical locations of user and navigational assistance, and then ensures its safety.

The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Claims (10)

1. a kind of Intelligent travel suitcase blind guiding system based on Beidou, which is characterized in that including travel box and be arranged in the trip The intracorporal intelligent blind guiding system of row case；

The intelligent blind guiding system includes:

Beidou positioning module, for obtaining the location information of blind person；

Environment monitoring module, for acquiring environmental information in travel box moving process, environmental information includes image information, barrier Hinder object distance and/or obstacle identity and traffic signal information；

Central processing module, for obtaining the location information of blind person from the Beidou positioning module and by the location information of blind person Go out optimal movement routine with destination information Combined planning, is also used to obtain environmental information and root from the context detection module Action behavior path is generated according to environmental information and according to optimal movement routine and action behavior coordinates measurement navigation information；

Voice conversion module plays to blind person for navigation information to be converted into navigation voice, is also used to acquire the control of blind person Voice is simultaneously converted into control instruction and is transferred to central processing module；

Motion module is also used to move in the travel box for driving the travel box mobile according to optimal movement routine The travel box according to action behavior path drives acts during dynamic.

2. the Intelligent travel suitcase blind guiding system based on Beidou as described in claim 1, it is characterised in that:

The environment monitoring module includes picture recognition module, for obtain image information during blind users traveling road and Traffic signal information, and image information and traffic signal information are transferred to central processing module.

3. the Intelligent travel suitcase blind guiding system based on Beidou as claimed in claim 2, it is characterised in that:

The context detection module further includes ultrasonic wave module, for detecting obstacle distance and/or barrier in front of blind person Type, and by barrier at a distance from blind person and/or obstacle identity is exported to central processing module.

4. the Intelligent travel suitcase blind guiding system based on Beidou as claimed in claim 3, which is characterized in that further include:

Communication module is connected with the central processing module, for communicating with extraneous personnel.

5. the Intelligent travel suitcase blind guiding system based on Beidou as claimed in claim 4, which is characterized in that further include:

Power module, for providing mains power for intelligent blind guiding system.

6. the Intelligent travel suitcase blind guiding system based on Beidou as claimed in claim 5, which is characterized in that further include:

Wireless network module, the voice conversion module identify the input voice of blind person by voice receiver, and by described Connection is established between wireless network module and the central processing module.

7. the Intelligent travel suitcase blind guiding system based on Beidou as claimed in claim 6, which is characterized in that further include:

Human-machine interface module, display interface when for providing travel box and blind person's progress information connection.

8. the Intelligent travel suitcase blind guiding system based on Beidou as claimed in claim 7, which is characterized in that the motion module packet Include driving unit, the unit that tests the speed, gyroscope and acceleration transducer.

9. a kind of Intelligent travel suitcase blind-guiding method based on Beidou, which comprises the following steps:

Obtain the location information of blind person；

Environmental information is acquired in travel box moving process, environmental information includes image information, obstacle distance and/or obstacle Species type and traffic signal information；

The location information of blind person and destination information Combined planning are gone out into optimal movement routine, obtain environmental information and according to ring Border information generates action behavior path and according to optimal movement routine and action behavior coordinates measurement navigation information；

Navigation information is converted into navigation voice and plays to blind person；

Drive the travel box mobile according to optimal movement routine, according to action behavior road in the travel box moving process Diameter drives the travel box movement.

10. the Intelligent travel suitcase blind-guiding method based on Beidou as claimed in claim 9, which is characterized in that further include following step It is rapid:

The communication between extraneous personnel and blind person is established, extraneous personnel are linked up by video and/or voice and blind person.