CN111195191A - Intelligent system and method for guiding travel of blind people - Google Patents
Intelligent system and method for guiding travel of blind people Download PDFInfo
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- CN111195191A CN111195191A CN201911157300.XA CN201911157300A CN111195191A CN 111195191 A CN111195191 A CN 111195191A CN 201911157300 A CN201911157300 A CN 201911157300A CN 111195191 A CN111195191 A CN 111195191A
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- voice
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- blind person
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/08—Devices or methods enabling eye-patients to replace direct visual perception by another kind of perception
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
Abstract
An intelligent system and method for guiding the travel of the blind comprises the following steps: the blind person plans a trip route through voice of the mobile terminal, detects objects around the blind person at 360 degrees through a millimeter wave radar worn on the waist of the blind person, and obtains radar ranging data; analyzing the shape and size of the obstacle by combining an AI (artificial intelligence) glasses visual imaging method to obtain image data; and receiving radar ranging data and image data in real time to obtain obstacle avoidance information, and sending a voice navigation instruction by combining the planned travel route. The millimeter wave radar and the AI vision are comprehensively utilized for rapid judgment, the advantages of the millimeter wave radar and the AI vision are fully exerted, and a more accurate guiding direction is provided for the blind person, so that the blind person finally arrives at the destination.
Description
Technical Field
The invention relates to the technical field of auxiliary equipment for the blind in going out, in particular to an intelligent system and method for guiding the blind in going out.
Background
In the eyes of the blind, the whole world is nearby but far away, and the blind cannot see the surrounding objects in different colors. The blind person often has great inconvenience and danger when going out because the environment beside can not be directly observed due to the visual loss, and the blind person must rely on the guide dog or the guide capital construction auxiliary equipment to carry out outdoor activities. Due to physiological defects, the blind people have inconvenience in life and work, and how to ensure the traveling safety of the blind people is a problem to be solved in the whole society.
The common blind guiding dog and the blind guiding stick have limited exploration range, the blind person needs to continuously explore the blind guiding stick through manual control, and a plurality of blind guiding devices are mainly realized based on ultrasonic ranging at present, the ultrasonic ranging mainly simulates the ultrasonic obstacle avoidance principle of bats, and relatively good effect is achieved. However, the ultrasonic wave-based direction only can inform the blind of information such as the distance to an obstacle in front of the blind, and has great limitation. At present, some camera imaging methods are used for analyzing the shape and size of an obstacle and then transmitting the obstacle to a user through touch and audio, although the method is really a great improvement over the simple ultrasonic wave, the obstacle cannot be accurately transmitted to a blind user, the traveling problems of the blind and visually impaired people cannot be completely solved only by a visual algorithm, and the single visual algorithm cannot achieve the purpose of independent traveling of the blind in the calculation of recognition rate and distance.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide an intelligent system and method for guiding the travel of the blind, which improve the identification accuracy by a combined algorithm of millimeter wave radar and machine vision, and guide the travel of the blind by broadcasting through voice so as to realize the independent travel of the blind.
In a first aspect, the present application provides an intelligent system for blind person travel guidance, comprising:
the mobile terminal is provided with a voice module and a map module and is used for the blind to plan a travel route through voice;
the portable radar equipment is worn at the waist of the blind person, detects objects around the blind person by a millimeter wave radar in 360 degrees, and acquires radar ranging data;
the AI glasses are provided with AI visual cameras and are used for analyzing the shape and the size of the obstacle by a visual imaging method to acquire image data;
the portable radar equipment is further provided with a processor, the processor is in communication connection with the mobile terminal, the millimeter wave radar and the AI glasses respectively and is used for receiving radar ranging data and image data in real time, obtaining obstacle avoidance information and sending out a voice navigation instruction by combining the planned travel route.
In some embodiments, the processor sends the voice navigation instruction to be received by the mobile terminal and played through the mobile phone APP.
In some embodiments, the portable radar device is further provided with a voice module, the voice module is electrically connected with the processor, and the processor sends out a voice navigation instruction to be received by the voice module and then played.
In some embodiments, the portable radar device is further provided with a navigation and positioning module, and the navigation and positioning module comprises a GPS module or/and a beidou navigation module.
In some embodiments, the portable radar device is further provided with a wireless communication module, and the wireless communication module comprises a mobile communication module, a bluetooth module or/and a WIFI module.
In some embodiments, the portable radar device is further provided with an alarm retrieving module for issuing an alarm sound by responding to a voice call issued by the mobile terminal so as to facilitate the blind person to retrieve the portable radar device.
In a second aspect, the present application provides a method for guiding the travel of the blind, which is characterized by comprising:
acquiring a voice signal of the blind person, and planning a travel route;
detecting objects around the blind by a millimeter wave radar at 360 degrees to obtain radar ranging data;
analyzing the shape and size of the obstacle by a visual imaging method to acquire image data;
and receiving radar ranging data and image data in real time to obtain obstacle avoidance information, and sending a voice navigation instruction by combining the planned travel route.
In a third aspect, the present application provides a computer-readable storage medium, characterized by a program, which is executable by a processor to implement the method according to the second aspect.
According to the embodiment, the blind person sets a trip route of the portable mobile terminal through voice, then detects surrounding objects at 360 degrees through a millimeter wave radar placed at the waist, identifies the objects and dangers, identifies obstacles on two sides and in front of the route by combining an AI vision camera, and carries out real-time interaction and real-time reminding on the processed information and the blind person in a voice mode; the millimeter wave radar and the AI vision are comprehensively utilized for rapid judgment, the advantages of the millimeter wave radar and the AI vision are fully exerted, and a more accurate guiding direction is provided for the blind person, so that the blind person finally arrives at the destination.
Drawings
FIG. 1 is a schematic diagram of an intelligent system for guiding the travel of the blind;
FIG. 2 is a block diagram of a portable radar apparatus according to an embodiment;
fig. 3 is a flowchart of a method for guiding the blind to go according to an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
Referring to fig. 1-3, the present application provides an intelligent system for blind travel guidance, comprising:
the mobile terminal 30 is provided with a voice module and a map module and is used for the blind to plan a travel route through voice;
the portable radar device 10 is worn at the waist of the blind person, detects objects around the blind person by a millimeter wave radar in 360 degrees, and acquires radar ranging data;
the AI glasses 20 are provided with an AI vision camera, and are used for analyzing the shape and size of the obstacle by a vision imaging method to acquire image data;
the portable radar device 10 is further provided with a processor 11, and the processor 11 is in communication connection with the mobile terminal 30, the millimeter wave radar 13 and the AI glasses 20 respectively, and is used for receiving radar ranging data and image data in real time, obtaining obstacle avoidance information, and sending a voice navigation instruction by combining the planned travel route.
In this application, the blind person wears the AI glasses 20 overhead, holds the portable mobile terminal 30 (like a mobile phone), hangs the portable radar device 10 between the waist, and the blind person carries out trip route setting to the portable mobile terminal through pronunciation, then carries out 360 degrees through putting at waist millimeter wave radar and surveys peripheral object, carries out object and dangerous discernment, and the AI vision camera of joining in marriage on the AI glasses 20 carries out image recognition, discerns the barrier in route both sides and the place ahead. The processor 11 of the portable radar device 10 processes the collected data of the two parts in real time, and the processed information interacts with the blind in real time in a voice mode to remind the blind in real time; meanwhile, the blind person voice questions (which are provided through the mobile terminal 30) about the road problems can be processed in real time.
At present, millimeter wave radars are mostly used for vehicles and some large, medium and small devices, and have not been used for being worn by blind people; the AI vision is also applied to blind guiding products, but because the AI vision has low accuracy in practical application, especially for detecting distance; in addition, the accuracy can be further reduced in places with strong light (reflection), night, foggy days and other conditions, so that the vision is auxiliary for guiding blind at present; the method comprehensively utilizes the millimeter wave radar and the AI vision to carry out quick judgment, fully exerts the advantages of the millimeter wave radar and the AI vision, and provides more accurate guidance directions for the blind person so that the blind person finally arrives at the destination.
In some embodiments, the voice navigation command sent by the processor 11 is received by the mobile terminal through the wireless communication module 15 and then played through the mobile phone APP. In other embodiments, the portable radar device 10 is further provided with a voice module 14 (e.g., a sound box), the voice module 14 is electrically connected to the processor 11, and the voice navigation command sent by the processor 11 is received by the voice module 14 and then played. In other embodiments, the processor 11 may also send out a voice navigation command to be received by the bluetooth headset and played, that is, the blind person wears the bluetooth headset to receive voice information.
In some embodiments, the portable radar device 10 is further provided with a navigation positioning module 12, and the navigation positioning module 12 comprises a GPS module or/and a beidou navigation module.
In some embodiments, the portable radar device 10 is further provided with a wireless communication module 15, and the wireless communication module 15 includes a mobile communication module (4G or 5G), a bluetooth module or/and a WIFI module.
In some embodiments, the portable radar device 10 is further provided with an alarm retrieval module (not shown) for sounding an alarm (via a buzzer) in response to the mobile terminal making a voice call in order for the blind person to retrieve the portable radar device. In other embodiments, the alarm retrieving module may be implemented by using the voice module 14 and the wireless communication module 15 in cooperation, that is, the wireless communication module 15 receives a voice call from the mobile terminal, and the voice module 14 sends a corresponding alarm.
In some embodiments, the millimeter wave radar is miniaturized on the belt and is equipped with a battery and a buzzer; the camera and the Bluetooth headset are placed on the glasses and are also provided with a buzzer; the portable device is provided with a one-key searching function, a one-key navigation function and the like. When the blind person wears the glasses, the blind person can start going out or walk indoors as long as the waist belt and the glasses are worn. All detection results can be reminded and communicated with the blind person in a real-time conversation mode.
Referring to fig. 3, correspondingly, the present application provides a method for guiding the blind to go, including:
acquiring a voice signal of the blind person, and planning a travel route;
detecting objects around the blind by a millimeter wave radar at 360 degrees to obtain radar ranging data;
analyzing the shape and size of the obstacle by a visual imaging method to acquire image data;
and receiving radar ranging data and image data in real time to obtain obstacle avoidance information, and sending a voice navigation instruction by combining the planned travel route.
Accordingly, the present application provides a computer-readable storage medium comprising a program executable by a processor to implement the above-described method.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by computer programs. When all or part of the functions of the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to realize the above functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above may be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and may be downloaded or copied to a memory of a local device, or may be version-updated in a system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (8)
1. An intelligent system for blind travel guidance, comprising:
the mobile terminal is provided with a voice module and a map module and is used for the blind to plan a travel route through voice;
the portable radar equipment is worn at the waist of the blind person, detects objects around the blind person by a millimeter wave radar in 360 degrees, and acquires radar ranging data;
the AI glasses are provided with AI visual cameras and are used for analyzing the shape and the size of the obstacle by a visual imaging method to acquire image data;
the portable radar equipment is further provided with a processor, the processor is in communication connection with the mobile terminal, the millimeter wave radar and the AI glasses respectively and is used for receiving radar ranging data and image data in real time, obtaining obstacle avoidance information and sending out a voice navigation instruction by combining the planned travel route.
2. The system of claim 1, wherein the processor issues voice navigation commands that are received by the mobile terminal and played through the mobile APP.
3. The system of claim 1, wherein the portable radar device is further provided with a voice module, the voice module is electrically connected with the processor, and the processor sends out voice navigation instructions to be received by the voice module and then played.
4. The system of claim 1, wherein the portable radar device is further provided with a navigation positioning module comprising a GPS module or/and a beidou navigation module.
5. The system of claim 1, wherein the portable radar device is further provided with a wireless communication module comprising a mobile communication module, a bluetooth or/and a WIFI module.
6. The system of claim 1, wherein the portable radar device is further provided with an alarm retrieving module for issuing an alarm sound in response to a voice call from the mobile terminal in order for the blind person to retrieve the portable radar device.
7. A travel guiding method for the blind is characterized by comprising the following steps:
acquiring a voice signal of the blind person, and planning a travel route;
detecting objects around the blind by a millimeter wave radar at 360 degrees to obtain radar ranging data;
analyzing the shape and size of the obstacle by a visual imaging method to acquire image data;
and receiving radar ranging data and image data in real time to obtain obstacle avoidance information, and sending a voice navigation instruction by combining the planned travel route.
8. A computer-readable storage medium, characterized by comprising a program executable by a processor to implement the method of claim 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911157300.XA CN111195191A (en) | 2019-11-22 | 2019-11-22 | Intelligent system and method for guiding travel of blind people |
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| CN201911157300.XA CN111195191A (en) | 2019-11-22 | 2019-11-22 | Intelligent system and method for guiding travel of blind people |
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| CN111195191A true CN111195191A (en) | 2020-05-26 |
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| CN111643324A (en) * | 2020-07-13 | 2020-09-11 | 江苏中科智能制造研究院有限公司 | Intelligent glasses for blind people |
| CN112274400A (en) * | 2020-11-18 | 2021-01-29 | 郑州大学 | Intelligent blind guiding system |
| CN112924972A (en) * | 2021-01-28 | 2021-06-08 | 四川写正智能科技有限公司 | Device and method for intelligent distance measurement and obstacle avoidance reminding based on millimeter waves |
| CN113095166A (en) * | 2021-03-25 | 2021-07-09 | 北京深睿博联科技有限责任公司 | Blind guide line detection method, device, equipment and computer readable storage medium |
| CN116358591A (en) * | 2023-04-07 | 2023-06-30 | 广州爱浦路网络技术有限公司 | Travel navigation assistance method for visually impaired people, electronic device and storage medium |
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Application publication date: 20200526 |