CN111227423A - Voice-assisted autonomous obstacle avoidance navigation shoe and system based on Beidou navigation technology - Google Patents
Voice-assisted autonomous obstacle avoidance navigation shoe and system based on Beidou navigation technology Download PDFInfo
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- CN111227423A CN111227423A CN202010099621.5A CN202010099621A CN111227423A CN 111227423 A CN111227423 A CN 111227423A CN 202010099621 A CN202010099621 A CN 202010099621A CN 111227423 A CN111227423 A CN 111227423A
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- navigation
- shoe
- obstacle avoidance
- beidou
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- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B3/00—Footwear characterised by the shape or the use
- A43B3/34—Footwear characterised by the shape or the use with electrical or electronic arrangements
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a voice-assisted autonomous obstacle avoidance navigation shoe based on a Beidou navigation technology, which comprises a navigation shoe, a power supply module, a Beidou module, an STM32 single chip microcomputer, a circuit board, two cameras, a wireless transceiver and pressure sensors, wherein the power supply module is arranged on an upper of the navigation shoe, the STM32 single chip microcomputer and the circuit board are arranged on a heel of the navigation shoe, the Beidou module is arranged on a tongue of the navigation shoe, the wireless transceiver is arranged on the outer bottom surface of the navigation shoe, the navigation shoe comprises an insole arranged inside the upper, the pressure sensors are arranged on the surface of the insole, and the two cameras are respectively arranged on the left side and the right side of the front surface of the upper. Compared with the related art, the invention has the following advantages: the blind can be helped to realize accurate navigation and obstacle avoidance; the indoor position is judged and positioned, so that disasters are avoided.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of intelligent wearable equipment application, in particular to a voice-assisted autonomous obstacle avoidance navigation shoe and system based on the Beidou navigation technology.
[ background of the invention ]
At present, most of travel navigation of the blind people depends on a blind guiding dog, a blind guiding stick and some small electronic wearable devices.
The blind guiding dog has long training period, high input cost and poor applicability and universality. Blind-guiding stick and small-size wearing formula equipment adopt ultrasonic technology in the aspect of keeping away the barrier mostly, but the ultrasonic wave can not find out obstacles such as pit, and its propagation also can receive diffraction, scattering and absorptive influence for the problem of blind area information is missed to examine in ultrasonic blind-guiding appearance. On the other hand, most of the technologies adopted by the electronic equipment navigation are GPS navigation systems with mature technologies, China has no initiative in utilizing GPS navigation, and depends on American technologies passively, so once the international situation changes, the electronic equipment navigation system is subjected to a plurality of restrictions.
Although some intelligent shoes are developed at home and abroad, the technology is not mature enough just after the start, and a plurality of problems still exist in the design. Although the first intelligent shoe developed by the Massachusetts' engineering and media laboratory can play a role in navigation to a certain extent, the blind people also need to pay attention to obstacles on the road ahead and also need to take care when turning at the intersection. In addition, certain errors still exist in the positioning technology, and the related technology of the intelligent shoe still has great improvement space. The main function of the intelligent shoes in the domestic intelligent shoe market is still motion detection, and the functions related to navigation and obstacle avoidance of the blind are not related, and the functions are the most core and needed for the blind.
[ summary of the invention ]
The invention aims to provide a voice-assisted autonomous obstacle avoidance navigation shoe and a system based on the Beidou navigation technology, which can solve the technical problems related to the background technology.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a voice-assisted autonomous obstacle avoidance navigation shoe based on the Beidou navigation technology comprises a navigation shoe, a power supply module, a Beidou module, an STM32 single chip microcomputer, a circuit board, two cameras, a wireless transceiver and a pressure sensor, the power supply module is arranged on the upper of the navigation shoe, the STM32 single chip microcomputer and the circuit board are arranged on the heel of the navigation shoe, the Beidou module is arranged on a tongue of the navigation shoe, the wireless transceiver is arranged on the outer bottom surface of the navigation shoe, the navigation shoe comprises an insole arranged inside the upper, the pressure sensors are arranged on the surface of the insole, the two cameras are respectively arranged on the left side and the right side of the front surface of the upper, the power module, the big dipper module STM32 singlechip the camera wireless transceiver and pressure sensor respectively with the circuit board is connected.
Preferably: the camera comprises a lens, an image sensor and an A/D conversion circuit which are connected in sequence.
Preferably: the Beidou module comprises a bearing plate, and a radio frequency transceiving chip, a baseband processing chip, an amplifying circuit and a loop antenna which are arranged on the bearing plate respectively.
Preferably: the periphery of the sole of the navigation shoe is provided with air holes.
The invention also provides a voice-assisted autonomous obstacle avoidance navigation system based on the Beidou navigation technology, which comprises mobile terminal equipment in wireless connection with the voice-assisted autonomous obstacle avoidance navigation shoe, wherein the mobile terminal equipment comprises a navigation APP and a Bluetooth headset connected with the navigation APP, and the navigation APP is in wireless connection with the wireless receiving and transmitting device.
Compared with the related art, the invention has the following advantages: the blind can be helped to realize accurate navigation and obstacle avoidance; the indoor position is judged and positioned, so that disasters are avoided.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic three-dimensional structure diagram of a voice-assisted autonomous obstacle avoidance navigation shoe based on the Beidou navigation technology;
FIG. 2 is a schematic view of the construction of the insole of the present invention;
FIG. 3 is a schematic diagram of an internal structure of a wireless transceiver device according to the present invention;
FIG. 4 is a schematic structural diagram of a camera according to the present invention;
FIG. 5 is a schematic structural diagram of a Beidou module of the present invention;
fig. 6 is a structural framework diagram of the voice-assisted autonomous obstacle avoidance navigation based on the Beidou navigation technology.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the invention provides a voice-assisted autonomous obstacle avoidance navigation shoe based on a Beidou navigation technology, which comprises a navigation shoe 1, a power module 2, a Beidou module 9, an STM32 single chip microcomputer 3, a circuit board 4, two cameras (7, 8), a wireless transceiver 6 and a pressure sensor 5, wherein the power module 2 is arranged on an upper of the navigation shoe 1, the STM32 single chip microcomputer 3 and the circuit board 4 are arranged on a heel of the navigation shoe 1, the Beidou module 9 is arranged on a tongue of the navigation shoe 1, the wireless transceiver 6 is arranged on the outer bottom surface of the navigation shoe 1, the navigation shoe 1 comprises an insole 11 arranged inside the upper, the pressure sensor 5 is arranged on the insole surface, the two cameras (7, 8) are respectively arranged on the left side and the right side of the front surface of the upper, and the power module 2 is arranged on the outer bottom surface of the navigation shoe 1, Beidou module 9, STM32 singlechip 3, camera (7, 8), wireless transceiver 6 and pressure sensor 5 respectively with circuit board 4 is connected.
The periphery of the sole of the navigation shoe 1 is provided with air holes 10.
Referring to fig. 4 again, it should be further explained that the cameras (7, 8) include a lens 17, an image sensor 18 and an a/D conversion circuit 19 which are connected in sequence. The cameras (7, 8) project optical images generated by the lens 17 onto the surface of the image sensor 18, then convert the optical images into electric signals, convert the electric signals into digital image signals through the A/D conversion circuit 19, send the digital image signals into a digital signal processing chip for processing, and process the digital image signals through the STM32 singlechip 3 to obtain images. The 360-degree rotation of the lens 17 can acquire surrounding information in real time, image processing is carried out by the built-in image processor, so that depth information in the whole scene can be estimated through a local algorithm and a global algorithm, and the depth information can help the blind to find walkable areas and obstacles in a map scene.
The pressure sensor 5 can judge whether the blind person walks the stairs or takes the elevator according to the difference of pressure changes generated when the blind person is in the stair walking state and the elevator taking state. The pressure sensor 5 is used for acquiring pressure changes of two indoor trip modes to design corresponding algorithms, so that the judgment and the positioning of indoor positions are realized, and disasters are avoided. Thus, by arranging the pressure sensor 5, the technical problem that the cameras (7 and 8) cannot calculate the floor where the blind person is located when the blind person goes upstairs or downstairs can be solved.
Referring to fig. 5 again, the Beidou module 9 includes a pressure bearing plate 15, a radio frequency transceiver chip 20, a baseband processing chip 21, an amplifying circuit 22 and a loop antenna 16. The Beidou signals received by the loop antenna 16 reach the amplifying circuit 22 and then reach the radio frequency transceiver chip 20 to realize the down-conversion function, and the radio frequency signals are converted into digital intermediate frequency signals to be used as digital intermediate frequency input of the baseband processing chip 21. The baseband processing chip 21 integrates a plurality of independent digital receiver channels and a plurality of transmission channels, and completes functions of receiving the baseband processing chip 21 and generating a transmission baseband signal. The transmission baseband signal generated by the baseband processing chip 21 is input to the radio frequency transceiver chip 20, and the up-conversion function is completed in the radio frequency transceiver chip 20, and the transmission baseband signal is amplified by the amplifying circuit 22 and then transmitted by the loop antenna 16.
With reference to fig. 6, the invention further provides a voice-assisted autonomous obstacle avoidance navigation system based on the beidou navigation technology, which comprises a mobile terminal device wirelessly connected with the voice-assisted autonomous obstacle avoidance navigation shoe based on the beidou navigation technology, wherein the mobile terminal device comprises a navigation APP23, a bluetooth headset 24 connected with the navigation APP23, and a beidou navigation system 25, and the navigation APP23 is wirelessly connected with the wireless transceiver 6.
The outer bottom surface wireless transceiver 6 of navigation shoes 1 transmits relevant data to navigation APP23, utilizes wireless bluetooth headset 24 to connect navigation APP23 at last and carries out voice broadcast with walking route and direction.
The cameras (7, 8) can acquire surrounding information in real time through 360-degree rotation and perform image processing. Navigation APP23 and camera image recognition technology combine together, can acquire road conditions information in real time, feed back to navigation APP23, and the result that will handle at last feeds back the people's ear through wireless bluetooth headset 24, and the help blind person realizes accurate navigation and keeps away the barrier. Thus, the shoe forepart is provided with cameras (7, 8) for detecting the surrounding situation in real time. In the walking process, the image processing technology is utilized to detect the front obstacles in advance, and the blind person is reminded to walk the correct route and avoid the obstacles through the voice broadcasting function.
The navigation APP23 adopts an open big data comprehensive service platform established in an internet + mode, namely a Beidou care platform, and the Beidou care platform is combined with a Baidu map to better provide service for the blind.
The working principle of the voice-assisted autonomous obstacle avoidance navigation system based on the Beidou navigation technology provided by the invention is as follows: at first obtain real-time positional information through installing in the big dipper module 9 on navigation shoes 1 upper portion, utilize wireless transceiver 6 to send positional information to on the navigation APP23, simultaneously camera (7, 8) convey the image information of gathering to STM32 singlechip 3, this STM32 singlechip 3 utilizes the algorithm to handle image data, data to be handled are sent navigation APP23 through wireless transceiver 6, navigation APP23 reports the information of handling for the blind person through wireless bluetooth headset 24, remind the blind person to avoid the barrier.
Compared with the related art, the invention has the following advantages: the blind can be helped to realize accurate navigation and obstacle avoidance; the indoor position is judged and positioned, so that disasters are avoided.
While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the specification and the embodiments, which are fully applicable to various fields of endeavor for which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (5)
1. The utility model provides a supplementary autonomic obstacle avoidance navigation shoes of pronunciation based on big dipper navigation technology which characterized in that: including navigation shoes, power module, big dipper module, STM32 singlechip, circuit board, two cameras, wireless transceiver and pressure sensor, power module set up in the upper of a shoe of navigation shoes, STM32 singlechip with the circuit board set up in the heel of navigation shoes, big dipper module set up in the tongue of navigation shoes, wireless transceiver sets up in the outer bottom surface of navigation shoes, the navigation shoes including set up in the inside shoe-pad of upper of a shoe, just pressure sensor set up in the shoe-pad surface, two the camera branch is located the left and right sides of upper of a shoe front surface, power module big dipper module STM32 singlechip the camera wireless transceiver and pressure sensor respectively with the circuit board is connected.
2. The voice-assisted autonomous obstacle avoidance navigation shoe based on the Beidou navigation technology as set forth in claim 1, is characterized in that: the camera comprises a lens, an image sensor and an A/D conversion circuit which are connected in sequence.
3. The voice-assisted autonomous obstacle avoidance navigation shoe based on the Beidou navigation technology as set forth in claim 1, is characterized in that: the Beidou module comprises a bearing plate, and a radio frequency transceiving chip, a baseband processing chip, an amplifying circuit and a loop antenna which are arranged on the bearing plate respectively.
4. The voice-assisted autonomous obstacle avoidance navigation shoe based on the Beidou navigation technology as set forth in claim 1, is characterized in that: the periphery of the sole of the navigation shoe is provided with air holes.
5. The utility model provides a supplementary autonomic obstacle avoidance navigation of pronunciation based on big dipper navigation technology which characterized in that: include with claim 1 the mobile terminal equipment based on voice-assisted is from moving away barrier navigation shoes wireless connection, mobile terminal equipment including the navigation APP with the bluetooth headset that the navigation APP is connected, the navigation APP with wireless transceiver wireless connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010099621.5A CN111227423A (en) | 2020-02-18 | 2020-02-18 | Voice-assisted autonomous obstacle avoidance navigation shoe and system based on Beidou navigation technology |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010099621.5A CN111227423A (en) | 2020-02-18 | 2020-02-18 | Voice-assisted autonomous obstacle avoidance navigation shoe and system based on Beidou navigation technology |
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| CN111227423A true CN111227423A (en) | 2020-06-05 |
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| CN202010099621.5A Pending CN111227423A (en) | 2020-02-18 | 2020-02-18 | Voice-assisted autonomous obstacle avoidance navigation shoe and system based on Beidou navigation technology |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210361021A1 (en) * | 2018-05-31 | 2021-11-25 | Nike, Inc. | Intelligent electronic footwear and control logic for executing automated footwear features |
| US20210368905A1 (en) * | 2018-05-31 | 2021-12-02 | Nike, Inc. | Intelligent electronic footwear and logic for navigation assistance by automated tactile, audio, and visual feedback |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210361021A1 (en) * | 2018-05-31 | 2021-11-25 | Nike, Inc. | Intelligent electronic footwear and control logic for executing automated footwear features |
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| US11727808B2 (en) | 2018-05-31 | 2023-08-15 | Nike, Inc. | Intelligent electronic footwear and control logic for automated infrastructure-based pedestrian tracking |
| US11763676B2 (en) | 2018-05-31 | 2023-09-19 | Nike, Inc. | Intelligent electronic footwear and control logic for automated pedestrian collision avoidance |
| US11886247B2 (en) * | 2018-05-31 | 2024-01-30 | Nike, Inc. | Intelligent electronic footwear and logic for navigation assistance by automated tactile, audio, and visual feedback |
| US11900810B2 (en) | 2018-05-31 | 2024-02-13 | Nike, Inc. | Intelligent electronic footwear and control logic for executing automated footwear features |
| US11915592B2 (en) * | 2018-05-31 | 2024-02-27 | Nike, Inc. | Intelligent electronic footwear and control logic for executing automated footwear features |
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Application publication date: 20200605 |
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