CN111583584A - Intelligent walking stick safety warning system, warning method and intelligent walking stick - Google Patents
Intelligent walking stick safety warning system, warning method and intelligent walking stick Download PDFInfo
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- CN111583584A CN111583584A CN202010393896.XA CN202010393896A CN111583584A CN 111583584 A CN111583584 A CN 111583584A CN 202010393896 A CN202010393896 A CN 202010393896A CN 111583584 A CN111583584 A CN 111583584A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0438—Sensor means for detecting
- G08B21/0461—Sensor means for detecting integrated or attached to an item closely associated with the person but not worn by the person, e.g. chair, walking stick, bed sensor
Abstract
The invention belongs to the technical field of intelligent walking sticks and discloses an intelligent walking stick safety warning system, a warning method and an intelligent walking stick, wherein the intelligent walking stick safety warning system comprises: the device comprises a positioning module, a data transmission module, an information acquisition module, a safe distance judgment module, a voice prompt module, a communication module and an alarm device. The invention seeks help for surrounding pedestrians through an intelligent voice system, and is simple and efficient; the rapidity and the accuracy of data transmission are achieved by utilizing a 5G mobile communication technology; the invention combines the RTK technology to realize the accurate positioning of the vehicle and the blind; accurately mastering more accurate and detailed road information by using a lane-level high-precision map; a warning device is arranged in the crutch to achieve the effect of reminding surrounding drivers; the time length of the signal lamp is obtained and fed back to the blind through information sharing with the Internet, and the blind is reminded to speed up the pace if necessary; whether the driver decelerates and gives way is judged by acquiring the acceleration of the vehicle, so that the blind can cross the street more safely.
Description
Technical Field
The invention belongs to the technical field of intelligent crutches, and particularly relates to an intelligent crutch safety warning system, a warning method and an intelligent crutch.
Background
At present, the blind people have difficulty in living and going out. Some solutions exist at present for the travel problem of the vulnerable group, but the solutions have major defects, such as feeding of a guide dog, building of a blind road, making of a crutch and the like. For the guide dog, the raising cost is too high, and the guide dog is prohibited from coming in and going out in many places. For the blind sidewalk, at present, a perfect legal rule is lacked to standardize the construction of the blind sidewalk, and sometimes the blind sidewalk is occupied.
The appearance of the existing intelligent blind crutch is modified on the blind crutch, and the navigation technology, the ultrasonic technology, the voice module and the communication technology are utilized, so that the route is planned for the blind, the positions of peripheral obstacles are detected and fed back to the blind through voice prompt, and the convenience of the blind in going out is greatly improved. In addition, the blind person can directly contact the family members of the user or directly give an alarm under emergency, and the safety of the blind person in going out is improved.
Compared with image recognition, the intelligent traffic signal control system can know the state of the signal lamp more efficiently and accurately. The intelligent traffic signal control system is an intelligent application system based on traffic big data, can set the time of each signal lamp by using a certain algorithm according to the traffic flow feedback information of each lane, and realizes cross-regional traffic control by connecting the control system with a control center. With the development of communication technology and big data, the intelligent crutch is connected with a signal lamp control center database, so that the state and the duration of a signal lamp can be quickly acquired.
Through the above analysis, the problems and defects of the prior art are as follows: (1) the existing navigation crutch utilizes a GPS technology positioning technology and a navigation map to plan a trip route for the blind. However, the road condition is not a constant one, and it is a process of continuously adjusting the optimization. Therefore, the navigation map must be updated continuously to meet the requirements of the blind.
(2) The existing intelligent crutch for the blind has certain limitation while providing convenience for the blind. At present, due to the fact that zebra stripes or signal lamps are not arranged due to various factors, a right turn signal lamp can be omitted even at intersections with the signal lamps and the zebra stripes, and in the case, the right turn of a vehicle can be unlimited. The complex traffic phenomena bring huge potential safety hazards to the blind people crossing the street. When the blind passes through the street, the vehicles around the blind are different from common barriers, so that the blind has the characteristics of high speed, long braking distance, large quantity and the like, and the barrier avoidance function cannot be realized simply through ultrasonic distance measurement.
(3) The existing novel intelligent blind crutch signal lamp identification technology with the signal lamp intelligent identification system has great limitation, the image filtering technology and the color sensor technology are greatly influenced by the environment, and the position of a signal lamp cannot be accurately positioned and the color of the signal lamp cannot be accurately changed. Meanwhile, the existing intelligent crutch is only suitable for normal traffic of sidewalks and has certain limitation on solving the problem of street crossing of blind people.
The difficulty in solving the above problems and defects is: (1) the choice of lane by the driver when turning a corner depends on the individual wishes of the driver, where traffic regulations allow. Considering few conditions, if a driver suddenly rotates a steering wheel to a large extent, the error between the result of the lane selection intention of the driver and the actual condition is simply predicted through a mathematical model, and the personal safety of blind people is threatened.
(2) When the motor-driven vehicle passes through the pedestrian crossing, the motor-driven vehicle is required to run at a reduced speed; when people pass through the pedestrian crossing, the vehicle should be stopped and the vehicle should be given way. Therefore, when the safe distance measuring and calculating model is carried out, the selected maximum speed is the driving speed of the driver in the detection range. However, in a few cases, the driver does not decelerate or stop to give way contrary to law, so that the model calculation result is not matched with the actual result, and the intelligent crutch feeds wrong information back to the blind person, so that traffic accidents can be caused.
(3) Because the vehicle information condition around the blind has timeliness, the product has higher requirements on the network. Once the network of the intelligent crutches is delayed or stuck, the information fed back by the intelligent crutches is invalid.
The significance of solving the problems and the defects is as follows: by considering the defects of the existing intelligent walking stick and the related technology, the walking stick aims at the street crossing behavior of the blind person and solves a series of problems possibly encountered by the street crossing under the condition of ensuring the personal safety of the blind person.
The invention takes the lanes as a research object, and leads the blind to pass through the street one by one. The lane selection intention of the driver is transmitted to the intelligent crutch through information interaction between the driver and the blind. The above difficulty (1) is solved.
The intelligent crutch firstly gives an alarm to prompt a driver when the blind people pass through the street in the whole process. Secondly, whether the driver has deceleration and gives a way is judged through the acceleration measurement and calculation of the intelligent crutch on the surrounding vehicle. The above difficulty (2) is solved.
The invention utilizes 5G technology to replace 4G technology, thus solving the difficulty (3).
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent walking stick safety warning system, a warning method and an intelligent walking stick, and particularly relates to an intelligent walking stick safety warning system and method for the blind to cross the street.
The invention is realized in such a way that the intelligent crutch safety warning method comprises the following steps:
step one, the intelligent crutch sends a voice signal for the blind to pass through the street, and if the intelligent crutch cannot receive corresponding information of the help seeking signal, the intelligent crutch sends an instruction for guiding the blind to cross the street, and meanwhile, a warning lamp on the intelligent crutch flashes to prompt the surrounding environment; the intelligent walking stick prompts the blind people around to pass through the street through voice, seeks help to assist the blind people to pass through, and if no person responds, the intelligent walking stick starts to guide the blind people to pass through the street. The warning lamp begins to flash to prompt surrounding drivers, and the surrounding drivers slow down and give way after seeing the warning lamp;
step two, based on the communication technology and big data, the intelligent crutch realizes information interaction of a signal lamp control center database by utilizing the communication technology, acquires the duration of a traffic light state, and judges whether the road condition allows pedestrians to pass;
and thirdly, accurately positioning the position of the blind (namely the position of the intelligent crutch) on the premise of a network RTK technology. The method comprises the steps of obtaining relevant data of an automobile by utilizing the Internet of vehicles, sending data such as the speed of the automobile, the operation behavior of a driver, the working parameters of a power system, the position of the automobile and the like to a cloud computing processing platform through a vehicle-mounted terminal of the Internet of vehicles, filtering and cleaning the data, and screening out the vehicles which are about to pass through lanes for the blind. And then obtaining the position of a traffic signal lamp, the position of a lane line, the width of a lane and the type of a lane marking line through a lane-level high-precision navigation map, and screening useful data in a data access program by utilizing a serial port communication technology.
Step four, acquiring positioning data on the basis of the step three, and then calculating the blind person average speed through a calculation program; specifically, the input of an RTK chip is connected with a program chip through the connection of a circuit, the obtained positioning data is transmitted to the program chip as an input signal by utilizing a serial port communication technology, and the average speed of the intelligent crutch is calculated through program calculation.
And fifthly, on the premise of a position sharing basic technology, the respective positioning information of the vehicle and the intelligent crutch is uploaded to a cloud computing data platform by using a 5G technology for data screening, information interaction between the vehicle and the intelligent crutch is realized, and data is accessed into the intelligent crutch through a serial port communication technology to obtain the distance between the intelligent crutch and the detected vehicle and the vehicle running speed.
And step six, measuring and calculating the safety distance between the vehicle and the intelligent crutch through a mathematical model and a program, judging whether the intelligent crutch is safe if passing through the lane normally, and feeding back to the intelligent crutch through voice prompt.
Further, in step three, the network RTK technique obtains an accurate position fix by providing a receiver at the base station, transmitting the accurate position fix obtained at the base station to the rover station via the data chain, and correcting the GPS data with the rover station using the data chain as a reference.
Further, in step six, the method for establishing the mathematical model includes:
(1) safe distance measurement
Let L be the lane width, V1For the blind to walk at speed V2The running speed is used. The predicted saturated travel distance of the vehicle may be expressed as
Where φ is a safety gap, which is a constant and can be calculated according to the worst-performing vehicle parameter. When the blind people arrive at the next lane line, the vehicle does not drive over the blind people or just arrives, namely the blind people pass through the lane line safely
S*≤S0(2)
Wherein S is0To measure the actual distance between the vehicle and the intelligent crutch (or the blind).
Because the road condition is more complicated, the used distance is calculated to obtain the saturation distance, some
S*＝MAX{S1，S2，...，Sn} (3)
For different road conditions, the following discussion is provided:
under the condition of straight line, on a lane, when S is the same, the vehicle and the intelligent crutch (or the blind) have different distances SPractice ofThe extreme case is here chosen, i.e.
Under the condition of a curve, the automobile driving distance S is larger than SPractice ofIn the case of
In the case of a crossroad, S is also greater than SPractice ofI.e. by
In summary, there are
Substituting formula (1) into the above formula yields:
if S*≤S0If so, the intelligent crutch (or the blind person) is judged to be safe, and if not, the intelligent crutch (or the blind person) is prompted to continue waiting.
(2) Secure acceleration calculation
When the blind people pass through the street, the driver does not slow down and give way due to the fact that weather and the driver do not notice the blind people and other special conditions. In the special situation, the intelligent crutch needs to detect whether the vehicle has the deceleration intention, and if not, for the sake of personal safety of the blind, the intelligent crutch (or the blind) still needs to wait even if the safe distance calculation meets the conditions.
Let the initial speed of the vehicle be VnAfter a period of time Δ T, the speed of the vehicle is VmThen there is an acceleration
If A is larger than or equal to 0, the vehicle is in an acceleration or uniform speed state, the driver does not timely avoid the pedestrian by decelerating the vehicle, and the intelligent crutch (or the blind) is prompted to continue waiting.
(3) Secure time calculation
When the blind walks on the zebra stripes, the situation that the green light time is not enough can occur, and for the situation, a mathematical model is established to remind the blind to quicken the walk to pass through the street if necessary.
Setting the distance X of the intelligent crutch (or the blind) to the tail end of the zebra crossing, the average driving speed of the intelligent crutch (or the blind) as V, and the green light remaining time TGreen，
If the formula (7) is satisfied, the blind is prompted to speed up the pace through voice.
Further, in the fifth step, when the blind people can start to cross the street, the corresponding button is pressed, and the intelligent crutch gives out voice to prompt that the blind people nearby the pedestrians are ready to cross the street and need to assist to cross the street. If the blind person is not assisted by the pedestrian, the blind person presses the corresponding button, and the blind person can cross the street by the aid of modern intelligent technological means and is only allowed to stay at the lane line; when the green light time is not enough for the blind to arrive at the opposite bank, the crutch can remind the blind to speed up the pace or continue to wait.
Another object of the present invention is to provide a safety warning system of an intelligent crutch applying the safety warning method of an intelligent crutch, the safety warning system of an intelligent crutch comprising:
the positioning module is used for selecting a plurality of groups of reference points by using a CORS (continuous reference station) technology through a network RTK (real-time kinematic) technology, checking the reference points, and acquiring accurate positioning information by the system after checking is finished;
the data transmission module is used for connecting the input of the RTK chip with the program chip through the connection of a circuit, and transmitting the obtained positioning data serving as an input signal to the program chip to realize the positioning of the crutch;
the information acquisition module is used for sensing the state information of nearby vehicles by using a sensing technology through the Internet of vehicles to acquire the speed, the running condition and the position of the vehicles; obtaining the position of a traffic signal lamp, the position of a lane line and the type of a lane marking line by using a lane high-precision navigation map;
the safe distance judgment module is used for obtaining the distance between the crutch and the vehicle by combining a positioning technology and judging whether the blind person should pass through the lane by utilizing a mathematical model;
the voice prompt module is used for reminding the blind whether to pass or quicken the pace; the intelligent crutch gives out voice to prompt the blind people nearby to prepare for crossing the street and need to assist crossing the street;
the communication module is used for realizing communication between the crutch and the vehicle through a 5G network and a modern intelligent information processing technology; based on big data and 5G technology, the crutch is connected to a signal lamp control center database, the state and the duration of a signal lamp are obtained in real time, and communication between the crutch and the signal lamp is realized.
And the alarm device is connected with the voice prompt module and used for prompting the surrounding environment.
Another object of the present invention is to provide a computer program product stored on a computer readable medium, which includes a computer readable program for providing a user input interface to implement the method for implementing the intelligent crutch safety warning when the computer program product is executed on an electronic device.
Another object of the present invention is to provide a computer-readable storage medium, which stores instructions for causing a computer to execute the method for warning the safety of the intelligent crutch when the instructions are executed on the computer.
The invention also aims to provide the intelligent crutch applying the intelligent crutch safety warning method.
By combining all the technical schemes, the invention has the advantages and positive effects that:
(1) the invention adopts the principle of 'people oriented', and when the blind person is ready to pass through the street, the blind person can seek help for the pedestrians around through the voice system. If no pedestrians or unwilling help is around, the blind can choose to cross the street by himself.
(2) The invention takes a single lane as a research object and combines a mathematical model to calculate the safe distance, thereby greatly improving the safety of the blind crossing the street.
(3) The intelligent walking stick is provided with a communication module which can be used for the blind to give an alarm at necessary moment.
(4) The method is based on the development of big data, the state of the signal lamp is obtained by utilizing the information communication between the walking stick and the database of the signal lamp control center, and the defects that the original image recognition is greatly influenced by the environment and the calculation speed is low are overcome.
(5) The invention utilizes the lane-level high-precision map to be more detailed and accurate, and continuously corrects the lane-level high-precision map by the RTK technology, thereby improving the accuracy of navigation and calculation.
(6) The invention uses the novel 5G technology to replace the original 4G technology, and effectively relieves the defects of low transmission speed and network delay of the 4G technology.
(7) The work considers that the time length of the traffic light can meet the requirement of normal passing of the blind, and when the detection time is short, the blind is prompted to quicken the pace to ensure that the blind can safely cross the street.
(8) The invention can upload the vehicle data of the peripheral deceleration and passing to law enforcement departments as a means for snapshotting traffic violation.
Drawings
Fig. 1 is a flowchart of a safety warning method for an intelligent crutch according to an embodiment of the present invention.
FIG. 2 is a structural diagram of a safety warning system of an intelligent crutch provided by an embodiment of the invention;
in the figure: 1. a positioning module; 2. a data transmission module; 3. an information acquisition module; 4. a safe distance judgment module; 5. a voice prompt module; 6. a communication module; 7. an alarm device.
Fig. 3 is a flowchart illustrating the operation of the intelligent crutch provided by the embodiment of the present invention.
Fig. 4 is a panoramic view of a walking stick according to an embodiment of the present invention.
Fig. 5 is a partially enlarged view of the intelligent crutch provided by the embodiment of the invention.
Fig. 6 is a work route diagram of the intelligent crutch provided by the embodiment of the invention.
Fig. 7 is a general navigation map provided by an embodiment of the present invention.
Fig. 8 is a lane-level high-precision navigation map provided by the embodiment of the present invention.
Fig. 9 is a schematic diagram of information acquisition according to an embodiment of the present invention.
Fig. 10 is a schematic diagram of a safety distance provided by an embodiment of the present invention.
FIG. 11 is a schematic diagram of critical points provided by an embodiment of the present invention.
Fig. 12 is a schematic view of a straight line situation provided by an embodiment of the present invention.
FIG. 13 is a schematic view of a curve situation provided by an embodiment of the present invention.
Fig. 14 is a schematic diagram of a situation of an intersection according to an embodiment of the present invention.
FIG. 15 is a screenshot of a questionnaire provided by an embodiment of the invention;
in the figure: FIG. (a) is a questionnaire screenshot; panel (b) is a questionnaire analysis chart.
Fig. 16 is a sector diagram of the maximum price that can be received by a customer using the intelligent cane according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides an intelligent crutch safety warning system, a warning method and an intelligent crutch, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the safety warning method for the intelligent crutch provided by the embodiment of the invention includes the following steps:
s101, the intelligent crutch sends a voice help seeking signal for the blind to pass through a street, and if corresponding information of the help seeking signal is not received, the intelligent crutch sends an instruction for guiding the blind to cross the street, and meanwhile, a warning lamp on the intelligent crutch flashes to prompt the surrounding environment; the intelligent walking stick prompts the blind people around to pass through the street through voice, seeks help to assist the blind people to pass through, and if no person responds, the intelligent walking stick starts to guide the blind people to pass through the street. The warning lamp begins to flash to prompt surrounding drivers, and the surrounding drivers are decelerated to drive after seeing the warning lamp.
S102, based on the communication technology and the big data, the intelligent crutch realizes information interaction of a signal lamp control center database by utilizing the communication technology, obtains the time length of a traffic light state, and judges whether the road condition allows pedestrians to pass.
S103, accurately positioning the position of the blind (namely the position of the intelligent crutch) on the premise of a network RTK technology. The method comprises the steps of obtaining relevant data of an automobile by utilizing the Internet of vehicles, sending data such as the speed of the automobile, the operation behavior of a driver, the working parameters of a power system, the position of the automobile and the like to a cloud computing processing platform through a vehicle-mounted terminal of the Internet of vehicles, filtering and cleaning the data, and screening out the vehicles which are about to pass through lanes for the blind. And then obtaining the position of a traffic signal lamp, the position of a lane line, the width of a lane and the type of a lane marking line through a lane-level high-precision navigation map, and screening useful data in a data access program by utilizing a serial port communication technology.
S104, acquiring positioning data on the basis of the step S103, and then calculating the blind person average speed through a calculation program; specifically, the input of an RTK chip is connected with a program chip through the connection of a circuit, the obtained positioning data is transmitted to the program chip as an input signal by utilizing a serial port communication technology, and the average speed of the intelligent crutch is calculated through program calculation.
And S105, on the premise of a position sharing basic technology, uploading respective positioning information of the vehicle and the intelligent crutch to a cloud computing data platform by using a 5G technology to perform data screening, so as to realize information interaction between the vehicle and the intelligent crutch, and accessing data into the intelligent crutch through a serial port communication technology to obtain the distance between the intelligent crutch and the vehicle to be tested and the vehicle running speed.
And S106, measuring and calculating the safe distance between the vehicle and the intelligent crutch through a mathematical model and a program, judging whether the intelligent crutch is safe when normally passing through the lane, and feeding back to the intelligent crutch through voice prompt.
As shown in fig. 2, the safety warning system of the intelligent crutch provided by the embodiment of the present invention includes: the system comprises a positioning module 1, a data transmission module 2, an information acquisition module 3, a safe distance judgment module 4, a voice prompt module 5, a communication module 6 and an alarm device 7.
The positioning module 1 is used for selecting a plurality of groups of reference points by using a CORS (continuous reference station) technology through a network RTK (real-time kinematic) technology, checking the reference points, and acquiring accurate positioning information by a system after checking is completed;
the data transmission module 2 is used for connecting the input of the RTK chip with the program chip through the connection of a circuit, and transmitting the obtained positioning data serving as an input signal to the program chip to realize the positioning of the crutch;
the information acquisition module 3 is used for sensing the state information of nearby vehicles by using a sensing technology through the Internet of vehicles to acquire the speed, the running condition and the position of the vehicles; obtaining the position of a traffic signal lamp, the position of a lane line and the type of a lane marking line by using a lane high-precision navigation map;
the safe distance judgment module 4 is used for obtaining the distance between the crutch and the vehicle by combining the positioning technology and judging whether the blind person should pass through the lane by utilizing a mathematical model;
the voice prompt module 5 is used for reminding the blind whether to pass or accelerate the pace; the intelligent crutch gives out voice to prompt the blind people nearby to prepare for crossing the street and need to assist crossing the street;
the communication module 6 is used for realizing communication between the crutch and the vehicle through a 5G network and a modern intelligent information processing technology; based on big data and 5G technology, the crutch is connected to a signal lamp control center database, the state and the duration of a signal lamp are obtained in real time, and communication between the crutch and the signal lamp is realized.
And the alarm device 7 is connected with the voice prompt module and is used for prompting the surrounding environment.
The design of the terminal equipment of the invention comprises: an RTK module and a 5G module are added to an existing positioning communication device based on STM 32. The RTK module can select SKG12UR or SKG12XR, the specific operation is to insert the singlechip (needing to be debugged before use) in a mode that the original positioning module and the RTK module are similar to parallel, but the program is changed, the coordinate of the RTK is preferred, and when the RTK is weak in positioning, the original positioning module covers the RTK (the accuracy of the RTK as a base station for positioning is influenced by the density of the base station, so the original GPS positioning system is kept as assistance). Similarly, the 5G module can be added or replaced on the original wireless communication module, and if the priority is set, programs need to be written.
The original navigation map of the intelligent crutch is changed into a high-precision map, generally speaking, the navigation map is taken out from an internal memory card and then a new map is downloaded from a PC (personal computer) end. The walking stick guides the coordinates obtained by the positioning module into a lane-level high-precision map obtained in real time, and then obtains the lane width, traffic light information and lane line position of the current position by an image processing program (similar to map query in an automobile and needing a map data processing technology), and the information can be transmitted to a chip where a main program is located as an electric signal. It should be noted that the information about the lane lines is not provided until the program sends a signal to the main program when the coordinates are on the lane lines.
The invention leads the terminal equipment of the intelligent crutch into a car networking program, the equipment can be connected to a car networking platform (which is equivalent to a car networking system on a car) through a corresponding program on the basis of a wireless communication technology, the platform provides the speed of the nearest car on a lane where the crutch is located and the distance between the crutch and the car to the terminal equipment, and the speed and the distance are also transmitted to a main program as electric signals.
The main chip of the invention is stored with a main program, the terminal equipment is connected with the main chip through a DuPont line, the input information comprises traffic light information, lane width, speed of the vehicle, distance of the vehicle and whether the vehicle is on the lane line, the information is connected corresponding to different pins, and the output of the main chip is connected with a voice chip. Different voices are stored in the voice chip, the voices correspond to the output signals one by one, and the voice chip controls the loudspeaker to make a sound. The use of data is mainly: when traffic light information exists, whether the blind walks or not is judged according to the time of the traffic light, the lane width and the speed of the blind, the time of the green light is long enough or longer than the passing time of the blind, if the time is the time which can pass through with acceleration, the blind can be reminded of walking fast, the traffic light information needs to be processed, and the time of the light should be a negative value. And when no traffic light exists, whether the vehicle walks or not is judged through safe distance calculation. In addition, the crutch is provided with two keys, the first key controls the voice of 'help for pedestrians' in the voice chip, the second key is a switch for reminding the voice through a road system, the two keys can control the warning lamp, and the warning lamp flickers to remind the coming and going vehicles when being pressed.
The present invention will be further described with reference to the following examples.
1. Principle of design
1.1 design
The existing intelligent crutch system has the functions of GPS positioning, blind road identification, ultrasonic obstacle identification and the like, under the guidance of the GPS, the direction and the distance of an obstacle are detected through ultrasonic waves, and voice prompt is fed back to a user.
The invention aims to ensure the personal safety of the blind crossing the street, and improves the existing intelligent crutch system by analyzing and judging the conditions which can occur when the blind crosses the street. The specific design concept of the intelligent crutch is shown in fig. 3.
From the driver's perspective, the intelligence walking stick is through sending warning light suggestion peripheral vehicle, and the driver makes the speed reduction reaction, avoids accident's emergence.
From the perspective of the blind, the blind can only pass through the road by himself without help from the blind. Because the road condition is complicated and the walking speed of the blind is lower than that of a normal person, the blind is guided to pass through the road at one time with higher difficulty and unnecessary trouble can be brought. The method takes a single lane as a research object, extracts information such as the distance between the vehicle and the blind in the lane (i.e. the lane for the blind to pass through), the vehicle running speed and the like through the internet of vehicles, and judges whether the blind should pass through the lane by combining a mathematical model. If the street is accompanied by a signal lamp, the invention obtains the state and the duration of the signal lamp by connecting with a signal lamp control center database, and feeds the result back to the blind through voice after relevant processing to remind the blind whether to pass or accelerate the pace.
When the blind people can start to cross the street, the button 1 (shown in figure 5) is pressed, the intelligent crutch gives out voice to prompt the blind people nearby to prepare for crossing the street and need to assist to cross the street. If the blind person is not assisted by the pedestrian, the blind person can cross the street by himself by means of modern intelligent science and technology by pressing the button 2. The panorama of the intelligent crutch is shown in figure 4.
The intelligent walking stick aims to perfect the existing intelligent walking stick system, helps the blind person safely pass through the street, improves the convenience of the blind person in going out, and has certain practicability.
1.2 methods
The work route diagram of the intelligent crutch is shown in figure 6.
Application of 1.2.15G technology in crutch
Due to the defects of large influence of network delay and large map data processing capacity in the actual use of the RTK technology and the lane-level high-precision navigation map, an auxiliary tool with low delay and high speed is needed to make up the deficiency, and the 5G technology can be used for effectively solving the problem. 5G is used as a new generation mobile communication technology, and compared with 4G, the signal transmission speed is higher, and the real-time performance of data transmission is better. In addition, 5G can also be applied to the field of car networking in the invention.
The 5G application environment in the invention is communication between the crutch and the Internet, and the crutch needs to be quickly positioned, acquire information and judge the safety distance when working. The specific method is that the positioning data can be updated in time by using the low delay of 5G, and huge data can be processed quickly by using the high rate of 5G. Under the working environment, the 5G not only realizes the application of the RTK technology and the lane-level high-precision navigation map, but also enables the crutch to be in the condition of the best and most stable network quality at any time. And with the continuous development of 5G, the crutch also has higher efficiency and stronger flexibility. The specific operation method is to insert the 5G-supporting network card into the crutch, and then set the system into a communication technology taking 5G as a core, so as to realize information interaction between the intelligent crutch and the Internet.
1.2.2 application of positioning technology in intelligent crutch system
1.2.2.1 location techniques
The invention is the most important basis for the work, namely the positioning, and the positioning accuracy is particularly important because the distance between the blind and the vehicle, the position of the blind and the road information need to be acquired. The common GPS positioning obviously cannot meet the precision requirement, so the invention adopts a high-precision application of the GPS, namely a network RTK technology. By providing a receiver at the reference station, the accurate position fix obtained at the reference station will be transmitted to the rover station via the data link, and the rover station will correct the GPS data with the data as a reference, thereby obtaining the accurate position fix.
The application of the network RTK in the intelligent crutch is equivalent to arranging the mobile station on the crutch, acquiring accurate positioning information and applying the positioning information to the subsequent steps. To locate first requires networking and then using network RTK techniques, the system is selected. The invention selects CORS, selects a plurality of groups of reference points, checks the reference points, and the system can obtain accurate positioning information after checking is completed. And then, data is transmitted, the input of the RTK chip is connected with the program chip through the connection of a line, and the obtained positioning data is transmitted to the program chip as an input signal, so that the positioning design of the crutch is completed.
1.2.2.2 Lane-level high-precision map application based on network RTK technology
Compared with the common navigation map, the lane-level high-precision navigation map not only has higher-precision coordinates, but also can more clearly describe the road shape, and the safety of the blind people in going out is ensured to a greater extent.
The lane-level high-precision navigation map covers rich semantic information, on one hand, the position of a traffic signal lamp, the position of a lane line and the type of a road sign line can be obtained by using the technology, and then the blind can be ensured to pass through a street on the premise of not violating traffic rules through the signal lamp intelligent recognition system and the navigation system. On the other hand, more accurate road data such as lane width, lane number, street width and the like can be obtained through the technology, and the data are used for calculating the safe distance, so that the output result is more accurate.
Because the traffic flow on the road surface is large and the road form is complex and changeable, the invention uses the lane-level high-precision navigation map (as shown in figure 8) to replace the common navigation map (as shown in figure 7) to guide the blind to pass by the lanes one by one and only stop at the lane line, thereby leading the blind to safely pass the street.
1.2.3 big data based communication between crutches and vehicle, crutches and signal lamp
1.2.3.1 communication between crutches and vehicle
The vehicle networking senses the state information of the vehicle by using a sensing technology, and realizes the communication between the vehicle and the cloud platform, the communication between the vehicle and a workshop, the communication between the vehicle and a road, the communication between the vehicle and a person and the communication between devices in the vehicle by using a 5G network and a modern intelligent information processing technology. The car networking and the 5G technology are integrated and developed, and the omnibearing network connection and information interaction between the car and the intelligent crutch are realized. The method mainly utilizes basic information of nearby vehicles provided by the Internet of vehicles to obtain the speed and the position of the vehicles, combines a positioning technology to obtain the distance between the crutch and the vehicles, then transmits the distance to the crutch through a 5G technology, and finally applies a mathematical model to carry out risk prediction so as to determine whether the blind people need to pass. In addition, the driving condition of the vehicle near the crutch can be obtained through the internet of vehicles, and when the vehicle is detected not to decelerate and give way, the driving condition can be used as evidence that the vehicle runs illegally. The information acquisition diagram is shown in fig. 9.
1.2.3.2 communication between crutch and signal lamp
In order to adapt to the development of cities and solve the problem of traffic jam, intelligent traffic signal lamp remote networking control systems tend to be researched more and more globally. The intelligent traffic signal lamp control system consists of a traffic signal controller, an industrial router and a PC control terminal, and utilizes the mobile communication technology and the Internet to carry out information interaction, and automatically debugs time after carrying out relevant processing according to the conditions of intersections transmitted to the Internet. Therefore, based on big data and 5G technology, the crutch is connected to a database of a signal lamp control center, and the state and the duration of the signal lamp can be acquired in real time. After the relevant processing is carried out, the result is informed to the blind person, and the blind person is helped to pass the street more efficiently.
1.2.4 model building
1.2.4.1 safe distance measurement
A safety distance diagram is shown in fig. 10.
Let L be the lane width, V1For the blind to walk at speed V2The running speed is used. The predicted saturated travel distance of the vehicle may be expressed as:
where φ is a safety gap, which is a constant and can be calculated according to the worst-performing vehicle parameter. To make the blind pass safely, the vehicle does not drive through the blind or just reaches the blind when the blind reaches the next lane line (the critical position is shown in fig. 11), that is:
S*≤S0(2)
wherein S is0To measure the actual distance of the vehicle from the blind.
Because the road condition is comparatively complicated, then calculate the distance of using and get the saturation distance, have:
S*＝MAX{S1，S2，...，Sn} (3)
for different road conditions, the following discussion is provided:
in a straight line, as shown in FIG. 12, on a lane, the vehicle and the blind have different distances S when S is the samePractice ofHere, the extreme case (S in the figure) is selectedPractice 1) I.e. by
In the case of a curve, as shown in FIG. 13, the distance S traveled by the vehicle is greater than SPractice ofIn the case of
In the case of an intersection, S is also greater than S as shown in FIG. 14Practice ofI.e. by
In summary, there are:
substituting formula (1) into the above formula yields:
if S*≤S0If the blind person is safe, the blind person can pass the alarm, otherwise, the blind person is prompted to continue waiting.
1.2.4.2 secure acceleration calculation
When the blind people pass through the street, the driver does not slow down and give way due to the fact that weather and the driver do not notice the blind people and other special conditions. Under the special condition, the intelligent crutch needs to detect whether the vehicle has the deceleration intention, and if not, for the sake of personal safety of the blind, the blind still needs to wait even if the calculation of the safe distance meets the conditions.
Let the initial speed of the vehicle be VnAfter a period of time Δ T, the speed of the vehicle is VmThen, there is an acceleration a:
if A is larger than or equal to 0, the vehicle is in an acceleration or uniform speed state, and the driver does not timely avoid the pedestrian by decelerating the vehicle, so that the blind is prompted to continue waiting.
1.2.4.3 secure time calculation
When the blind walks on the zebra stripes, the situation that the green light time is not enough can occur, and for the situation, a mathematical model is established to remind the blind to quicken the walk to pass through the street if necessary.
Setting the distance X for the blind to reach the tail end of the zebra crossing, the average driving speed V of the blind and the green light remaining time TGreen：
If the formula (6) is satisfied, the blind is prompted to speed up the pace through voice.
1.2.5 working process of intelligent crutch
The invention is based on the human-oriented angle, when the blind person is ready to pass through the street, the blind person can seek help to the surrounding pedestrians through the crutch voice system, and if the blind person wants to pass through the street by himself, the crutch can work as follows: on the basis of the existing GPS navigation, the blind person is helped to safely cross the street by combining an RTK technology, a lane-level high-precision map, an internet of vehicles and a 5G technology.
Considering the safety of the blind people crossing the street, the invention takes a single lane as a research object, screens vehicles entering the lane by the internet of vehicles technology to calculate the safety distance, enables the blind people to pass each lane independently and only allows the blind people to stay at the lane line.
Firstly, the blind people passing by nearby vehicles are prompted by flashing of warning light on the intelligent crutch, and a driver with a higher speed can decelerate to pay attention to give way, so that the blind people can pass through the intelligent crutch conveniently. And then, information interaction between the vehicle and the intelligent crutch is realized by utilizing a 5G technology and a position sharing basic technology, and the distance between the blind person and the vehicle in the lane and the driving speed of the vehicle are obtained. The speed and lane width of the blind are obtained through an RTK technology and a lane high-precision map, and finally the safety distance between a vehicle and a pedestrian is measured and calculated by combining a mathematical model, whether the blind normally passes through the lane is safe is judged, and the safety distance is fed back to the blind through voice prompt.
And when the blind person passes through the zebra crossing accompanied by the signal lamp, the communication between the crutch and the signal lamp is realized based on the 5G technology and the signal lamp remote networking control technology, the state and the duration of the signal lamp are obtained, the relevant calculation is carried out by combining a mathematical model and a program, the result is output by voice, and when the green lamp time is not enough for the blind person to arrive at the opposite bank, the crutch can remind the blind person to speed up the pace or continue to wait.
2. The invention adopts the principle of 'people oriented', and when the blind person is ready to pass through the street, the blind person can seek help for the pedestrians around through the voice system. If no pedestrians or unwilling help is around, the blind can choose to cross the street. The crutch is based on a 5G technology, a lane level high-precision map and an RTK technology, road information, blind person walking data and automobile running data of different places are connected to a database, interconnection between the crutch and an automobile is achieved, and information sharing is conducted. The collected data is screened and calculated, whether the blind person should pass or not is prompted through a voice system, and a warning device is assisted in the process that the blind person passes the street to warn surrounding drivers. And adding a signal lamp time length element when passing through a street accompanied by a signal lamp. The method provides the blind with an opportunity to make a subjective judgment as to the pace speed, whether to seek help from surrounding pedestrians.
1) Help is sought for surrounding pedestrians through an intelligent voice system, and the method is simple and efficient.
2) The data propagation speed and accuracy are achieved by using the 5G mobile communication technology.
3) Based on the existing positioning technology, the RTK technology is combined to realize the accurate positioning of the vehicle and the blind.
4) By using the lane-level high-precision map, more accurate and detailed road information can be accurately mastered.
5) A warning device is arranged in the crutch to achieve the effect of reminding surrounding drivers.
6) Through information sharing with the Internet, the time length of a signal lamp is obtained and the blind is informed, the blind is reminded to speed up pace if necessary, and the blind can cross the street more safely.
3. The present invention will be further described with reference to the effects of the application.
1) Punctuality
In recent years, 5G appears and rapidly becomes a hotspot discussed by the communication industry and academia, which not only greatly improves the mobile communication speed, but also can reduce the communication delay to millisecond level, thereby greatly improving the reliability and real-time performance of transmission. The invention utilizes the 5G technology to replace the original 4G technology, effectively overcomes the defects that the RTK technology and a lane-level high-precision map are subjected to large network delay and large map data processing capacity, and greatly improves the working efficiency of the intelligent blind crutch. And with the development of the 5G technology, the working efficiency of the intelligent crutch is higher and higher.
2) Accuracy of
If the lane selection intention of a driver is predicted simply through a mathematical model, when the driver suddenly drives a steering wheel to a large extent, the calculation result of the model is directly made wrong, and the personal safety of the blind is threatened. Therefore, the invention obtains the selection intention of the vehicle owner to the lane, the vehicle running speed, the vehicle acceleration and the vehicle distance through the information communication technology and the positioning technology between the vehicle and the intelligent crutch, effectively avoids the above situations, and detects the vehicle speed, the vehicle acceleration and the vehicle distance more truly and accurately compared with the ultrasonic technology.
3) Economic efficiency of intelligent crutch
The group surveys the maximum price which can be received by the consumer for the intelligent blind crutch through a questionnaire form, recovers 117 effective questionnaires, obtains the maximum expected price which can be received by the consumer for the intelligent blind crutch according to the questionnaire result, and is 2350.30 yuan which is larger than the conservative estimated cost of 1600 yuan, and the cost of the crutch is far less than the price of a cultured blind guide dog. Therefore, the intelligent blind crutch can be accepted by the public and has certain economical efficiency. The questionnaire screen shot is shown in fig. 15.
The maximum price that can be received by the consumer for the intelligent cane is shown in fig. 16.
The invention not only solves the practical problem of the blind crossing the street, but also is suitable for various aspects of traffic positioning such as automobile navigation, vehicle speed monitoring, transportation planning, intelligent driving and the like by the concept of combining 5G, high-precision maps and RTK technology, and provides feasible reference for solving the problems of traffic jam, uneven resource distribution and the like. Along with the improvement of speed, precision and range, the application degree of the concept can be deepened gradually, even the error of millimeter level is achieved, and then the traffic situation is mastered completely through the network.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A safety warning method of an intelligent walking stick is characterized by comprising the following steps:
step one, an intelligent crutch sends a voice help seeking signal for the blind to pass through a street, and if corresponding information of the help seeking signal is not received, the intelligent crutch sends an instruction for guiding the blind to cross the street, and meanwhile, a warning lamp on the intelligent crutch flashes to prompt the surrounding environment;
step two, acquiring the time length of the traffic light state through information interaction of a signal light control center database, and judging whether the road condition allows pedestrians to pass;
thirdly, acquiring the position of a traffic signal lamp, the position of a lane line, the lane width, the type of a lane marking line and the movement speed information of the intelligent crutch by utilizing a network RTK technology and a lane high-precision navigation map;
fourthly, positioning the positioning data obtained in the third step through a positioning program to perform intelligent crutch positioning;
fifthly, carrying out information interaction between the vehicle and the intelligent crutch to obtain the distance between the intelligent crutch and the vehicle in the lane and the blind and the running speed of the vehicle;
and step six, measuring and calculating the safety distance between the vehicle and the intelligent crutch through a mathematical model and a program, judging whether the intelligent crutch is safe if passing through the lane normally, and feeding back the safety distance through voice prompt.
2. The intelligent crutch safety warning method of claim 1 wherein in step three, the network RTK technique obtains an accurate position fix by providing a receiver at the base station, wherein the accurate position fix obtained at the base station will be transmitted to the rover via the data link, and wherein the rover will correct the GPS data as a reference.
3. The intelligent crutch safety warning method of claim 1, wherein in step six, the mathematical model establishing method comprises:
(1) safe distance measurement
L is the lane width, V1For the blind to walk at speed V2The driving speed is used as the driving speed; the predicted saturated travel distance of the vehicle is then expressed as:
phi is a safety gap which is a constant and is calculated according to the vehicle parameter with the worst performance; when the blind person arrives at the next lane line, the vehicle does not drive past the position of the blind person or just arrives, and the following steps are carried out:
S*≤S0
wherein S is0Measuring the actual distance between the vehicle and the blind;
calculating the driving distance to obtain a saturated distance, comprising the following steps:
S*＝MAX{S1，S2，...，Sn}
(2) secure acceleration calculation
Initial velocity of vehicle is VnAfter a period of time Δ T, the speed of the vehicle is VmThen, there is an acceleration a:
if A is more than or equal to 0, the vehicle is in an acceleration or uniform speed state and continues to wait;
(3) secure time calculation
The distance from the intelligent crutch to the tail end of the zebra crossing is left X, the average driving speed is V, and the remaining time T of the green light isGreen：
If yes, the operation is carried out through voice.
4. The intelligent crutch safety warning method of claim 3 wherein in step (1), in a straight line, on a lane, when S is the same, the vehicle and the intelligent crutch have different distances SPractice ofIn extreme cases
In the case of a curve, the driving distance S of the vehicle is greater than SPractice of，
5. The intelligent crutch safety warning method of claim 3 wherein in step (1), S is greater than S at an intersectionPractice of，
Then there are:
obtaining:
if S*And S0 is not more than the preset value, the result is passed, otherwise, the prompt is continued to wait.
6. An intelligent crutch safety warning system applying the intelligent crutch safety warning method as set forth in any one of claims 1-5, wherein the intelligent crutch safety warning system comprises:
the positioning module is used for selecting a plurality of groups of reference points by using a CORS (continuous reference station) technology through a network RTK (real-time kinematic) technology, checking the reference points, and acquiring accurate positioning information by the system after checking is finished;
the data transmission module is used for connecting the input of the RTK chip with the program chip through the connection of a circuit, transmitting the obtained positioning data serving as an input signal to the program chip and positioning the intelligent crutch;
the information acquisition module is used for sensing the state information of nearby vehicles by using a sensing technology through the Internet of vehicles to acquire the speed, the running condition and the position of the vehicles; obtaining the position of a traffic signal lamp, the position of a lane line, the type of a lane marking line and the speed of the intelligent crutch by using a lane-level high-precision navigation map;
the safety distance judgment module is used for obtaining the distance between the intelligent crutch and the vehicle speed by combining a positioning technology and a communication technology, and judging whether the intelligent crutch should pass through the lane by using a mathematical model;
the intelligent crutch sends out voice prompt and feeds back the voice prompt to the blind;
the communication module is used for realizing communication between the crutch and the vehicle through a 5G network and a modern intelligent information processing technology; based on big data and 5G technology, the crutch is connected to a signal lamp control center database, the state and duration of a signal lamp are obtained in real time, and communication between the intelligent crutch and the signal lamp is carried out.
7. The intelligent crutch safety warning system of claim 6, further comprising:
and the alarm device is connected with the voice prompt module and used for prompting the surrounding environment.
8. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the method of any one of claims 1 to 5 when executed on an electronic device.
9. A computer readable storage medium storing instructions which, when executed on a computer, cause the computer to perform the method as claimed in any one of claims 1 to 5.
10. An intelligent crutch implementing the intelligent crutch safety warning method as claimed in any one of claims 1-5.
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| CN113299091A (en) * | 2021-04-28 | 2021-08-24 | 深圳市文业照明实业有限公司 | Intelligent traffic road surface illumination warning method and system |
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