CN113069329A - Walking assistance system and method - Google Patents
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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
- A61H3/02—Crutches
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47D—FURNITURE SPECIALLY ADAPTED FOR CHILDREN
- A47D13/00—Other nursery furniture
- A47D13/04—Apparatus for helping babies to walk; Baby walkers or strollers
- A47D13/043—Baby walkers with a seat
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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- 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
- A61H3/04—Wheeled walking aids for patients or disabled persons
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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
- 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
- A61H3/068—Sticks for blind persons
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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
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Abstract
The present application relates to a walking assistance system and method. The system comprises a handheld device and an earphone; the handheld device comprises a handheld device body, a controller, a first positioning device, a navigation device, a route guiding device and a first communication device, wherein the controller is respectively connected with the first positioning device, the navigation device, the route guiding device and the first communication device. The earphone comprises an earphone body, a second positioning device and a second communication device, wherein the second communication device is connected with the second positioning device. The controller is used for determining the walking direction of the user according to the first position information acquired by the first positioning device and the second position information acquired by the second positioning device; the navigation device is used for planning a navigation route to a target place according to the walking direction of the user; the route guiding device is used for guiding the user to walk along the navigation route. The method and the device improve the safety of the user in the walking process.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to a walking assistance system and method.
Background
With the rapid development of society, the traveling modes of people are more and more diversified. Wherein going to a destination by walking is still a frequent way of travel for people to choose. However, some people cannot successfully and safely reach the destination due to special reasons in the walking process, for example, the visually impaired people cannot safely reach the destination due to visual impairment; for another example, the elderly may also be unable to reach the destination safely due to inconvenience in legs and feet or lack of physical strength.
Traditional auxiliary device that walks such as stick can assist old person or the personage that looks obstacles to walk, but traditional auxiliary device that walks intelligent degree is not high, can't guarantee the security of user's walking in-process, has the defect under the security is low.
Disclosure of Invention
In view of the above, it is necessary to provide a walking assistance system and method for solving the technical problem of low safety of the conventional walking assistance device.
A walking assistance system, the system comprising a handheld device and an earpiece;
the handheld device comprises a handheld device body, a controller, a first positioning device, a navigation device, a route guiding device and a first communication device, wherein the controller, the first positioning device, the navigation device, the route guiding device and the first communication device are arranged on the handheld device body, and the controller is respectively connected with the first positioning device, the navigation device, the route guiding device and the first communication device;
the earphone comprises an earphone body, a second positioning device and a second communication device, wherein the second positioning device and the second communication device are arranged on the earphone body, and the second communication device is connected with the second positioning device;
the controller is used for determining the walking direction of the user according to the first position information acquired by the first positioning device and the second position information acquired by the second positioning device;
the navigation device is used for planning a navigation route to a target location according to the walking direction of the user;
the route guidance device is used for guiding the user to walk along the navigation route.
In one embodiment, the handheld device is a cane, a walker, or a wheelchair.
In one embodiment, the route guidance device includes a motor and a universal wheel, the motor being connected to the controller and the universal wheel, respectively.
In one embodiment, the handheld device further comprises an obstacle detection device, and the obstacle detection device is connected with the controller.
In one embodiment, the cane comprises a cane body including a handle and a cane shaft, the handle being coupled to the cane shaft;
the walking stick further comprises a command input device, the command input device is arranged on the handle, and the command input device is connected with the controller.
In one embodiment, the headset further comprises a voice input device, the voice input device being connected to the second communication device.
A walking assistance method applied to any one of the walking assistance systems; the method comprises the following steps:
acquiring first position information acquired by the first positioning device and second position information acquired by the second positioning device;
determining the walking direction of the user according to the first position information and the second position information;
receiving a navigation route to a target location planned by the navigation device according to the walking direction of the user;
controlling the route guidance device to guide the user to walk along the navigation route.
In one embodiment, the target location comprises a target ride location, which is a ride location to be reached by a target vehicle;
the method further comprises the following steps:
receiving boarding information input by the user;
receiving a target riding place sent by the target vehicle according to the riding information and the stay time at the target riding place;
acquiring walking speed and position information of the user, which are acquired by the navigation device through the first positioning device and/or the second positioning device;
receiving a navigation route to a target location planned by the navigation device according to a walking direction of the user, comprising:
receiving a navigation route of the user planned by the navigation device before the target vehicle leaves the target boarding point according to the target boarding point, the stay time, the walking speed of the user, the position information of the user and the walking direction of the user.
In one embodiment, the method further comprises:
receiving an obstacle detection signal sent by the obstacle detection device when the obstacle detection device detects an obstacle;
and adjusting the walking route of the user within a preset range in front of the user according to the obstacle detection signal to obtain an adjusted walking route, wherein the adjusted walking route is used for enabling the user to avoid the obstacle.
In one embodiment, the method further comprises:
controlling the route guidance device to provide a guidance force to the user according to the adjusted walking route.
In one embodiment, the method further comprises:
obtaining a relative position of the target vehicle and the user;
and when the user is judged to be positioned at the preset position according to the relative position, controlling the target vehicle to open an access passage so that the user enters the target vehicle through the access passage.
In one embodiment, the method further comprises:
receiving a riding signal input by the user through the handheld device or the earphone;
and controlling the target vehicle to open an access channel according to the riding signal so that the user enters the target vehicle through the access channel.
In one embodiment, the method further comprises:
receiving boarding information input by the user through the earphone;
and
and broadcasting route navigation information corresponding to the navigation route, route adjustment information corresponding to the adjusted walking route or channel entry information when the user passes through the entry channel by voice through the earphone.
According to the walking assisting system and the walking assisting method, the controller, the first positioning device, the navigation device, the route guiding device and the first communication device are arranged in the traditional handheld device body, and the second positioning device and the second communication device are arranged in the traditional earphone body, so that based on the matched use of the handheld device and the earphone, the controller in the handheld device can determine the walking direction of the user according to the first position information collected by the first positioning device and the second position information collected by the second positioning device; and the navigation device in the handheld device plans a navigation route to the target location according to the walking direction of the user, and then the route guide device in the handheld device guides the user to walk along the navigation route. Thus, the user can reach the target site under the active guidance of the handheld device. According to the method and the device, the handheld device is matched with the earphone for use, the navigation route to the destination is planned for the user according to the walking direction of the user, and the user is actively guided to walk according to the navigation route, so that on one hand, the complicated task of searching the route by the user in the walking process is reduced, and the accuracy of the user to the destination is improved; on the other hand, the inconvenience of the user caused by special reasons in the walking process can be effectively relieved, the user can be ensured to smoothly arrive at the destination, and the safety of the user in the walking process is improved.
Drawings
FIG. 1 is a schematic diagram of a walking assistance system according to an embodiment;
FIG. 2 is a schematic view showing the construction of a walking assistance system according to another embodiment;
FIG. 3 is a schematic view of the cane in one embodiment;
FIG. 4 is a flow diagram illustrating a method for walking assistance in one embodiment;
FIG. 5 is a flow diagram illustrating an additional scenario for planning a navigation route based on a walking direction of a user in one embodiment;
FIG. 6 is a schematic flow chart illustrating countermeasures when an obstacle is detected according to an embodiment;
FIG. 7 is a flow diagram illustrating an embodiment of a target vehicle automatically opening an access lane.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
An embodiment of the present application provides a walking assistance system that includes a handheld device and an earpiece.
The handheld device comprises a handheld device body, a controller, a first positioning device, a navigation device, a route guiding device and a first communication device. The controller, the first positioning device, the navigation device, the route guiding device and the first communication device are arranged on the handheld device body, and the controller is connected with the first positioning device, the navigation device, the route guiding device and the first communication device respectively.
The earphone comprises an earphone body, a second positioning device and a second communication device. The second positioning device and the second communication device are arranged on the earphone body, and the second communication device is connected with the second positioning device.
The controller is used for determining the walking direction of the user according to the first position information acquired by the first positioning device and the second position information acquired by the second positioning device. The navigation device is used for planning a navigation route to a target position according to the walking direction of the user. The route guiding device is used for guiding the user to walk along the navigation route.
In particular, when the user uses the system, the user holds the handheld device on the one hand and wears the headset on the other hand. The first positioning device in the handheld device collects first position information, the second positioning device in the earphone collects second position information, and the second position information is transmitted to the handheld device through communication between the second communication device and the first communication device. And the controller in the handheld device determines the walking direction of the user according to the first position information and the second position information. A navigation device in the handheld device plans a navigation route to the target location according to the walking direction of the user. Finally, a route guidance device in the handheld device guides the user to walk along the navigation route. Therefore, the user can safely and smoothly arrive at the destination with the assistance of the system.
According to the walking assisting system, the controller, the first positioning device, the navigation device, the route guiding device and the first communication device are arranged in the traditional handheld device body, and the second positioning device and the second communication device are arranged in the traditional earphone body, so that based on the matched use of the handheld device and the earphone, the controller in the handheld device can determine the walking direction of the user according to the first position information collected by the first positioning device and the second position information collected by the second positioning device; and the navigation device in the handheld device plans a navigation route to the target location according to the walking direction of the user, and then the route guide device in the handheld device guides the user to walk along the navigation route. Thus, the user can reach the target site under the active guidance of the handheld device. According to the method and the device, the handheld device is matched with the earphone for use, the navigation route to the destination is planned for the user according to the walking direction of the user, and the user is actively guided to walk according to the navigation route, so that on one hand, the complicated task of searching the route by the user in the walking process is reduced, and the accuracy of the user to the destination is improved; on the other hand, the inconvenience of the user caused by special reasons in the walking process can be effectively relieved, the user can be ensured to smoothly arrive at the destination, and the safety of the user in the walking process is improved.
Alternatively, the hand-held device may be a cane, a walker or a wheelchair. It should be clear that any device for holding a hand that assists the user during walking is within the scope of the present application.
In one embodiment, as shown in FIG. 1, a walking assist system is provided, using a hand-held device as an example of a cane, and includes a cane 10 and an earpiece 20. The hand wand 10 includes a wand body, a controller 104, a first positioning device 106, a navigation device 108, and a first communication device 110. The controller 104, the first positioning device 106, the navigation device 108, and the first communication device 110 are disposed within the hand wand body. The controller 104 is connected to the first positioning device 106, the navigation device 108, and the first communication device 110, respectively. The headset 20 comprises a headset body, a second positioning device 204 and a second communication device 206. The second positioning device 204 and the second communication device 206 are disposed in the earphone body. The second communication device 206 is connected to the second positioning device 204. The first communication device 110 is communicatively coupled to the second communication device 206.
The controller 104 determines the walking direction of the user according to the first position information collected by the first positioning device 106 and the second position information collected by the second positioning device 204. The navigation device 108 plans a navigation route to a target boarding point corresponding to a target vehicle according to the walking direction of the user.
Alternatively, the user includes a visually impaired person, an elderly person, or the like. Visually impaired people refer to visually impaired people, including completely blind people and people with poor vision. The transportation means refers to a device for human walking or transportation, and includes automobiles, motorcycles, trains, ships, airplanes and the like. It will be appreciated that the user boarding the vehicle may be the user boarding a taxi, the user boarding a bus, the user boarding a train, etc. In addition, the vehicle also comprises an unmanned vehicle, so that the user can take the unmanned vehicle to be protected by the application.
Alternatively, the controller 104 may be a microprocessor such as a CPU, a single chip, or a DSP. The first communication device 110 and the second communication device 206 may each employ a wireless communication module such as a WiFi communication module or a bluetooth communication module. The first positioning device 106 and the second positioning device 204 may each employ a GPS positioning unit.
Specifically, the user can hold the cane 10 and wear the headset 20 when the user desires to take a ride on a vehicle, such as an unmanned bus. Upon activation of the hand wand 10 and the headset 20, the first communication device 110 in the hand wand 10 establishes a communication relationship with the second communication device 206 in the headset 20 to facilitate the communication of information between the hand wand 10 and the headset 20. At the same time, the first positioning device 106 in the hand wand 10 gathers first position information and the second positioning device 204 in the headset 20 gathers second position information. The controller 104 can determine the walking direction of the user based on the first position information collected by the first positioning device 106 and the second position information collected by the second positioning device 204. The navigation device 108 plans a navigation route to a target boarding point corresponding to the target vehicle, based on the walking direction of the user obtained by the controller 104. Thus, the user can smoothly arrive at the target boarding site according to the navigation route and smoothly board the target vehicle.
According to the walking assisting system, the controller, the first positioning device, the navigation device and the first communication device are arranged in the traditional walking stick body, and the second positioning device and the second communication device are arranged in the traditional earphone body, so that the walking stick can determine the walking direction of a user according to first position information acquired by the first positioning device and second position information acquired by the second positioning device based on the matching use of the walking stick and the earphone, and plan a navigation route reaching a target riding place according to the walking direction of the user. Therefore, the user can arrive at the target boarding place according to the navigation route and smoothly board the target vehicle. The system acquires the walking direction of the user through the cooperative use of the first positioning device arranged in the walking stick and the second positioning device arranged in the earphone, improves the accuracy of the walking direction, and plans the navigation route according to the walking direction with higher accuracy, so that the navigation route is more accurate. Moreover, the system is improved through the walking stick frequently used by the user, and is matched with the earphone for use, so that the whole using process is simple and convenient, and the operability of the user is improved. Thus, the system achieves the purpose of helping the user to conveniently and accurately board the vehicle.
Referring to fig. 2, in one embodiment, the cane body includes a handle and a cane shaft, the handle being attached to the cane shaft. The handle is a part held by a user, and the crutch rod is used for supporting the user to walk. Further, the hand wand 10 also includes a command input device 116, the command input device 116 being disposed on the handle, the command input device 116 being connected to the controller 104.
Optionally, the command input device 116 includes a command button. Optionally, the command input device 116 comprises a touch screen.
Specifically, taking the command button as an example, the number of the command buttons is set to be plural in consideration of the diversity of the command types, and of course, the command button may be set to be one. The input commands may include a start command, a confirm command, a cancel command, and the like. Wherein the activation command may comprise activating the hand wand 10 or activating the ear cup 20; confirming the command may include confirming to walk according to the current navigation route; the cancel command may include canceling walking according to the current navigation route.
In this embodiment, set up the command button on the handle of stick for the user can input the order conveniently, and the user's of being convenient for operation promotes the maneuverability of user to the stick.
Alternatively, a blind may be provided on the command buttons, so that the function of each command button can be accurately known to a completely blind person or a user in a completely dark state, and the use is more convenient.
In one embodiment, the headset 20 further comprises a voice input device, which is connected to the second communication device 206. Optionally, the voice input device comprises a microphone.
Specifically, the user may voice-communicate a ride demand through a voice input device, where the ride demand may include a destination, a type of vehicle, and identification information of the vehicle, among others. After the earphone 20 acquires the boarding requirement through the voice input device, corresponding boarding information is sorted out, and the boarding information is sent to the walking stick 10 through the second communication device 206, so that the walking stick 10 plans a proper navigation route according to the boarding information. In addition, the user may also communicate other needs via the voice input device, including a need to change vehicles, a need to change navigation routes, and so forth.
In the embodiment, the voice input device is arranged in the earphone, so that the trouble that the user is difficult to input information due to the vision problem is avoided, and the information input of the user is facilitated; and the voice input device is positioned near the mouth of the user, so that more accurate and more complete voice information can be obtained, and the finally obtained riding information is more accurate.
In one embodiment, the hand wand 10 also includes a route guidance device 112, the route guidance device 112 being coupled to the controller 104. The route guidance device 112 is used to provide guidance force to the user. Specifically, the controller 104 generates a control signal for controlling the route guidance device 112 according to the navigation route, so that the route guidance device 112 provides a guidance force to the user under the control of the control signal. In addition, the controller 104 may also control the route guidance device 112 to guide the user to walk according to the adjusted route information.
Optionally, the route guidance device 112 includes a motor and a universal wheel, the motor being connected to the controller 104 and the universal wheel, respectively. Specifically, the controller 104 generates a control signal according to the navigation route, and controls the motor to rotate through the control signal, so that the motor drives the universal wheel to move according to the navigation route, thereby achieving the purpose of actively guiding the user to walk according to the navigation route.
In the embodiment, the route guiding device is arranged in the walking stick, the purpose of actively guiding the user to walk according to the navigation route is achieved, particularly for people who are totally blind, the route guiding device can safely and accurately guide the user to reach the target riding place, and the walking safety and accuracy of the user are improved.
In one embodiment, the hand wand 10 also includes an obstacle detection device 114, the obstacle detection device 114 being coupled to the controller 104.
Specifically, when the obstacle detection device 114 in the stick 10 detects an obstacle, the obstacle detection device 114 generates an obstacle detection signal according to information of the obstacle, and transmits the obstacle detection signal to the controller 104. The controller 104 adjusts the walking route of the user within a preset range according to the obstacle detection signal, and obtains an adjusted walking route, wherein the adjusted walking route enables the user to avoid the obstacle.
Alternatively, the obstacle detecting device 114 includes an ultrasonic sensor, a camera, and a combination thereof. In one embodiment, taking an ultrasonic sensor as an example, when the ultrasonic sensor detects an obstacle, an intensity detection signal is generated, which can be used to distinguish between an obstacle area and a non-obstacle area. The specific distinguishing mode is as follows: the stronger the intensity detection signal in a certain direction is, the closer the obstacle is to the direction, otherwise, by adjusting the detection direction, if the signal intensity of the intensity detection signal in a certain direction is 0 or less than the preset intensity threshold, the direction is feasible.
Therefore, based on the above distinguishing method, the processor adjusts the walking direction within the preset range, detects the intensity detection signals corresponding to the non-walking directions through the ultrasonic sensor, and if the signal intensity corresponding to the intensity detection signals is smaller than the preset intensity threshold, it indicates that there is no obstacle in the walking direction or the obstacle is far away, and it is feasible to determine the walking direction. Then, the processor adjusts the walking route according to the walking direction to obtain the adjusted walking route.
Further, after obtaining the adjusted walking route, the controller 104 may control the route guidance device to guide the user to go forward according to the adjusted walking route, and simultaneously, may broadcast route adjustment information corresponding to the adjusted walking route to the user through the earphone 20 so as to assist the user to walk safely.
Based on the same inventive concept, in one embodiment, as shown in fig. 4, there is provided a walking assistance method applied to the walking assistance system according to any one of the above embodiments. The method comprises the following steps:
s402, acquiring first position information acquired by the first positioning device and second position information acquired by the second positioning device;
s404, determining the walking direction of the user according to the first position information and the second position information;
s406, receiving a navigation route which is planned by the navigation device according to the walking direction of the user and reaches a target position;
s408, controlling the route guiding device to guide the user to walk along the navigation route.
Specifically, a controller in the handheld device acquires first position information acquired by a first positioning device and second position information acquired by a second positioning device, determines the walking direction of the user according to the first position information and the second position information, and controls a route guiding device to guide the user to walk along a navigation route by receiving the navigation route to a target location planned by the navigation device according to the walking direction of the user.
In one embodiment, the technical solution of the present application is detailed in an application scenario where a user wishes to safely board a vehicle. In the present embodiment, the destination point includes a destination boarding point, wherein the destination boarding point is a boarding point to which the destination vehicle is to arrive. The method further comprises the following steps:
s412, receiving boarding information input by the user;
s414, receiving a target riding place sent by the target vehicle according to the riding information and the stay time at the target riding place;
s416, obtaining the walking speed and position information of the user, which are obtained by the navigation device through the first positioning device and/or the second positioning device;
the step S406 includes:
s418, receiving a navigation route planned by the navigation device according to the target boarding location, the stay time, the walking speed of the user, the position information of the user, and the walking direction of the user before the target vehicle leaves the target boarding location.
Optionally, the user inputs the boarding requirement through a microphone in the headset, and meanwhile the headset obtains the boarding information through the boarding requirement arrangement. In addition, after the navigation route is obtained, route navigation information corresponding to the navigation route is broadcasted to the user through the earphone.
Specifically, after the headset obtains the ride information, the headset sends the ride information to the cane. After the walking stick receives the boarding information of the user, the controller in the walking stick generates a boarding request according to the boarding information and sends the boarding request to the target vehicle. The target vehicle responds to the ride request and sends the target ride location and its length of stay at the target ride location to the hand wand. The controller receives a target boarding point transmitted by a target vehicle and a stay time length staying at the target boarding point, and transmits the target boarding point transmitted by the target vehicle and the stay time length staying at the target boarding point to the navigation device. The navigation device obtains the walking speed and the position information of the user through the first positioning device and/or the second positioning device, so that the navigation route of the user before the target vehicle leaves the target riding place is planned according to the obtained target riding place and the stay time corresponding to the target vehicle, the walking speed, the position information and the walking direction of the user.
Further, when the target vehicle is still in the process of traveling, that is, has not yet reached the target boarding point, the navigation apparatus needs to plan the navigation route of the user before the target vehicle leaves the target boarding point according to the arrival time period for the target vehicle to reach the target boarding point.
The walking assisting method is based on the matching use of the walking stick and the earphone, the walking stick can determine the walking direction of the user according to the first position information acquired by the first positioning device and the second position information acquired by the second positioning device, and the navigation route reaching the target riding place is planned according to the walking direction of the user. Therefore, the user can arrive at the target boarding place according to the navigation route and smoothly board the target vehicle. According to the method, the walking direction of the user is obtained through the cooperative use of the first positioning device arranged in the walking stick and the second positioning device arranged in the earphone, the accuracy of the walking direction is improved, and then the navigation route is planned according to the walking direction with higher accuracy, so that the navigation route is more accurate. In addition, the method improves the walking stick frequently used by the user, is matched with the earphone for use, is simple and convenient in the whole using process, and improves the operability of the user. Therefore, the method achieves the purpose of helping the user conveniently and accurately board the vehicle.
As an embodiment, the first positioning device and the second positioning device may be engaged in a manner that: the first positioning device collects first position information of the walking stick, and the second positioning device collects second position information of the earphones. After the second location information is collected by the second location device, the second location device sends the second location information to the hand wand via the second communication device. At this time, the hand wand may determine the user's location information and walking information based on the first location information and the second location information, wherein the user's walking information includes walking speed and walking direction. Alternatively, the location information of the user may be set as the first location information, may be set as the second location information, or may be location information of a certain point on a connection line between the first location corresponding to the first location information and the second location corresponding to the second location information. The walking speed can be obtained by calculating the walking distance of the user and the corresponding walking time. The walking direction can be determined according to the connecting line direction formed by the second position and the first position.
In one embodiment, as shown in fig. 6, a specific process involving a countermeasure of the handheld device when an obstacle is detected. On the basis of the above embodiment, the method further comprises the steps of:
s412, receiving an obstacle detection signal sent by the obstacle detection device when an obstacle is detected;
and S414, adjusting the walking route of the user within a preset range in front of the user according to the obstacle detection signal to obtain an adjusted walking route, wherein the adjusted walking route is used for enabling the user to avoid the obstacle.
Specifically, when the obstacle detection device in the handheld device detects an obstacle, the obstacle detection device generates an obstacle detection signal according to information of the obstacle, and sends the obstacle detection signal to the controller. The controller adjusts the walking route of the user within a preset range according to the obstacle detection signal to obtain an adjusted walking route, wherein the adjusted walking route enables the user to avoid the obstacle. Further, route adjustment information corresponding to the adjusted walking route is broadcasted to the user through the earphone in a voice mode.
In one embodiment, it relates to a specific process by which a handheld device can actively guide a user to proceed. On the basis of the above embodiment, the method further comprises the steps of:
s432, controlling the route guidance device to provide guidance force to the user according to the navigation route or the adjusted walking route.
Specifically, the controller may generate a control signal to control the route guidance device according to the navigation route or the adjusted walking route, such that the route guidance device provides a guidance force to the user under the control of the control signal. Optionally, the route guidance device comprises a motor and a universal wheel, the motor being connected to the controller and the universal wheel respectively. Specifically, the controller generates a control signal according to the navigation route or the adjusted walking route, and controls the motor to rotate through the control signal, so that the motor drives the universal wheel to move according to the navigation route or the adjusted walking route, and the purpose of actively guiding the user to walk according to the navigation route or the adjusted walking route is achieved.
In one embodiment, as shown in FIG. 7, a specific process involving a target vehicle actively opening an access passage is described. On the basis of the above embodiment, the method further comprises the steps of:
s422, acquiring the relative position of the target vehicle and the user;
s424, when the user is judged to be located at the preset position according to the relative position, the target vehicle is controlled to open an access passage, so that the user enters the target vehicle through the access passage.
The preset position may be any position in a circular area formed by the target vehicle as a center of a circle and a preset radius. Optionally, during the process that the user enters the target vehicle, the channel entering information when passing through the entering channel is broadcasted to the user through the earphone, and the user is guided to enter through the route guiding device.
In the embodiment, the target vehicle actively opens the access passage, so that the user can conveniently enter the access passage, and the safety of the user is improved.
In one embodiment, the method further comprises the steps of:
and S442, receiving a riding signal input by the user through the handheld device or the earphone.
And S444, controlling the target vehicle to open an access channel according to the riding signal, so that the user enters the target vehicle through the access channel.
Specifically, after the user arrives at the target boarding place, a riding signal can be sent out through a handheld device or an earphone. And after receiving the riding signal, the target vehicle opens the access passage so that the user can enter the target vehicle. Optionally, the channel entry information when passing through the entry channel is voice-broadcasted to the user through the headset.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A walking assistance system, said system comprising a handheld device and an earpiece;
the handheld device comprises a handheld device body, a controller, a first positioning device, a navigation device, a route guiding device and a first communication device, wherein the controller, the first positioning device, the navigation device, the route guiding device and the first communication device are arranged on the handheld device body, and the controller is respectively connected with the first positioning device, the navigation device, the route guiding device and the first communication device;
the earphone comprises an earphone body, a second positioning device and a second communication device, wherein the second positioning device and the second communication device are arranged on the earphone body, and the second communication device is connected with the second positioning device;
the controller is used for determining the walking direction of the user according to the first position information acquired by the first positioning device and the second position information acquired by the second positioning device;
the navigation device is used for planning a navigation route to a target location according to the walking direction of the user;
the route guidance device is used for guiding the user to walk along the navigation route.
2. The system of claim 1, wherein the handheld device is a cane, a walker, or a wheelchair.
3. The system of claim 1, wherein the route guidance device comprises a motor and a universal wheel, the motor being connected to the controller and the universal wheel, respectively.
4. The system of any of claims 1-3, wherein the handheld device further comprises an obstacle detection device, the obstacle detection device being coupled to the controller.
5. A system according to claim 2, wherein the pole comprises a pole body including a grip and a pole shaft, the grip being connected to the pole shaft;
the walking stick further comprises a command input device, the command input device is arranged on the handle, and the command input device is connected with the controller.
6. The system of claim 1, wherein the headset further comprises a voice input device, the voice input device being coupled to the second communication device.
7. A walking assistance method characterized by being applied to a walking assistance system according to any one of claims 1 to 6; the method comprises the following steps:
acquiring first position information acquired by the first positioning device and second position information acquired by the second positioning device;
determining the walking direction of the user according to the first position information and the second position information;
receiving a navigation route to a target location planned by the navigation device according to the walking direction of the user;
controlling the route guidance device to guide the user to walk along the navigation route.
8. The method of claim 7, wherein the target venue comprises a target ride venue, the target ride venue being a ride venue to which a target vehicle is to arrive;
the method further comprises the following steps:
receiving boarding information input by the user;
receiving a target riding place sent by the target vehicle according to the riding information and the stay time at the target riding place;
acquiring walking speed and position information of the user, which are acquired by the navigation device through the first positioning device and/or the second positioning device;
receiving a navigation route to a target location planned by the navigation device according to a walking direction of the user, comprising:
receiving a navigation route of the user planned by the navigation device before the target vehicle leaves the target boarding point according to the target boarding point, the stay time, the walking speed of the user, the position information of the user and the walking direction of the user.
9. The method of claim 7, further comprising:
receiving an obstacle detection signal sent by the obstacle detection device when the obstacle detection device detects an obstacle;
and adjusting the walking route of the user within a preset range in front of the user according to the obstacle detection signal to obtain an adjusted walking route, wherein the adjusted walking route is used for enabling the user to avoid the obstacle.
10. The method of claim 9, further comprising:
controlling the route guidance device to provide a guidance force to the user according to the adjusted walking route.
11. The method of claim 8, further comprising:
obtaining a relative position of the target vehicle and the user;
and when the user is judged to be positioned at the preset position according to the relative position, controlling the target vehicle to open an access passage so that the user enters the target vehicle through the access passage.
12. The method of claim 8, further comprising:
receiving a riding signal input by the user through the handheld device or the earphone;
and controlling the target vehicle to open an access channel according to the riding signal so that the user enters the target vehicle through the access channel.
13. The method of claim 9, 11 or 12, further comprising:
receiving boarding information input by the user through the earphone;
and
and broadcasting route navigation information corresponding to the navigation route, route adjustment information corresponding to the adjusted walking route or channel entry information when the user passes through the entry channel by voice through the earphone.
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| CN202010009022.XA CN113069329A (en) | 2020-01-06 | 2020-01-06 | Walking assistance system and method |
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| CN202010009022.XA CN113069329A (en) | 2020-01-06 | 2020-01-06 | Walking assistance system and method |
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Application publication date: 20210706 |