CN116966072A - Navigation equipment and navigation method for blind person - Google Patents
Navigation equipment and navigation method for blind person Download PDFInfo
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- CN116966072A CN116966072A CN202311096679.4A CN202311096679A CN116966072A CN 116966072 A CN116966072 A CN 116966072A CN 202311096679 A CN202311096679 A CN 202311096679A CN 116966072 A CN116966072 A CN 116966072A
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- blind person
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 4
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 4
- 210000002832 shoulder Anatomy 0.000 claims description 9
- 210000000707 wrist Anatomy 0.000 claims description 9
- 210000003423 ankle Anatomy 0.000 claims description 7
- 230000008447 perception Effects 0.000 claims description 5
- 230000006399 behavior Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 238000012360 testing method Methods 0.000 description 17
- 210000003739 neck Anatomy 0.000 description 8
- 210000001624 hip Anatomy 0.000 description 6
- 230000001771 impaired effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 239000002390 adhesive tape Substances 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 206010011878 Deafness Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 210000001061 forehead Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/08—Devices or methods enabling eye-patients to replace direct visual perception by another kind of perception
-
- 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
- A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
Abstract
The blind person navigation equipment comprises route guiding equipment and a feedback component controlled by the route guiding equipment, wherein the route guiding equipment comprises a direction positioning equipment for detecting the current advancing direction of the blind person, and the feedback component comprises a first vibrator positioned at the waist of the blind person and a second vibrator positioned at the same position on a pair of upper limbs or lower limbs of the blind person; the way that the route guidance device controls the feedback component is: the first vibrator is controlled to vibrate in different modes to prompt the blind person to go straight or stop suddenly, and the second vibrator on one side is controlled to vibrate to prompt the blind person to turn in the corresponding direction. According to the blind person navigation equipment and the blind person navigation method, the vibration device is arranged at different positions of the blind person, different path prompt feedback is made, the body characteristics of the blind person are utilized, the sensitivity of the blind person to the vibration prompt and the easy receiving degree are improved, the blind person is more natural and accurate in the process of receiving and processing the feedback vibration signal, and the comfort and the accuracy of the blind person navigation are improved.
Description
Technical Field
The application relates to the technical field of electronics, in particular to a navigation device and a navigation method for a blind person.
Background
The touch feedback is one of important means for transmitting information to visually impaired people, and the existing navigation system for visually impaired people mainly adopts three types of touch feedback, namely (1) a body surface vibration type, (2) a handheld touch sensing device and (3) a braille display. Of these three forms of feedback, vibration of the body surface is most widely used because its feedback is easily perceived and does not occupy the hands of visually impaired people, does not interfere with the user's inherent ability to perceive the environment, and is easily integrated into a wearable device. One of the core problems in designing body surface vibration modes is the selection of body parts, the haptic sensations of which differ significantly in resolution and sensitivity from one body part to another.
Prior art studies explored the ability of the back, abdomen and waist, hands and wrists, and feet and soles to receive vibrotactile feedback. Mode vibration conveys relevant information by encoding semantics into the change in vibration over time, by changing a series of different parameters such as frequency, amplitude (intensity), duration, cadence, etc., thereby creating different haptic modes. In the direct mapping mode, the resolution largely affects the expression of the azimuth information. The resolution of the vibration and direction map depends on how many unit areas 360 degrees are divided in two-dimensional plane coordinates, and the more areas, the higher the resolution, which means that more vibration sources are needed. Theoretically, high resolution vibration feedback will provide richer and finer bearing information. However, in the vibration feedback design, a higher resolution is not always able to achieve a better feedback effect due to the limitations of the perception ability of the body skin. There is also a great difference in tactile resolution and sensitivity from body part to body part.
In the existing intelligent equipment for the blind, the adopted vibration reminding mode does not carry out distinguishing and transmitting information according to frequency, amplitude (intensity), duration time, rhythm and the like, only single information is transmitted through simple vibration, and a vibration feedback area does not carry out sensitivity selection and is mostly arranged in areas such as wrists and forehead.
Disclosure of Invention
In order to overcome the defects in the prior art, the application discloses navigation equipment and a navigation method for the blind.
The technical scheme provided by the application is as follows: the blind person navigation equipment comprises route guiding equipment and a feedback component controlled by the route guiding equipment, wherein the route guiding equipment comprises a direction positioning equipment for detecting the current advancing direction of the blind person, and the blind person navigation equipment is characterized in that the feedback component comprises a first vibrator positioned at the waist of the blind person and a second vibrator positioned at the same position on a pair of upper limbs or lower limbs of the blind person;
the way that the route guidance device controls the feedback component is: the first vibrator is controlled to vibrate in different modes to prompt the blind person to go straight or stop suddenly, and the second vibrator on one side is controlled to vibrate to prompt the blind person to turn in the corresponding direction.
Preferably, the first vibrator vibrates at a first frequency to prompt the blind person to go straight, and vibrates at a second frequency higher than the first frequency to prompt the blind person to stop suddenly.
Preferably, the second vibrator is arranged on the wrist, ankle or shoulder and neck of the blind person, and the shoulder and neck refers to the region where the collarbone can be touched on two sides of the neck.
Preferably, the first vibrator and the second vibrator are fixed to the body of the blind person in a wearing form.
Preferably, the first vibrator is located on a waistband for the blind.
Preferably, the second vibrator is located at a wrist band, a ankle band or a shoulder and neck portion of a coat for the blind person.
The application also discloses a navigation method for the blind, which comprises the following steps:
s1, route guiding equipment plans a route for the blind according to pre-planning or environmental perception, and sends a control signal to a feedback component according to the route and road conditions, and the feedback component makes corresponding prompt behaviors for the blind;
s2, when the blind person is prompted to go straight, the first vibrator vibrates at a first frequency, and when the blind person is prompted to stop suddenly, the first vibrator vibrates at a second frequency higher than the first frequency; the second vibrator does not vibrate;
when the blind person is prompted to turn, the second vibrator on one side of the turn is controlled to vibrate.
Preferably, when the blind person is prompted to turn, the direction positioning device detects the advancing direction of the blind person, when the advancing direction is consistent with the planned route, the second vibrators stop vibrating, and if the advancing direction is inconsistent with the planned route, the vibrating states of the two second vibrators are continuously controlled to make a prompt until the advancing direction is consistent with the planned route.
Preferably, the vibration signal duty cycle of the vibrator is 50%.
According to the blind person navigation equipment and the blind person navigation method, the vibration device is arranged at different positions of the blind person, different path prompt feedback is made, the body characteristics of the blind person are utilized, the sensitivity of the blind person to the vibration prompt and the easy receiving degree are improved, the blind person is more natural and accurate in the process of receiving and processing the feedback vibration signal, and the comfort and the accuracy of the blind person navigation are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
FIG. 1 is a schematic view of an embodiment of a blind navigation device according to the present application;
FIG. 2 is a schematic view of a path shape according to an embodiment of the present application, where r in FIG. 2 represents a turning radius, and θ represents a turning central angle;
FIG. 3 is a table of verification result data in one embodiment of the application.
Description of the embodiments
For the purpose of making apparent the objects, technical solutions and advantages of the present application, the present application will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present application and the descriptions thereof are for illustrating the present application only and are not to be construed as limiting the present application.
The application relates to a navigation device for the blind, which comprises a route guiding device and a feedback component controlled by the route guiding device, wherein the route guiding device comprises a direction positioning device for detecting the current advancing direction of the blind, and the feedback component comprises a first vibrator positioned at the waist of the blind and a second vibrator positioned at the same position on a pair of upper limbs or lower limbs of the blind;
the way that the route guidance device controls the feedback component is: the first vibrator is controlled to vibrate in different modes to prompt the blind person to go straight or stop suddenly, and the second vibrator on one side is controlled to vibrate to prompt the blind person to turn in the corresponding direction.
In one typical embodiment, the first vibrator vibrates at a first frequency to prompt the blind person to go straight, and vibrates at a second frequency higher than the first frequency to prompt the blind person to stop suddenly. The first frequency vibrates at a low frequency, so that the blind person navigation device can be psychologically prompted to work normally, the second frequency is usually 2-4 times of the first frequency, and the blind person can immediately respond in a rapid quick vibration mode to stop advancing. The duty cycle of the vibration is typically 50%, and in one embodiment, the vibration signal at the first frequency may be set to 1 second, and the motor of the vibrator is periodically turned on with a pulse width modulation signal having an on time of 500 ms, with a duty cycle of 50%, and then turned off for 500 ms.
The route guiding device can adopt the prior art, such as a helmet with a camera and special for the blind, a wearable auxiliary device and algorithm for the blind are disclosed in China patent with the application number of CN202310099015, images of surrounding environments of a user are acquired through the camera, accurate information of the current environment is obtained, the route guiding device can be used for conducting blind guiding auxiliary processing on the blind, and an instant planning is conducted on a route by combining the existing navigation positioning technology.
The communication control method of the route guidance device and the first and second vibrators is generally implemented by a short-range wireless communication method such as bluetooth.
In the application, the inventor selects a feedback mode and an installation position of the vibrator according to a test for the blind person.
The inventor invites 5 visually impaired persons to participate in the test and adapt to the vibrotactile sense at different body parts and listens to the spatial surround audio through headphones.
In the test, the visually impaired participants were first asked to stand in a fixed position and then to move in accordance with cues derived randomly from four directional instructions. The participant is positively marked if it is moving correctly within 4 seconds. For each mode, the application performed 100 tests (20 x 5 trials) and reported accuracy, and finally, the participants' opinion and preferences for each mode were collected.
Through testing, 3 vibration feedback modes of the body surface were selected:
all participants agreed that the vibration expression pattern and intensity employed in the 3 modes was perceptible and comfortable. Specifically, the motor is periodically turned on for 500 milliseconds and then off for 500 milliseconds using a pulse width modulated signal having a duty cycle of 50% and a vibration time of 500 milliseconds.
According to all participants' preferences, both "straight" and "scram" instructions can be achieved by vibrotactile on the front (back) face of the waist. These two commands in this way can be clearly identified for all participants and are not confused with the direction adjustment commands, so that it is most appropriate to receive the "straight" and "scram" commands with the waist.
Instructions for directional adjustment with shoulder neck, wrist and ankle according to all participants' preferences: the three parts are selected to receive the left/right turn command for two reasons, firstly, the vibration prompts on the parts can be easily perceived, and the three parts have high recognition accuracy, so that the user can be better supported to smoothly adjust the directions of the users. Second, the devices in these locations can be presented in the form of wearable devices that are well-utilized and more natural to the user.
For example, in the embodiment shown in fig. 1, the first vibrator is located on the waistband 1 of the blind person, and the second vibrator may be located on the wrist strap 22, ankle strap 23 of the blind person or shoulder and neck portion 21 of the coat, for example, a vibrator capable of being remotely controlled by wireless sewing on the shoulder and neck portion of the coat. The waistband, wrist strap and the like with vibration function and communication with external equipment are the prior art, such as the vibration type digital watch for the deaf and blind people disclosed in Chinese patent CN201310172606 and the vibration touch representation device for the navigation information perception of the blind people disclosed in CN201310287483, and are actually waistband type vibration devices.
The application also discloses a navigation method for the blind, which comprises the following steps:
s1, route guiding equipment plans a route for the blind according to pre-planning or environmental perception, and sends a control signal to a feedback component according to the route and road conditions, and the feedback component makes corresponding prompt behaviors for the blind;
s2, when the blind person is prompted to go straight, the first vibrator vibrates at a first frequency, and when the blind person is prompted to stop suddenly, the first vibrator vibrates at a second frequency higher than the first frequency; the second vibrator does not vibrate;
when the blind person is prompted to turn, the second vibrator on one side of the turn is controlled to vibrate.
When the blind person is prompted to turn, the direction positioning device detects the advancing direction of the blind person, when the advancing direction is consistent with the planned route, the second vibrators stop vibrating, if the advancing direction is inconsistent with the planned route, the two second vibrators are continuously controlled to vibrate to prompt the blind person until the advancing direction is consistent with the planned route, for example, the second vibrators on the right side are started to vibrate to prompt the blind person to correct the direction when the current advancing direction is found to be far left relative to the planned route, and the second vibrators on the left side are started to vibrate to prompt the blind person until the advancing direction is identical with the planned route.
The directional positioning device may utilize the navigation module of an existing smart phone. Under the guidance of the mode, a user does not need to stop to find the target direction, but can adjust the body direction while keeping travelling, so as to adjust while walking.
By adopting the method of the application to verify the navigation state of the blind, the inventor sets the specifications of various roads in the test: the straight road is 10 meters long. The central line radius of the sharp turn and the gentle turn is 7.5 meters and 2.0 meters respectively, each turn has two types of changes of left turn and right turn, and the continuous turn consists of three sharp turns with alternating directions. To avoid the co-transformation effect, the test selects a room empty space of 15×15 square meters as the test environment.
The designed test road is marked by a color adhesive tape with negligible thickness, and all participants are confirmed to be unable to feel the ground touch difference generated by the color adhesive tape in walking. Fig. 2 is a schematic diagram of 4 basic routes selected in the test, wherein the center dark straight line represents the center line of the road, and the light areas on both sides represent the road area.
The first vibrator and the second vibrator are worn on the body of a blind person tester, the vibration rule is told to each tester, in order to simplify the test flow and avoid interference, in the test, a route is planned in advance by using a smart phone, random interference on the road surface is eliminated, and a control signal is directly sent to each vibrator by using the mobile phone.
Test procedure:
the first vibrator is fixed to the waist of the tester, and the second vibrator is performed once in the order of (a) shoulder neck- (b) wrist- (c) ankle, and then is performed again in the form of "ba", "ba b" and "ab c", respectively. To avoid learning effects, each feedback pattern and each participant is randomly assigned to three tasks.
The specific procedure is as follows: first, the meaning of the device and instruction set will be briefly described. The participants are then assisted in wearing the device and are given time to familiarize with the vibrotactile cues. The test is then started and a test person brings the participant to the beginning of the test route and operates the cell phone to provide directional guidance. Another pilot then recorded the video of this process. After the trial period is completed, subjective scores are presented by all participants, as shown in the table of fig. 3, with a score of 1 to 7 indicating approval, and a higher score indicating approval by the participants.
The method passes the test of the blind person tester, and displays according to the test data and subjective scores of the tester: the vibration feedback of the shoulder and neck has the best guiding effect in the barrier-free travel navigation of the blind,
when the blind person is prompted to turn, the direction positioning equipment detects the advancing direction of the blind person, when the advancing direction is consistent with the planned route, the second vibrators stop vibrating, and if the advancing direction is inconsistent with the planned route, the two second vibrators are continuously controlled to vibrate to prompt until the advancing direction is consistent with the planned route.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the application, and is not meant to limit the scope of the application, but to limit the application to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (9)
1. The blind person navigation equipment comprises route guiding equipment and a feedback component controlled by the route guiding equipment, wherein the route guiding equipment comprises a direction positioning equipment for detecting the current advancing direction of the blind person, and the blind person navigation equipment is characterized in that the feedback component comprises a first vibrator positioned at the waist of the blind person and a second vibrator positioned at the same position on a pair of upper limbs or lower limbs of the blind person;
the way that the route guidance device controls the feedback component is: the first vibrator is controlled to vibrate in different modes to prompt the blind person to go straight or stop suddenly, and the second vibrator on one side is controlled to vibrate to prompt the blind person to turn in the corresponding direction.
2. The blind person navigation apparatus according to claim 1, wherein the first vibrator vibrates at a first frequency to prompt the blind person to go straight, and vibrates at a second frequency higher than the first frequency to prompt the blind person to stop suddenly.
3. The blind person navigation apparatus according to claim 1, wherein the second vibrator is provided on a wrist, ankle or shoulder neck of the blind person, the shoulder neck being a region where both sides of the neck are touchable to the collarbone.
4. The blind person navigation device of claim 1, wherein the first vibrator and the second vibrator are fixed to the body of the blind person in a wearable form.
5. The blind navigation device of claim 4, wherein the first vibrator is located on a waistband of the blind.
6. The blind person navigation device of claim 4, wherein the second vibrator is located at a wrist strap, a ankle strap, or a shoulder neck portion of a coat for the blind person.
7. The navigation method for the blind is characterized by comprising the following steps of:
s1, route guiding equipment plans a route for the blind according to pre-planning or environmental perception, and sends a control signal to a feedback component according to the route and road conditions, and the feedback component makes corresponding prompt behaviors for the blind;
s2, when the blind person is prompted to go straight, the first vibrator vibrates at a first frequency, and when the blind person is prompted to stop suddenly, the first vibrator vibrates at a second frequency higher than the first frequency; the second vibrator does not vibrate;
when the blind person is prompted to turn, the second vibrator on one side of the turn is controlled to vibrate.
8. The blind person navigation method according to claim 7, wherein the direction positioning device detects the advancing direction of the blind person when the blind person is prompted to turn, and the second vibrators stop vibrating when the advancing direction is consistent with the planned route, and the two second vibrators are continuously controlled to vibrate to prompt when the advancing direction is inconsistent with the planned route.
9. The blind person navigation method of claim 7, wherein the vibrator has a vibration signal duty cycle of 50%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311096679.4A CN116966072A (en) | 2023-08-29 | 2023-08-29 | Navigation equipment and navigation method for blind person |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311096679.4A CN116966072A (en) | 2023-08-29 | 2023-08-29 | Navigation equipment and navigation method for blind person |
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| Publication Number | Publication Date |
|---|---|
| CN116966072A true CN116966072A (en) | 2023-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311096679.4A Pending CN116966072A (en) | 2023-08-29 | 2023-08-29 | Navigation equipment and navigation method for blind person |
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| Country | Link |
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| CN (1) | CN116966072A (en) |
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2023
- 2023-08-29 CN CN202311096679.4A patent/CN116966072A/en active Pending
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