CZ21022U1 - Device for orientation of blinds - Google Patents

Description

Technical field

The technical solution concerns equipment for orientation of blind people in unknown environment (interior and exterior), which can be used separately or as a part of complex equipment using eg.

GPS module for global orientation or special reconnaissance software.

Background Art

In general, the greatest handicap for the visually impaired is their dependence on people who are not visually impaired. This dependence is practically reflected in all their normal activities. One of them that restricts them practically everyday is the inability to move safely and independently in an unfamiliar environment. This problem is absolutely crucial for individuals who do not have the opportunity to use the "guide services" of someone close (usually a family member) and ultimately leads to total social isolation.

For this reason, a fairly large number of EOPs have been developed worldwide to alleviate this handicap. Mostly they used ultrasound or laser to detect obstacles, and in most cases they passed on information about obstacles by voice output. Although many of them have gone into mass production, none have seen mass expansion. The reason for the failure of these aids was the fact that the information about the obstacles detected by these aids was insufficient and inaccurate and passed on to the blind by a completely unsuitable form (voice, sounds).

In fact, existing navigation aids use a speech channel to communicate. The user is thus forced to be constantly alert and to distinguish between sounds coming from outside and between audio signals generated by the device.

So nowadays, the most widespread orientation tool of the blind remains the white-blind stick. Its main disadvantage is that the obstacles are detected by the "contact" method, for short distances and up to the height of the knees. Obstacles higher or more protruding (eg, branch, signboard, mailbox on the building facade) are not detectable by the cane and thus pose a significant risk to the blind.

The task of the technical solution of the equipment is therefore to eliminate the above mentioned shortcomings of the developed EOP and to design the equipment to meet the basic requirements of the blind for their

3o separate and secure orientation in an unfamiliar environment.

The essence of the technical solution

The subject matter of the invention is a device for orientation of the blind, which comprises a sensor mounted on, for example, a chest or other suitable location of the blind body, which senses the space in the direction of the blind, a tactile display, and a transducer / filter of the output signal from the sensor to the input between the sensor and the tactile display tactile display signal

In the device mentioned above, the sensor output signal preferably contains information about the objects in the space direction of the blind selected from the group of size, shape, position and distance of the objects in the space in the direction of the blind.

The sensor output signal is preferably in the form of a disparity (depth) map.

The sensor is preferably two side by side cameras, particularly preferably a stereo camera. Furthermore, the use of the camera will enable, if necessary, the implementation of an object detection module and / or a text recognition and / or reading module, or other applications.

The sensor output signal is applied to the converter / filter input. The output signal from the transmitter / filter is the input signal for the tactile display.

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The input signal for the tactile display provided by the transducer / filter includes information about objects in the space in the direction of the blind in the form of a distance matrix.

Preferably, the input signal for the tactile display provided by the transducer / filter includes information limited to space in the direction of movement of the blind with a height above ground up to 2 m, width to

1 m, and up to 3 m from the blind.

In one embodiment, the tactile display output signal is a vibration pressure and / or vibration frequency and / or vibration amplitude and / or vibration duration, respectively. their combinations.

The tactile display is preferably formed by a matrix of elements, eg, vibration actuators, each element of the tactile display being assigned to a particular location in front of the user.

ίο In one preferred embodiment, the tactile display has a resolution of 3 columns ^x 7 lines, respectively. 5 columns χ 7 lines.

The tactile display is mounted on the body of the blind.

Examples of technical solutions

The device consists of three main parts: sensor for obstacle detection, tactile 2D display and converter / filter.

Distance to obstacles is measured by a remote sensor located eg on the blind of the blind. Sensor data is processed in a transducer / filter, which can be implemented, for example, as a minicomputer located in an additional backpack, and converted to tactile display signals.

Sensor for obstacle detection

The basic element of the device is a sensor for detecting obstacles. In order to distinguish near - and therefore potentially dangerous - obstacles from distant objects, it is necessary, in addition to detecting obstacles, to measure their distances from the user.

There are currently a large number of distance sensors. When selecting a suitable sensor for the blind, we are mainly limited by weight, size, consumption and resistance to external influences. A stereo-camera is used as the optimum sensor.

When detecting obstacles by a stereo camera, objects are captured by two independent cameras positioned parallel to each other, for example, on the blind of the blind. To the points seen by both cameras, the distance can be determined by knowing the relative positions of the camera sensor chips. Determining these points (so-called disparity, depth map) is computationally demanding. However, there are stereocamers with special hardware for quick calculation of disparity maps. One of these cameras is, for example, a stereo STO camera that is used in the described aid. The STOC-6 Stereo Camera contains two CMOS chips, each six centimeters apart, each with a resolution of 640 ^x 480 pixels. Scene shooting speed is up to 30 fps with 0.25 W power consumption. Stereo cameras work even in artificial lighting and dimming.

Stereo cameras also provide a classic color image in addition to point distance information. It can also be used, for example, to detect doors in vehicles or read prices on products in stores. Thereby, there is room for further expansion of the device, which in addition may include, for example, an object detection module and / or a text recognition and / or reading module.

Converter / filter

From the disparity map, based on the camera calibration parameters, the distances to one point can be determined. Due to the presence of noise in the image, partial alignment of some points, or insufficient illumination, it is not possible to determine the distance to all the points the cameras see. Typically, the distance to 100,000 points is determined in an office environment, up to 150,000 in the outdoor environment. The resulting cloud 3D points filtered and the points are clustered. The cluster distance is entered into the 3 x 7 output matrix (alternatively 5 * 7). Based on this, the tactile 2D display is preferably provided so that each tactile display element is assigned to a specific location in front of the user.

A transducer / filter that performs the above operations and provides signals for the tactile display can be implemented, for example, as a minicomputer located with the power battery in the auxiliary backpack. He will evaluate the received data, especially in the sense that only information about obstacles located in the direction of the blind and its immediate vicinity (up to about 3 m) is used in the area of the approximate size of the door frame (approx. 1 m width), which is the area required for the safe passage of the blind. Longer-distance or off-road obstacles will be ignored in order not to "overwhelm" the user with insubstantial information.

ío Tactile display

According to the described technical solution, a flat tactile (tactile) 2D display is used to convey the position and size information of the obstacles, which uses touch to transmit the information. This principle of transmitting information has not yet been applied to any mass-produced aids.

Depending on the position of the obstacles relative to the user, corresponding elements of the tactile dis15 are activated, allowing the blind to know where the obstacle is. With the adopted 2D solution, the display shows a near-obstacle shape reality.

The input signal for the tactile display provided by the transducer / filter is transmitted in a flat view (2D) and resolution 3 (columns) * 7 (rows), ie 21 points (alternatively 5x7, ie 35 points) by touch (vibration and pressure, eventually combination of both) directly on the user's body. He will then be able to very quickly estimate the position, shape and size of the obstacle and respond to this information and avoid the obstacle. The tactile display output signal may be pressure, vibration frequency and / or vibration amplitude and / or vibration duration, respectively. their combinations.

The tactile display is located directly on the body (eg, the torso - abdomen) of the blind, suitably in the form of an elastic waistband with actuators incorporated.

In a preferred embodiment, the tactile display comprises 21 vibratory actuators divided into seven rows of three columns (alternatively 35 vibratory actuators of seven rows in five columns). Each actuator is controlled separately. The frequency, amplitude and duration of vibrations of individual actuators is variable. Depending on the position of the obstacles relative to the user, the corresponding tactile display elements are activated, allowing the blind to know where the obstacle is. With the adopted 2D solution, the display shows a near-obstacle shape reality.

Industrial usability

The device is designed and designed as an electronic orientation aid for independent movement of blind, partially sighted and deafblind persons.

Claims (11)

PROTECTION REQUIREMENTS 1. A blind orientation device comprising a sensor that senses space in the direction of movement of a blind, a tactile display, and a sensor / output signal converter / filter connected to the tactile display input signal connected between the sensor and the tactile display. Device according to claim 1, characterized in that the output signal from the sensor 40 includes information about objects in the space in the direction of movement of the blind selected from the group size, shape, position and distance of objects in the space in the direction of movement of the blind. -33. Device according to claim 1 or 2, characterized in that the sensor output signal is in the form of a disparity map. Device according to claim 1, characterized in that the sensor is two side-by-side cameras, in particular a stereo-camera. Device according to claim 4, characterized in that it further comprises an object detection module and / or a text recognition and / or reading module. The apparatus of claim 1, wherein the tactile display input signal provided by the converter / filter comprises information about objects in space in the direction of movement of the blind in the form of a spacing matrix. io Device according to claim 1 or 6, characterized in that the input signal for the tactile display provided by the converter / filter comprises information limited to space in the direction of movement of the blind at a height above the terrain up to 2 m, width up to 1 m, and up to 3 m from the blind. The apparatus of claim 1, wherein the tactile display has an output 15 a signal selected from pressure, vibration frequency and / or vibration amplitude and / or vibration duration, respectively. combinations thereof. Device according to claim 1 or 8, characterized in that the tactile display comprises a matrix of vibration actuator elements. The apparatus of claim 9, wherein each tactile skin element of the skin is associated with a particular location in front of the user. Device according to claim 9 or 10, characterized in that the tactile display has a resolution of 3 columns x 7 rows or 5 columns χ 7 rows. Device according to any one of claims 1 to 8, characterized in that the tactile display is mounted on the body of the blind. Device according to one of Claims 1 to 4, characterized in that the sensor is mounted on the chest of a blind person.