JP2006305214A - Walking aid apparatus and walking aid method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely inform a presence of an obstacle forward to a visually-impaired person by taking the visually-impaired person or the ecosystem of the person into consideration and to surely inform height information of the obstacle forward to the visually-impaired person. <P>SOLUTION: A walking aid device comprises a three-dimensional data obtaining means 13A obtaining three-dimensional data in a predetermined space on the travelling path where the visually-impaired person walks, a obstacle detecting means 11A three-dimensionally detecting the obstacle on the travelling path based on the obtained three-dimensional data, an oscillating frequency generating means 11B generating oscillating frequencies showing the direction, height, size of the obstacle, and a distance from the visually-impaired person to the obstacle respectively, and an informing means 15A dispersedly mounted on a plurality of sites where the visually-impaired person can senses oscillation and informing the presence of the obstacle by the oscillating frequencies showing the direction, height, size, and distance respectively to the visually-impaired person. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an apparatus that is worn by a visually handicapped person and supports a safe walking of the visually handicapped person and a method thereof.

  Instead of walking for visually impaired people using guide dogs, white canes, etc., by detecting obstacles in a predetermined space on the walking path of visually impaired people and transmitting the position of the obstacles by vibration An apparatus for supporting the safe walking of visually handicapped persons is proposed in Patent Document 1 below.

  FIG. 12 is a diagram illustrating a state in which a vibration transmission unit of a conventional walking support device is attached to a wrist of a visually impaired person. FIG. 13 is a plan view of the vibration transmitting portion of FIG.

  As illustrated in FIGS. 12 and 13, the vibration transmission unit 9 has a wristband shape and includes a plurality of vibrators 91 to 96 arranged in a matrix shape. Specifically, the plurality of vibrators 91 to 96 include protrusions 91p to 96p that stimulate the skin in accordance with the vibration of the vibrators 91 to 96. The vibration transmission unit 9 is fixed with Velcro 98 (registered trademark) 98 or the like and is attached to the wrist of the visually impaired.

  Then, information according to the front image of the visually impaired person acquired by a video camera (not shown) carried by the visually impaired person is given to the plurality of vibrators 91 to 96 via the code 97, and the plurality of vibrations Each of the children 91 to 96 vibrates and the front state is transmitted to the visually impaired person. The vibrators 91 to 96 transmit forward states such as right-side danger, obstacles, and the end of the braille block with different vibration patterns (the same frequency). For example, when only the vibrators 91 and 96 vibrate, the right side danger is transmitted by this pattern.

Note that prior art document information relating to the invention of this application includes the following.
JP 2004-24853 A JP 2001-202590 A

  However, in the conventional walking support device, the biological system is not sufficiently considered in order to correctly transmit the forward state to the visually impaired person. For example, according to a conventional walking support device, the visually handicapped person 1 must detect the vibration pattern of the plurality of vibrators 91 to 96 arranged in a matrix form only on the front side of the wrist and grasp the front state. . For this purpose, all of the vibrators 91 to 96 must always be accurately fixed to a portion having a tactile sensation on the front side of the wrist. However, it is difficult to always fix all the vibrators 91 to 96 accurately on the wrist with much movement.

  In addition, it is very difficult to detect a complicated vibration pattern including a combination of the vibrators 91 to 96 only on the front side of the left wrist, for example, and there is a possibility of being misidentified. Further, the front side of the wrist is not necessarily the site with the best skin sensation, and the place where the vibration transmitting unit is mounted is not optimized. Furthermore, the vibration frequency with the highest transmission efficiency is not taken into consideration. That is, in the conventional walking support device, the biological system is not sufficiently considered in order to correctly transmit the front state to the visually impaired person.

  Furthermore, although the conventional walking assistance device may be able to transmit information on the front plane, it cannot accurately transmit the front height information.

  Therefore, in view of the present situation described above, an object of the present invention is to reliably transmit the presence of a front obstacle to a visually impaired person by considering a visually impaired person, that is, a human ecosystem. Moreover, this invention makes it a subject to transmit the height information of a front obstacle reliably to a visually impaired person.

  The walking support device according to claim 1, which has been made to solve the above-mentioned problem, is a device that is attached to a visually impaired person and supports a safe walking of the visually impaired person as shown in FIG. 1. A three-dimensional data acquisition means 13A that acquires three-dimensional data in a predetermined space on the path where the visually impaired person walks, and an obstacle on the path is detected three-dimensionally based on the acquired three-dimensional data. 11A for detecting obstacles, vibration frequency generating means 11B for generating vibration frequencies indicating the direction, height, and size of the obstacles and the distance from the visually impaired person to the obstacles, and the visual The visually handicapped person is installed in a plurality of locations where the handicapped can feel vibrations, and the presence of the obstacle at the vibration frequency indicating the direction, height, size, and distance, respectively. Communicate to Characterized in that it comprises a reach means 15A, a.

  According to the first aspect of the present invention, three-dimensional data in a predetermined space on the path where a visually impaired person walks is acquired, and obstacles on the path are detected three-dimensionally based on the acquired three-dimensional data. Is done. Then, vibration frequencies indicating the direction, height and size of the obstacle and the distance from the visually impaired person to the obstacle are generated, and distributed to a plurality of parts where the visually impaired person can feel the vibration. The direction, height, size, and distance of the obstacle are transmitted to the visually handicapped person through the transmission means attached to.

  The walking support method according to claim 2, which has been made to solve the above-mentioned problem, detects an obstacle present in a predetermined space on a path where the visually handicapped walks, and vibrates the position of the obstacle. In a method for supporting a safe walking of the visually handicapped person by transmitting to the visually handicapped person, a direction, a height, a size, and a distance from the visually handicapped person to the obstacle are determined. It is represented by a vibration frequency of about several hundred hertz, which is said to have the highest skin sensation, and each vibration frequency is transmitted to a plurality of parts including at least the front and back of the wrist of the visually impaired person.

  According to the second aspect of the present invention, the direction, height, size, and distance of the obstacle in front are represented by vibration frequencies of about several hundred hertz, which is considered to have the highest skin sensation. It is transmitted to a plurality of parts including the front and back of the wrist at least. Therefore, the vibration frequency with the highest transmission efficiency is given to the part having the best skin feeling.

  The walking support method according to claim 3, which is made to solve the above-described problem, is characterized in that, in the walking support method according to claim 2, the vibration frequency is increased as the risk level for the visually impaired person increases. And

  According to the third aspect of the present invention, the vibration frequency by the transmission means is increased as the degree of danger to the visually impaired increases.

  The walking support method according to claim 4, which is made to solve the above-mentioned problem, in the walking support method according to claim 3, wherein the vibration frequency is considered and an average reaction time in which the visually impaired person can recognize the vibration frequency is considered. The transmission is repeated a plurality of times at intervals of about 0.5 seconds determined as described above.

  According to the fourth aspect of the present invention, the vibration frequency by the transmission means is repeatedly transmitted a plurality of times at intervals of about 0.5 seconds determined in consideration of the average reaction time in which the visually impaired person can recognize the vibration frequency.

  According to the first aspect of the present invention, three-dimensional data in a predetermined space on the path where a visually impaired person walks is acquired, and obstacles on the path are detected three-dimensionally based on the acquired three-dimensional data. Is done. Then, vibration frequencies indicating the direction, height and size of the obstacle and the distance from the visually impaired person to the obstacle are generated, and distributed to a plurality of parts where the visually impaired person can feel the vibration. The direction, height, size, and distance of the obstacle are transmitted to the visually handicapped person through the transmission means attached to. Therefore, not only the size and distance of the obstacle ahead, but also three-dimensional information including height information is reliably transmitted.

  According to the second aspect of the present invention, the direction, height, size, and distance of the obstacle in front are represented by vibration frequencies of about several hundred hertz, which is considered to have the highest skin sensation. It is transmitted to a plurality of parts including the front and back of the wrist at least. Therefore, the vibration frequency with the highest transmission efficiency is given to the part having the best skin feeling. Therefore, the presence of a front obstacle can be reliably transmitted to the visually impaired person in consideration of the visually impaired person, that is, the human biological system.

  According to the third aspect of the present invention, the vibration frequency by the transmission means is increased as the degree of danger to the visually impaired increases. Therefore, the danger due to the obstacle in front can be reliably transmitted to the visually impaired.

  According to the fourth aspect of the present invention, the vibration frequency by the transmission means is repeatedly transmitted a plurality of times at intervals of about 0.5 seconds determined in consideration of the average reaction time in which the visually impaired person can recognize the vibration frequency. Therefore, the presence of a front obstacle can be reliably transmitted to the visually impaired person in consideration of the visually impaired person, that is, the human biological system.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 2 is a diagram illustrating a state where the walking support device according to the embodiment of the present invention is worn by a visually impaired person. FIG. 3 is a diagram illustrating a state in which one of the vibration units in FIG. 2 is attached to the wrist.

  As illustrated in FIG. 2, the walking support device 10 includes a main body BD and a plurality of vibration units RW, LW, RA, and LA. The main body BD and the vibration units RW, LW, RA, LA are electrically connected by a cable LWd (see FIG. 3). Each vibration unit RW, LW, RA, LA has a wrist or ankle band shape. The vibration units RW, LW, RA, and LA are respectively attached to the right wrist, the left wrist, the right ankle, and the left ankle of the visually impaired person 1.

  The vibration units RW, LW, RA, and LA are configured by fixing two vibrators LWa and LWb to a band member LWc, as representatively shown by the vibration unit LW in FIG. For example, as shown in FIG. 13, the band member LWc can be fixed around the wrist with Velcro (registered trademark). When the vibration unit LW is attached to the wrist, the two vibrators LWa and LWb are in a positional relationship so as to face each other across the wrist.

  Preferably, one transducer LWa is positioned on the wrist blood vessel. This is because it is known that human beings feel uncomfortable when vibration is applied to blood vessels, and this phenomenon is used in reverse to draw strong attention by vibration. Of course, it is more effective to apply vibration to the back and front of the wrist, including the blood vessels on the wrist. Moreover, it is preferable to use a vibration frequency in a band of about several hundred hertz, particularly 100 to 300 hertz, at which the skin sensation is the highest. As described above, in this embodiment, the presence of a front obstacle is transmitted to the visually handicapped person by fully considering the visually impaired person, that is, the human biological system.

  The vibration units RW, RA, and LA attached to the right wrist, right ankle, and left ankle other than the illustrated left wrist are also in a band shape and include two vibrators, like the vibration unit LW. It is also possible to attach vibration units to the waist and neck. In short, a plurality of vibration units RW, LW, RA, LA are distributedly attached to a plurality of parts where a visually impaired person can feel vibration, and the direction and height of the obstacle as described later, The size and distance are transmitted.

  FIG. 4 is a block diagram illustrating a hardware configuration of the walking support device of FIG. As shown in FIG. 4, the walking support device 10 includes a microprocessor (MPU) 11 that operates according to a predetermined program. As is well known, the MPU 11 includes a central processing unit (CPU) 11a that performs various processes and controls according to a predetermined program, a ROM 11b that is a read-only memory storing a program for the CPU 11a, and the like. The RAM 11c is a readable / writable memory that stores data and has an area necessary for processing operations of the CPU 11a.

  The MPU 11 is connected to an electrically erasable / rewritable read-only memory (EEPROM) 12 capable of retaining stored contents even while the apparatus main body is in an off state. Various information such as a table showing a vibration pattern, which will be described later with reference to FIG. 11, is stored.

  The walking support device 10 further includes an imaging unit 13a, a distance detection unit 13b, a human body detection unit 13c, and geomagnetic detection as a three-dimensional data acquisition unit that acquires three-dimensional data in a predetermined space on the path where the visually handicapped person 1 walks. 13d and the position detection part 14 which detects the present position of the visually impaired 1 are provided.

  Each of the imaging unit 13a, the distance detection unit 13b, the human body detection unit 13c, the geomagnetic detection unit 13d, the position detection unit 14, and the transmission unit 15 is connected to the MPU 11 via the interface unit 16.

  The imaging unit 13a combines two cameras such as a CCD (Charge Coupled Device) camera and a video camera that capture the space on the path where the visually handicapped person 1 walks, and the image captured by these cameras to generate image data. And an image synthesis circuit that outputs as In consideration of the fact that the main body of the apparatus is shaken by walking of the visually handicapped person 1, the camera includes a shake correction mechanism.

  The distance detection unit 13b detects an object or measures a distance using an ultrasonic sensor or the like, and outputs distance data indicating the distance to the MPU 11. And the human body detection part 13c detects the presence or absence of a human body using a thermal infrared sensor etc., and outputs the detection result to MPU11 as human body detection data.

  The geomagnetism detector 13d measures geomagnetism using a geomagnetic sensor or the like, detects the direction of the camera based on the measurement result, and outputs the detection result to the MPU 11 as geomagnetic data. By detecting the orientation of the camera in this way, the imaging space captured by the imaging unit 13a can be recognized.

  In addition, as a measurement range of each detection part mentioned above, the space on the predetermined course is made into object. In the best mode described above, the case where the imaging unit 13a, the distance detection unit 13b, the human body detection unit 13c, and the geomagnetism detection unit 13d realize the three-dimensional data acquisition unit in the claims will be described. However, the present invention is not limited to this, and various embodiments can be made according to the specifications of the apparatus, such as realized by only the imaging unit 13a or realized only by the imaging unit 13a and the distance detection unit 13b.

The position detector 14 includes a well-known GPS (global positioning system) receiver, receives radio waves emitted by a plurality of artificial satellites constituting the GPS, and The position information is obtained as position information indicating the current position of the visually impaired person 1, and this position information is output to the MPU 11. And in this best form, when an obstacle needs to be specified, an obstacle can also be specified based on position information and obstacle registration information registered in advance corresponding to the position. The configuration requirements described so far in FIG. 4 are included in the main body BD in FIG.

  A plurality of vibration units RW, LW, RA, and LA are connected to the main body BD as the transmission unit 15. Although the external configuration of the vibration units RW, LW, RA, LA is as described above, there is a further feature of the present invention in the manner of giving the vibration frequency to them.

  FIG. 5 is a time chart showing the drive timing of the vibration unit according to the embodiment of the present invention. FIG. 6 is a diagram showing the relationship between the vibration frequency and the risk level of the vibration unit according to the embodiment of the present invention. FIGS. 7A, 7B, and 7C are diagrams showing the height, distance, and size defined by the vibration frequency of the vibration unit according to the embodiment of the present invention, respectively.

  The vibration units RW, LW, RA, LA are driven with a predetermined pulse width and vibration frequency as shown in FIGS. 5 and 6 in response to a drive signal supplied via the MPU 11 and the interface unit 16. The interface unit 16 includes a PCM conversion function and a PWM conversion function for generating a drive signal for each unit. In response to this drive signal, for example, as shown in FIG. 5, each unit repeatedly vibrates a predetermined number of times at intervals of 500 ms (0.5 seconds) with both pulse widths of 100 ms. This value is determined in consideration of an average reaction time that can be recognized by a visually impaired person, that is, a human.

  In each 100 ms pulse width period, as shown in FIG. 6, there are three types of H (280 to 300 hertz), M (200 ± 10 hertz), and L (100 to 120 hertz) (no vibration indicated by x). It is generated at four types of vibration frequencies. In particular, the vibration frequency increases as the degree of danger to the visually impaired increases. The vibration frequency of about several hundreds of hertz shown in FIG. 6 is a value that is considered to have the highest skin sensation, and the difference in frequency among H, M, and L is a value that can be sufficiently identified.

  Furthermore, as shown in FIG. 7, the height, distance, and size are pre-assigned and defined according to the respective vibration frequencies of the vibration units RW, LW, RA, and LA. For example, the vibration frequency of the vibration units RW and LW indicates the height of the obstacle, and the vibration frequencies H, M and L are respectively high (above the shoulder), medium (between the shoulder and the knee), and Corresponds to low (below the knee). Supplementally, information indicating the left-right direction of the obstacle can be added depending on which of the vibration units RW or LW vibrates. The vibration frequency of the vibration unit RA indicates the distance from the visually impaired person to the obstacle, and the vibration frequencies H, M, and L are close distances (within two steps forward, left or right), medium It corresponds to distance (3 steps or more up to 5 steps forward, left or right) and far distance (6 steps or more forward, left or right). The vibration frequency of the vibration unit LA indicates the size of the obstacle. The vibration frequencies H, M, and L are respectively large (larger than an adult), medium (larger than a large dog, about an adult), and small ( Smaller than large dogs). It can be seen that the vibration frequency of the vibration units RW, LW, RA, LA increases as L → M → H as the degree of danger increases.

  Subsequently, a processing procedure according to an embodiment of the present invention will be described with reference to FIGS. FIG. 8 is a flowchart showing a processing procedure according to an embodiment of the present invention. FIG. 9 is a diagram illustrating a vibration pattern for transmitting the presence of an obstacle on the right side. FIG. 10 is a diagram illustrating a vibration pattern for transmitting the presence of an obstacle on the left side. FIG. 11 is a diagram illustrating a vibration pattern for transmitting the presence of an obstacle in front or below.

  When the program related to the walking support process stored in the ROM 11b is executed, image data is read from the imaging unit 13a and stored in the RAM 11c in step S11, and distance data is read from the distance detection unit 13b in step S12. In step S13, human body detection data is read from the human body detection unit 13c and stored in the RAM 11c. In step S14, geomagnetic data is read from the geomagnetism detection unit 13d and stored in the RAM 11c, and then in step S15. Proceed to

  In step S15, three-dimensional image processing is performed on the image data stored in the RAM 11c in consideration of distance data, human body detection data, and geomagnetic data, and the three-dimensional image data that is the execution result is stored in the RAM 11c. Thereafter, the process proceeds to step S16.

  In step S16, the obstacle detection process is executed, so that the three-dimensional image is obtained by the pattern matching process based on the three-dimensional image data in the RAM 11c and the obstacle registration information registered in advance in the EEPROM 12. An obstacle in the data is searched, and the search result is stored in the RAM 11c. If an obstacle is detected, the detected position data is stored in the RAM 11c, and the process proceeds to step S17. Step S16 corresponds to the obstacle detection means in the claims.

  In step S17, vibration pattern generation processing is performed. Here, combinations of vibration units RW, LW, RA, LA and vibration frequencies L, M, H corresponding to information transmitted as shown in FIGS. 9 to 11 stored in the EEPROM 12 in advance are shown. With reference to the table, a vibration pattern corresponding to the obstacle detected in step S16 is generated.

  For example, in the case where the obstacle detected in step S16 is in the “high place on the right side” of the visually impaired person, in the “close range”, and in the “large size”, as shown in FIG. Drive patterns for driving the vibration units RW, LW, RA, and LA at “H”, “×”, “H”, and “H”, respectively, are generated. Further, for example, when the obstacle detected in step S16 is at the “high place on the left side” of the visually handicapped person, at “close distance”, and “large size”, as shown in FIG. In addition, drive patterns for driving the vibration units RW, LW, RA, and LA with “x”, “H”, “H”, and “H”, respectively, are generated. Further, for example, when the obstacle detected in step S16 is “high in the front or below” of the visually handicapped person, “closely close”, and “large size”, FIG. As shown, drive patterns for driving the vibration units RW, LW, RA, and LA at “H”, “H”, “H”, and “H”, respectively, are generated. Note that step S17 corresponds to the vibration frequency generation means in the claims.

  In response to the drive pattern as described above, in steps S18 to S20, the vibration units RW, LW, RA, LA are driven and controlled, that is, the vibration units RW, LW, RA, LA vibrate, As a result, the visually handicapped person 1 can accurately grasp the obstacle ahead of him. In step S21, a predetermined next sampling timing is awaited (N in step S21). When the next sampling timing is reached (Y in step S21), the processes in steps S11 to S20 are repeated.

  As described above, according to the embodiment of the present invention, the three-dimensional data in the predetermined space on the path where the visually handicapped person 1 walks is acquired, and the obstacle on the path is based on the acquired three-dimensional data. Are detected three-dimensionally. Then, vibration frequencies indicating the direction, height and size of the obstacle and the distance from the visually impaired person to the obstacle are generated, and distributed to a plurality of parts where the visually impaired person can feel the vibration. The direction, height, size, and distance of the obstacle are transmitted to the visually handicapped person through the vibration units RW, LW, RA, LA as the transmission means mounted on the. Therefore, not only the size and distance of the obstacle ahead, but also three-dimensional information including height information is reliably transmitted.

  In particular, the direction, height, size, and distance of obstacles ahead are represented by vibration frequencies of about several hundred hertz, which are considered to have the highest skin sensation. Is transmitted to a plurality of parts including Therefore, the vibration frequency with the highest transmission efficiency is given to the part having the best skin feeling. Therefore, the presence of a front obstacle can be reliably transmitted to the visually impaired person in consideration of the visually impaired person, that is, the human biological system. Furthermore, the vibration frequency is repeatedly transmitted a plurality of times at intervals of about 0.5 seconds determined in consideration of the average reaction time in which the visually impaired person can recognize the vibration frequency. Therefore, the presence of a front obstacle can be more reliably transmitted to the visually impaired person in consideration of the visually impaired person, that is, the human biological system.

It is a block diagram which shows the basic composition of the walk assistance apparatus of this invention. It is a figure which shows the state with which the walk assistance apparatus of embodiment of this invention was mounted | worn with a visually impaired person. It is a figure which shows the state with which one of the vibration units in FIG. 2 was mounted | worn with the wrist. It is a block diagram which shows the hardware constitutions of the walk assistance apparatus of FIG. It is a time chart which shows the drive timing of the vibration unit which concerns on one Embodiment of this invention. It is a figure which shows the relationship between the vibration frequency and risk degree of the vibration unit which concerns on one Embodiment of this invention. FIGS. 7A, 7B, and 7C are diagrams showing the height, distance, and size defined by the vibration frequency of the vibration unit according to the embodiment of the present invention, respectively. It is a flowchart which shows the process sequence which concerns on one Embodiment of this invention. It is a figure which shows the vibration pattern for transmitting presence of the obstruction on the right side. It is a figure which shows the vibration pattern for transmitting presence of the obstruction on the left side. It is a figure which shows the vibration pattern for transmitting presence of the front or the downward obstacle. It is a figure which shows the state with which the vibration transmission part of the conventional walk assistance apparatus was mounted | worn with the wrist of a visually impaired person. It is a top view of the vibration transmission part of FIG.

Explanation of symbols

1 visually impaired person 10 walking support device 11 MPU
12 EEPROM
13a Imaging unit 13b Distance detection unit 13c Human body detection unit 13d Magnetic detection unit 14 Position detection unit 15 Transmission unit 16 Interface unit RW, LW, RA, LA Vibration unit

Claims (4)

A device that is attached to a visually handicapped person and supports a safe walking of the visually handicapped person,
Three-dimensional data acquisition means for acquiring three-dimensional data in a predetermined space on the path where the visually impaired person walks;
Obstacle detection means for three-dimensionally detecting an obstacle on the path based on the acquired three-dimensional data;
Vibration frequency generating means for generating a vibration frequency indicating the direction, height, size, and distance from the visually impaired person to the obstacle, respectively;
The visually impaired person is distributedly attached to a plurality of parts where vibration can be felt, and the presence of the obstacle is visually confirmed at vibration frequencies indicating the direction, height, size, and distance, respectively. A means of communication to the disabled,
A walking support device comprising: By detecting an obstacle existing in a predetermined space on the path where the visually impaired person walks and transmitting the position of the obstacle to the visually impaired person by vibration, the visually impaired person can walk safely. In a way to support
The direction, height, size of the obstacle, and the distance from the visually handicapped person to the obstacle are each represented by a vibration frequency of about several hundred hertz, which is said to have the highest skin sensation,
Transmitting each vibration frequency to a plurality of sites including at least the front and back of the wrist of the visually impaired person,
A walking support method characterized by that. The walking support method according to claim 2,
Increasing the vibration frequency as the risk to the visually impaired increases.
A walking support method characterized by that. The walking support method according to claim 3,
The vibration frequency is repeatedly transmitted a plurality of times at intervals of about 0.5 seconds determined in consideration of an average reaction time in which the visually impaired person can recognize the vibration frequency.
A walking support method characterized by that.

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