KR101193721B1 - Walk assistance apparatus for blind people - Google Patents

Abstract

A walking assistance device for the visually impaired is disclosed. The walking assistance device for the visually impaired includes a GPS receiver configured to receive location information of the visually impaired, a mobile communication module communicating with an external server, and an ultrasonic sensor. An obstacle detecting unit measuring a distance to an obstacle, an output unit outputting at least one of an alarm sound, a voice, and vibration to the visually impaired when the obstacle is detected; It includes a control unit for controlling the output unit to differently output at least one of the vibration to the visually impaired.

Description

Walk assistance apparatus for blind people

The present invention relates to a walking assistance device for the visually impaired, and more particularly, to a walking assistance device for the visually impaired.

In Korean Patent Laid-Open Publication No. 10-2006-0017148, "Geographic information voice output method in a mobile communication terminal", a user can recognize an obstacle by detecting an obstacle through a mobile communication terminal with an infrared sensor and outputting it as a voice. It is disclosed. However, if the infrared detector is used, there is a problem that the user may be exposed to danger because it does not recognize a transparent object such as transparent acrylic or glass. In addition, when the obstacle detection result is output only as a voice, there is a problem that the user cannot hear it in a noisy environment.

In Korean Patent Registration No. 10-0563193, "Guide and method for converting visual information for indoor / outdoor walking of visually impaired person into auditory and tactile information", glasses and cart equipped with one GPS receiver and multiple ultrasonic sensors Comprehensive information on the distance and direction of the user's gaze direction and left and right obstacles obtained from the device is transmitted as a beep sound through the earphone or a vibration through the small motor, and voice information about the location to reach the destination from the GPS Posting to the post. However, when the guide device is separated from the user, the user may not easily find it, and there is a problem in that the user's safety cannot be guaranteed because there is no means to effectively solve the situation when the user is exposed to a dangerous situation. In addition, the guide device and the method has a problem that it is difficult to carry the visually impaired person directly because the configuration is too complicated, it is difficult to easily detect walking obstacle elements such as puddles, jaws, manholes on the pedestrian path.

In Korean Patent Laid-Open Publication No. 10-2007-0075623 “Pedestrian guide and method for visually impaired”, a user directly enters an emergency phone number through a braille keyboard and enters a shortcut number when the user perceives a danger. A method of transmitting an emergency message to a pre-stored phone number using a communication module such as a module, and a plurality of infrared sensors or ultrasonic sensors to recognize obstacles, and to alert visually impaired users through voice and vibration when the obstacles are recognized. It is about the pedestrian guidance device and method for providing sound. However, in the above patent, not only the configuration is complicated because the braille keyboard should be installed at all times, but also the emergency contact must be input in advance through the braille keyboard, and there is an inconvenience in that the user must directly input when the user is in an emergency situation. . In addition, the patent has a problem that it is possible to simply walk through the obstacles, and it is difficult to effectively walk the visually impaired because it is not known how far the obstacle is from the user.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a visually impaired person with a visually impaired disability (a pool, a manhole, a roadside, etc.) as well as a permeable and non-permeable obstacle existing on a walking path. By alerting and vibrating a certain distance between them and alerting the blinds and stairs to the visually impaired by voice (or alarm sound) and vibration, to enable the visually impaired walking in all possible environments have. In addition, the walk assistance device for the visually impaired devised in the present invention can be more easily carried by the visually impaired, it is easy to control and can quickly find it even if the walking guide device is separated from the visually impaired. In particular, the purpose of the present invention is to provide a walking aid device for the visually impaired, which can be quickly and safely handled by automatically transmitting the user's location to a guardian, a disability protection agency, or 119 through a mobile communication module when an emergency occurs. .

Walking aid device for the blind according to an embodiment of the present invention, the GPS receiver for receiving the location information of the visually impaired, a mobile communication module for communicating with an external server, an ultrasonic sensor to detect the obstacle, the obstacle An obstacle detecting unit measuring a distance to the output unit, and when the obstacle is detected, an output unit outputting at least one of an alarm sound, a voice, and vibration to the visually impaired person, and the alarm sound according to the measured distance to the obstacle, And a controller configured to control the output unit to differently output at least one of the voice and the vibration to the visually impaired person.

The walk assistance device may further include a departure and emergency situation detecting unit for detecting whether the visually impaired person is separated.

The controller may control the mobile communication module to transmit the location information and the pre-stored emergency message to a server of an external management authority using the pre-stored emergency contact if it is determined that the walking assistance device is separated from the visually impaired person. Can be.

The mobile communication module may further include a memory configured to receive at least one of map data, emergency contact information, and emergency message from the external server, and store at least one of the map data, the emergency contact information, and the emergency message. have.

And a location information confirmation switch for confirming location information of the visually impaired. The control unit may further include location information received from the GPS receiver and the map data stored in the memory when confirmation of the location information is requested. By mapping, the output unit may be controlled to output the current location of the visually impaired by voice using information included in the map data.

The walk assist device may further include a walking obstacle element detector configured to be perpendicular to the ground.

When the walking obstacle element detecting unit presses a button provided in one region of the walking assistance device for the visually impaired, the walking obstacle element may be exposed to one end of the walking assistance device in the lower part of the walking assistance device.

The obstacle detecting unit may detect a step among the obstacles by moving the lower end of the extended walking assistance device in an up and down direction when the lower portion of the walking assistance device is perpendicular to the ground by the walking obstacle element detecting unit. .

The obstacle detecting unit may detect the degree of inclination of the ground by adjusting an angle in the vertical direction of the ultrasonic sensor when the lower portion of the walking assistance device is perpendicular to the ground by the walking obstacle element detecting unit.

On the other hand, an external server that communicates with the walking aid device for the visually impaired according to an embodiment of the present invention, a database that stores at least one of map data, emergency contact information, emergency messages, visually impaired information, and guardian information, the walking A mobile communication module for receiving a message and the current location information of the visually impaired at the auxiliary device, a message reading unit for reading the type of the received message, and the received current location information if the received message is a map request message. It includes a map processing unit for extracting a partial map of the entire map based on.

The mobile communication module may transmit the extracted map to the walking assistance device.

The mobile communication module may transmit the stored emergency contact information to the walking assistance device when the received message is an emergency contact request message.

According to the pedestrian assistance device for the visually impaired according to the present invention as described above, the present invention is directed to the position of the permeable or non-permeable obstacle (top, middle, or bottom) and the walking obstacle element such as a puddle, a manhole, a roadside, etc. It is possible to walk effectively in all environments by informing the user of a certain distance between the blind and visually impaired. In addition, by adjusting the length of the cane through the folding at the bottom to fit the user's height or easy to carry, even if the walking aid is separated from the visually impaired it can be found quickly through the alarm sound. In particular, in an emergency situation that may occur during walking, by automatically transmitting the user's location to the guardian, disabled protection agency, 119 through the mobile communication module, there is an effect that can be processed quickly and safely.

1 is a conceptual diagram showing the concept of the overall configuration of the present invention.
2 is a diagram illustrating a visually impaired walking assistance device according to an embodiment of the present invention.
3 shows an example of an internal device.
4 is a diagram illustrating an example of a server.
5A and 5B are flowcharts illustrating operations of a visually impaired walking assistance device according to an embodiment of the present invention.
Figure 6 is a flow chart showing the operation of the server for the visually impaired walking assistance device of the present invention.
7 is a view for explaining the principle of detecting the stairs in the obstacle detecting unit of the visual aid for walking aids.
8 is a view showing an example of the use of avoiding the pedestrian obstacles present on the pedestrian path and obstacles present in different locations using the present invention.

Hereinafter, various embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

1 is an overall conceptual diagram showing the concept of the overall configuration of the present invention.

Referring to FIG. 1, the visually impaired walking assistance system 1000 includes a server for visually impaired walking assistance apparatus 100 that can be carried by a visually impaired person, information about an entire map, and a guardian or emergency telephone number. 400, and a mobile communication network 200 for transmitting and receiving information between the visually impaired walking assistance device 100 and the server 400. The server 400 may be disposed in a management institution such as a user, a home of the visually impaired, or a welfare facility that protects and manages the visually impaired.

2 is a diagram illustrating a visually impaired walking assistance device according to an exemplary embodiment.

As shown in FIG. 2, the visually impaired walking assistance device 100 includes a departure and emergency situation sensing unit 201, a walking assistance device upper part 202, a walking assistance device lower part 203, an internal device 204, and a location. The information confirmation switch 205, the walking obstacle element detecting unit 206, the folding walking obstacle element detecting unit button 207, and the obstacle detecting unit 208 are included.

The departure and emergency situation detecting unit 201 uses various sensors such as a thermal sensor, a pressure sensor, an infrared sensor, an ultrasonic sensor, and various switches to determine whether the visually impaired person is holding the visual assistance device 100. Monitor. Accordingly, the departure and emergency situation detection unit 201 detects a situation as to whether the visually impaired walking assistance device 100 is separated from the visually impaired or whether the visually impaired person is in an unexpected emergency.

The walking assistance device upper part 202 serves as a handle when the visually impaired person walks. The walk assistance device upper end 202 may be attached to the departure and emergency situation detection unit 201, the location information confirmation switch 205, and the foldable walking obstacle element detection unit button 207. However, at least one of the departure and emergency situation detecting unit 201, the location information confirmation switch 205, and the foldable walking obstacle element detecting unit button 207 may be any of the internal device 204 and the lower part of the walking assistance device 203. It may be attached to one.

The walking assistance upper end 202 may perform a support frame function together with the walking assistance lower end 203.

The walking assistance lower end 203 may extend from the walking assistance upper end 202 at a predetermined angle. In addition, the lower portion of the walking aid device 203 is configured to be easy to carry in a foldable form that can be adjusted in length. As an example, a portion of the lower portion of the walking assistance device 203 may be inserted into the internal device 204, and thus the visually impaired walking assistance device 100 may freely adjust the length according to the height of the visually impaired.

The lower part of the walking assistance device 203 may be attached to the internal device 204 and the obstacle detecting unit 208.

The internal device 204 performs the overall control operation on the configurations. In addition, the internal device 204 detects an obstacle present on the pedestrian path, identifies the current location, transmits location information to the server 400, and notifies the detected information to at least one of vibration, an alarm sound, and a voice. In addition, the process of determining the departure or emergency of the visual aid for walking aid device 100.

The location information confirmation switch 205 is used to provide the current location information of the visually impaired to the external server 400. As an example, the location information may be GPS information received through the GPS receiver 302 provided in the visually impaired walking assistance device 100.

The walking obstacle element detecting unit 206 may be used to detect an incline or a staircase, or an obstacle on a floor of a pedestrian path, such as a puddle.

In detail, the walking obstacle element detecting unit 206 allows the walking assistance device lower portion 203 and the internal device 204 of the visually impaired walking assistance device 100 to be perpendicular to the ground.

The walking obstacle element detecting unit 206 may determine whether the walking assistance device lower portion 203 and the internal device 204 of the visually impaired walking assistance device 100 are perpendicular to the ground (or the walking obstacle detection unit 206). May be provided with a vertical system (or a horizontal system) for checking whether the surface is horizontal to the ground). As an example, the vertical system (or the horizontal system) may determine whether the vertical (or horizontal) using a liquid material. The walking obstacle element detecting unit 206 may include a gyro sensor, and the gyro sensor may be linked with the control unit 304 to notify the visually impaired person with a voice and / or an alarm sound.

The walking obstacle element detecting unit 206 may further include an ultrasonic sensor and is not limited by the mounting position. That is, the walking obstacle element detecting unit 206 may detect obstacles in all directions as much as possible. Accordingly, the walking obstacle element detecting unit 206 may detect an obstacle at the bottom of the pedestrian path, such as a puddle.

The gait obstacle element detecting unit 206 may be included in the lower part of the gait assist device 203 of the gait assist device 100 for the visually impaired.

The foldable walking obstacle element detecting unit button 207 may be physically configured to unfold the walking obstacle element detecting unit 206 included in the walking assistance lower end 203 to one end of the walking assistance lower end 203. have.

For example, when the foldable walking obstacle element detecting unit button 207 is pressed once, the walking obstacle element detecting unit 206 included in the walking assisting device lower part 203 may be closed at one end of the walking assistance device lower part 203, That is, the visually impaired gait assisting device 100 may be expanded to the outside, and when the foldable gait obstacle detecting part button 207 is pressed again, the gait obstacle detecting part exposed to one end of the gait assisting device lower part 203 ( 206 may be included in the lower portion 203 of the walking assistance device.

 As shown in FIG. 2, the walking obstacle element detecting unit 206 may include three supports for maintaining perpendicular to the ground, and the number of the supporting units is not limited to those shown. The lower portion of the support may be implemented to facilitate the movement of the visually impaired walking assistance device 100 using a wheel or pulley.

On the other hand, the gait obstacle element detection unit 206 may be composed of only the ultrasonic sensor disposed at one end of the lower portion of the walking assistance device 234 without the above-described support.

The obstacle detecting unit 208 performs at least one ultrasonic sensor to detect an obstacle around a pedestrian path, a distance measuring function, and a slope or a stairway. The obstacle detecting unit 208 may move in the longitudinal direction (ie, up and down direction) along the lower part of the walking assistance device 203. In addition, the at least one ultrasonic sensor of the obstacle detection unit 208 is capable of angle adjustment in the range of -90 degrees to +90 degrees.

However, the visually impaired gait aid 100 is not bent as shown in Figure 2, it is possible to be modified in various forms, such as a straight stick shape. In addition, the visually impaired gait aid device 100 is equipped with an ultrasonic sensor to the gait barrier element detection unit 206 mounted on the lower portion of the gait assist device 203 voice (or vibration, alarm sound to the visually impaired element) You can also guide them through).

According to the visual aid device 100 for the visually impaired, the visually impaired person may check the gait impairment elements such as manholes, puddles, roadsides, blind spots, and the like in detecting obstacles existing on the pedestrian path. Through the folding gait obstacle element detection button 207 it is possible to more accurately determine the degree of stairs or inclination.

On the other hand, the visually impaired walking assistance device 100 may further include a power supply unit (not shown) and a power on / off button (not shown) for driving the visually impaired walking assistance device 100. The power unit (not shown) may be implemented as a portable battery, or may be implemented to enable power charging inside or outside the visually impaired walk assistance device 100 using a rechargeable battery and a charging adapter.

3 is a diagram illustrating an example of an internal device.

Referring to FIG. 3, the internal device 204 of the present invention may perform an overall control operation.

Specifically, the internal device 204 is a departure and emergency situation detection unit 201, location information confirmation switch 205, walking obstacle element detection unit 206, foldable walking obstacle element detection button 207, and obstacle detection The unit 208 may receive a signal or control corresponding components.

The mobile communication module 301 receives at least one of map data, an emergency contact, and an emergency message transmitted from the server 400. In addition, the mobile communication module 301 transmits the position coordinate value and the departure and emergency message received from the GPS receiver 302 to the server 400.

The GPS receiver 302 receives the current position coordinate value from the satellite.

The motor 303 moves the obstacle detecting unit 208 mounted on the walking assistance lower end 203 up and down, or externally walks the walking obstacle element detecting unit 206 included in the walking assistance lower end 203. The gait barrier element detection unit 206 may be controlled to put the gait barrier element detection unit 206 exposed to the outside of the gait assistance device bottom part 203 or inside the gait assistance device bottom part 203. .

The controller 304 may perform overall control operations for the components 301, 302, 303, 305, and 306 as well as the above-described components 201, 205, 206, 207, and 208.

In detail, the controller 304 may control the alarm sound / voice / vibration output unit 307 to differently output at least one of an alarm sound, a voice, and a vibration to the visually impaired according to the measured distance to the obstacle. .

In addition, the control unit 304 determines that the visually impaired walking assistance device 100 is separated from the visually impaired, and transmits the location information and the emergency message stored in advance to the server of the external management authority by using the pre-stored emergency contact. Module 301 can be controlled.

In addition, when a request for confirmation of the location information is requested, the controller 304 maps the location information received by the GPS receiver 302 with map data stored in the memory 305 to map the current location of the visually impaired to the map data. The alarm sound / voice / vibration output unit 307 may be controlled to output voice.

The memory 305 stores at least one of map data received from the server 400 through the mobile communication module 301, an emergency contact (including a guardian, a welfare institution for the disabled, 119), and an emergency message. In addition, the memory 305 may store a first threshold distance and a second threshold distance.

The location / path searching unit 306 detects the location of the visually impaired when the departure and emergency situation detecting unit 201 detects that the visually impaired person is in an emergency situation.

The alarm sound / voice / vibration output unit 307 outputs at least one of alarm sound, voice, and vibration to the visually impaired when the obstacle is detected.

In detail, the alarm sound / voice / vibration output unit 307 provides a visually impaired alarm sound and / or vibration of various cycles according to the distance when the obstacle is detected, or the visually impaired person in the location / path search unit 306. Voice guidance of the current route and / or location of the.

Here, the alarm sound / voice / vibration output unit 307 may be implemented in various devices such as a speaker for outputting the alarm sound or voice, a motor for outputting vibration.

Specifically, when the visually impaired person presses the current location information confirmation switch 205 and requests the current location information confirmation, the visually impaired walking assistance device 100 receives the location received by the GPS receiver 302 of the internal device 204. Coordinate values (latitude and longitude coordinates) may be mapped to a map stored in the memory 305 so that current position information may be output as a voice through the alarm sound / voice / vibration output unit 307.

As an example, using the current position coordinate value of the visually impaired received through the GPS receiver 302, the current position of the visually impaired is "near Changwon National University Information and Communication Center", "within 50m radius from the main gate of Changwon National University" As such, the current location information of the visually impaired person may be output by voice using information included in the map data (ie, building name, place name, address, etc.).

The alarm sound / voice / vibration output unit 307 may be an output unit.

4 is a diagram illustrating an example of a server.

Referring to FIG. 4, the server 400 for assisting visually impaired walking includes a mobile communication module 401, a message reading unit 402, a database 403, an input unit 404, and a map processing unit 405. .

The mobile communication module 401 may communicate with the visually impaired walking assistance device 100. In detail, the mobile communication module 401 may receive a message and current location information of the visually impaired from the visually impaired walking assistance device 100.

The message reading unit 402 reads the type of message such as whether the message received by the mobile communication module 401 requires an emergency contact or map processing.

The database 403 stores information input through the input unit 404 (at least one of total map data, emergency contact information, emergency message, information of visually impaired and guardian). In addition, the database 403 stores a log (Log) of the time, place, number, and the like of the emergency situation and the current location request of the visually impaired at the server 400.

The input unit 404 uploads the latest version of the entire map data, and receives the information of the blind and its guardian (information such as the user's unique ID, the name and telephone number of the blind and the guardian).

The map processing unit 405 transfers the map data cut out (ie, extracted) to a mobile communication module 401 based on a currently received coordinate value among all the maps stored in the database 403. In this case, the mobile communication module 401 may transmit the map data on which the various processing is performed to the visually impaired walking assistance device 100.

Meanwhile, when the message received from the mobile communication module 401 is read as requesting map processing, the message reading unit 402 reads the database (based on the current position value (coordinate) of the user received by the map processing unit 405). The entire map stored in 403 is cut out at a predetermined radius, and the cut out map data is transmitted to the mobile communication module 401. In this case, the mobile communication module 401 transmits the transmitted map data to the visually impaired walking assistance device 100.

On the contrary, when the message received from the mobile communication module 401 is read as an emergency contact request, the message reader 402 extracts emergency contact information of the visually impaired stored in the database 403. The extracted emergency contact information is transmitted to the mobile communication module 401. In this case, when the mobile communication module 401 transmits the extracted emergency contact information to the visually impaired gait aid 100, the mobile communication module 301 of the internal device 204 of the visually impaired gait assist device 100. Receive emergency contact information. Emergency contact information received by the mobile communication module 301 of the internal device 204 is stored in the memory 305 via the control unit 304.

When the visually impaired gait aid device 100 is used for the first time, the visually impaired person is transferred to the mobile communication module 401 from a database 403 that stores information of the visually impaired user inputted from the input unit 404 of the server 400. Send the information. In this case, the mobile communication module 401 may transmit the information of the visually impaired to the walking aid device 100, and as a result, the information of the visually impaired may be stored in the memory 305 of the internal device 204. have. The first use of the visually impaired walking assistance device 100 may mean turning on a power button (not shown) provided in the visually impaired walking assistance device 100.

5A and 5B are flowcharts illustrating operations of a visually impaired walking assistance device according to an exemplary embodiment.

Specifically, FIG. 5A is a flowchart illustrating an operation of detecting an obstacle and notifying an emergency situation in a visually impaired walking assistance device according to an exemplary embodiment of the present invention.

Referring to FIG. 5A, the visually impaired walking assistance device 100 may include a power button, and when the visually impaired walking assistance device 100 is turned on, a message for requesting an emergency contact is transmitted to the server 400. (S501).

When the requested emergency contact information is received from the server 400, the visually impaired walking assistance device 100 stores the received emergency contact information in the memory 305 (S502).

Thereafter, the departure and emergency situation detecting unit 201 may check whether the visually impaired walking assistance device 100 is separated from the visually impaired hand using a switch or an infrared sensor (S503).

Specifically, when the visually impaired person is holding the handle part of the visually impaired walking assistance device 100, that is, the deviation and emergency situation detection unit 201 attached to the upper part 202 of the walking assistance device, it is detected by a switch or an infrared sensor. The signal is continuously input to the controller 304.

When the visually impaired walking assistance device 100 is recognized (S503-Y), the visually impaired walking assistance device 100 determines that the visually impaired is ready to use the visually impaired walking assistance device 100, and the obstacle detecting unit 208 Start obstacle detection in step (S504).

In detail, the obstacle detecting unit 208 continuously transmits ultrasonic waves and maintains a reception standby state. When the reflected wave of the ultrasonic wave reflected by the obstacle is received, the received value of the reflected wave is transmitted to the controller 304, and the controller 304 measures the distance between the obstacle and the visually impaired walking assistance device 100.

When there is an obstacle within a predetermined distance by using the distance value measured by the controller 304, the visually impaired person is notified by varying the period of vibration and / or alarm sound according to the distance between the obstacle and the visually impaired person (S505).

As an example, when there is an obstacle in the first section closer than the first threshold distance, vibration and / or alarm sounds are continuously generated to notify the visually impaired person, and the second is farther than the first threshold distance and closer than the second threshold distance. If there is an obstacle in the section, the period of the vibration and / or alarm sound is shortened to inform the visually impaired, and if there is an obstacle in the third section farther than the second threshold distance, the period of the vibration and / or alarm sound is relative It can be lengthened to inform blind people. In this case, the first threshold distance is smaller than the second threshold threshold distance.

On the other hand, in the above-described example, the description is divided into three sections, but is not limited thereto. The first and second threshold distances may be changed, and the period of the vibration and / or the alarm sound may also be changed. As an example, the period of the first threshold distance, the second threshold distance, the vibration and / or the alarm sound may be input by the guardian at the input unit 404 of the server 400 and transmitted to the visually impaired walking assistance device 100. The memory 305 may be stored in the memory 305.

If the hand of the visually impaired is not recognized by the departure and emergency situation detecting unit 201 provided in the handle part of the visually impaired walking assistance device 100 (S503-N), since a signal is not input to the controller 304, It is determined that the visually impaired walking assistance device 100 is separated from the visually impaired person. Accordingly, the controller 304 may transmit a signal for generating the alarm sound to the alarm sound / voice / vibration output unit 307, the alarm sound / voice / vibration output unit 307 generates an alarm sound, Time measurement starts from the time when the alarm sounds (S506). Of course, the alarm sound / voice / vibration output unit 307 may generate not only the alarm sound but also any one of voice and vibration.

The departure and emergency situation detection unit 201 re-confirms whether the visually impaired walking assistance device 100 is recognized after a predetermined time elapses (S507).

In this case, when the visually impaired person catches the visually impaired walking assistance device 100 again (S507-Y), a signal is input from the departure and emergency situation detection unit 201 to the control unit 304 to stop the alarm sound generation ( S508).

On the contrary, if the visually impaired person does not catch the visually impaired walking assistance device 100 again after a predetermined time has passed (S507-N), the controller 304 determines that it is an emergency and the GPS receiver 302 is determined. The control unit 304 obtains the position value of the walking assistance apparatus 100 received through the display, and the position / path searching unit 306 grasps the current position information (S509).

The visually impaired walking assistance device 100 is an emergency contact stored in the memory 305 and transmits a message informing of the current location information and the emergency situation identified by the location / path search unit 306 through the mobile communication module 301. The server transmits to a server (not shown) of an external management authority (S510). In this case, a part of the map to which the current location is mapped may also be transmitted in the form of a photo file together with a message indicating the current location information and the emergency situation. As an example, a server (not shown) of an external management institution may include a server disposed at a home of a guardian of a visually impaired person, a server disposed at a disabled protection institution, a server disposed at 119 or a police station, or the like.

5B is a flowchart illustrating an operation of providing location information in a visually impaired walking assistance device according to an exemplary embodiment.

Referring to FIG. 5B, the visually impaired walking assistance device 100 transmits a map data request message to a server (S511). Such a message may include the current location coordinates received from the GPS receiver 302.

Thereafter, when the requested map data is received from the server 400, the memory 305 stores the received map data (S512).

The visually impaired walking assistance device 100 guides the current location and the path by voice using the received map data and the current location coordinates of the visually impaired walking assistance device 100 received from the GPS receiver 302 (S513).

6 is a flowchart illustrating an operation of a server for a visually impaired walking assistance device according to the present invention.

Referring to FIG. 6, the server 400 reads a message received from the visually impaired walking assistance device 100 through the mobile communication module 301 from the message reader 302 as to what kind of message (S601). . Here, the message includes a current position coordinate value of the walking assistance device 100.

As a result of reading by the message reading unit 302, when the received message is a map request message (S602-Y), the map processing unit 405 of the server 400 maps the current position coordinates of the visually impaired to the entire map ( S603).

In addition, after checking the route from the map processing unit 405 of the server 400 to the destination, the surrounding map related to the route is cut out (S604).

The cut map is transmitted to the visually impaired walking assistance device 100 through the mobile communication module 301 (S605).

As a result of reading by the message reading unit 302, if the received message is not a map request message (S602-N) and is read as an emergency contact request message (S606-Y), the emergency contact of the visually impaired in the database 403 To transmit to the visually impaired walking assistance device 100 (S607).

FIG. 7 is a view for explaining a principle of detecting a stair in an obstacle detecting unit of a visually impaired walking assistance device. By using a signal (for example, an ultrasonic wave) reflected by the obstacle detecting unit 208 moving up and down by the motor 303 of the internal device 204 mounted on the visually impaired walking assistance device 100, the obstacle and the visual The distance between the disabled walking assistance apparatus 100 may be measured. Accordingly, the visually impaired walking assistance device 100 is a time when the obstacle detection unit 208 moves the walking assistance device lower part 203 up and down, the time when the distance between the obstacle and the visually impaired walking assistance device 100 changes and / Alternatively, when the location is determined, the obstacle may be recognized as a stair and the user may be notified that the stair is voice.

In detail, the obstacle detecting unit 208 moves the extended walking assisting device lower end 203 in the vertical direction when the walking assisting device lower end 203 is perpendicular to the ground by the walking obstacle element detecting unit 206. In addition, it can detect stairs among obstacles.

On the other hand, the visually impaired gait aid device 100 is in the vertical direction of the ultrasonic sensor of the obstacle detection unit 208 when the lower end 203 of the gait assist device is perpendicular to the ground by the gait obstacle element detector 206. By adjusting the angle, the degree of inclination of the ground can be detected.

Specifically, the visually impaired walking assistance device 100 gradually changes the angle in the vertical direction of the ultrasonic sensor of the obstacle detecting unit 208 from a small value to a large value, and the reflected wave of the ultrasonic wave is returned to the obstacle detecting unit 208. Analyze your return time. Accordingly, the visually impaired walking assistance device 100 may detect the degree of inclination of the ground.

8 is a view showing an example of using the present invention to avoid walking obstacles present on the pedestrian path and obstacles present in different locations.

Referring to FIG. 8, the visually impaired person may walk by using the visually impaired gait assisting device 100.

If, at least one of the pedestrian obstacle element 804, the height of the difference between the bottom of the puddle or the pedestrian road, the obstacle 803, the stairs, and the slope present at the bottom of the pedestrian path is confirmed using the pedestrian obstacle element detection unit 206 This is possible.

Specifically, by pressing the folding gait barrier element detection unit button 207 of the visually impaired gait aid 100 to protrude the gait barrier element detection unit 206 from the lower portion of the gait assist device 203, to assist the visually impaired gait It can be confirmed by the tactile sense (or built-in ultrasonic sensor) transmitted from the device 100 to the visually impaired.

In addition, obstacles that are difficult to grasp at the lower end 203, such as a wall or a pillar 802 or an obstacle 801 floating in the air, may be used by the obstacle detecting unit 208 built in the walking assistance device 100. You can check it. When the obstacles 801 and 802 are detected, the visually impaired person is notified by vibration and / or an alarm sound, thereby effectively avoiding the obstacles when the visually impaired walk.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of illustration, It goes without saying that the example can be variously changed. Therefore, various modifications may be made without departing from the spirit of the invention as claimed in the claims, and such modifications should not be individually understood from the technical spirit or outlook of the invention.

100: visual aid device for walking blind 200: mobile communication network
201: Departure and emergency situation detection unit 202: Walking assistance device upper portion
203: lower part of the walking aid device 204: internal device
205: location information confirmation switch 206: walking obstacle element detection unit
207: Foldable walking obstacle element detection unit button 208: Obstacle detection unit
301: mobile communication module 302: GPS receiver
303: motor 304: control unit
305: memory 306: location / path search unit
307: alarm sound / voice / vibration output unit 400: server
401: mobile communication module 402: message reading unit
403: database 404: input unit
405: Map processing unit 1000: Visually impaired walking assistance system

Claims (12)

In the walking assistance device for the visually impaired, comprising a walking assistance device upper end and a walking assistance device lower end extending from the upper end of the walking assistance device at a predetermined angle,
A GPS receiver for receiving location information of the blind;
A mobile communication module communicating with an external server;
An obstacle detecting unit detecting an obstacle using an ultrasonic sensor and measuring a distance to the obstacle;
An output unit configured to output at least one of an alarm sound, a voice, and vibration to the visually impaired when the obstacle is detected;
A controller configured to control the output unit to differently output at least one of the alarm sound, the voice, and the vibration to the visually impaired according to the measured distance to the obstacle; And
Departure and emergency situation detection unit for detecting whether the walk assistance device is separated from the visually impaired; Gait assistance device for the visually impaired comprising a.
delete The method of claim 1,
The control unit,
If it is determined that the walking assistance device is separated from the visually impaired, the mobile communication module is controlled to transmit the location information and the pre-stored emergency message to a server of an external management authority by using a pre-stored emergency contact. Gait aids for the visually impaired. The method of claim 1,
The mobile communication module receives at least one of map data, emergency contact information, and emergency message from the external server,
And a memory for storing at least one of the map data, the emergency contact, and the emergency message. The method of claim 4, wherein
Further comprising: a location information confirmation switch for confirming the location information of the visually impaired;
The controller, when the confirmation of the location information is requested, maps the location information received by the GPS receiver with the map data stored in the memory, and uses the information included in the map data to map the current location of the visually impaired. Walking assistance device for the visually impaired, characterized in that for controlling the output unit to output a voice. The method of claim 1,
The walking assistance device for the visually impaired, further comprising: a walking obstacle element detecting unit configured to make the lower portion of the walking assistance device perpendicular to the ground. The method of claim 6,
The gait obstacle element detection unit,
When pressing a button provided in one area of the gait assisting device for the visually impaired, a gait assisting device for the visually impaired, characterized in that exposed inside the lower end of the gait assisting device to one end of the gait assisting device. The method of claim 6,
The obstacle detecting unit,
When the lower part of the walking aid device is perpendicular to the ground by the walking obstacle element detector, the visually impaired part of the obstacle is detected by moving the lower part of the extended walking aid device upward and downward. Walking aid for The method of claim 6,
The obstacle detecting unit,
When the lower part of the walking assistance device is perpendicular to the ground by the walking obstacle element detection unit, by adjusting the angle of the vertical direction of the ultrasonic sensor, it detects the degree of inclination of the ground Walking aids. An external server for communicating with a walking aid device for the visually impaired,
A database for storing at least one of map data, emergency contact information, emergency message, visually impaired information, and guardian information;
A mobile communication module configured to receive a message and current location information of the visually impaired person from the walking assistance device;
A message reader for reading the type of the received message; And
If the received message is a map request message, a map processing unit for extracting a partial map of the entire map based on the received current location information;
The mobile communication module,
When the received message is a map request message, the extracted map is transmitted to the walking assistance device,
And when the received message is an emergency contact request message, transmitting the stored emergency contact information to the walking assistance device.
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