KR101325738B1 - Portable device for sensing obstacle - Google Patents

Abstract

A portable sensing device for detecting an obstacle is disclosed, and the portable sensing device for detecting an obstacle includes: a sensor unit including one or more sensors for detecting an obstacle located in front of a user; A warning output unit for informing the user of information about the obstacle detected by the sensor unit by sound or vibration; And a main controller for controlling the sensor unit and the warning output unit, wherein the main controller classifies the user's behavior pattern based on data collected through a 3-axis acceleration sensor, and classifies the user's behavior pattern according to the classified behavior pattern. Adjust the sensing period of sensor part.

Description

Portable sensing device for obstacle detection {PORTABLE DEVICE FOR SENSING OBSTACLE}

The present invention relates to a portable sensing device for obstacle detection.

As the national income level improves, welfare for the handicapped, who are marginalized as a socially underprivileged, is becoming an important issue. Accordingly, devices for assisting the disabled have been developed.

The visually impaired occupy 10% of the total handicapped and there are many difficulties when walking alone. There are largely electronic travel aids (ETA) and robotic travel aids (RTA) as a system for assisting the blind walking alone. Among these, the RTA can assist the visually impaired gait only in the space where the robot can move and has a disadvantage of being expensive.

ETA is a technology using an electric or electronic control device, mainly implemented in the form of a wearable terminal. Ultrasonic sensors, laser sensors, and RFID (radio frequency identification) are used to convey information about front obstacles to the visually impaired through sound or vibration to promote convenience in walking.

Republic of Korea Patent No. 10-1071365 (name of the invention: the distance and position measurement system and control method for the visually impaired) three ultrasonic sensors for measuring the front, left, right to detect a person and objects and measure the distance There was a technology, and the Republic of Korea Patent Publication No. 10-2004-0063345 (name of the invention: a method for guiding the visually impaired using an ultrasonic sensor and a mobile communication terminal for implementing the same), there was a guide device for the visually impaired using an ultrasonic sensor. .

However, the detection range was limited in detecting surrounding obstacles. In addition, additional training was required to use the device because the user had to interpret and use the information delivered according to the rules defined in the device. In addition, whether the power consumption is an important feature of the nature of the device to be used while carrying a conventional device is difficult to effectively use the power because it uses all the sensors to detect obstacles.

The present invention has been created to solve the problems described above, the problem to be solved by the present invention is to detect the obstacle in accordance with the data according to the user's usage habits, and the detection period of the ultrasonic sensor according to the user's behavior pattern The present invention provides an obstacle sensing device and a sensing period adjusting method for controlling the sensing period.

As a technical means for achieving the above technical problem, the portable sensing device for detecting an obstacle according to the first aspect of the present application, a sensor unit including one or more sensors for detecting an obstacle located in front of the user, the sensor unit And a main control unit for controlling the sensor unit and the warning output unit, and a warning output unit for notifying the user of the information about the obstacle detected through sound or vibration, wherein the main control unit collects data through a 3-axis acceleration sensor. Based on the classification of the user's behavior pattern, it is possible to adjust the sensing period of the sensor unit according to the classified behavior pattern.

In addition, the method of adjusting the sensing period of the sensor included in the portable sensing device for detecting the obstacle according to the second aspect of the present invention, (a) collecting the vertical and horizontal component data of the three-axis acceleration sensor, (b) Classifying a user's behavior pattern based on the collected data, and (c) adjusting a sensing period of the sensor unit based on the classified user's behavior pattern.

According to the present invention, the front obstacle information of the user can be accurately recognized through the sensor unit.

In addition, by alerting the user with sound or vibration through the warning output unit, the user may be assisted with walking.

In addition, by adjusting the detection period through the main control unit separate from the sensor unit, it is possible to improve the processing speed.

According to the present invention, by collecting the data of the three-axis acceleration sensor according to the user's usage habit through learning, it can be used according to the user's usage habits.

In addition, by adjusting the sensing period of the sensor unit according to the user's behavior pattern, unnecessary power consumption can be reduced.

1 is a schematic conceptual diagram of a portable sensing device for sensing an obstacle according to an embodiment of the present invention.
2 is a view showing a state in which a portable sensing device for detecting an obstacle according to an embodiment of the present invention.
3 is a diagram illustrating a sensing distance and an angle of a portable sensing device for detecting an obstacle according to an embodiment of the present invention.
4 is a flowchart illustrating a sensing period adjusting method of a sensor included in a portable sensing device for detecting an obstacle according to an exemplary embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. It should be understood, however, that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, the same reference numbers are used throughout the specification to refer to the same or like parts.

Throughout this specification, when a part is referred to as being "connected" to another part, it is not limited to a case where it is "directly connected" but also includes the case where it is "electrically connected" do.

1 is a schematic conceptual diagram of a portable sensing device for sensing an obstacle according to an embodiment of the present invention.

The portable sensing device 100 for detecting an obstacle according to an exemplary embodiment of the present invention includes a three-axis acceleration sensor 10, a main controller 20, a sensor unit 30, and a warning output unit 40. .

The 3-axis acceleration sensor 10 measures the gravity data acting on the 3-axis acceleration sensor with respect to the x, y, and z axis directions.

The main control unit 20 controls the sensor unit 30 and the warning output unit 40. In addition, based on the data collected through the three-axis acceleration sensor 10, classify the user's behavior pattern, and adjusts the detection cycle of the sensor unit 30 according to the classified behavior pattern. The main controller 20 may use the Zigbee protocol and use a portable terminal that can be connected to the sensor unit 30 using USB.

The sensor unit 30 includes one or more sensors for detecting an obstacle located in front of the user. For example, the sensor unit 30 may include an ultrasonic sensor or a cam for photographing an obstacle in front of the sensor unit 30. Also, for example, the sensor unit 30 may be arranged in three rows and two columns in the portable sensing device 100 for obstacle detection. For example, the ultrasonic sensor of the sensor unit 30 has a detection angle of 18 degrees to 20 degrees, and a detection distance of at least 20 cm to a maximum of 600 m, so that the user may detect the detection range and the detection based on the detection angle and the detection distance of the ultrasonic sensor. It can be arranged in three rows and two columns to adjust the height and the sensing distance.

The detection angle of a basic ultrasonic sensor is 18 degrees to 20 degrees, the sensing distance is minimum 20cm to maximum 600m, and it takes 0.06 seconds to detect an obstacle. For example, even though six ultrasonic sensors detect obstacles using round-robin scheduling, the forward obstacles may be detected within 0.36 seconds.

The warning output unit 40 informs the user of information about the obstacle detected by the sensor unit 30 by sound or vibration. The warning output unit 40 may notify the user of the front obstacle information through a speaker or earphone through a sound. The pattern of sound or the change of sound can indicate the danger of the obstacle ahead. In addition, if it is difficult to transmit obstacle information by sound only due to ambient noise or environmental constraints, the user may be notified of the information by vibration.

The configuration of the main control unit 20 will be described later with reference to the drawings.

Referring to FIG. 1, the main controller 20 includes a data collector 21, a data classifier 22, a sensor controller 23, and an output controller 24.

The data collector 21 collects data according to a user's behavior pattern through the 3-axis acceleration sensor 10. For example, by collecting the gravity data acting on the three-axis acceleration sensor 10 according to the unique information of the user through learning, and calculates the vertical and horizontal components of the three-axis acceleration sensor 10 by using the collected gravity data do.

The reason for collecting data according to the unique information of the user through learning is because the position or inclination of the 3-axis acceleration sensor 10 varies according to the user's usage habit. For example, the unique information of the user may be a user's usage habit, posture, physical characteristics, and the like. Therefore, if the position or inclination of the 3-axis acceleration sensor 10 is changed according to the unique information of the user, even if the same device is used, the obstacle information detected in front may be different for each user. Therefore, specialized data collection is needed for each user. Since the data according to the user's usage habit is difficult to recognize the exact behavioral pattern with only a single data, for example, 50 triaxial acceleration sensor 10 data is collected.

The collected data of the three-axis acceleration sensor 10 is primarily processed through a filter to which the following equation is applied.

The acceleration vector in the gravity direction of the 3-axis acceleration sensor 10 may be calculated through the following equation based on the primarily processed value.

을 벡터로 사영을 통해 3축 가속도 센서(10)의 수직 성분을 구할 수 있다. 3축 가속도 센서(10)의 수직 성분은 x, y, 및 z축 방향에 작용하는 중력 가속도의 평균값

을 하기의 수학식에 대입하여 산출할 수 있다.

The vertical component of the 3-axis acceleration sensor 10 can be obtained by projecting the vector as a vector. The vertical component of the three-axis acceleration sensor 10 is an average value of gravitational acceleration acting in the x, y, and z axis directions.

It can be calculated by substituting the following equation.

In addition, the vector of the degree of movement of the three-axis acceleration sensor 10 based on the first processed value can be calculated through the following equation.

벡터에서 3축 가속도 센서(10)의 수직 성분 벡터를 뺀 벡터가 3축 가속도 센서(10)의 수평 성분이 된다. 3축 가속도 센서(10)의 수평 성분은 x, y, 및 z축 방향에 대해 3축 가속도 센서가 움직인 거리

를 하기의 수학식을 통해 산출할 수 있다.

The vector obtained by subtracting the vertical component vector of the 3-axis acceleration sensor 10 from the vector becomes the horizontal component of the 3-axis acceleration sensor 10. The horizontal component of the 3-axis acceleration sensor 10 is the distance traveled by the 3-axis acceleration sensor with respect to the x, y, and z axis directions.

It can be calculated through the following equation.

The data classifier 22 classifies the user's behavior pattern based on the vertical and horizontal component data of the 3-axis acceleration sensor 10 calculated based on the above-described equations. The behavior pattern of the user is classified into one of an operation stop state, a state moving at a first speed, and a state moving at a second speed. At this time, the second speed is faster than the first speed. For example, the user's state may be divided into a state difference according to speed such as an operation stop state, a slow walking state, and a fast walking state.

The sensor controller 23 controls the sensing period of the sensor unit 30 based on the behavior pattern of the user classified by the data classifier 22. The sensor controller 23 sets the sensing period of the sensor unit 30 as the first sensing period for the operation stop state, and sets the sensing period of the sensor unit 30 as the second sensing period for the state moving at the first speed. Then, the sensing period of the sensor unit 30 is set as the third sensing period for the state moving at the second speed. Here, the first sensing period may be smaller than the second sensing period, and the second sensing period may be smaller than the third sensing period. For example, the state in which the operation of the sensor unit 30 is stopped by the first sensing period, the state in which the second sensing period is sensed by half of the maximum sensing period of the sensor unit 30, and the third sensing period are detected by the sensor unit 30. It can be set to a state of sensing at the maximum detection period of (30).

In exemplary embodiments, when a user's behavior pattern is in an inactive state, information about an obstacle that does not move becomes meaningless. In the case of a moving obstacle, the user does not need to avoid it. Therefore, when the operation is in the stopped state, the operation of the sensor unit 30 is stopped and power consumption can be reduced.

In addition, in the state of moving at the first speed, even if the sensing period of the sensor unit 30 is somewhat low, since the moving speed is slow, the problem of avoiding obstacles is determined even if the speed for determining the information necessary for avoiding obstacles and slowing it to inform the user. There is no. Accordingly, when moving at the first speed, power consumption may be reduced by reducing the sensing period of the sensor unit 30 to half of the maximum sensing period.

In the state of moving at the second speed, the sensing period of the sensor unit 30 may be set to the maximum sensing period to support safe single walking.

On the other hand, the user's behavior pattern can be classified into three or more states according to the designer's selection, and accordingly, the sensing period of the sensor can be controlled to have more various states.

The output control unit 24 receives the obstacle information detected by the sensor unit 30 and controls the warning output unit 40.

 2 is a view showing a state in which a portable sensing device for detecting an obstacle according to an embodiment of the present invention.

Referring to FIG. 2, it may be confirmed that the user wears the portable sensing device 100 for detecting the aforementioned obstacle. For example, the ultrasonic sensor may be attached to the shoulder strap of the backpack and disposed to face the front, and the main controller may be stored in the backpack, thereby improving portability.

3 is a diagram illustrating a sensing distance and an angle of a portable sensing device for detecting an obstacle according to an embodiment of the present invention.

Referring to FIG. 3, a red line represents a sensing angle and a sensing distance for sensing left and right axial directions. The red line detects the elliptical part of the left and right dotted lines inside the circle representing the sensing plane in the center. According to the red line, obstacles can be detected within 1.5m within 3m width of the left and right 100 degrees.

In addition, the blue line indicates a sensing angle and a sensing distance for detecting the vertical direction of the front and rear. The blue line detects the elliptical part of the upper and lower dotted lines inside the circle representing the sensing plane. According to the blue line, it can be detected that obstacles up to 2.25m in height can be detected within 70 degrees up and down. For example, the sensor unit 30 may be arranged in three rows and two columns to secure the sensing angle, the sensing distance, and the detected obstacle height.

On the other hand, the content to be described later relates to a method for adjusting the sensing period of the sensor included in the portable sensing device 100 for obstacle detection, and like reference numerals for like parts throughout the specification, description of the overlapping parts Briefly or omitted.

4 is a flowchart illustrating a sensing period adjusting method of a sensor included in a portable sensing device for detecting an obstacle according to an exemplary embodiment of the present invention.

First, gravity information acting on x, y, and z-axis directions of a 3-axis acceleration sensor according to a user's usage habit is collected (S211). Gravity data may be collected through a change in position and a change in inclination of the 3-axis acceleration sensor 10 according to a user's usage habit.

을 전술한 수학식 3에 대입하여 산출할 수 있다.Next, the vertical component and the horizontal component of the 3-axis acceleration sensor 10 are calculated based on the collected gravity information (S212). The vertical component of the three-axis acceleration sensor 10 is an average value of gravitational acceleration acting in the x, y, and z axis directions.

Can be calculated by substituting Equation 3 as described above.

는 전술한 수학식 2를 통해 산출할 수 있다.here,

Can be calculated through the above equation (2).

를 전술한 수학식 5에 대입하여 산출할 수 있다.In addition, the horizontal component of the three-axis acceleration sensor 10 is the distance that the three-axis acceleration sensor 10 moved relative to the x, y, and z-axis direction

Can be calculated by substituting Equation 5 as described above.

는 전술한 수학식 4를 통해 산출할 수 있다.here,

Can be calculated through the above equation (4).

Next, the calculated vertical and horizontal components are classified through a decision tree classifier (S213). As an example, the decision tree classification may use a C4.5 decision tree classification. The classified data is used as data in the step S210 of collecting vertical and horizontal component data of the three-axis acceleration sensor through learning to be described later.

The above-described part is a preprocessing process for adjusting the sensing period of the sensor included in the portable sensing device for obstacle detection prior to using the portable sensing device 100 for obstacle detection. The position or inclination of the sensor unit 30 varies depending on the user, thereby preventing a difference from being detected in front of the obstacle and transmitting accurate obstacle information to the user.

Referring to FIG. 4, the sensing period adjusting method of the sensor included in the portable sensing device for obstacle detection first collects vertical and horizontal component data of the 3-axis acceleration sensor through learning (S210). The vertical and horizontal component data of the 3-axis acceleration sensor 10 uses data obtained in the above-described preprocessing process.

Next, the user's behavior pattern is classified through the collected data (S220). The user's behavior pattern is classified into one of an operation stop state, a state moving at a first speed, and a state moving at a second speed. Also, the second speed may be faster than the first speed.

Next, the sensing period of the sensor unit 30 is adjusted based on the classified user's behavior pattern (S230). For example, when a user's behavior pattern is classified as an operation stop state, the sensing period of the sensor unit 30 may be adjusted to a state in which the sensor unit 30 is turned off. When the behavior pattern of the user moves at the first speed, the sensing period of the sensor unit 30 is adjusted to a sensing period of half of the maximum sensing period of the sensor unit 30. In addition, when the behavior pattern of the user moves at the second speed, the sensing period of the sensor unit 30 is adjusted to the maximum sensing period of the sensor unit 30 to ensure safe walking of the user.

It will be understood by those of ordinary skill in the art that the foregoing description of the embodiments is for illustrative purposes and that those skilled in the art can easily modify the invention without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

100: portable sensing device for obstacle detection
10: 3-axis acceleration sensor 20: main control
21: data collection unit 22: data classification unit
23: sensor control unit 24: output control unit
30: sensor unit 40: warning output unit

Claims (14)

In the portable sensing device for obstacle detection,
A sensor unit including one or more sensors for detecting an obstacle located in front of a user;
A warning output unit notifying the user of information about the obstacle detected by the sensor unit by sound or vibration; And
A main control unit for controlling the sensor unit and the warning output unit,
The main control unit
A portable sensing device for detecting an obstacle based on data collected by a 3-axis acceleration sensor, classifies the user's behavior pattern, and adjusts the sensing period of the sensor unit according to the classified behavior pattern. The method of claim 1,
The portable sensing device for detecting the obstacle
The triaxial accelerometer measuring the gravitational data acting in the x, y and z axis directions,
The main control unit
A data collector configured to collect data according to the user's behavior pattern through a 3-axis acceleration sensor;
A data classifying unit classifying a user's behavior pattern by the collected data;
A sensor controller to control a sensing period of the sensor unit based on the classified user behavior patterns; And
Portable sensing device for obstacle detection comprising an output control unit for controlling the warning output unit receives the obstacle information detected by the sensor unit. The method of claim 1,
The sensor unit is a portable sensing device for detecting an obstacle including an ultrasonic sensor or a cam. The method of claim 2,
The data collector collects gravity data acting on the three-axis acceleration sensor according to the user's unique information through learning, and detects obstacles for calculating the vertical and horizontal components of the three-axis acceleration sensor using the collected gravity data. Portable sensing device for. 5. The method of claim 4,
The vertical component of the three-axis acceleration sensor is an average value of gravitational acceleration acting in the x, y, and z axis directions.

Portable sensing device for obstacle detection calculated by substituting the following equation.

(At this time,

The

Wow

Dot product of,

Is the vertical component of the 3-axis acceleration sensor,

Is the distance traveled by the 3-axis acceleration sensor,

Is the mean of the acceleration of gravity) 5. The method of claim 4,
The horizontal component of the 3-axis acceleration sensor is a distance moved by the 3-axis acceleration sensor with respect to x, y, and z axis directions.

Portable sensing device for obstacle detection calculated by substituting the following equation.

(At this time,

Is the horizontal component of the 3-axis acceleration sensor,

The

Wow

Dot product of,

Is the vertical component of the 3-axis acceleration sensor,

Is the distance traveled by the 3-axis acceleration sensor,

Is the mean of the acceleration of gravity) The method of claim 2,
The data classifying unit classifies a user's behavior pattern into one of an operation stop state, a state moving at a first speed, and a state moving at a second speed, wherein the second speed is faster than the first speed. Portable sensing device for. 8. The method of claim 7,
The sensor controller sets a sensing period of the sensor unit as a first sensing period with respect to the classified operation stop state, sets a sensing period of the sensor unit as a second sensing period with respect to a state of moving at the first speed. The sensing period of the sensor unit is set as a third sensing period for a state of moving at two speeds, wherein the first sensing period is smaller than the second sensing period, and the second sensing period is portable sensing for detecting an obstacle smaller than the third sensing period. Device. In the sensing period adjustment method of the sensor included in the portable sensing device for detecting the obstacle,
(a) collecting vertical and horizontal component data of the 3-axis acceleration sensor through learning;
(b) classifying a user's behavior pattern based on the collected data; And
and (c) adjusting the sensing period of the sensor unit based on the classified user's behavior pattern. The method of claim 9,
The step (a)
Collecting gravity data acting on the 3-axis acceleration sensor according to a user's usage habit;
Calculating vertical and horizontal components of a three-axis acceleration sensor based on the collected gravity data; And
And classifying the calculated vertical and horizontal components through a decision tree classifier. The method of claim 10,
And the gravity data is collected through a change in position and tilt of the 3-axis acceleration sensor according to a user's usage habit. The method of claim 10,
The vertical component of the three-axis acceleration sensor is an average value of gravitational acceleration acting in the x, y, and z axis directions.

Method of adjusting the detection period of the sensor included in the portable sensing device for obstacle detection calculated by substituting the following equation.

(At this time,

The

Wow

Dot product of,

Is the vertical component of the 3-axis acceleration sensor,

Is the distance traveled by the 3-axis acceleration sensor,

Is the mean of the acceleration of gravity) The method of claim 10,
The horizontal component of the 3-axis acceleration sensor is a distance moved by the 3-axis acceleration sensor with respect to x, y, and z axis directions.

Method of adjusting the detection period of the sensor included in the portable sensing device for obstacle detection calculated by substituting the following equation.

(At this time,

Is the horizontal component of the 3-axis acceleration sensor,

The

Wow

Dot product of,

Is the vertical component of the 3-axis acceleration sensor,

Is the distance traveled by the 3-axis acceleration sensor,

Is the mean of the acceleration of gravity) The method of claim 9,
Step (b) is classified into one of an operation stop state, a state moving at a first speed, and a state moving at a second speed, wherein the second speed is faster than the first speed. How to adjust the detection cycle of the sensor included in the device.

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