KR101661647B1 - Apparatus and method for guiding walking - Google Patents

Abstract

A walking guide apparatus and method are disclosed. The walking guide apparatus includes an extracting unit for extracting a striped pattern in which lines are arranged in parallel from an image and recognizing the extracted striped pattern as a crosswalk, and an extracting unit for extracting the striped pattern from the extracted image, And judging whether or not the current position is included in the crosswalk when it is determined that the vehicle has entered the crosswalk as a result of the determination, If it is determined that the crosswalk is out of the crosswalk, generates a first warning sound.

Description

[0001] APPARATUS AND METHOD FOR GUIDING WALKING [0002]

Embodiments of the present invention are directed to techniques for guiding crosswalks or obstacles to voice so that the blind can safely walk.

As visually impaired people are not seen, they will walk with their canes and guide dogs when they move.

Nevertheless, blind people can not detect obstacles in advance, and it is not easy to avoid obstacles, especially when using crosswalk.

For example, since the blind can not recognize the color change of the traffic light, it is difficult to grasp the possibility of entry into the crosswalk.

In addition, since the visually handicapped often escapes the pedestrian crossing, even if the pedestrian enters the crosswalk (for example, when the color of the traffic light is 'green') and enters the crosswalk for crossing, It is highly likely to be exposed to the risk of accident.

The present invention confirms whether or not the current position is included in the pedestrian crossing when it is judged that the pedestrian crosswalk has been entered based on the acquired image and the current position. If it is confirmed that the current position is out of the pedestrian crossing, Thereby inducing the pedestrian not to depart from the pedestrian crossing so that the visually impaired can safely cross the pedestrian crossing.

In the present invention, when the distance from the pedestrian crossing calculated on the basis of the acquired image is less than the set distance, by outputting a danger message together with the distance to the pedestrian crossing, a safe distance is secured in front of the pedestrian crossing To be able to wait.

The present invention determines whether or not entry into the crosswalk is possible based on the color of the signal light recognized from the acquired image and outputs the determined entry possibility to enable the crosswalk to be used at a secured time The purpose.

According to another aspect of the present invention, there is provided a method of calculating a distance to an object based on a signal reflected and received from an object, generating a warning sound when the calculated distance is less than a set approach distance, The purpose is to be able to walk safely.

The gait guide device for achieving the above object includes an extracting unit for extracting a striped pattern in which lines are arranged in parallel from an image and recognizing the extracted striped pattern as a crosswalk, A judging unit for judging whether or not to enter the crosswalk based on at least one of the current position and the current position of the crosswalk; and a determination unit for determining whether the current position is included in the crosswalk, And generates a first beep if the current position is determined to be out of the crosswalk.

According to another aspect of the present invention, there is provided a gait guide method comprising the steps of extracting a striped pattern in which lines are arranged in parallel from a video as a crosswalk, and based on at least one of a position in the video and a current position from which the striped pattern is extracted, Determining whether the current position is included in the crosswalk when it is determined that the vehicle has entered the crosswalk as a result of the determination; And generating a first warning sound when it is confirmed that the second warning sound is out of the first warning sound.

According to the embodiment of the present invention, when it is judged that the user has entered the crosswalk based on the acquired image and the current position, it is checked whether or not the current position is included in the crosswalk, and if it is determined that the current position is out of the crosswalk , A warning sound is generated to guide the blind so that the blind can safely cross the crosswalk.

According to the embodiment of the present invention, when the distance from the pedestrian crossing calculated based on the obtained image is less than the set stand-by distance, the danger message is output with the distance to the pedestrian crossing, So that the user can stand by.

According to the embodiment of the present invention, it is determined whether or not entry into the crosswalk is possible based on the color of the signal light recognized from the acquired image, and by outputting the determined entry possibility, the crosswalk .

According to an embodiment of the present invention, a distance to an object is calculated on the basis of a signal reflected from an object, and a warning sound is generated when the calculated distance is less than the set approach distance, Avoid collision, allowing you to walk safely.

1 is a view showing an example of the configuration of a network including a walking guide device according to an embodiment of the present invention.
2 is a view showing a configuration of a walking guide apparatus according to an embodiment of the present invention.
3 is a view for explaining an example of pedestrian crossing and signal lamp recognition in the walking guide apparatus according to an embodiment of the present invention.
4 is a view for explaining an example of a transverse guide in a walking guide apparatus according to an embodiment of the present invention.
5 is a view for explaining another example of a traverse guide in a walking guide apparatus according to an embodiment of the present invention.
6 is a view for explaining an example in which a walking guide device according to an embodiment of the present invention is applied.
7 is a flowchart illustrating a walking guide method according to an embodiment of the present invention.

Hereinafter, a walking guide apparatus and method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view showing an example of the configuration of a network including a walking guide device according to an embodiment of the present invention.

Referring to FIG. 1, a network 100 including a walking guide device according to an embodiment of the present invention may include a walking guide device 101 and a mobile terminal 103.

The walking guide apparatus 101 can be attached to a thing (e.g., a cane) to guide walking of a user (e.g., a blind person).

Specifically, the walking guide apparatus 101 periodically acquires an image, and when a crosswalk and a traffic light are extracted from the obtained image, it is possible to determine whether or not the vehicle can enter the crosswalk based on the color of the traffic light. The walking guide apparatus 101 outputs the determined entry possibility by voice so that the pedestrian crossing can be used at a secured time.

Further, on the basis of the acquired image, the walking guide apparatus 101 generates a first warning sound to recognize the danger when it is determined that the user has entered the crosswalk while the entrance to the crosswalk is impossible.

On the other hand, based on the acquired image, the walking guide apparatus 101 can guide the pedestrian so as not to depart from the pedestrian crossing when it is judged that the pedestrian crossing can enter the pedestrian crossing. Specifically, the walking guide apparatus 101 confirms whether or not the current position of the pedestrian crossing is included, and generates a first warning sound when it is confirmed that the current position is out of the pedestrian crossing, whereby the departure from the pedestrian crossing .

At this time, the walking guide apparatus 101 acquires the current position (for example, the relative position based on the pedestrian crossing) based on the position in the image or the form of the crosswalk from which the crosswalk is extracted, It is possible to confirm whether or not the current position of the pedestrian crossing is included. As another example, the walking guide apparatus 101 acquires a current position (e.g., GPS information as an absolute position) through, for example, a position sensor, and acquires map data acquired from a map server (not shown) The current position is matched with the current position to check whether the current position is included in the crosswalk.

The walking guide apparatus 101 generates a signal (e.g., an ultrasonic signal), and can calculate the distance to the object based on the signal reflected from the object. At this time, the walking guide device 101 generates a second warning sound when the calculated distance is less than the set approach distance, thereby avoiding the obstacle (e.g., a person, a building) and avoiding it, so that the walking guide device 101 can safely walk.

On the other hand, when the current position is obtained through the position sensor, the walking guide apparatus 101 provides the current position to the set mobile terminal 103, thereby moving the position where the walking guide apparatus 101 is stored to the mobile terminal 103 ).

The mobile terminal 103 receives and manages the current position of the walking guide device 101 from the walking guide device 101 so that the visually disabled person or the guardian can grasp the position where the walking guide device 101 is stored .

At this time, the mobile terminal 103 measures the distance to the walking guide apparatus 101 based on the current position of the walking guide apparatus 101, and outputs a loss warning message when the measured distance is equal to or larger than the set holding distance , So that the article to which the walking guide apparatus 101 is attached is not lost.

2 is a view showing a configuration of a walking guide apparatus according to an embodiment of the present invention.

2, a walking guide apparatus 200 according to an embodiment of the present invention includes an image obtaining unit 201, an extracting unit 203, a determining unit 205, a processor 207, a communication unit 209, And an output unit 211. The walking guide device 200 may further include a connecting portion 213 and a switch portion 215.

The image obtaining unit 201 may, for example, as a camera module, periodically acquire an image with respect to the ground or the front.

The extracting unit 203 may extract a striped pattern in which lines are arranged in parallel from the acquired image through the image obtaining unit 201 and recognize the extracted striped pattern as a crosswalk.

More specifically, the extracting unit 203 extracts a first line (for example, a black color line) having a distance from the image and a second line (a white color line) having a distance from the image, The pattern can be extracted. In addition, the stripe pattern may include lines of relatively small length as listed at the top, and may include lines of relatively long length as listed at the bottom. That is, the length of the lines in the crossing sidewall may be the same, but as the crosswalk from the image, the length of the lines in the extracted stripe pattern may differ depending on the position or angle at which the image is acquired.

The extraction unit 203 further extracts a polygon from the image, and when the extracted polygon is matched with a rectangle (e.g., a rectangle), the extraction unit 203 can recognize the polygon as a traffic light. At this time, the extracting unit 203 may further extract at least one of the number and the crossing area associated with the traffic lights from the image.

In extracting the bicycle crossing area, the extracting unit 203 may extract, from the image, an area adjacent to the stripe pattern and including a bicycle image as the bicycle crossing area.

The determination unit 205 can determine whether the user enters the crosswalk based on at least one of the position in the image, the shape of the stripe pattern, and the current position from which the stripe pattern is extracted.

Specifically, the determination unit 205 determines, based on a change in the position where the striped pattern is extracted or a change in the length ratio between the lines in the striped pattern extracted from the continuously acquired image, It is possible to judge whether or not the vehicle enters the crosswalk.

The determination unit 205 may acquire a current position (e.g., a relative position based on a pedestrian crossing) based on the shape of the in-video position or the stripe pattern extracted from the stripe pattern, (For example, GPS information as an absolute position) and determine whether to enter the crosswalk based on the acquired current position.

The processor 207 calculates the distance to the pedestrian crossing when it is determined that the pedestrian does not enter the pedestrian crossing as a result of the determination, and when the calculated distance is less than the set waiting distance, , And outputs a danger message (or a stop command message), thereby allowing the driver to wait for entry from the safety distance line to the pedestrian crossing.

In addition, when waiting for entry into the crosswalk (i.e., when it is determined that the crosswalk has not been entered), the processor 207 causes the extracting unit 203 to extract the color of the crosswalk It is possible to determine whether or not entry is possible, and output the determined entry possibility. Specifically, the processor 207 can identify the color of a traffic light based on, for example, Open Source Computer Vision Library (OpenCV) technology, and if the identified color is 'red' It can be determined that it is impossible, and a message of incapability of entering the pedestrian crossing can be outputted. In addition, when the identified color is 'green', the processor 207 may determine that entry into the pedestrian crossing is possible, and output an entertable message to the pedestrian crossing.

At this time, when the number associated with the traffic light is further extracted from the image, the processor 207 may determine whether or not entry into the pedestrian crossing is possible based on the extracted number. For example, even when the color of the traffic light is identified as 'green', the processor 207 determines that entry into the pedestrian crossing is possible if the extracted number exceeds a set time (for example, 10 seconds) If the extracted number is less than the set time, it can be determined that entry into the crosswalk is impossible.

If it is determined that the current position is included in the crosswalk, the processor 207 checks whether the current position is included in the crosswalk, and if the current position is determined to be out of the crosswalk (that is, The position is not included in the crosswalk), a first warning sound may be generated to induce the crosswalk not to come off. At this time, if the number associated with the traffic light is further extracted from the image, the processor 207 may output the extracted number to guide the traverse remaining time.

As another example, the processor 207 may set the area corresponding to the right side as the safe area with respect to the imaginary axis located at the center vertically with the line in the pedestrian crossing, It is possible to reduce the possibility of colliding with a person entering the crosswalk from the opposite direction by inducing the first warning sound to be practicable on the right side gait rule.

At this time, when the extraction unit 203 determines that the extracted bicycle crossing area is adjacent to the safe area, the processor 207 resets the safe area so as to maintain a predetermined interval with the bicycle crossing area, To ensure a safe distance from the bicycle.

On the other hand, when it is determined that the pedestrian has entered the pedestrian crossing and the color of the recognized traffic light is identified as 'red' by the extracting unit 203, the processor 207 determines whether the current position is included in the pedestrian crossing Irrespective of whether the first warning sound is generated or not. At this time, the processor 207 generates a warning sound (or a danger message regarding the impossibility of traversal) different from the warning sound generated when the pedestrian departs from the pedestrian crossing, thereby enabling a more intuitive understanding of the dangerous situation.

When receiving the signal reflected from the object through the communication unit 209, the processor 207 calculates the distance to the object based on the received signal. If the calculated distance is less than the set approach distance , Thereby generating a second warning sound, thereby avoiding collision with the obstacle and allowing the user to walk safely.

Here, the processor 207 may adjust the set approach distance differently depending on whether or not the user enters the crosswalk. For example, when entering the pedestrian crossing, the processor 207 can set the approach distance to be smaller than when the pedestrian does not enter the pedestrian crossing, thereby preventing the person around the crossing pedestrian from being recognized as an obstacle.

The processor 207 may output a voice through the output unit 211, but is not limited thereto, such as a warning sound, a message (e.g., a message related to risk, possibility of entry into a crosswalk, numbers associated with a traffic light,

The communication unit 209 can periodically generate a signal (e.g., an ultrasonic signal) and can receive a signal reflected from the object.

In addition, when the current position is obtained through the position sensor, the communication unit 209 provides the current position to the set mobile terminal so that the position where the walking guide device 200 is stored can be grasped by the mobile terminal.

The output unit 211 may be, for example, a speaker, and may output a warning sound, a message, or the like by voice under the control of the processor 207. [

The connection portion 213 can be attached to and detached from a thing (e.g., a cane).

The switch unit 215 allows the user to select the use of the walking guide apparatus 200 by controlling the power source for supplying the battery according to a user's request. Here, the switch unit 215 may be located at a grip on the object to which the walking guide device 200 is attached.

3 is a view for explaining an example of pedestrian crossing and signal lamp recognition in the walking guide apparatus according to an embodiment of the present invention.

Referring to FIG. 3, the walking guide apparatus can extract a striped pattern in which lines are arranged in parallel from the acquired image, and recognize the extracted striped pattern as a crosswalk. Specifically, the walking guide device extracts a stripe pattern in which black lines 301 having a spacing distance from the acquired image and white lines 303 having a spacing distance are alternately arranged, and extracts the extracted stripe pattern as a crosswalk Can be recognized.

The walking guide apparatus further extracts a polygon from the acquired image, and when the extracted polygon is matched with a rectangle, the polygon can be recognized as a traffic light. For example, when the polygon 305 is matched with a rectangle, the walking guide device may extract the polygon 305 from the acquired image, recognize the polygon 305 as a traffic light, and identify the color of the traffic light. At this time, when the partial area 307 in the polygon 305 is divided into 'red', the color of the traffic light can be identified as' red ', and the partial area 309 in the polygon 305' Green ', the color of the traffic light can be identified as' green'.

4 is a view for explaining an example of a transverse guide in a walking guide apparatus according to an embodiment of the present invention.

Referring to FIG. 4, the walking guide apparatus recognizes the pedestrian crossing from the acquired image, and can determine whether or not the pedestrian crossing enters the pedestrian crossing based on the image and the current position. When it is determined that the pedestrian guide device has entered the pedestrian crossing, it is checked whether the current position is included in the pedestrian crossing, and when the current position is confirmed to be out of the pedestrian crossing, a warning sound is generated, Can be prevented.

As another example, if it is determined that the pedestrian guide apparatus has entered the crosswalk, it is checked whether the current position is included in the safe area in the pedestrian crossing, and if it is determined that the current position is outside the safe area in the pedestrian crossing , A warning sound is generated so that the user can walk to the right on the pedestrian crossing.

At this time, the walking guide device can set the safety area in the crosswalk. More specifically, as shown in (a), the walking guide apparatus includes a region 403 corresponding to the right side with respect to a virtual axis 401 positioned at the center vertically to the line in the pedestrian crossing, . Further, the walking guide apparatus can set the area 407 including the arrow image 405 coinciding with the entry direction in the crosswalk as the safe area, as shown in (b).

5 is a view for explaining another example of a traverse guide in a walking guide apparatus according to an embodiment of the present invention.

5, the walking guide device extracts a striped pattern from the acquired image and recognizes the striped pattern as a crosswalk. If it is determined that the vehicle enters the crosswalk, it is checked whether the current position is included in the safe area in the crosswalk And if the current position is confirmed to be out of the safety zone in the crosswalk, a warning sound may be generated.

At this time, when the bicycle crossing area is extracted from the image, the walking guide device can confirm whether the extracted crossing bicycle area is adjacent to the safe area. The gait guide device may reset the safety zone so as to maintain a predetermined gap with the bicycle crossing zone when it is determined that the bicycle crossing zone is adjacent to the safety zone.

For example, the walking guide apparatus can extract, as the bicycle crossing area 501, an area adjacent to the stripe pattern and including the bicycle image from the image, and the bicycle crossing area 501 is divided into the safe area 503 Narrowly reconfigures the safe area 503 to maintain the set distance 505 with the bicycle crossing area 501 so that it can be safely crossed without being affected by the crossing bicycle.

6 is a view for explaining an example in which a walking guide device according to an embodiment of the present invention is applied.

Referring to Fig. 6, the walking guide device 601 can be detachably attached to the wand, as shown in (a), but is not limited thereto. For example, as shown in (b), the walking guide device 601 may be positioned inside the wand and integrally formed with the wand.

As another example, as shown in (c), the walking stick device 601 may be attached or integrally formed with a wand, for example, at the end for supporting the ground, the wheel 603 may be further included. At this time, according to the control of the walking guide device, the wand wheel 603 can be moved in a direction in which the crosswalk is not released, or in a direction in which the object can be avoided when crossing the crosswalk.

On the other hand, the gait guide device can control the power source for supplying the battery according to a user's request through the switch unit 605 located at the grip portion of the cane.

7 is a flowchart illustrating a walking guide method according to an embodiment of the present invention.

Referring to Fig. 7, in step 701, the walking guide apparatus can extract, as a pedestrian crossing, a stripe pattern in which lines are arranged in parallel from an image. At this time, the walking guide apparatus can extract a stripe pattern in which a first line (e.g., a black line) having a distance from the image and a second line (white line) having a distance are alternately arranged.

In step 703, the walking guide device can determine whether or not the vehicle enters the crosswalk. At this time, the walking guide apparatus can determine whether or not the user enters the crosswalk based on at least one of the position in the image, the shape of the stripe pattern, and the current position from which the striped pattern is extracted.

As a result of the determination in step 705, if it is determined that the user has entered the crosswalk, in step 707, the walking guide device can confirm whether or not the current position is included in the crosswalk.

If it is determined that the current position is out of the pedestrian crossing (that is, the current position is not included in the pedestrian crossing), in step 709, the walking guide device generates a first beep, As shown in FIG. At this time, when the number associated with the traffic light is further extracted from the image, the walking guide apparatus can output the extracted number to guide the traverse remaining time.

As another example, the gait guide apparatus may set the area corresponding to the right side as the safe area with respect to the imaginary axis located at the center vertically with the line in the pedestrian crossing, and if the present position is the safe area in the set pedestrian crossing If it is confirmed that the vehicle has departed, the first warning sound may be generated and the rightward walking may be induced.

At this time, when the bicycle crossing area is extracted from the image and the extracted bicycle crossing area is confirmed to be adjacent to the safe area, the walking guide device can reset the safe area so as to maintain a predetermined interval with the bicycle crossing area, To ensure a safe distance from the bicycle.

In step 709, if it is determined that the walking guide device has entered the crosswalk, and the color of the signal light recognized from the image is identified as 'red', regardless of whether or not the current position is included in the crosswalk , The first warning sound may be generated to inform the dangerous state.

If it is determined in step 705 that the vehicle does not enter the pedestrian crossing, in step 711, the walking guide device calculates the distance to the pedestrian crossing, and if the calculated distance is less than the set wait distance , A risk message (or a stop command message) may be output together with the distance to the pedestrian crossing.

In step 713, the gait guide apparatus determines whether or not entry into the crosswalk can be made based on the color of the traffic lights, and outputs the determined entry possibility.

Specifically, the walking guide apparatus further extracts a polygon from the image, and when the extracted polygon is matched with a rectangle (for example, a rectangle), the polygon can be recognized as a traffic light. The walking guide device identifies the color of the traffic light, and when the identified color is 'red', it is determined that entry into the crosswalk is impossible and a message of incapable entry into the crosswalk can be output. On the other hand, when the identified color is 'green', the walking guide apparatus can determine that entry into the pedestrian crossing is possible and output a pedestrian accessible message.

Further, the walking guide apparatus can periodically generate a signal, and when receiving a signal reflected from the object, the distance from the object can be calculated based on the received signal. At this time, when the calculated distance is less than the set approach distance, the walking guide device generates the second warning sound, thereby avoiding the obstacle and avoiding the obstacle, so that the walking guide device can safely walk.

Here, the walking guide device can adjust the set approach distance differently depending on whether the walkway guide enters the crosswalk. For example, when the walking guide device enters the crosswalk, it is possible to prevent a person around the crossing road from being recognized as an obstacle by setting the approach distance smaller than when the walker does not enter the crosswalk.

The method according to an embodiment may be implemented in the form of a program instruction that may be executed through various computer means and stored in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions stored on the medium may be those specially designed and constructed for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable storage media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magneto-optical media such as floppy disks; Includes hardware devices specifically configured to store and execute program instructions such as magneto-optical media and ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

200: Walking guide device
201: image acquiring unit 203:
205: Determination unit 207: Processor
209: communication unit 211: output unit
213: connection part 215: switch part

Claims (8)

An extracting unit for extracting a stripe pattern in which lines are arranged in parallel from an image and recognizing the extracted stripe pattern as a crosswalk;
A judging unit for judging whether or not the pedestrian enters the crosswalk based on at least one of a position in the image and a current position from which the stripe pattern is extracted; And
And when it is determined that the current position is included in the crosswalk, if it is determined that the current position is included in the crosswalk, it is determined that the current position is included in the crosswalk,
Lt; / RTI >
When the number associated with the traffic light is further extracted from the image,
The processor comprising:
And outputs the extracted number to guide the traverse remaining time.
The method according to claim 1,
The extracting unit extracts,
The line pattern is extracted by extracting the stripe pattern in which black color lines having a separation distance and white color lines having a separation distance are alternately arranged,
Extracts a polygon further from the image, recognizes the polygon as a traffic light when the extracted polygon is matched with a rectangle,
The processor comprising:
The first warning sound is generated regardless of whether the current position is included in the crosswalk when the color of the traffic light is identified as 'red'
Determining whether or not entry into the crosswalk can be made based on the color of the traffic light, and outputting the determined entry possibility
Walking guide device.
The method according to claim 1,
If it is determined that the user does not enter the crosswalk,
The processor comprising:
Calculates a distance to the pedestrian crossing and outputs a risk message together with the distance to the pedestrian crossing when the calculated distance is less than the set waiting distance
Walking guide device.
delete The method according to claim 1,
The processor comprising:
Setting a region on the right side as a safe region with respect to a virtual axis located at a center vertically to the line in the crosswalk,
If it is determined that the current position is out of the safe range in the set pedestrian crossing,
Walking guide device.
6. The method of claim 5,
The extracting unit extracts,
Further extracting a bicycle crossing area from the image,
The processor comprising:
If it is determined that the extracted bicycle crossing area is adjacent to the safe area,
Resetting the safety zone so as to maintain a predetermined interval with the bicycle crossing zone
Walking guide device.
The method according to claim 1,
A communication unit for receiving a signal reflected from an object
Further comprising:
The processor comprising:
Calculates a distance to the object based on the received signal, and generates a second warning sound when the calculated distance is less than the set approach distance
Walking guide device.
Extracting a stripe pattern in which lines from the image are arranged in parallel, as a crosswalk;
Determining whether to enter the crosswalk based on at least one of a position in the image and a current position from which the stripe pattern is extracted; And
And if it is determined that the current position is included in the crosswalk, if it is determined that the current position is included in the crosswalk,
Lt; / RTI >
When the number associated with the traffic light is further extracted from the image,
The step of generating the first beep
And outputting the extracted number and guiding the transit remaining time.

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