KR101796276B1 - Pedestrian navigation device and system for the blind - Google Patents

Abstract

The present invention relates to an apparatus and a system which enable a blind person to avoid a risk factor in walking by verifying a current position by using a network real time kinematic (RTK) system, progressing a path guide, and applying an obstacle avoiding technology by using a time of flight (TOF) and a camera image distance measuring technology. Therefore, the apparatus and the system can solve a problem that the blind person cannot avoid from a risk simply with guiding a preset obstacle and the path guide since various unexpected obstacles are present on a moving path.

Description

TECHNICAL FIELD [0001] The present invention relates to a pedestrian guidance apparatus and system for a visually impaired person,

More particularly, the present invention relates to a walking guidance apparatus and system for a visually impaired person, which uses a network RTK (Real Time Kinematic) system to grasp the current position and guide the route, and provides a TOF (Time of Flight) The present invention relates to a device and a system capable of avoiding a risk factor when a person with visual impairment who applies the obstacle avoiding technique using the technique.

Due to the recent development of smart devices and the popularization of GPS receivers, the use of navigation, which is an automatic navigation device, is increasing frequently. GPS navigation module, acceleration sensor, various sensors and navigation application are included in user terminal - smart phone, tablet PC, etc. - which was available only in professional navigation device. Therefore, at present, the navigation function of the user terminal is used when moving to a private car, and the navigation and navigation functions are used even when walking.

Thus, the navigation through the personal terminal is closely related to our life. This view can also be seen by the visually impaired. Path guide devices for the visually impaired have already been developed or developed using personal terminals and GPS functions.

However, the navigation system for the visually impaired is limited in that the data of the information provided by the navigation is limited, and the level of the program can be limited. It is difficult to improve.

Korean Patent Laid-Open Publication No. 10-2015-0069124 has proposed a navigation system for a visually impaired person using a smart device through voice navigation. Supplementing functions that are lacking in service only by the navigation application installed in the smart device through visual aid.

However, these techniques are not expected to present an unexpected dangerous situation that a blind person may experience while walking. In reality, there are a myriad of unexpected obstacles from the origin to the destination. There is a problem that the visually impaired can not escape from the danger only by the guidance of the route and the predetermined obstacle guidance.

Also, it is a reality that the blind is not enough to buy goods or enjoy cultural life indoors. Currently developed technologies are merely aiding the visually impaired in outdoor settings. For example, if you go shopping for groceries or listen to orchestral performances at a mart, you will not be able to reach your destination and find out where you want to go or how to navigate in the room.

KR 10-2015-0069124 A (June 23, 2015)

It is an object of the present invention to provide a more practical route guidance system for a visually impaired person and to avoid an unexpected danger situation that may occur during a walk, The purpose of this study is to improve the convenience of the behavior of

A TOF module including an RTK receiving module for receiving RTK correction data, a time of flight (TOF) transmitter for emitting a forward signal, and a TOF receiver for receiving a signal reflected from the signal, at least two image cameras An image distance measuring module for comparing the acquired image information to measure distance, a voice output module for outputting voice information to the user, a guide device communication module for transmitting and receiving signals of other devices, processing the RTK correction data, A gait information control module for comparing and analyzing the distance information in the image distance measurement module and processing the signal received by the guiding device communication module,

At least one ultrasonic sensor module for three-dimensionally detecting an obstacle, a guide cane communication module for transmitting and receiving signals of another device, the guide cane operation module, the ultrasonic sensor module and the guide A walking guide stick including a guide stick control module for controlling the operation of the stick communication module,

And transmits the risk notification message to the voice output module when the risk of contact with the obstacle is detected by analyzing the information of the guide device control module and the information of the ultrasonic sensor, A walking terminal provided with an application operable through a cane operation module,

And a walking information server that wirelessly communicates with the walking terminal and has geographic information and image information of the geographic information built therein,

The geographical information and the image information of the geographical information are received from the guidance server, and the location information received from the walking guidance device is mapped and output through the voice output module.

The walking terminal connected to the network transmits the emergency distress signal to the 119 center or a preset guardian terminal by pressing all the buttons of the guide cane operation module at the same time.

And the walking process server replaces the analysis of the location information processed by the walking terminal with the calculation processing by the walking guidance server.

Wherein the walking guide device further comprises a guide device vibration module,

The guide device vibration module receives a signal from the guide device control module, and vibrates when the guide device control module judges that there is an obstacle ahead.

A guide cane vibration module is further provided on the walking guide cane,

And the guide-stick vibration module vibrates when the ultrasonic sensor module senses an obstacle.

The present invention has the effect of reducing the practical risk that may occur unexpectedly in the walking of the visually impaired.

Further, the present invention has the effect of improving the precision of the navigation system of the visually impaired person and enhancing the convenience of the visually impaired.

In addition, since the present invention can broaden the range of activities for the visually impaired, it has the effect of contributing to the economic activation by increasing the consumption population of the country.

1 is a configuration diagram of a walking guidance system for a visually impaired person according to a first embodiment
Fig. 2 is a block diagram of a walking guidance device and a walking guidance staff of the walking guidance system for the visually impaired according to the first embodiment
3 is a perspective view of the walking guidance device according to the first embodiment.
4 is a perspective view of the walking guide cane according to the first embodiment.
5 is a perspective view of the walking guidance device according to the second embodiment.
Fig. 6 is an exemplary view of a blind person wearing a walking guidance device and a walking guide staff according to the first embodiment

The following detailed description of the invention refers to the accompanying drawings, which illustrate, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. The various embodiments of the present invention are different but need not be mutually exclusive. For example, the specific shapes, structures, and characteristics described herein may be embodied in other embodiments without departing from the spirit and scope of the invention in connection with one embodiment. It is also to be understood that the position or arrangement of the individual components within each disclosed embodiment may be varied without departing from the spirit and scope of the present invention. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the present invention is to be limited only by the appended claims, along with the full scope of equivalents to which such claims are entitled, if properly explained. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram of a walking guidance system for the visually impaired according to the first embodiment.

2 is a configuration diagram of a walking guidance device and a walking guidance staff of the walking guidance system for the visually impaired according to the first embodiment.

3 is a perspective view of the gait guide apparatus according to the first embodiment.

Referring to Figs. 1 to 3, the gait guide device may be of a glass type and a neck band type. The walking guidance device includes an RTK receiving module 111, a TOF module 112, an image distance measuring module 113, a voice output module 120, a voice input module 140, a guide device communication module 170, A module 130, a touch module 150, a solar charging module 160, a guide device control module 110, and the like.

The walking guidance device uses GPS to determine the current position. Generally, there is a part of the GPS receiving device which is somewhat lacking in function except for the path search because an error occurs within a radius of about 5m from the correct position. Therefore, the walking guidance device uses network RTK technology that receives GPS information and corrects the position information.

The network RTK technology connects the GPS stations to the network, generates virtual reference points that compensate for errors within the triangle, and transmit the virtual reference points to the mobile stations. Therefore, the network RTK system has a high accuracy of several centimeters, regardless of the distance between the base station and the mobile station.

As a result, it is possible to significantly reduce the risk of walking on the sidewalk from the sidewalk to the blind or walking on the building. In addition, since the error corresponds to several centimeters, more detailed route guidance can be achieved.

Thus, the RTK receiving module 111 can be mounted on the walking guidance device and the network RTK information can be obtained through the walking terminal.

A GPS system may be sufficient for the visually impaired and the current route guidance. However, there may always be an unforeseen risk of unexpected danger during the walk of the visually impaired. For example, pedestrians other than the visually impaired can approach the visually impaired, and street lights or construction sites where information is not recorded on the navigation system can threaten the visually impaired. Obstacle avoidance techniques can be introduced to prevent such risks.

First, it is necessary to acquire the distance information with the obstacle in order to recognize the obstacle. Therefore, although a stereo camera, a light detection and ranging (LiDAR) module is used in the first embodiment of the present invention, another obstacle avoidance module and technique may be used.

Stereo cameras can be used both indoors and outdoors to measure distances by comparing images acquired using two cameras. The camera can be installed on both sides of the walking guidance apparatus as the image distance measuring module 113. [ This image information is transmitted to the guide device control module 110 and analyzed to measure the distance.

The rider may be implemented using the TOF module 112. By measuring the time it takes for the light to reflect back to the object and measuring the distance, it can be measured over a long distance, and it can be used indoors and outdoors. The information of the TOF module 112 may also be transmitted to the guided device control module 110 and analyzed to determine the distance.

The guide device control module 110 compares the analyzed information of the information transmitted from the image distance measurement module 113 and the TOF module 112 to analyze the statistical accuracy of an obstacle approaching in real time. And, motion pattern and motion information about the obstacle can be transmitted to the walking device guide server to receive information about the obstacle. When the distance between the obstacle and the visually impaired is reduced to a certain distance (for example, 3 meters), the walking terminal 300 generates a vibration signal to the vibration module 220 of the walking guide device 100 and the walking guide stick 200 Vibration is generated to allow the visually impaired to detect the danger. In addition, the sound output module 120 may output a danger detection signal.

Voice guidance is essential because it is inconvenient for the visually impaired to see the screen interface. Accordingly, the walking guidance device receives the current position information of the walking guidance device 100 in the navigation application installed in the walking terminal 300, as well as the voice guidance for the route guidance through the voice output module 120, And may output the voice of the surrounding public transportation information through the voice output module 120 in conjunction with the traffic information system. This allows the pedestrian guide to give more information about the blind and the blind can help them make accurate judgments.

In addition, since the visually impaired is inconvenient to view, the screen interface usually used is inevitable. Thus, there may be a system that can voice commands through the voice input module 140. The voice input module 140 of the walking guidance device converts the voice command into a digital signal and transmits the digital signal to the guide device control module 110. The guiding device control module 110 sends a signal for operating the guiding device to the corresponding module if the guiding device is a voice command for the operation and transmits it to the walking terminal 300 via the guiding device communication module 170 if not, The terminal 300 processes the voice command.

The guide device communication module 170 is connected to the walking terminal 300 using short-range wireless communication, and the short-range wireless communication method may be Bluetooth, RF, Wifi, UWB, and the like.

The guide device vibration module 130 can operate by receiving a vibration signal from the control module 110 of the walking guidance device. When the control module 110, the walking terminal 300 or the walking guidance server 400 determines that a dangerous element is found or a dangerous situation may occur, the guide device vibration module 130 transmits a danger signal, . Also, when the obstacle approaches the predetermined radius of the blind person, the vibration is generated, and as the distance between the blind person and the obstacle is shortened, the vibration period becomes shorter and the vibration intensity becomes smaller.

The touch module 150 can take charge of the operation of the walking guidance device 100. The walking guidance apparatus 100 is capable of voice commands but can be used as an auxiliary input device or a power switch.

The solar charging module 160 may be installed to supply electric power to a portable walking guidance device. The charged power can be constantly charged to the walking guidance device.

4 is a perspective view of the walking guide cane according to the first embodiment.

Referring to FIG. 4, the walking guidance device 100 may be in the form of a neckband.

5 is a perspective view of the gait guide apparatus according to the second embodiment.

2 and 5, the walking guide cane comprises an operation module 230, an ultrasonic sensor 240, a guide cane vibration module 220, a guide cane communication module 250, and a guide cane control module 210 .

The operation module 230 may be a front / back button switch in the left / right direction and an operation signal may be transmitted to the walking terminal 300 through the guide stick communication module 250. Also, when the left / right switch is pressed at the same time, the gait guide cane control module 210 generates a rescue signal and the gait terminal transmits the rescue signal through the guide cane communication module 250 to the rescue team 119 and the police station You can request an emergency rescue. In addition, the walking information server 400 may also send a rescue signal to the 119 rescue units, police stations, and nearby public institutions directly from the walking information server 400 by receiving rescue signals.

The ultrasonic sensor 240 is installed on the walking guide staff 200 to support three-dimensional mapping of an object near the wand. The mapping information is transmitted to the walking terminal 300 through the guide stick control module 210, compared with the navigation information of the walking terminal 300, and the compared and analyzed information is transmitted to the walking guidance device 100 again, The algorithm can be used as ancillary information.

The vibrating signal may be transmitted to the guide stick vibration module 220 when the walking guide stick 200 is connected to the walking terminal 300 when the vibration signal is transmitted to the guide device vibration module 130 described above. Therefore, when the walking guide device 100 vibrates, the walking guide staff 200 can also vibrate at the same time.

The guide cane communication module 250 is connected to the walking terminal 300 using short-range wireless communication, and the short-range wireless communication method may be Bluetooth, RFID, Wifi, UWB, NFC. However, the present invention is not limited to this method, but can be applied to a short-range wireless communication method.

The walking guidance server 400 can construct the geographical information and the image information related thereto. When the walking terminal 300 requests the information corresponding to the route after searching for the route, it can transmit the related geographical information and the video information to the walking terminal 300.

In addition, it can transmit regular RTK data in association with the network RTK data center to transmit necessary position correction information to the walking terminal 300, and assist the operation of the control module 110 and the walking terminal 300 of the guide device .

The walking terminal 300 communicates with the walking information server 400 through a network and can be connected to the walking guide device 100 and the walking guide staff 200 by short range wireless communication. It is possible to assist the operation of the walking guidance apparatus 100 by transmitting and receiving the route search and route information to the walking guidance apparatus through the navigation application installed in the walking terminal 300. [

Referring to FIG. 6, a blind person mounts a walking guide device 100 and a walking guide staff 200 and then takes a walk.

On the other hand, when the visually impaired person arrives at the destination and enters the room, the walking terminal 300 analyzes the real-time location information and can send an arrival guide signal to the walking guide device 100 and the walking guide staff 200. The arrival guidance signal can be vibration or voice. When the user enters the room, the walking terminal 300 can request the walking information server 400 for the information of the building in which the blind is located. The walking information server 400 can transmit the related information to the walking terminal in the building (public institution, large mart, department store, public transportation use place, etc.) connected with the walking guidance system for the visually impaired. The walking terminal 300 receives the building-related information, receives the voice of the visually impaired person in the building, and transmits the information related to the purpose to the walking guidance device 100.

Therefore, the building connected with the walking guidance system for the visually impaired can search for the structure and position of the building in the room and install the devices capable of three-dimensional structural mapping. The devices capable of three-dimensionally structured mapping can be scanned inside buildings to create three-dimensional structural drawings. The created drawings can be coordinateed so that the position and size of each facility or furniture can be filled in the drawing. The facilities or furniture are distinguished by using a unique identification code, and the mapped information can be stored in the walking guidance server 400.

The walking terminal 300 can receive the information mapped from the walking guidance server 400 and use it for guiding the indoor path of the visually impaired. For example, when the purpose of "buying a toilet paper at a large shopping mall" is inputted, the walking terminal 300 receives the three-dimensional structure drawing and the facility information of the large-sized mart that the blind man who has a blind person enter from the walking guidance server 400, And transmits the route guidance information to the walking guide device 100 up to the correct place where the position and the product are placed. The item "idle" has an identification code for each article, and the mark indicating the walking guidance apparatus 100 can be installed in the designated room for each article. The walking guidance apparatus 100 can identify the marking and generate a notification signal.

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, but, on the contrary, Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.

Therefore, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all of the equivalents or equivalents of the claims, as well as the following claims, I will say.

100: Walking guidance device for the visually impaired 110: Guide device control module
111: RTK receiving module 112: TOF module
113: Image distance measurement module 120: Audio output module
130: Guide device vibration module 140: Voice input module
150: touch module 160: solar charging module
200: walking guide for the visually impaired Wand 170: guide device communication module
210: guide cane control module 220: guide cane vibration module
230: Guide cane operation module 240: Ultrasonic sensor
250: guide cane communication module 300: walking terminal
400: Walking guidance server for the visually impaired

Claims (5)

An RTK receiving module for receiving RTK correction data; A TOF module including a TOF (Time of flight) transmitter for forwarding a signal and a TOF receiver for receiving a signal reflected from the signal; An image distance measurement module for measuring distances by comparing image information obtained using at least two image cameras; An audio output module for outputting audio information to a user; A guide device communication module for transmitting and receiving a signal of another device; And a guide device control module that processes the RTK correction data, compares and analyzes the distance information in the TOF module and the image distance measurement module, and processes the signal received by the guide device communication module Device;
A guide stick operation module composed of a plurality of buttons; At least one ultrasonic sensor module for three-dimensionally detecting an obstacle; A guide cane communication module for transmitting and receiving signals of other devices; A walking stick control module for controlling the operation of the guide stick operation module, the ultrasonic sensor module, and the guide stick communication module;
And transmits the risk notification message to the voice output module when the risk of contact with the obstacle is detected by analyzing the information of the guide device control module and the information of the ultrasonic sensor, A walking terminal provided with an application operable through a cane operation module;
And a walking information server that wirelessly communicates with the walking terminal, wherein the walking information server has built-in image information of the geographical information and the geographical information,
Wherein the guidance server receives the geographical information and the image information of the geographical information, maps the position information received from the walking guidance device, and outputs the voice information through the voice output module.
The method according to claim 1,
Wherein the walking terminal connected to the network transmits an emergency distress signal to the center or a preset guardian terminal when all the buttons of the guide stick operation module are simultaneously pressed.
The method according to claim 1,
Wherein the walking processing server replaces the analysis of the position information processed by the walking terminal with the calculation processing by the walking guidance server through the network.
The method according to claim 1,
Wherein the walking guide device further comprises a guide device vibration module,
Wherein the guide device vibration module receives a signal from the guide device control module and vibrates when the guide device control module judges that there is an obstacle ahead.
The method according to claim 1,
A guide cane vibration module is further provided on the walking guide cane,
Wherein the guide-buckle vibration module vibrates when the ultrasonic sensor module detects an obstacle.

Images