KR101845754B1 - Independence walking guidance device for visually handicapped person - Google Patents

Abstract

According to the present invention, disclosed is an independent walking guidance device for a visually impaired person, which is worn on the visually impaired person′s body to guide the visually impaired person through a moving path to a destination with voice, so as to enable independent walking. The independent walking guidance device for a visually impaired person comprises: a walking environment information acquisition module (100) including camera units (111, 112) capturing front images in a walking direction to obtain walking images, GPS receiving units (121, 122) receiving GPS signals for the current location of the visually impaired person, and inertia sensor units (131, 132) sensing the walking movements of the visually impaired person; and a walking environment information processing module (200) connected to the walking environment information acquisition module (100) to receive walking environment information including the walking images, the GPS signals, and the sensing signals, and providing voice guidance information for a moving path to a requested destination while detecting the current location and a moving state of the visually impaired person, and landmarks positioned in the front by using map data including the locations of preset landmarks and the received walking environment information.

Description

{INDEPENDENCE WALKING GUIDANCE DEVICE FOR VISUALLY HANDICAPPED PERSON}

The present invention relates to an independent walking guide for a visually impaired person, and more particularly, to an independent walking guide for a visually impaired person, which is worn on the body of a visually impaired person, Independent walking guide device.

Generally, since the visually impaired can not recognize objects on the move, they are walking with a white stick on their heads while checking whether they are walking obstacles. In addition, it is possible to move to a desired destination with the help of a guide dog or a pedestrian assistant, but it is not always available at a desired time due to the supply of guide dogs or the restriction of the manpower supply of the pedestrian assistant that can be operated by a welfare organization.

In order to solve such a problem, navigation for the visually impaired has been disclosed. However, since navigation paths are guided by recognizing the current position depending on the GPS signal, when the obstacle is scattered around a narrow sidewalk, There is a problem in that it can be injured by contact with the contact part.

On the other hand, a pedestrian crossing provided with a pedestrian signal lamp is provided with an acoustic signaling device for the visually impaired to output a guidance sound for guiding the crossing movement of the visually impaired person in synchronization with the timing of the traffic light being illuminated in green.

Such a visually impaired acoustic signaling device is equipped with an operation button on the outside of a box-shaped case, so that it does not operate normally. When the button is pressed, the visually impaired person has to press the button directly because the operation is performed in accordance with the operation of the signaling light.

However, since currently installed many acoustic signal devices for the visually impaired are installed alone, there is not provided a braille block for guiding the visually impaired to the location where the acoustic signal device for the visually impaired is installed. Therefore, the presence of the acoustic signal device for the visually impaired There is a problem in that it is difficult to confirm whether or not the operation button is pressed or to move to a position where the operation button can be pressed.

Registration No. 10-1679341 (Nov. 18, 2016), Kane for the visually impaired Japanese Patent Application Laid-Open No. 10-2016-0037310 (Apr. 26, 2016), a crosswalk for the visually impaired

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 an image processing apparatus and method, which are capable of image analysis of a walking image obtained by photographing a forward image in a walking direction, So that the visually impaired person can walk independently to a desired destination by himself / herself.

It is another object of the present invention to provide an acoustic signal device for a visually impaired person who is installed with a gait signal and recognizes the unique shape and color of the acoustic signal device for the visually impaired even if a braille block for guiding the position is not installed, Even if the visually impaired person does not directly press the operation button, it is possible to automatically output the same operation input signal as when operating the operation button, And to provide an independent gait guide device for the visually impaired which maximizes the convenience of guiding the crossing.

In order to accomplish the above object, the independent gait guide device for the visually impaired according to the present invention is an independent gait guide device for a visually impaired person who voices a moving path to a destination so that the gait can be independently worn on the body of a visually impaired person A camera unit 111, 112 for photographing a forward image in the walking direction to acquire a walking image, GPS receiving units 121, 122 for receiving GPS signals for the current position of the visually impaired, and an inertial sensor A walking environment information acquisition module 100 including units 131 and 132; And the walking environment information including the walking image, the GPS signal, and the sensing signal, and outputs the map data including the position of the predetermined landmark and the received walking environment information And a gait environment information processing module 200 for providing voice guidance information on the movement path to the requested destination while recognizing the current position, the movement state, and the landmark located in front of the visually impaired person.

The gait environment information acquisition module 100 includes an eyeglass frame 141 having a nose support 142 mounted at its center and having a lens 143 that is supported on the nose and covers the eyeball, The eyeglass frame unit (140) according to claim 1, further comprising an eyeglass frame unit (140) including two eyeglasses legs (144) extended from both ends of the eyeglass frame unit A first camera 111 and a second camera 112 disposed at the other end of the spectacle frame unit 140. The inertia sensor unit includes a first inertia sensor 110 disposed at one end of the spectacle frame unit 140, And a second inertia sensor 132 disposed at the other end of the spectacle frame part 140. The walking environment information processing module 200 includes a first camera 111 and a second camera 112) to analyze the two gait images simultaneously input, Recognizes a landmark or a walking obstacle, determines each position and a separation distance, updates the movement path for moving along the recognized landmark or avoiding the recognized obstacle, thereby providing voice guidance, The movement state including the movement direction, the rotation direction, and the movement speed of the visually impaired person can be recognized using the two sensing signals synchronized and input simultaneously from the inertial sensor 131 and the second inertial sensor 132. [

In addition, the walking environment information processing module 200 may be configured so that the pattern data of the transverse sidewalk 60 having a unique image of white rectangular blocks spaced apart at a predetermined interval, An operation button (not shown) having a unique image including a button pressing part 72 of a red circular shape and a circumferential part 72 of a yellow circular ring surrounding the button pressing part 72 71), and analyzes an image inputted through the walking environment information acquisition module 100. When an object matching with the pattern data of the pedestrian walkway 60 is identified, the visually impaired person is displayed on the pedestrian crossing 60, When an object matched with the pattern data of the operation button 71 is identified, the visually impaired person is displayed on the pedestrian crossing 60 to the visual acuity signal receiver 70 for the visually impaired, It can provide voice guidance information for guiding a.

In addition, the walking environment information processing module 200 recognizes and sets a destination to recognize a voice of a visually impaired person, and the walking environment information acquisition module 100 has an earphone shape, and the walking environment information processing module 200 And a speaker unit 150 for allowing the visually impaired person to listen to the voice guidance information provided from the speaker.

Meanwhile, the walking environment information processing module 200 analyzes the walking image obtained while the blind person moves to the destination together with the walking aide, recognizes the surrounding features included in the walking image, and recognizes the plurality of recognized features A walking mode in which a specific feature among the plurality of walking modes is set as a landmark so as to learn a moving route of the walking mode, a voice guidance information about a traveling route learned in the auxiliary walking mode, Mode can be operated separately.

In addition, the walking environment information processing module 200 may be configured so that the pattern data of the transverse sidewalk 60 having a unique image of white rectangular blocks spaced apart at a predetermined interval, An operation button (not shown) having a unique image including a button pressing part 72 of a red circular shape and a circumferential part 72 of a yellow circular ring surrounding the button pressing part 72 71), and analyzes an image inputted through the walking environment information acquisition module 100. When an object matching with the pattern data of the pedestrian walkway 60 is identified, the visually impaired person is displayed on the pedestrian crossing 60, When an object matched with the pattern data of the operation button 71 is identified, the visually impaired person is displayed on the pedestrian crossing 60 to the visual acuity signal receiver 70 for the visually impaired, It can provide voice guidance information for guiding a.

Meanwhile, the gait environment information acquisition module 100 is connected to the local area network through a local area communication network with the acoustic signaling device 70 for a visually impaired person installed on the side of the crosswalk 60, and the visually impaired person moves to the crosswalk 60, It is possible to output the operation button input signal to the visual acuity signal generator 70 for the visually impaired so that the visual acuity signal controller 70 for the visually impaired can output the transverse movement guidance sound for the visually impaired.

INDUSTRIAL APPLICABILITY According to the independent gait guide for the visually impaired according to the present invention,

First, the frontal image of the walking direction is imaged, and the obtained walking image is analyzed to identify predetermined landmarks or obstacles, and guidance of the optimum traveling route can be guided so that the visually impaired can walk independently to the desired destination alone .

Second, since it is possible to guide the moving route reflecting the moving state including the moving direction, the rotating direction, and the moving speed of the visually impaired by using the sensing signals of the inertial sensors 131 and 132 in addition to the image analysis, And can guide the visually impaired to move by a safe movement route.

Third, a landmark or a peripheral obstacle existing on a moving route can be discriminated and recognized by using a walking image simultaneously obtained from a plurality of cameras including the first camera 111 and the second camera 112 It is possible to increase the discriminative power of the feature item and guide the user to a safer travel route through the distance from the recognized object.

Fourth, the gait environment information acquisition module 100 for acquiring the walking image, the GPS signal, and the inertial sensing signal can be worn on the user's face since it is formed in the form of glasses as a whole, so that a good quality walking image And there is an advantage that nearby people can not easily recognize whether or not the guide device is worn.

Fifth, since the braille block 10, the sidewalk block 20, the signboard 30, and the road sign 40, which are provided on the sidewalk, can be used as the landmark set as the confirmation point of the movement route, It is possible to secure a necessary sufficient number of landmarks and to prevent the blind person from moving away from the sidewalk to the roadway or the obstacle.

Sixth, the voice guidance information output from the walking environment information acquisition module 100 to the blind person is provided through the speaker unit 150, which is formed in an earphone shape and is inserted into the ear, so that the voice guidance information can not be properly heard It is possible to prevent it from being recognized.

Seventh, the walking environment information processing module 200 analyzes the walking image obtained while the blind person moves to the destination together with the walking aide to recognize the surrounding features included in the walking image, A second walking mode in which a specific feature is set as a landmark to learn a movement route of the first walking mode, an independent walking mode in which voice guidance information on a travel route learned in the second walking mode is provided, It is possible to easily acquire the landmark used as the confirmation point in the movement route setting and can move to the independent walk through the learned movement route and thus can move to the safer route.

1 is a perspective view illustrating a configuration of an independent gait guide device for a visually impaired person according to a preferred embodiment of the present invention;
2 is a block diagram illustrating a functional configuration of an independent gait guide device for a visually impaired according to a preferred embodiment of the present invention.
FIG. 3 is a view illustrating a walking image obtained through an independent walking guide for the visually impaired according to a preferred embodiment of the present invention.
FIG. 4 is a schematic view showing a signal connected to an audible signal for a visually impaired person through an independent gait guide for a visually impaired according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

The independent gait guide device for a visually impaired person according to the preferred embodiment of the present invention is a device for visualizing a gait image obtained by photographing a forward image in a walking direction and identifying a predetermined landmark or an obstacle, 1 and 2, the gait environment information acquisition module 100 and the gait environment information processing module 200 are connected to the gait environment information acquisition module 200, .

First, the walking environment information acquisition module 100 acquires basic data necessary for providing voice guidance information to a destination and provides the basic data to the walking environment information processing module 200. The walking environment information acquisition module 100 photographs a forward image in the walking direction, GPS receiving units 121 and 122 for receiving a GPS signal for a current position of a visually impaired person and inertial sensor units 131 and 132 for sensing a walking motion of a visually impaired person.

1 and 2, the gait environment information acquisition module 100 includes an eyeglass frame 141 having a nose support 142 mounted at its center and supported by a nose and equipped with a lens 143 covering the eyeball, And an eyeglass frame part 140 including two eyeglasses legs 144 extended from both side ends of the eyeglass frame 141 and extending backward from both sides of the eyeglass frame 141 and supported on the ears.

The camera unit includes a first camera 111 disposed at one end of the spectacle frame unit 140 and a second camera 112 disposed at the other end of the spectacle frame unit 140, The sensor unit includes a first inertial sensor 131 disposed at one end of the spectacle frame unit 140 and a second inertial sensor 132 disposed at the other end of the spectacle frame unit 140, Like the inertial sensor unit, includes a GPS receiver 121 disposed at one end of the spectacle frame unit 140 and a GPS receiver 122 disposed at the other end of the spectacle frame unit 140.

In this way, it is possible to guide the movement route reflecting the movement state including the movement direction, the rotation direction and the movement speed of the blind person by using the detection signals of the inertial sensors 131 and 132, in addition to the image analysis, And guide the visually impaired to move on a safe travel route.

In addition, since a landmark or a surrounding obstacle existing on a moving route can be discriminated and recognized stereoscopically by using a walking image simultaneously obtained from a plurality of cameras including the first camera 111 and the second camera 112 It is possible to increase the discriminative power of the feature item and guide the user to a safer travel route through the distance from the recognized object.

The gait environment information processing module 200 receives the gait environment information obtained through the gait environment information acquisition module 100 and processes the data to provide visual guidance information to a visually impaired person, (GPS) signal and a sensing signal, and receives map data including the position of the predetermined landmark and the received walking environment information to determine the current position of the blind person And provides voice guidance information on the movement route to the requested destination while recognizing the location, the moving state, and the landmark located in the forward direction.

Here, the walking environment information processing module 200 can be connected to the walking environment information acquisition module 100 through a cable 300 in a wired manner. In addition, when the wireless communication modules are provided in the modules 100 and 200, The communication method can also exchange data with each other. The walking environment information processing module 200 may be formed in a small box shape as shown in the drawing and may be worn by a visually impaired person by being inserted into a cloth worn by a visually impaired person,

In addition, the walking environment information processing module 200 analyzes the two walking images simultaneously synchronized and inputted from the first camera 111 and the second camera 112, and analyzes the landmarks or the walking obstacles Recognizes each position and a separation distance, and updates the movement path for moving along the recognized landmark or avoiding the recognized obstacle, thereby providing voice guidance, and the first inertial sensor 131 and the second inertial sensor 131, The moving state including the moving direction, the rotating direction, and the moving speed of the visually impaired person can be recognized using the two sensing signals synchronized and inputted simultaneously from the sensor 132. [

As described above, the gait environment information acquisition module 100 for acquiring the walking image, the GPS signal, and the inertial sensing signal can be worn on the user's face since the entire gait shape can be worn on the user's face. And it is advantageous that nearby people can not easily recognize whether or not the guide device is worn.

2, the gait environment information acquisition module 100 receives the walking image, the GPS signal, and the inertial sensing signal provided from the plurality of cameras 111 and 112, the plurality of GPS receivers 121 and 122, and the plurality of inertial sensors 131 and 132, Is input to the signal processing unit 210 provided in the walking environment information processing module 200 through the serial converters 161 and 162 so that the walking environment information processing module 200 can be input to the walking environment information processing module 200, (Data Encryption Standad) 211 and 212, an ISP (International Standardized Profile) 213 and 214, and an FPGA (Field-Programmable Gate Array) are provided in the signal processing unit 210 provided in the base station 200, And converts the data into a format that can be processed by the image processing unit 220 so that the data can be processed stably and at a high speed.

3, the predetermined landmark is a braille block 10 extended along the walkway, and the walking environment information processing module 200 determines the color of the braille block 10 included in the walking image, Or the protruding shape of the braille block 10 and to provide voice guidance information for moving the blind block along the recognized braille block 10.

The predetermined landmark may further include a sidewalk block 20 extended along the sidewalk and the gait environment information processing module 200 may include a repetitive pattern 21 of the sidewalk block 20 included in the walking image ) Or a pattern based on the sidewalk block 20 and provide voice guidance information for moving the visually impaired person along the recognized sidewalk block 20.

In addition, the predetermined landmark further includes a signboard 30 or a road sign 40 of a building disposed around the walkway, and the walking environment information processing module 200 may include a walking sign The signboard 30 and the road sign 40 are discriminated and recognized based on the letters or the images of the road sign 40 and the recognized signboard 30 and the road sign 40 are used as the passing points, The voice guidance information for moving the voice guidance information to the destination.

As described above, since the braille block 10, the sidewalk block 20, the signboard 30 and the road sign 40 provided on the sidewalk can be used as the landmark set as the confirmation point of the movement route, It is possible to secure a sufficient number of landmarks necessary for the visually handicapped person to move away from the sidewalk to the roadway or the obstacle.

The gait environment information processing module 200 recognizes and sets a destination to recognize a voice of a visually impaired person and requests the gait environment information. The gait environment information acquisition module 100 has an earphone shape, and the gait environment information processing module 200 And a speaker unit 150 for allowing the visually impaired person to listen to the voice guidance information provided from the speaker 200. This makes it possible to prevent a blind person from operating a separate input button for inputting a destination, Unit 150, it is possible to prevent the visually impaired person from perceiving or not recognizing the voice guidance information due to the ambient noise.

In addition, the walking environment information processing module 200 analyzes the walking image obtained while the blind person moves to the destination together with the walking aide to recognize the surrounding features included in the walking image, A second walking mode in which a specific feature is set as a landmark to learn a movement route of the first walking mode, an independent walking mode in which voice guidance information on a travel route learned in the second walking mode is provided, It is possible to easily acquire the landmark used as the confirmation point in the movement route setting and can move to the independent walk through the learned movement route and thus can move to the safer route.

4, the independent gait guide for the visually impaired according to the preferred embodiment of the present invention includes a pedestrian signal light 70 installed in the pedestrian crossing 60, Even if the braille block for guiding the position is not installed, the user can recognize the visual acuity signal 70 for the visually impaired to voice guidance so that the visually impaired person can operate the action button 71 of the visual acuity signal 70 for the visually impaired, It is possible to operate the operation button input signal such that the operation button 71 is pressed, even if the operation button 71 is not pressed, to the visual aid 70 for the visually impaired.

To this end, the walking environment information processing module 200 is configured to include the pattern data of the crosswalk 60 having a unique image in which white square blocks are spaced apart at regular intervals, An operation button (not shown) having a unique image including a button pressing part 72 of a red circular shape and a circumferential part 72 of a yellow circular ring surrounding the button pressing part 72 71 are stored.

In addition, when an object input through the gait environment information acquisition module 100 is analyzed and an object matching with pattern data of the pedestrian crossing 60 is identified, voice guidance information for guiding the visually impaired to the pedestrian crossing 60 And operates to provide voice guidance information for guiding the visually impaired to the side of the visually impaired sound signal (70) on the pedestrian crosswind (60) when an object matched with the pattern data for the action button (71) is identified, The blind person can listen to the voice guidance through the unit 150.

Therefore, even when the braille block is not provided on the pedestrian crossing 60, the guidance information can be safely moved to a position where the visually impaired person can press the operation button 71 of the visual acuity signal receiver 70 can do.

4, the walking environment information acquisition module 100 is provided on the side of the crosswalk 60 so as to operate the visual aid 70 for the visually impaired without pressing the operation button 71 And the signals are connected to the installed visual acoustics 70 and a local area network such as Bluetooth or RFID.

In addition, when the blind person moves to the crosswalk 60 and enters the short-range communication area, the blind party outputs an operation button input signal to the blind party 70, so that the blind party 70 It is possible to control to output the movement guidance sound.

Accordingly, when the blind person approaches the side of the crosswalk 60 while wearing the independent walking guidance device for the visually impaired, the operation button input signal is output from the walking environment information processing module 200 to the visual warning device 70 So that the visually impaired person can safely move the driveway while listening to the crosswalk transit guidance sound provided through the visual acuity signal receiver 70 for the visually impaired even when the operation button 71 is not pressed.

Here, the gait environment information processing module 200 may include a voice (voice) inquiring whether or not to operate the visual acuity signal generator 70 for the visually impaired person through the speaker unit 150 before outputting the operation button input signal And outputs the operation button input signal selectively according to the contents of the answer through the voice recognition of the visually impaired person so that the visually impaired person does not cross the pedestrian crossing 60 and the vicinity of the visual acuity signal receiver 70 It is possible to prevent the sound signal generator 70 for the visually impaired from operating automatically.

According to the configuration and function of the independent gait guide device for a visually impaired person according to the preferred embodiment of the present invention as described above, the gait image obtained by photographing the forward image in the walking direction is subjected to image analysis, So that the visually handicapped can walk alone to the desired destination by guiding the optimal route.

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. It is to be understood that various modifications and changes may be made without departing from the scope of the appended claims.

100 ... walking environment information acquisition module 111 ... first camera
112 ... second camera 121 ... first GPS receiver
122 ... second GPS receiver 131 ... first inertial sensor
132 ... second inertial sensor 140 ... glasses frame part
141 ... Glasses frame 144 ... Glasses frame
150 ... speaker unit 200 ... walking environment information processing module

Claims (7)

1. An independent gait guide device for a visually impaired person who voices a moving route to a destination so that the gait can be independently worn on the body of a visually impaired person,
A GPS unit 121 and 122 for receiving a GPS signal for a current position of a visually impaired person and an inertial sensor unit 122 for sensing a walking motion of a visually impaired person, A walking environment information acquisition module 100 including a plurality of walking environment information 131 and 132; And
GPS signal and sensing signal, and transmits the map data including the position of the predetermined landmark and the received walking environment information to the walking environment information acquisition module 100. The walking environment information acquisition module 100 receives the walking environment information including the walking image, And a gait environment information processing module (200) for providing voice guidance information on a movement route to a requested destination while recognizing a current position, a moving state, and a landmark located in the vicinity of the visually impaired person,
The walking environment information processing module (200)
The pattern data of the crosswalk 60 having a unique image of white rectangular blocks spaced apart at regular intervals and the pattern data of the crosswalk 60 having a rectangular button shape Pattern data for an operation button 71 having an inherent image including a circular ring-shaped annular portion 72 surrounding the button pressing portion 72 and a yellow circular ring-shaped portion surrounding the button pressing portion 72 are stored,
When the image input through the gait environment information acquisition module 100 is analyzed and an object matched with the pattern data of the pedestrian crossing 60 is identified, voice guidance information for guiding the visually impaired to the pedestrian crossing 60 is provided , And provides voice guidance information for guiding the visually impaired person to the side of the visually impaired person 70 on the crosswalk (60) when an object matched with the pattern data of the operation button (71) is identified Independent Walking Guide for the Disabled.
The method according to claim 1,
The walking environment information acquisition module 100,
An eyeglass frame 141 mounted with a nose support 142 at its center and mounted with a lens 143 which is supported on the nose and covers the eyeball and an eyeglass frame 141 extending rearward from both side ends of the eyeglass frame 141, Further comprising an eyeglass frame portion (140) including two eyeglasses legs (144)
The camera unit includes a first camera 111 disposed at one end of the spectacle frame unit 140 and a second camera 112 disposed at the other end of the spectacle frame unit 140,
The inertial sensor unit includes a first inertial sensor 131 disposed at one end of the spectacle frame unit 140 and a second inertial sensor 132 disposed at the other end of the spectacle frame unit 140,
The walking environment information processing module 200 analyzes images of two walking images synchronously input from the first camera 111 and the second camera 112 to recognize a landmark or a walking obstacle placed on the moving route The first inertial sensor 131 and the second inertial sensor 131 are provided to detect the position of the first inertial sensor 131 and the position of the second inertial sensor 131, 132, and recognizes a moving state including a moving direction, a rotating direction, and a moving speed of a visually impaired person using the two sensed signals synchronously input at the same time.
3. The method of claim 2,
The predetermined landmark is a signboard 30 and a road sign 40 of a building disposed around the braille block 10, the sidewalk block 20 and the sidewalk,
The walking environment information processing module (200)
The pattern data for the braille block 10 having a unique image formed in the shape of a yellow square plate and having a protrusion on its upper surface and the pattern data for the braille block 10 having a unique image in which a certain pattern is repeatedly arranged on the sidewalk block 20 The pattern data for the sidewalk block 20 and the pattern data for the signboard 30 and the road sign 40 having an upright plate shape and having a unique image formed on the upper surface of the specific phrase are respectively stored,
When the image input through the gait environment information acquisition module 100 is analyzed and an object matched with the pattern data of the sidewalk block 20, the sidewalk block 20, the signboard 30, and the road sign 40 is identified Provides the voice guidance information for moving the blind block along the identified braille block 10 and the sidewalk block 20 and updates the movement route using the identified sign 30 and the road sign 40 as check points Wherein the guide means comprises:
The method according to claim 1,
The walking environment information processing module 200 recognizes and sets a destination to recognize a voice of the visually impaired person,
The gait environment information acquisition module 100 may further include a speaker unit 150 having an earphone shape and allowing the visually impaired person to listen to voice guidance information provided from the walking environment information processing module 200 Independent walking guidance device for the visually impaired.
5. The method of claim 4,
The walking environment information processing module (200)
In this paper, we propose a method to analyze the walking image obtained by moving a person with visual impairment to a destination with a pedestrian assistant to recognize the surrounding features included in the walking image, and to set a landmark as a landmark among a plurality of recognized features, A second walking mode for learning,
And an independent gait mode in which the visually impaired person is independently guided to move to a destination while being provided with voice guidance information on the learned route in the assistant gait mode.
delete 6. The method according to any one of claims 1 to 5,
The walking environment information acquisition module 100,
Connected to an acoustic signaling device 70 for a visually impaired person installed on the side of the crosswalk 60,
When the visually impaired person moves to the crosswalk 60 and enters the short-range communication area, the visually impaired person 70 outputs an operation button input signal to the visually impaired person 70, And outputs a sound to the visually impaired person.

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