KR102136383B1 - Cane to guide the road - Google Patents

Abstract

Disclosed is a road guide cane which comprises: a moving part disposed at the lowest end of the cane and rolling and moving while in contact with a bottom surface; sensor parts disposed on a front surface, a left surface, and a right surface of the cane and generating obstacle information through a sensor; a control part having a function of guiding a path to the destination and generating a signal for guiding a path that avoids an obstacle by using the obstacle information generated by the sensor part; a gripped part including a vibration motor that converts a signal generated by the control part into vibration; and a power supply part supplying power to drive the sensor part, the control part, and the vibration motor of the gripped part. According to the present invention, a person having visual impairment can safely arrive at the destination by using the road guide cane.

Description

A walking stick {CANE TO GUIDE THE ROAD}

The present invention relates to a walking stick, and more particularly, to a walking stick that detects an obstacle using a walking stick and informs a user of information on the detected obstacle.

A visually impaired person is a person who cannot perceive objects due to an eye disorder. Due to visual limitations, when moving on foot, the cane is held left and right to recognize road surfaces and obstacles to avoid collisions with obstacles and people. When the road is recognized in this way, information about the road can be obtained only within the reach of the cane, so when there are multiple obstacles in a row, there is a problem that the distant obstacle may not be recognized and may move in the wrong direction.

In this regard, Registration Patent No. 10-10388023 discloses a wand that recognizes the surroundings and provides information, and Patent No. 10-2101886 emits laser light and receives the reflected laser light to determine the location of obstacles. It recognizes the distance and distance, and uses an acoustic signal to guide or guide the way around danger. Japanese Patent Laid-Open No. 26000368 installs an LED on the cane so that a third party can recognize the cane. .

On the other hand, since these prior technologies only recognize obstacles and inform fragmentary information, it is difficult to respond to the position or movement of the obstacle.

Korean Patent Registration No. 10-10388023 (2003.06.04) Korean Patent Registration No. 10-2101886 (2011.12.27) Japanese Patent Publication No. 26000368 (2014.01.09)

The technical problem of the present invention is conceived in this respect, and an object of the present invention is to provide a walking stick for recognizing an obstacle and providing road guidance information by reflecting the information thereon.

The technical problem of the present invention is not limited to the technical problem mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

In accordance with an embodiment of the present invention, an infrared sensor module positioned on the front, left and right sides of the cane and for generating road surface information by recognizing the state of the road surface through reflectivity of the road surface positioned in each direction; An ultrasonic sensor module positioned on the front, left and right sides of the wand and generating object information about a distance to an object positioned in each direction; An illuminance sensor module for generating illuminance information by recognizing illuminance of a place where a user is located, and generating a power supply signal when the illuminance information falls below an illuminance threshold value; A GPS module that detects the location of the wand and generates a location information signal; An input module that receives information about a destination from a user and generates destination information; An obstacle generated based on road surface information received from the infrared sensor module and object information received from the ultrasonic sensor module by analyzing the location information provided from the GPS module and destination information provided from the input module to provide a road A road guide module for generating road guide information by reflecting the information; And an output module that provides information through an LED lighting, a vibration motor, and a speaker so that the user can recognize the obstacle information and the road guidance information.

In an embodiment, a communication module that periodically transmits the obstacle information to a map data server, receives map data information updated by another user, and updates obstacle map information of the road guidance module; may further include

In an embodiment, the route guidance module may generate a route change signal by reflecting the obstacle map information updated by the communication module.

In an embodiment, the road guidance module divides a case located at a distance and a case at a short distance based on a preset distance threshold value in consideration of the position of the obstacle recognized from the obstacle information and the moving speed of the visually impaired. I can judge.

In an embodiment, the road guidance module may generate a path maintenance signal when it is determined that the obstacle recognized from the obstacle information is not within a long distance or a short distance.

In an embodiment, the road guidance module maintains the current path if the size of the obstacle is less than the size threshold when the obstacle recognized from the obstacle information is located at a distance, and bypasses when the size of the obstacle is greater than the size threshold. You can change the path to generate a path change signal.

In an embodiment, the road guidance module may generate an obstacle notification signal for the obstacle when there is one obstacle located in a short distance recognized from the obstacle information.

In one embodiment, the road guidance module generates an obstacle notification signal by prioritizing the distance and direction when there are two or more obstacles located in a short distance recognized from the obstacle information, but proceeds when the distance is prioritized. Regardless of the direction, an obstacle notification signal for nearby obstacles can be generated preferentially.

In an embodiment, the road guidance module generates an obstacle notification signal by prioritizing a distance and a direction when there are two or more obstacles located in a short distance recognized from the obstacle information, but when the direction is prioritized, the distance Regardless of the direction, an obstacle notification signal for an obstacle located in the direction of travel may be preferentially generated.

In one embodiment, the road guidance module is located in the direction of travel if there are obstacles in the direction of travel when there are two or more obstacles located in a short distance recognized from the obstacle information, and priority for distance and direction is not determined. An obstacle notification signal for an obstacle may be generated, and if there is no obstacle in the moving direction, an obstacle notification signal for an obstacle located nearby may be generated.

In an embodiment, the road guidance module may generate an emergency notification signal with the highest priority when an obstacle located at a short distance recognized from the obstacle information moves in the direction of the visually impaired at a speed greater than or equal to a speed threshold.

In one embodiment, the output module receives a route maintenance signal, a route change signal, an obstacle notification signal, and an emergency notification signal from the road guidance module, and uses a flashing signal using LED lighting and a vibration motor according to each signal. Information may be provided using at least one of a vibration signal for and a voice signal using a speaker.

In an embodiment, when an emergency signal is provided from the road guidance module, the flashing speed, the vibration intensity, and the intensity of the voice signal may be increased in proportion to a close distance.

According to an aspect of the present invention described above, the effect provided by the walking stick is, when the blind person is guided by the walking stick, the path is guided by reflecting the risk information caused by the obstacle, so that they can safely go to the desired destination. Has a beneficial effect.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. .

1 and 2 are perspective views and side views showing the configuration of a walking stick.
3 is a module configuration diagram of a sensor unit built into a walking stick.
4 is a module configuration diagram of a control unit built into a walking stick.
5 is an overall flowchart showing a process of guiding an obstacle detected in the process of guiding a path.
6 is a flowchart showing a process of performing the near-field avoidance mode.
7 is a flowchart showing a process of performing a remote avoidance mode.

For a detailed description of the present invention to be described later, reference is made to the accompanying drawings, which illustrate specific embodiments in which the present invention may be practiced. These embodiments are described in detail sufficient to enable a person skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different from each other, but need not be mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the present invention in relation to one embodiment. In addition, it is to be understood that the location or arrangement of individual components in each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description to be described below is not intended to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all scopes equivalent to those claimed by the claims. Like reference numerals in the drawings refer to the same or similar functions over several aspects.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to a walking stick according to a preferred embodiment of the present invention.

1 and 2 are a perspective view and a side view showing the configuration of a walking stick 10.

1 and 2, a walking stick 10 according to an embodiment of the present invention includes a moving unit 100, a sensor unit 200, a power supply unit 300, a control unit 400, and a grip unit ( 500).

The road guide cane 10 may be implemented by more components than the components shown in FIG. 1, and may be implemented by fewer components. Alternatively, at least two of the moving unit 100, the sensor unit 200, the power unit 300, the control unit 400, and the grip unit 500 are integrated into one component in the walking stick 10 As a result, one component can perform complex functions. Hereinafter, the above-described components will be described in detail.

The moving part 100 is located at the lowermost end of the cane and rolls in contact with the floor so that it can be moved. The moving part 100 may have a wheel installed, and the wheel may have only one wheel installed at the bottom of the cane, and two wheels may be installed at both sides of the bottom of the cane. Alternatively, three may be installed so that they can be erected without applying additional force. The size of the wheel can be made small in consideration of the weight, or it can be made large for easy movement in places with many jaws.

The sensor unit 200 may be positioned between the middle of the cane and the lower end of the cane in consideration of the height of a typical obstacle. In this case, it may be installed on the front, left, and right sides based on the moving direction, and the brightness may be separately sensed. To this end, an infrared sensor module 210, an ultrasonic sensor module 220, and an illuminance sensor module 230 may be included. Detailed description will be given below with reference to FIG. 3.

The power supply unit 300 may be located at the middle of the wand and may adjust the vertical position in consideration of the center of gravity. It serves to supply power to execute the sensor modules of the sensor unit 200 and the modules of the control unit 400.

The control unit 400 is located at the middle to the top of the cane, and may include a GPS module 410, a communication module 420, an input module 430, a guide module 440, and an output module 450. By receiving the information sensed by the sensor unit 200, an overall process for providing information on an obstacle to a user is performed. Detailed description will be given below with reference to FIG. 4.

The gripping part 500 is located at the top of the wand and has a shape that is easy to grip, and a motor may be built into the vibration. The vibration generated by the vibration motor may send a notification to the user. Detailed description will be given below together with the control unit 400.

3 is a module configuration diagram of the sensor unit 200 embedded in the walking stick 10.

Referring to FIG. 3, the sensor unit 200 built into the walking stick 10 according to an embodiment of the present invention includes an infrared sensor module 210, an ultrasonic sensor module 220, and an illuminance sensor module 230. It may include.

The infrared sensor module 210 is positioned toward the front, left and right sides of the cane, and continuously recognizes the state of the road surface through reflectivity of the road surface positioned in each direction to generate road surface information.

In the case of an infrared sensor, since the amount of reflected infrared rays varies according to color or brightness, the condition of the road surface can be detected based on received data. For example, asphalt pavement roads, sidewalk block pavement roads, cement pavement roads, dirt roads, roads filled with water, iron road surfaces such as manholes, and no manholes are typical. As described above, sensor data for various roads may be preset and compared with data received by an infrared sensor to generate current road surface information.

The ultrasonic sensor module 220 is located on the front, left, and right sides of the wand, and may generate object information on a distance to an object located in each direction. Using this property, the ultrasonic sensor emits sound waves and receives an echo generated by bounced off when the sound waves hit a wall or an object, and measures the round trip time to measure the distance. In addition, it is possible to measure the moving speed of the user by using the inverse relationship between distance and time. Accordingly, the ultrasonic sensor located in each direction may continuously check a distance to an object such as an obstacle to generate object information for each direction.

The illuminance sensor module 230 may generate illuminance information by detecting illuminance of a place where the user is located. In addition, when the sensed illuminance information falls below an illuminance threshold value, a power supply signal may be generated. Illuminance is a value representing the intensity of light received by a certain surface, and the illuminance sensor can measure the intensity of ambient light in the same way that the eye reacts to light. The illuminance sensor operates at all times to generate illuminance information, and when illuminance information is generated at a value less than the illuminance threshold by setting the point where it is determined that the viewing range is reduced due to low illuminance at the user's location, the power of the lighting In order to apply a power supply signal can be generated. Alternatively, a separate switch may be provided to apply power.

4 is a module configuration diagram of the control unit 400 built into the walking stick 10.

Referring to FIG. 4, the control unit 400 built in the walking stick 10 according to an embodiment of the present invention includes a GPS module 410, a communication module 420, an input module 430, and a path guidance module. It can be seen that 440 and the output module 450 and may include.

The GPS module 410 may generate destination information by receiving information on a destination from a user, and may generate location information by constantly searching for a location during a road guidance.

The communication module 420 may periodically transmit the obstacle information to the map data server, receive map data information updated by another user, and update the obstacle map information of the road guidance module. For the visually impaired, when moving on foot, restrictions arise due to obstacles such as small structures or non-periodic construction sites. There are obstacles that can be easily avoided, but in the case of construction sites, you may have to bypass the road. However, since information on such obstacles cannot be added when generating map data, the disabled person carrying the cane of the present invention cannot be known before reaching the construction site.

Accordingly, the wand of the present invention may periodically update the location information collected by the GPS module and the collected obstacle information to the map data server. Cane owners may receive updated obstacle information and update map information. If there is an obstacle that needs to be detoured in the current route using the updated map information, the route can be changed.

The input module 430 may generate destination information by receiving information on a destination from a user. In the case of a wand, it is possible to receive voice input and convert it into data using a microphone device that is compact and easy to incorporate, not a specialized input device such as a keyboard or mouse.

Also, the input module 430 may be implemented as a fingerprint reader. The fingerprint of each finger can be registered through the fingerprint reader, and information of frequent destinations can be registered in advance corresponding to the fingerprint of each finger. In the case of voice input, when entering a destination, it may be exposed to others, and it is difficult to input in a noisy environment, but if fingerprint recognition is used, input can be entered without such restrictions. In this case, the registration method may be input through a wand, or may be input using a separate device at a place where the wand is sold.

The route guidance module 440 may provide a route by analyzing location information provided from the GPS module and destination information provided from the input module. In this case, when the path is moved by foot, the path may be determined and changed in consideration of obstacle information. Detailed operation will be described with reference to FIGS. 5 to 7 below.

The output module 450 may provide voice information through a speaker based on a signal received from the road guidance module 440, may provide information through a vibration motor, and provide visual recognition to a third party. Information can be provided by applying or blinking power to the LED lighting.

5 is an overall flowchart showing a process of guiding an obstacle detected in the process of guiding a path.

Referring to FIG. 5, obstacle information is generated based on road surface information received from the infrared sensor module 210, object information received from the ultrasonic sensor module 220, a walking speed and a moving direction of the visually impaired. Reflect and guide the way.

The infrared sensor module 210 and the ultrasonic sensor module 220 may continuously detect an obstacle while the device is being driven, and may generate obstacle information (S110). If an obstacle is not detected, since no special action is required, the path maintenance mode (S120) is performed. The route maintenance mode S120 is a mode for guiding a route to a currently set route, and may provide voice information and vibration information to a user for route guidance.

Unlike the above, if an obstacle is detected, it is first determined whether or not the moving speed of the obstacle is greater than the speed threshold (S130). In this case, the speed threshold value is based on the case where the obstacle is fixed, and the average walking speed of the user is a default setting value, and the speed of the moving object may be set by the user in consideration of the walking speed. That is, when the detected speed is different from the speed threshold, it can be seen that the obstacle is moving.

In this case, if the value is greater than the speed threshold, it can be seen that the obstacle is an object moving in the user's direction. In this case, the emergency notification mode (S140) is performed. The emergency notification mode (S140) is performed when there is a high risk of being hit because an obstacle is a moving object, and is to provide information so that the moving object can avoid the blind. The controller 400 generates an emergency notification signal and transmits it to the output module 450, and may generate the emergency notification signal until an obstacle is not detected in the moving direction. When receiving the emergency notification signal, the output module 450 reproduces a preset output signal so that a user and a third party can recognize it.

When the detected obstacle is smaller than or equal to the speed threshold, it is determined whether it is a distant or a nearby obstacle (S150). The reason why the distance and the near distance are divided is that the behavior required of the visually impaired is different according to the distance relationship with the obstacle. At this time, the distance threshold for dividing the far distance and the near distance is a distance when the blind person moves for 1 minute on foot, as a default setting value, and the user can set an absolute distance such as a general block distance.

If it has a smaller value based on the distance threshold, it is determined that it is at a close distance and performs the short-range avoidance mode (S200), and if it has a larger value, it is determined that it is at a far distance and performs the far-field avoidance mode (S300). Do (S165). Each avoidance mode will be described with reference to FIGS. 6 and 7.

6 is a flowchart showing a process of performing the near-field avoidance mode.

Referring to FIG. 6, when it is determined that the obstacle is in a short distance (S150), the number of detected obstacles is first determined (S210). When there is one obstacle, an obstacle notification mode is performed (S220). The controller 400 generates an obstacle notification signal including information on the distance and direction between the visually impaired and the obstacle and transmits it to the output module 450, and the obstacle notification signal may be generated until the obstacle is not detected. have. The output module 450 reproduces a preset output signal so that a user and a third party can recognize it.

When there are two or more obstacles, an obstacle notification signal may be generated according to whether notification priority is specified (S230). The priority may be set in relation to the distance to the obstacle or the direction of travel. When the distance is prioritized, information about obstacles at a close distance is given priority regardless of the direction of travel. When the direction is given priority, information on obstacles located in the moving direction among obstacles within a short range is given priority.

When the distance is prioritized, a near distance-priority obstacle notification mode is performed (S240). In the near-distance-priority obstacle notification mode, obstacle notification signals are generated in the order of proximity to the user and transmitted to the output module 450 regardless of the direction of progress, and the output module 450 reproduces a preset output signal so that the user can recognize it. To be. In this case, the obstacle notification signal may be generated until an obstacle is not detected at a close distance.

When the direction is prioritized, a moving direction-first obstacle notification mode is performed (S250). In the direction-first obstacle notification mode, the obstacle notification signal is generated in a similar order to the user's moving direction regardless of the distance to the obstacle and transmitted to the output module 450, and the output module 450 reproduces a preset output signal. Make the user aware. In this case, the obstacle notification signal may be generated until an obstacle is not detected in the moving direction.

7 is a flowchart showing a process of performing a remote avoidance mode.

Referring to FIG. 7, when it is determined that the obstacle is in a short distance (S300), the size of the obstacle is determined (S310). The size of the obstacle is determined by comparison based on the size threshold, and the size threshold is based on whether it can be avoided with a little walking, for example, 3 to 5 steps or 1m to 3m based on walking. The value can be set by the user.

If it is smaller than the size threshold, it can be avoided with a little avoidance, so it is the case where there is no need to change the path. Accordingly, the controller 400 performs route guidance while maintaining the current route, but performs the short distance avoidance mode (S200) when the distance to the obstacle becomes close.

If it is larger than the size threshold value, the path change mode is performed so that the road can be detoured to another path as viewed as a dangerous obstacle such as a blockage or under construction (S330). The controller 400 may search for a path capable of avoiding distant obstacles and guide a changed path.

When the user avoids an obstacle through notification according to the emergency notification mode, notification according to the short-range avoidance mode, and notification according to the remote avoidance mode, it is determined whether the user has reached the destination (S170), and if the destination is not reached, the obstacle The detection of is continuously performed (S110), and route guidance ends when the destination is reached.

Although the above has been described with reference to the embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention described in the following claims. I will be able to.

10: A walking stick.
100: moving part
200: sensor unit
300: power supply
400: control unit
500: holding part

Claims (12)

A moving unit located at the bottom of the cane and moving by rolling in contact with the floor;
A sensor unit positioned on the front, left and right sides of the cane and generating obstacle information through the sensor;
A control unit that includes a function of guiding a path to a destination, and generates a signal for guiding a path to avoid an obstacle by using the obstacle information generated by the sensor unit;
A holding unit including a vibration motor converting a signal generated by the control unit into vibration; And
Includes; a power supply for supplying power to drive the vibration motor of the sensor unit, the control unit and the gripping unit,
The control unit,
A GPS module that detects the location of the wand and generates a location information signal;
An input module that receives information on a destination from a user and generates destination information;
Provides a route by analyzing the location information provided from the GPS module and the destination information provided from the input module, and the obstacle information generated based on the road surface information received from the infrared sensor module and the object information received from the ultrasonic sensor module Includes; a road guide module that reflects and generates road guide information,
The route guidance module,
When the moving speed of the obstacle perceived from the obstacle information is less than the speed threshold value, a walking stick for determining by dividing a case located at a far distance and a case at a short distance based on a distance threshold value.
The method of claim 1, wherein the sensor unit,
An infrared sensor module positioned on the front, left and right sides of the cane, and generating road surface information by recognizing the state of the road surface through reflectivity of the road surface positioned in each direction;
An ultrasonic sensor module positioned on the front, left and right sides of the wand and generating object information about a distance to an object positioned in each direction; And
An illuminance sensor module that recognizes the illuminance of a place where the user is located to generate illuminance information, and generates a power application signal when the illuminance information falls below an illuminance threshold.
The method of claim 2, wherein the control unit,
An output module for providing information through an LED lighting, a speaker, and a vibration motor of the gripping unit so that the user can recognize the obstacle information and the road guidance information; further comprising, a walking stick.
The method of claim 3, wherein the control unit,
A communication module that periodically transmits the obstacle information to the map data server, receives the map data information updated by another user, and updates the obstacle map information of the road guidance module.
The method of claim 4, wherein the control unit,
A walking stick for guiding the road by reflecting the obstacle map information updated by the communication module.
The method of claim 3, wherein the route guidance module,
When it is determined that there is no obstacle recognized from the obstacle information, a walking stick for generating a path maintenance signal.
The method of claim 6, wherein the route guidance module,
When the moving speed of the obstacle recognized from the obstacle information is greater than a speed threshold value, performing an emergency notification mode, a walking stick.
delete The method of claim 1, wherein the route guidance module,
When an obstacle recognized from the obstacle information is located at a distance, if the size of the obstacle is less than the size threshold, the current path is maintained, and if the size of the obstacle is greater than the size threshold, the path change mode is performed to guide the bypass path. , A walking stick.
The method of claim 1, wherein the route guidance module,
An obstacle recognized from the obstacle information is located in a short distance, and if there is one, generating an obstacle notification signal for the obstacle.
The method of claim 1, wherein the route guidance module,
If an obstacle recognized from the obstacle information is located in a short distance, and if there are two or more, an obstacle notification signal is generated by prioritizing the distance and direction, but if the distance is prioritized, the obstacle located nearby regardless of the moving direction A walking stick, which performs a near distance priority obstacle notification mode to generate an obstacle notification signal for.
The method of claim 1, wherein the route guidance module,
If the obstacle recognized from the obstacle information is located in a short distance, and if there are two or more, an obstacle notification signal is generated by prioritizing the distance and direction, but if the moving direction is prioritized, the obstacle located in the moving direction regardless of the distance To perform a direction-first obstacle notification mode to generate an obstacle notification signal for, a way guide wand.

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