KR102482797B1 - Navigation service system for wheel chair users and method thereof - Google Patents

Abstract

The present invention relates to a wheelchair navigation service system for wheelchair users and a method thereof. To provide a more accurate and safer navigation service to wheelchair users, the wheelchair navigation service system according to the present invention constructs navigation data using a lidar sensor system and a satellite positioning system provided in aircrafts, and a wheelchair user carries a wheelchair terminal and a user terminal to transmit precise positional information and destination information to a service server in real time. The wheelchair terminal includes a precise satellite positioning receiver for receiving precise positional information through an artificial satellite of the satellite positioning system and is provided to be able to communicate with the user terminal. The user terminal has an application installed thereon to provide a wheelchair navigation service. According to the present invention, road network data are constructed using lidar data of a lidar sensor system, the precise positional information of a wheelchair user is measured and corrected in real time using a satellite positioning system, and accordingly navigation data for a wheelchair navigation service are constructed, thereby providing, to a wheelchair user, route search and voice guidance for a precise navigation service to a destination outdoors.

Description

Wheelchair guidance service system and its method {NAVIGATION SERVICE SYSTEM FOR WHEEL CHAIR USERS AND METHOD THEREOF}

The present invention relates to a wheelchair guidance service system and method thereof, and more specifically, to guarantee the right of movement of a wheelchair user using a wheelchair, such as the disabled, the elderly, and the mobility impaired, for precise location measurement based on a global positioning system (GNSS). Building and verifying data for route guidance service using lidar data of the lidar sensor system of the vehicle and air vehicle; It relates to a wheelchair way guidance service system and method for a wheelchair user that provides a precise way guidance service to safely move to a destination.

In general, a vehicle navigation system applies a map matching technology that attaches vehicles to a line based on a center line of a road surface, rather than a method of dividing lanes according to the driving direction of the vehicle. This is used as a method to solve the error and route guidance of general GPS.

However, when this is applied to navigation services such as wheelchairs and walking, there is currently a limitation in being serviced in real time, which is mainly due to the inability to secure precise location coordinates. As a result, an error occurs between the GPS location information and the actual user's location, so that the exact location cannot be displayed. In the case of some walking navigation services, the walking navigation service is provided at the level of displaying a guide map on the road.

Recently, as the demand for navigation guidance by pedestrians using mobile communication terminals is increasing, the way guidance is provided to pedestrians in the same way as the way guidance of vehicles. However, existing route guidance systems generally provide route guidance services implemented for vehicles. When route guidance is provided to pedestrians, it is difficult to provide safe route information to pedestrians as they are displayed mainly on roads that vehicles can drive on. . In addition, since the existing route guidance system measures the user's location through general GPS location information and provides route guidance service through this, accuracy is very low due to errors in GPS location information, and roads for vehicles and sidewalks for pedestrians are not separated. By providing single information, that is, road information for vehicles, it is impossible to provide accurate walking route information to pedestrians, and pedestrian sidewalks, bicycle roads, crosswalks, overpasses, underpasses, stairs, downtown roads and ramps are inconvenient for pedestrians to pass through. There is a problem of not providing an optimal route because information on facilities that can act effectively or usefully is not reflected.

Therefore, it can be said that accurate location information is more important than anything else in order to provide route guidance services used in general vehicles to the mobility impaired such as the transportation disadvantaged, wheelchair users, the handicapped, and the visually impaired. Nevertheless, since large-scale investment is required to build route guidance services for roads and sidewalks by applying map matching technology, it is practically difficult to build a route guidance system for the mobility impaired, especially wheelchair users.

Korean Patent Publication No. 10-2009-0004252 (published on January 12, 2009) Korean Registered Patent Publication No. 10-2351584 (published on January 17, 2022) Korean Registered Patent Publication No. 10-1721932 (published on March 31, 2017) Korean Registered Patent Publication No. 10-1142386 (published on May 18, 2012)

An object of the present invention is a wheelchair navigation service system that provides route guidance services for wheelchair users with precision secured by performing RTK-GNSS survey and position correction of the current location of the wheelchair user in real time using a global positioning system (GNSS). and to provide a method thereof.

Another object of the present invention is to establish a database for accurate and safe wheelchair guidance service by measuring and collecting precise location information and lidar data for the service area using a global positioning system (GNSS) and lidar sensor system of an aircraft. And to provide a wheelchair way guidance service system and method for securing.

Another object of the present invention is to provide a wheelchair wayfinding service system and method for providing a wayfinding service for a wheelchair user using a wheelchair terminal mounted on a wheelchair and a user terminal carried by the wheelchair user.

In order to achieve the above objects, the wheelchair navigation service system of the present invention measures and corrects precise location information of a wheelchair user using a satellite positioning system, and lidar data for a service area using a lidar sensor system of an air vehicle. One of its characteristics is to secure a precise location for voice guidance by measuring , establish big data for route guidance service by making it into a database, and provide wheelchair user directions to the destination through this.

The wheelchair route guidance service system of the present invention can implement an accurate and safe route guidance service by providing route and voice guidance according to more precise location information to a wheelchair user through ultra-precise GNSS positioning and LIDAR data.

According to this feature, the wheelchair route guidance service system of the present invention is communicatively provided and mounted on a wheelchair, receives in real time precise location information measured from a satellite positioning system that measures precise location information through artificial satellites, and receives the precise location information received in real time. A wheelchair terminal having a GNSS receiver that corrects location information through a GNSS reference station to generate precise location correction data; A user in which an application for providing a wheelchair route guidance service is installed, carried by a wheelchair user, and receiving precise location information and precise location correction data from the wheelchair terminal in real time through a communication network, and inputting destination information by the wheelchair user. terminal; and collects and verifies lidar data obtained from a lidar sensor system provided in the aircraft and measuring lidar data on roads in the route guidance service area and terrain features around the roads, and from the GNSS The acquired precise location information and precise location correction data are collected to build navigation data for wheelchair guidance service, secure accurate location information for voice guidance through LiDAR data, and precise location for the current location from the user terminal When the information, precise location correction data, and destination information are transmitted, a route guidance service server extracts a route to the destination and voice guidance information from the navigation data and provides a wheelchair guidance service to the user terminal in real time.

In this feature, the wheelchair terminal includes a communication module for transmitting precise position correction data to the user terminal in real time through a communication network; a memory for storing the precise position information and the precise position correction data; and a controller controlling the GNSS receiver, the communication module, and the memory.

In this feature, the way guidance service server further outputs voice guidance information for guiding the event to the user terminal when a location where an event occurs on a route for wheelchair guidance service is determined based on LIDAR data. send to do

As described above, the wheelchair route guidance service system of the present invention utilizes a lidar sensor system provided in an aircraft to measure roads for each service area for providing route guidance services, and topography and features around the roads. Acquire and collect LiDAR data, build a database to build road network data, transmit precise location information to a wheelchair user's wheelchair terminal using a satellite positioning system through artificial satellites, measure and correct in real time, and wheelchair users By receiving precise location information and destination information from the user terminal of the user and providing route and voice guidance for the route guidance service in response to the location of the wheelchair user, it is possible to provide an accurate and safe optimal route guidance service suitable for wheelchair users. .

In addition, the wheelchair route guidance service system of the present invention provides directions for walking and wheelchair movement in conjunction with a lidar sensor system and a satellite positioning system, and selects a target point and secures a target point for voice guidance as a method for voice guidance service, thereby providing ultra-precision RTK. It is possible to implement a route guidance service using centimeter-level accuracy matching technology using measurement principles and a voice docent service that provides navigation and voice guidance including wheelchairs only with accurate location information to prevent confusion.

In addition, the wheelchair navigation service system of the present invention collects accurate location information using ultra-precise positioning and aircraft and drones to build precise data for route guidance service, thereby collecting data from a wide service area and providing accurate location points in a short time. Data can be collected to secure docent location information.

In addition, the wheelchair route guidance service system of the present invention determines the location where an event occurs based on LiDAR data during the movement of a wheelchair user through the wheelchair route guidance service and promptly responds to the event situation by outputting prompt voice guidance information and enable action to be taken.

1 is a block diagram showing the network configuration of a wheelchair way guidance service system for a wheelchair user according to the present invention;
Figure 2 is a block diagram showing the configuration of the wheelchair terminal and user terminal shown in Figure 1;
Figure 3 is a block diagram showing the configuration of the road guidance service server shown in Figure 1, and
Figure 4 is a flow chart showing the processing procedure of the wheelchair way guidance service system for a wheelchair user according to the present invention.

Embodiments of the present invention may be modified in various forms, and the scope of the present invention should not be construed as being limited due to the examples described below. This embodiment is provided to more completely explain the present invention to those skilled in the art. Therefore, the shapes of components in the drawings are exaggerated to emphasize a clearer description.

A wheelchair navigation service system for a wheelchair user according to the present invention utilizes a lidar sensor system provided in an aircraft such as an aircraft and a drone to provide a navigation service, and includes roads for each service area and topography around the road. It acquires and collects lidar data by measuring features, etc., and builds road network data by converting it into a database. To this end, a route for the wheelchair navigation service is planned, established, and selected in advance, and a GNSS reference station is selected for each selected route. Acquiring lidar data and surveying ground reference points using lidar sensor systems of aircraft and drones, matching and merging built lidar data to visualize, inspecting the site based on this, securing accurate location, and mapping coordinate values , LAS (LASer) data combined with location information is created by setting the number of cases according to the driving direction.

In addition, the wheelchair guidance service system of the present invention transmits precise location information to a wheelchair user's wheelchair terminal using a satellite positioning system through artificial satellites, measures and corrects it in real time, and provides precise location information and destination information from the wheelchair user's user terminal. It is transmitted and provides route and voice guidance for accurate and safe optimal route guidance service in response to the location of the wheelchair user.

Therefore, the wheelchair route guidance service system of the present invention provides directions for walking and wheelchair movement in conjunction with a lidar sensor system and a satellite positioning system, and selects a target point and secures a target point for voice guidance as a method for voice guidance service, thereby providing ultra-precision RTK. A route guidance service using centimeter (Cm) level accuracy matching technology using measurement principles and a voice docent service that provides navigation including wheelchairs and voice guidance only with accurate location information are implemented to prevent confusion.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 4 attached.

Figure 1 is a block diagram showing the network configuration of a wheelchair way guidance service system for a wheelchair user according to the present invention, Figure 2 is a block diagram showing the configuration of a wheelchair terminal and user terminal shown in Figure 1, and Figure 3 is a block diagram showing the configuration of the road guidance service server shown in FIG.

1 to 3, the wheelchair route guidance service system 2 of the present invention provides a more accurate and safe route guidance service to wheelchair users such as the disabled, the elderly, and those who have difficulty walking on their own, in advance. LiDAR according to the road conditions of the service area, for example, roads and surrounding terrain, features, etc. Establish road network data to accurately determine road conditions by precisely measuring and collecting data, and provide precise location information for wheelchair users by using Global Navigation Satellite Systems (GNSS) (500) through artificial satellites. It measures and corrects in real time, and through this, builds navigation data for wheelchair navigation service, providing route search and voice guidance for precise route guidance service from outdoor to destination to wheelchair users.

To this end, the wheelchair navigation service system 2 of the present invention measures and collects lidar data using a lidar sensor system 400 such as an aircraft and a drone in advance, Establish point, line, and plane unit LiDAR data, and verify roads that the wheelchair 10 can travel through on-site confirmation, preliminary investigation of routes such as roads, construction of road data, and voice information on accurate locations Thus, wheelchair guidance data, that is, navigation data is constructed, and these processes are repeatedly performed to secure the quality of the data.

In addition, the wheelchair route guidance service system 2 of the present invention measures and corrects GNSS location information in real time from a global positioning system (GNSS) 500 using the wheelchair terminal 100 installed in the wheelchair 10, and the wheelchair user The corrected GNSS location information is transmitted to the user terminal 200 carried in real time.

In addition, the wheelchair guidance service system 2 of the present invention transmits the current corrected GNSS location information and destination information according to the movement of the wheelchair 10 from the user terminal 200 to the way guidance service server 300, A route to a destination and voice guidance information are received from the guidance service server 300 to the user terminal 200 and a way guidance service is provided to the wheelchair user.

Therefore, the wheelchair guidance service system 2 of the present invention measures GNSS location information according to the movement of the wheelchair 10, that is, precise location information, based on ultra-precision GNSS in centimeters (cm), and Map matching technology for wheelchair guidance is applied by matching the moving route based on the center line of the road surface, and road network data is collected according to road conditions for a wide service area in a short time using lidar data to provide accurate location. It is built to provide voice guidance to the destination, and provides route guidance service that provides voice information in response to accurate location according to route guidance on the searched route by searching for a route to the destination and dangerous situation on the road, road condition, etc. do.

Specifically, the wheelchair navigation service system 2 of the present invention includes a global positioning system (GNSS) 500, a lidar sensor system 400, a wheelchair terminal 100, a user terminal 200, and a navigation service server ( 300). Each of the wheelchair terminal 100 and the user terminal 200 and the user terminal 200 and the way guidance service server 300 are connected to each other through communication networks 4 and 6 to enable mutual data communication.

The communication networks 4 and 6 include, for example, a wired/wireless communication network, a mobile communication network, and the like, and are provided as a single communication network or a complex communication network in which they are mixed. The communication network 4 is connected to a plurality of base stations so that data communication is performed between the user terminal 200 and the way guidance service servers 300 . The communication network 6 is connected so that data communication is made between the wheelchair terminal 100 and the user terminal 200 through a wired or wireless communication network.

The lidar sensor system 400 is provided in flying vehicles such as aircraft and drones to detect roads in the service area and terrain features around the roads for providing wheelchair guidance services using lidar sensors, and detects the detected roads and Location information is calculated by measuring the arrival time from the terrain features around the road, and through this, lidar data for constructing road network data is obtained. This lidar data has centimeter-level precision and accuracy. Therefore, the lidar sensor system 400 matches the lidar data based on the positional accuracy of the satellite positioning system 500 to provide an accurate voice guidance service at a precise location, database lidar data, and navigation through this It is provided to the route guidance service server 300 so that it can be applied in units of points, lines, and planes on the map.

The global positioning system (GNSS) 500 includes a plurality of satellites and a plurality of GNSS reference stations, and uses the RTK-GNSS service to implement a wheelchair navigation service. ) to correct the precise location information. That is, the global positioning system (GNSS) 500 transmits precise location information to the GNSS receiver 110 of the wheelchair terminal 100 in real time, and GNSS correction information for correcting the precise location information measured through the GNSS reference station is transmitted to the GNSS receiver 110 and processed to correct the measured precise location information.

The wheelchair terminal 100 is a mobile terminal equipped with a GNSS receiver 110 and a communication module 140, and is mounted on one front side of the wheelchair 10 using a cradle or the like. The wheelchair terminal 100 is connected to the artificial satellite of the global positioning system (GNSS) 500 through the GNSS antenna 102, receives precise location information according to the movement of the wheelchair 10 in real time, and receives information from a nearby GNSS reference station. Receives GNSS correction information and corrects precise location information. The wheelchair terminal 100 is provided to enable wired or wireless communication with the user terminal 200 . The wheelchair terminal 100 transmits precise location information and corrected precise location information, that is, GNSS location correction data to the user terminal 200 through the wired/wireless communication network 6 in real time.

As shown in FIG. 2, the wheelchair terminal 100 according to an embodiment of the present invention includes a GNSS receiver 110, an RTK correction processor 120, a communication module 140, a memory 150, a battery 160, and A controller 130 is included.

The GNSS receiver 110 is provided, for example, as an ultra-precision GNSS receiver of the Real Time Kinematic (RTK) method, and is connected to the satellite of the GNSS system 500 through the GNSS antenna 102 to receive precise location information, and the controller Under the control of (130), precise location information of the wheelchair terminal 100, that is, GNSS coordinate values are calculated. The GNSS receiver 110 receives GNSS correction information for correcting the precise location information of the wheelchair terminal 100 from a nearby GNSS reference station through the GNSS antenna 102, and receives the control of the controller 130 to obtain the GNSS correction information is transferred to the RTK correction processing unit 120.

The RTK correction processing unit 120 receives GNSS correction information from the GNSS receiver 110 under the control of the controller 130 and corrects it in real time through RTK correction calculation to generate GNSS position correction data. That is, the RTK correction processing unit 120 receives RTCM (Real Time Differential Correction Maritime) correction data for the GNSS correction information transmitted from the GNSS reference station at the current location and corrects the precise location information in real time to generate GNSS location correction data do.

The communication module 140 is provided with, for example, a Bluetooth communication module, a Wi-Fi communication module, an LTE communication module, a USB communication module, and the like, and receives the control of the controller 130 to receive precise location information through a wired or wireless communication network 6. and GNSS location correction data are transmitted to the user terminal 200 in real time. In this embodiment, the communication module 140 is connected to the user terminal 200 through a USB wired communication network or a Bluetooth wireless communication network. Also, in this embodiment, the GNSS receiver 110 and the wired/wireless communication module 120 may be provided as a combined integral type.

The memory 150 temporarily stores precise location information received by the GNSS receiver 110 and GNSS location correction data generated by the RTK correction processor 120 under the control of the controller 130 .

The battery 130 is provided as, for example, a rechargeable secondary battery, and supplies power to the wheelchair terminal 100 under the control of the controller 160.

And, the controller 130 controls to process all operations of the wheelchair terminal 100. That is, the controller 130 controls the above-described functions of the GNSS receiver 110, the RTK correction processing unit 120, the communication module 140, the memory 150, and the battery 160 to be organically processed.

The user terminal 200 is a mobile terminal provided by a wheelchair user, and is provided as, for example, a smart phone or a tablet phone. The user terminal 200 of this embodiment is provided as a smart phone, and components of a typical smart phone (eg, CPU, memory, GPS module, mobile communication module, wired/wireless communication module, display panel, camera, speaker, and various sensors) etc.) are included.

The user terminal 200 is connected to the wheelchair terminal 100 through the wired/wireless communication network 6 and connected to the road guidance service server 300 through the communication network 4. The user terminal 200 is installed with a wheelchair route guidance application (hereinafter referred to as wheel navigator app) for providing a GNSS-based route guidance service. When the user terminal 200 executes the wheel navigator app or is connected to the wheelchair terminal 100 through the wired/wireless communication network 6, the wheel navigator app is activated. When the wheel navigator app is activated, the user terminal 200 receives precise location information and GNSS location correction data from the wheelchair terminal 100 in real time, and transmits them to the road guidance service server 300 . The user terminal 200 receives destination information about a destination to be moved by the wheelchair user through the touch panel ( 220 in FIG. 2 ) and transmits it to the route guidance service server 300 . The user terminal 200 receives navigation data such as current GNSS location correction data, route guidance data corresponding to destination information, and voice information in real time from the route guidance service server 300, and displays the touch panel 220 and the speaker ( 270 in FIG. 2) and the like.

As shown in FIG. 2 , the user terminal 200 according to an embodiment of the present invention includes a touch panel 220, a storage unit 230 equipped with a wheel navigator app, a communication module 240, and a GPS module 250. , a camera 260, a speaker 270 and a controller 210.

The touch panel 220 receives the control of the controller 210 and outputs various interface screens such as a navigation map of an activated wheel navi app. The touch panel 220 receives personal information about the wheelchair user, that is, user information, through an interface screen. In this embodiment, the user information includes whether or not the wheelchair user has a disability, the type of wheelchair, identification information of the user terminal 200, and the like. The touch panel 220 receives destination information of the wheelchair user. The touch panel 220 displays navigation data including a road guidance route provided from the road guidance service server 300, a road, and terrain features around the road on an electronic map.

The storage unit 230 is equipped with a wheel navigator app that provides a wheelchair route guidance service according to the present invention.

The communication module 240 is provided as, for example, a wired communication module, a wireless communication module, a mobile communication module, etc., and is connected to the wheelchair terminal 100 through the communication network 6, and a way guidance service server through the communication network 4. (300) is connected. The communication module 240 transmits destination information input through the touch panel 220, precise location information transmitted in real time from the wheelchair terminal 100, and GNSS location correction data to the guidance service server 300. The communication module 240 receives navigation data corresponding to destination information and GNSS location correction data from the route guidance service server 300 .

The GPS module 250 obtains the location information of the user terminal 200 in real time and transfers it to the communication module 240 to be transmitted to the route guidance service server 300 .

The camera 260 acquires images of various objects on the moving path of the user terminal 200 .

The speaker 270 outputs voice guidance information for a road guidance service from navigation data transmitted from the way guidance service server 300 . The speaker 270 outputs voice guidance information corresponding to a location where an event occurs while the wheelchair 10 is moving according to navigation data.

And the control unit 210 controls to process all operations of the user terminal 200 . That is, the controller 210 controls each of the touch panel 220, the storage unit 230, the communication module 240, the GPS module 250, the camera 260, and the speaker 270 according to the processing process of the wheel navi app. The functions of are controlled to process mutually organically.

Further, the road guidance service server 300 is connected to enable data communication with the user terminals 200 of each of the plurality of wheelchair users through the communication network 4 . The road guidance service server 300 receives lidar data from the lidar sensor system 400 in advance, collects and verifies lidar data, and repeatedly performs the lidar data into a database to build road network data, and the satellite positioning system ( 500), the navigation data for the wheelchair guidance service is constructed using the precise location information. The route guidance service server 300 receives user information from the user terminal 200 and registers and manages user information. The route guidance service server 300 receives real-time transmission of precise location information and GNSS location correction data according to the movement of the wheelchair 10 from the user terminal 200, and when destination information is transmitted, extracts a route to the destination from the navigation data And, by extracting the voice guidance information corresponding to the route based on lidar data, the user terminal 200 is processed to provide the wheelchair guidance service.

In an embodiment of the present invention, the road guidance service server 300 includes a server unit 310 and a database unit 350 as shown in FIG. 3 . The server unit 310 is provided with a web server and an app server that are connected to each of the plurality of user terminals 200 through the communication network 4 and process data communication to be possible. The database unit 350 stores and manages various information according to the overall processing of the way guidance service server 300 processed by the server unit 310 . In this embodiment, the database unit 350 is included in the road guidance service server 300, but may be provided as an independent database server.

Specifically, the server unit 310 includes a control unit 312, a communication unit 314, a location information processing unit 316, a wheelchair route guidance processing unit 318, a voice guidance processing unit 320, and an event processing unit 322.

The control unit 312 controls to process all operations of the route guidance service server 300 . That is, the control unit 312 has functions of the communication unit 314, the location information processing unit 316, the wheelchair route guidance processing unit 318, the voice guidance processing unit 320, the event processing unit 322, and the database unit 350. It is controlled so that it is mutually organically processed.

The communication unit 314 is provided as, for example, a wireless communication module or a mobile communication module, and is connected to each of the user terminals 200 through the communication network 4 to process mutual data communication.

The location information processing unit 316 measures and corrects the precise location information of the wheelchair user in real time using the global positioning system (GNSS) 500 through artificial satellites, stores it in the database unit 350, and provides wheelchair directions through this. Build navigation data for service. The location information processing unit 316 may receive GPS information and GNSS location correction data from the user terminal 200 and store them in the database unit 350 .

The wheelchair route guidance processing unit 318 receives precise location information and GNSS location correction data transmitted from the user terminal 200 in real time, and when destination information is received from the user terminal 200, precise route guidance from the navigation data to the destination The path and voice guidance information for the service are extracted and processed to provide the user terminal 200 with a wheelchair guidance service through a wheelchair guidance application. At this time, the wheelchair route guide processing unit 318 extracts and provides an optimal path suitable for the wheelchair user in response to the user information of the wheelchair user. In addition, the wheelchair route guide processing unit 318 identifies the type of wheelchair (electric or manual) through user information, and provides various routes such as recommended courses and safe courses for each type. In addition, the wheelchair route guidance processing unit 318 provides real-time guidance services on the road conditions of the route, such as stairs, slopes, road widths, turning angles, and pavement conditions, and convenience facility information guidance services for the disabled, such as toilets and rest areas for the disabled. deal with

The voice guidance processing unit 320 outputs voice guidance information to the user terminal 200 in response to a precise location based on lidar data on the route extracted by the wheelchair guidance processing unit 318 through the wheelchair guidance application. deal with

The event processing unit 322 transmits to the user terminal 200 to output voice guidance information for guiding the event in response to determining the location where the event occurs on the route for the wheelchair navigation service based on lidar data. do. For example, the event processing unit 322 processes to provide the corresponding voice guide information to the user terminal 200 when it is determined as a location corresponding to a degree of movement inhibition according to road conditions. The event processing unit 322 monitors the precise location information of each of the plurality of user terminals 200 and processes to provide voice guidance to the user terminal 200, such as the presence or absence of other wheelchair users located nearby for safe movement. can In addition, when an emergency occurs while the wheelchair 10 is moving from the user terminal 200 and the emergency occurrence information is transmitted, the event processing unit 322 provides precise location information and emergency information of the wheelchair user to take emergency measures in response. Situation occurrence information may be transmitted to a control system (not shown) such as a 119 fire center or a police station through the communication network 4 .

In addition, the database unit 350 receives the control of the control unit 312 and stores the location information 352, lidar data 354, wheelchair directions data 356, voice guidance data 358, and user information 360 at least. store, manage The database unit 350 may store and manage various information registered, collected, and generated according to the process of processing various functions of the route guidance service server 300 under the control of the control unit 312 .

The way guidance service server 300 includes a lidar sensor system 400 and a global positioning system (GNSS) 500 to ensure the right of wheelchair users such as the disabled, the elderly, and the mobility impaired using the wheelchair 10. It builds road network data and navigation data by interlocking, and provides a smart phone-based wheelchair guidance service that can accurately and safely move to the destination outdoors.

Therefore, the guidance service system 2 of the present invention includes a wheelchair terminal 100 equipped with a GNSS receiver 110 in order to guarantee the right of movement of wheelchair users, such as disabled people and patients who have difficulty walking by themselves, and to provide convenience during movement. Using the wheelchair user's user terminal 200, it is processed to provide ultra-precise location-based route guidance service, road condition and convenience facility information service, event occurrence information, and emergency notification service for wheelchair users.

And Figure 4 is a flow chart showing the processing procedure of the wheelchair way guidance service system for a wheelchair user according to the present invention. This procedure is processed by the components 100 to 500 of the route guidance service system 2 of FIGS. 1 to 3 .

Referring to FIG. 4, in the wheelchair navigation service system 2 of the present invention, in step S600, the navigation service server 300 interworks with the lidar sensor system 400 and the global positioning system (GNSS) 500. Therefore, we build navigation data to provide road network data and wheelchair guidance service. At this time, the wheelchair user mounts the wheelchair terminal 100 on the wheelchair 10 and carries the user terminal 200.

When the user terminal 200 is connected to the wheelchair terminal 100 through the communication network 6 in step S602, the wheel navi app is activated in step S604. Of course, the wheelchair user may execute and activate the wheel navi app installed in the user terminal 200 .

In step S606, the wheelchair terminal 100 uses the GNSS receiver 110 to receive precise location information in real time through satellites of the global positioning system (GNSS), and in step S608, from the GNSS reference station of the global positioning system (GNSS) It receives GNSS correction information for correcting precise location information, corrects the precise location information, and generates GNSS location correction data through this. In step S610, the wheelchair terminal 100 transmits precise location information and corrected GNSS location correction data to the user terminal 200 through the communication network 6.

In step S612, the user terminal 200 transmits destination information, precise location information, and GNSS location correction data to the road guidance service server 300 through the communication network 4 using the activated wheel navigator app.

In step S614, the route guidance service server 300 extracts wheelchair route guidance data, that is, route and voice guidance information, from the navigation data in response to the destination information, precise location information, and GNSS location correction data transmitted from the user terminal 200. It is transmitted to the user terminal 200 in real time along the moving path of the wheelchair 10.

In step S616, the user terminal 200 outputs the wheelchair guidance data transmitted from the guidance service server 300 to move the wheelchair 10. At this time, the user terminal 200 determines location information based on LIDAR data along the route of the road guidance data and outputs voice guidance information for guiding road conditions and the like.

In step S618, if the user terminal 200 is in a position where an event occurs while moving the wheelchair, the process proceeds to step S620 to output voice guidance information corresponding to the event.

Therefore, the wheelchair route guidance service system 2 for wheelchair users according to the present invention uses a high-precision positioning system (Global Navigation Satellite System: GNSS) using artificial satellites to transfer the measured location information to a location located adjacent to the point where the user is located. After collecting through the RTK position correction signal from a number of GNSS reference stations, it is comprehensively utilized to calculate and generate an RTK correction signal suitable for the user's location. This can be applied to a wider service area because it calculates the RTK correction signal suitable for the user's location by using the information calculated by several GNSS reference stations.

At this time, the principle of obtaining location information in the field is to read the location information of the GNSS system 500, connect to a GNSS reference station operated by the country through a wireless communication network, receive location correction data through a location correction service network, and obtain RTCM The position of the wheelchair terminal 100 is accurately calculated through the calibration service network.

In addition, the wheelchair route guidance service system 2 for wheelchair users according to the present invention measures location information in real time while the wheelchair user is moving by using RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System), which is a high-precision positioning system. and correction, and transmits precise location information to the user terminal 200 of the wheelchair user through the wireless communication network 6.

Accordingly, the user terminal 200 interlocks with the GNSS receiver 110 of the wheelchair terminal 100 and the route guidance service server 300 in real time, and displays the appropriate location matching for route guidance and route location through the wheelchair route guidance application. And, by providing a voice guidance service that moves the current user location in the direction of the location, the route for the wheelchair navigation service is provided. In addition, the user terminal 200, for example, through a wheelchair route guidance application, in real time according to the route guidance, road conditions, for example, downhill road, uphill road, stairs, stone road, chin, lawn, deck road, etc., toilet, parking lot, Information on convenience facilities such as rest areas, exits, entrances, access roads, direction and angle of rotation of various facilities, and road width are provided through voice guidance. In addition, the user terminal 200 not only guides the way for the visually impaired through a wheelchair navigation application, but also checks the location of road pavement conditions such as buried underground facilities and braille blocks in real time to provide voice guidance on the corresponding facilities or road conditions. Provide information.

In the above, the configuration and operation of the wheelchair way guidance service system for a wheelchair user according to the present invention have been shown in detail and in accordance with the drawings, but this is only described by way of example, and is within the scope of the technical spirit of the present invention. Various changes and changes are possible in

2: Wheelchair guidance service system
4, 6: communication network
10: Wheelchair
100: wheelchair terminal
110: GNSS receiver
120: communication module
200: user terminal
230: wheelchair directions application
300: Directions service server
400: lidar sensor system
500: satellite positioning system (GNSS)

Claims (3)

In the wheelchair navigation service system:
It is equipped to communicate and is mounted on a wheelchair, and receives real-time GNSS location information measured from a global navigation satellite system (GNSS) that measures precise location information through satellites according to the movement of the wheelchair, and from a GNSS reference station a wheelchair terminal for receiving GNSS correction information and generating GNSS location correction data by correcting the received GNSS location information using the GNSS correction information;
When an application for providing a wheelchair route guidance service is installed, carried by a wheelchair user, and the application is activated, GNSS location information and GNSS location correction data are transmitted in real time from the wheelchair terminal through a communication network, and the wheelchair user moves a user terminal that receives destination information about a desired destination; and
Collects and verifies lidar data for the roads in the route guidance service area measured from the lidar sensor system installed in the vehicle in advance and the terrain features around the road, and GNSS location information obtained from the satellite positioning system (GNSS) and GNSS positioning correction data are collected, matching lidar data based on the positional accuracy of the satellite positioning system to build navigation data for wheelchair navigation service, and securing accurate location information for voice guidance through lidar data And, when GNSS location information, GNSS location correction data, and destination information for the current location are transmitted from the user terminal through the communication network, voice guidance information corresponding to the route based on the route from navigation data to the destination and lidar data Including; a route guidance service server that extracts and provides a wheelchair route guidance service to the user terminal in real time;
The wheelchair terminal,
a GNSS receiver configured to receive real-time GNSS location information from the global positioning system (GNSS) and GNSS correction information from the GNSS reference station;
an RTK correction processing unit receiving GNSS location information and GNSS correction information from the GNSS receiver and generating GNSS location correction data through RTK (Real Time Kinematic) correction calculation;
a communication module for transmitting GNSS location information and GNSS location correction data to the user terminal in real time through a communication network;
a battery supplying power to the wheelchair terminal;
a memory for storing GNSS location information received by the GNSS receiver and GNSS location correction data generated by the RTK correction processor; and
A controller controlling the GNSS receiver, the RTK correction processing unit, the communication module, and the memory;
The route guidance service server,
receiving, registering, and managing user information including at least a wheelchair user's wheelchair type and identification information of the user terminal from the user terminal;
When GNSS location information, GNSS location correction data, and destination information for a current location are transmitted from the user terminal, a path suitable for a wheelchair user is extracted and provided in response to a wheelchair type of user information;
A wheelchair navigation service system characterized in that it further provides a voice guidance service for the road conditions of the extracted route and convenience facilities for the mobility impaired on the route.
delete The method of claim 1,
The route guidance service server,
When a location where an event occurs on a route for a wheelchair navigation service is determined based on lidar data, voice guidance information for guiding the event is further transmitted to the user terminal so as to be output. .

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