KR20060027669A - Device of walking guidance for a blind person - Google Patents

Abstract

The present invention relates to a pedestrian guide device, in particular, facilitates sharing of mutually recognized location information among the visually impaired, detects obstacles during movement and guides the visually impaired in various directions by the detected obstacles. The present invention relates to a walking guidance device for the visually impaired, which guides a person to a destination without losing direction.

The present invention provides an obstacle detecting means 10 for generating an obstacle detecting signal by detecting an obstacle in front of the obstacle, a direction detecting means 20 for generating a position coordinate signal for indicating a position where a visually impaired person is located, Power supply means 30 for supplying power, alarm sound output means 40 for indicating the presence of obstacles in front of the moving direction of the visually impaired, and the visually impaired to recognize the magnetic north direction where the visually impaired are located The direction guide means 50 for guiding to be able to guide, and the position coordinate signal and the obstacle detection signal input from the direction detecting means 20 and the obstacle detecting means 10 so that the blind person can walk in the direction It consists of a control means 60 for controlling the guide means 50 and the alarm sound output means 40.

Visually impaired, walking, direction, obstacles, magnetic north, guidance, vibration motor, ultrasound

Description

Device of walking guidance for a blind person             

1 is a schematic block diagram showing a walking guide device for the visually impaired of the present invention,

Figure 2 is a wearing state wearing a walking guide device for the visually impaired of the present invention,

3 is a view showing a cylindrical elastic band provided in the walking guide device for the visually impaired of the present invention,

4 is a diagram showing a peripheral map of a place where a visually impaired person resides,

5 is a view showing that the main body and the direction guide portion constituting the pedestrian guide device for the visually impaired is integrally mounted to the hat.

<Code Description of Main Parts of Drawing>

10: obstacle detection means 11: ultrasonic transceiver

12: automatic gain controller 13: signal detector

14: pulse generator 20: direction detection means

21: direction detection unit 22: multiplexer

23: amplifier 24: A / D converter

25: signal generator 26: booster

30: power supply means 40: alarm sound output means

50: direction guide means 51: vibration motor

51a: reference vibration motor 51b: direction indication vibration motor

52: multiplexer for magnetic north defense 60: control means

100: elastic band 110: reference

200a, 200b: main body 300: residence

400: hat 410: hat visor

500a, 500b: Obstacle

The present invention relates to a pedestrian guide device, in particular, facilitates sharing of mutually recognized location information among the visually impaired, detects obstacles during movement and guides the visually impaired in various directions by the detected obstacles. The present invention relates to a walking guidance device for the visually impaired, which guides a person to a destination without losing direction.

In general, since the human body is a life of visual superiority, various researches on artificial eyes have been conducted because visual impairment is very limited in activity compared with other sensory deficits.

For example, the research paper published by Shepherd [G.M. Shepherd, Neurobiology, 3rd Ed, New York, Oxford University Press, 1994], the types of information provided by vision include the presence or absence of light, shape discrimination, motion recognition, distance recognition through binocular vision, polarization recognition, and color vision. Etc. Here, the human body has all the functions except for the polarization recognition and obtains information about the surrounding environment through the visual function.

In addition, in the type of visual information, the presence or absence of light can be recognized using a single photoreceptor. However, the rest can be recognized only by using a two-dimensional array of photoreceptors. In particular, in the case of distance recognition, stereoscopic vision is required through binocular vision, and the human body's vision is a three-dimensional sensation because it can recognize stereoscopic objects rather than planes.

Therefore, the ability to recognize movement is so advanced that it has not only simple 3D information but also 4D cognitive ability. Therefore, in the case of the visually impaired, such visual information is lost, beyond the level of inconvenience to daily life, it is impossible to survive without the help of people around you.

As one method of visual aid to solve the above-mentioned problems, the vision enhancement method published by Fonda [G.E. Fonda, Management of low vision, New York, Thieme-Stratton, 1981], in the case of amblyopia, acquire an image using a CCD and then provide an enlarged, brightness-adjusted image using the display in front of the eyes, but this is completely blind. In this case, there is a problem that is not applicable.

As part of solving this, there is a method of using an alternative sense. Obstacle detection aids for the visually impaired (10-1999-0021050) published in the Korean Patent Application Publication provides an alarm for the visually impaired by using an alarm means when an obstacle is detected from the front by an ultrasonic signal that is oscillated. have.

However, the conventional obstacle detection aid for the visually impaired has a problem of not only providing a direction for the visually impaired but also providing a warning to the visually impaired in the presence or absence of an obstacle in front of the visually impaired.

It is not easy to share location information acquired by the person who is visually impaired. In other words, when explaining the location information that they know, they do not describe the location information based on the absolute reference point (magnetic north) but describe the location information based on the relative reference point (movement direction of the visually impaired). In the case of location information, the location information sharer may lose direction when explaining using a reference point relative to the location information sharer (visually handicapped person) who wants to share the location information.

Moreover, the recognition of the location information of the visually impaired (eg, acquiring the location of the alleys around the house) is acquired by repeated movements for a certain period of time through the help of a guide. You must memorize the distance and direction to the location and move alone. In this case, since the direction of moving to the memorized location information is also described using a relative reference point, the visually impaired person may lose direction while moving to the location information.

In addition, if there is an obstacle in front of the visually impaired person when moving from the north direction to the south-east direction (135 ° rotation centered around the magnetic north direction), the visually impaired object is moved after detour by the conventional obstacle detection aid for the visually impaired. When people with disabilities move in the direction they want to go, they cannot know whether they have rotated correctly in the southeast direction, which is the target direction, and whether they are moving correctly in the southeast direction.

The present invention is to solve the problems of the prior art, an object of the present invention is to provide a means for guiding the correct direction of movement to the visually impaired people on the move to provide a sharer with accurate location information based on the absolute reference point (magnetic north) And, if there is an obstacle in front to provide a pedestrian guide device for the visually impaired.

Another object of the present invention is to guide the presence of obstacles in front of the visually impaired person to move to a specific location memorizing distance and direction, as well as the exact direction based on the absolute reference point (magnetic north) every 0.2 seconds intervals The present invention provides a pedestrian guide device for the visually impaired person who can recognize the rotated direction without losing the direction even if the user rotates in various directions due to the guide present in the front while moving to a specific position.

Hereinafter, with reference to the accompanying drawings, the configuration and operation of the embodiment of the present invention will be described in detail.

Figure 1 is a schematic block diagram showing a walking guide device for the visually impaired of the present invention, Figure 2 is a state diagram wearing a walking guide device for the visually impaired of the present invention, Figure 3 is a walk for the visually impaired of the present invention Figure 4 is a view showing a cylindrical elastic band provided in the guide device, Figure 4 is a diagram showing a peripheral map of the place where the visually impaired people, Figure 5 is a main body and direction guide constituting the pedestrian guide device for the visually impaired of the present invention The figure shows that the additional cap is integrally mounted.

As shown, the pedestrian guide device for the visually impaired of the present invention detects obstacles in front of the moving direction of the visually impaired obstacle detection means 10 for generating an obstacle detection signal, where the visually impaired are located Direction detecting means 20 for generating a position coordinate signal for indicating the position of the power supply, power supply means 30 for supplying power, and an alarm sound to indicate that there is an obstacle ahead of the moving direction of the visually impaired By using the output means 40, the direction guide means 50 for guiding the visually impaired to recognize the magnetic north direction where the visually impaired person is located, and the position coordinate signal input from the direction detecting means 20 After generating a magnetic north direction signal indicating the magnetic north direction, and controlled to be output to the direction guide means 50, the obstacle detection signal input from the obstacle detection means 10 And use the generated the obstacle detection warning signal indicating that an obstacle existing in front consists of a control means 60 for controlling so that the output to the alarm sound output means (40).

The direction detecting unit 20 includes a direction detecting unit 21 for generating a position coordinate signal in which the visually impaired person is located in the coordinates of the X axis and the Y axis, and a position coordinate input from the direction detecting unit 10. An amplifier 23 for amplifying the signal and an A / D converter 24 for converting the amplified position coordinate signal, which is an analog signal input from the amplifier 23, into a digital signal so that the control means 60 can recognize it. ) Is made in detail.

Here, it is preferable that the direction detecting unit 21 uses a magnetoresistive bridge element having a fast response speed and low hysteresis as the magnetic sensing sensor.

In addition, when the magnetic arrangement of the direction detecting unit 21 is changed by the external magnetic field, it is necessary to restore the changed magnetic arrangement to the original magnetic arrangement so that the correct direction can be measured. To this end, a signal generator 25 for generating a set / reset signal (hereinafter referred to as an S / R signal) for restoring the changed magnetic array to the original magnetic array is disposed at one end of the direction detecting unit 21.

Here, the S / R signal is inverted about 2.5V as a positive current or a negative current flows on the line of the S / R signal, and the positive current and negative are inverted around the 2.5V. Since the difference between the current and the intensity of the magnetic is proportional, the changed magnetic arrangement of the direction detecting unit 10 is restored to the original magnetic arrangement.

In addition, a 20V power supply is required for the S / R signal to restore the changed magnetic arrangement of the direction detecting unit 21 to its original state. Since the power supplied from the power supply unit 30 is 5V, the booster boosts 5V to 20V. (26) is included.

The magnetic north direction azimuth signal generated by the control means 60 is a vector analysis of the magnetic field value of the position coordinate signal consisting of the X-axis position coordinate signal and the Y-axis position coordinate signal input from the A / D conversion unit 24, The magnetic north direction is measured based on the vector-analyzed value, and is generated using the measured magnetic north direction.

In addition, the direction detecting unit 10 and the amplifier 30 are alternately inputted when the X axis position coordinate signal and the Y axis position coordinate signal, which are the position coordinate signals output from the direction detecting unit 21, are input to the amplifier 30. ) Includes a multiplexer 20.

The amplifier 23 is an instrumentation amplifier for driving a bridge circuit, and provides an electrical signal proportional to a magnetic field as a differential output.

The direction guide means 50 is mounted inside the cylindrical elastic band 100, the number of the vibration motor is one reference vibration motor (51a) and 23 azimuth display vibration located in the moving direction of the visually impaired The motor 51b is connected to the vibration motor unit 51 disposed at equal intervals of 15 ° in the cylindrical elastic band and the 24 vibration motors disposed in the vibration motor unit 51, and the control means. A magnetic north direction multiplexer 52 for inputting the magnetic north direction signal to a corresponding vibration motor indicating a magnetic north direction among the plurality of vibration motors by the magnetic north direction signal inputted from 60.

Here, the elastic band 100 corresponding to the reference vibration motor 51a mounted in a position corresponding to the front (front of the head) of the 24 vibration motors mounted inside the elastic band 100 in the moving direction of the visually impaired. On the outside of the reference piece (fiber material) 110 having a predetermined thickness is attached. The reference vibration motor 51a is azimuth is designated as 0 °, and the other 23 vibration motors are displayed in all directions at intervals of 15 °.

The obstacle detecting means 10 includes an ultrasonic transceiver 11 for generating a distance sensing signal consisting of an ultrasonic transmission signal and an ultrasonic reception signal by oscillating an ultrasonic wave to detect an obstacle in front of the moving direction of a visually impaired person. The automatic gain controller 12 adjusts the magnitude of the distance sensing signal input from the ultrasonic transceiver 11 and amplifies it to a predetermined size, and only the ultrasonic reception signal among the distance sensing signals input from the automatic gain controller 12. The signal detector 13 extracts the obstacle detection signal, and the pulse generator 14 converts the obstacle detection signal input from the signal detector 13 into a pulse having a predetermined width corresponding to the reception time.

The ultrasonic wave radiated by the ultrasonic transceiver 11 may be radiated to have a stereoscopic angle of 15 ° to detect the presence or absence of an obstacle present within a range of the moving direction of the visually impaired person.

In addition, the oscillation interval time of the ultrasonic wave oscillated by the ultrasonic transceiver 11 is oscillated every 1.049 seconds, which is determined by the presence of the obstacle by using the ultrasonic wave oscillated at a predetermined interval (1.049 seconds interval) and then alarm sound when there is an obstacle The control means 60 which controls the visually impaired to recognize the visually impaired by alarming through the output means 40 moves to an obstacle, the output of the alarm sound (intermittent sound) that is output as the visually impaired becomes closer to the obstacle. This is to shorten the time so that the distance to the obstacle can be recognized.

To this end, the distance between the visually impaired and the obstacle (6.5 cm to 3.26 m) is controlled in 31 steps by controlling the output interruption time of the alarm sound having a distance resolution of 10.3 cm to the distance of the obstacle in front of the visually impaired in motion. It can be provided to recognize the gap. In addition, by outputting the alarm sound output for each step as an intermittent click sound instead of a continuous sound, it is easier for the visually impaired to recognize the distance interval with the obstacle. In addition, when two or more obstacles exist within 3.26m, the intermittent sound which is proportional to the distance may be superimposed by varying the time interval.

Reference numeral 200a is a main body on which the remaining components are mounted except for the direction guide part 50 of the direction guide device for the visually impaired.

The elastic band 100 and the main body constituting the pedestrian guide device for the visually impaired when the visually impaired person wants to receive the presence of obstacles and directions in the front when the visually impaired person moves by using the pedestrian guide device for the visually impaired. 200a) must be worn on the body.

Here, the main body 200a is a belt type which includes an obstacle detecting means 10, a direction detecting means 20, a power supply means 30 and a control means 60, which is detachable to the abdomen of the visually impaired, and is visually impaired. Cylindrical elastic band 100 is worn on the head of the direction guide means 50 is mounted therein. Alarm sound output means 40 which is the main configuration of the present invention may be included in the main body 200a or may be configured separately.

In such a configuration, first, in the case of the elastic band 100 is worn on the head (brow) of the visually impaired, the reference piece 110 attached to the elastic band 100 is the moving direction of the visually impaired, that is the forehead Wear it so that it is centered in the center. The main body 200a is worn on the abdomen of the visually impaired, and the main body 200a is worn in the same direction as that of the elastic band 100 so that the main body 200a is positioned in the moving direction of the visually impaired person.

As such, after the elastic band 100 and the main body 200a are worn on the body, the obstacle detecting means 10 and the direction detecting unit controlled by the control unit 60 move when the power is applied to the main body 200a. The direction detecting means 20 of the means 20 detects a positional coordinate signal which is magnetic energy represented by planar coordinates of the X and Y axes using an electromagnetic induction phenomenon.

The detected position coordinate signal is input to the multiplexer 22 and output to the amplifier 23. At this time, the position coordinate signal is composed of the X axis position coordinate signal and the Y axis position coordinate signal, so that the multiplexer 20 is the X axis position coordinate signal. And Y-axis position coordinate signals are alternately output.

The amplifier 23 amplifies the input position coordinate signal three times and outputs it to the A / D converter 24. The A / D converter 24 converts the magnetic field strength of the input position signal, which is an analog signal, into a 12-bit digital signal, and outputs it to the control means 60.

The control means 60 vector analyzes the magnetic field value of the position coordinate signal composed of the input X-axis position coordinate signal and the Y-axis position coordinate signal, and measures the magnetic north direction based on the vector analyzed value.

Subsequently, the magnetic vibration direction corresponds to the magnetic north direction among the 24 vibration motors including the reference vibration motor 51a and the direction indication vibration motor 51b disposed at equal intervals of 15 ° in the inside of the elastic band 100 with reference to the measured magnetic north direction. A magnetic north direction signal for controlling a signal to be output to any one vibration motor is generated and input to the magnetic north direction multiplexer 52.

When the magnetic north direction multiplexer 52 outputs the magnetic north direction signal to the corresponding vibration motor indicating magnetic north direction among 24 vibration motors connected by conducting lines with reference to the magnetic north direction signal, the vibration motor to which the magnetic north direction signal is input vibrates .

At this time, since the moving direction of the reference piece 110 of the elastic band 100 worn on the head is the same as the moving direction of the visually impaired, the visually impaired person can move while recognizing the moving progress direction in which they are moving. For example, when the eighth azimuth display vibration motor 51b is oscillated clockwise with respect to the reference vibration motor 51a, the corresponding vibration motor to which the magnetic north bearing signal is input is vibrated in the eighth azimuth display vibration motor 51b. ) Is a vibration motor that points to the magnetic north direction, and the visually impaired person can know that the direction in which he moves is southwest.

A series of processes from the above-described position coordinate signal detection to the magnetic north direction indication of the vibration motor are performed at 0.2 second intervals.

At the same time, the control means 60 controls the obstacle detecting means 10 to detect the distance. First, under the control of the control means 60, the ultrasonic transmitter 11 oscillates ultrasonic waves radiated at a stereoscopic angle of 15 °, and detects the ultrasonic waves reflected by the object in front of the ultrasonic transmitter and the ultrasonic transmission signal indicating the time of transmission and reception and A distance sensing signal consisting of the ultrasonic reception signal is generated and output to the automatic gain controller 12.

The automatic gain controller 12 adjusts the size of the distance sensing signal having various sizes in the reflected state of the ultrasonic wave, which is the input signal, to a predetermined size, and then amplifies the signal to the signal detector 13.

The signal detector 13 compares whether the ultrasonic reception signal is greater than the threshold signal among the input distance detection signals. Here, the threshold signal refers to the minimum signal intensity of the ultrasonic wave reflected when an obstacle exists in front of the blind person. When the ultrasonic signal is larger than the threshold signal, the blind person may recognize that an obstacle exists in front of the blind person. Alarm sound is output.

When the ultrasonic signal is larger than the threshold signal, the signal detector 13 processes and extracts the distance detection signal into an obstacle detection signal consisting only of the ultrasonic signal and inputs it to the pulse generator 14.

The pulse generator 14 converts the input obstacle detection signal into a pulse having a predetermined width corresponding to the reception time, and inputs it to the control means 60.

The control means 60 measures the time interval between the ultrasonic reception signal and the transmission signal, generates an obstacle detection alarm signal in which the output intermittent interval of the alarm sound is alarmed according to the distance interval of the obstacle present in front, and then outputs the alarm sound. Output control by the means 40 allows the blind to recognize the obstacle in front of the close distance.

In addition, the obstacle detecting means 10 and the direction detecting means 20 provided in the walking guide apparatus of the present invention can be controlled to be selectively driven according to the convenience of the visually impaired. To this end, the main body 200a is provided with a mode selection switch for requesting the obstacle sensing means driving, the direction sensing means driving, and the obstacle sensing means and the direction detecting means simultaneously, and the selection mode is operated by operating the provided mode selection switch. Upon request, the control means 60 recognizes this and is programmed to control the operation of the obstacle detecting means 10 and the direction detecting means 20 according to the selected driving.

Figure 4 is an embodiment of the present invention, a view showing a peripheral map of the place where the blind people live.

Referring to FIG. 4, the distance (the moving section, indicated by A-1, A-2, A-3, A-4, which is a moving route A) from the residence 300 to the subway and magnetic north which are absolute reference points When the visually impaired person memorizing the direction based on the exit 300 to move from the residence (300) to the subway, the direction of the visually impaired is the south of the reference piece of a plurality of vibration motors mounted on the elastic band (100) Based on the reference vibration motor 51a corresponding to 110, the 12th azimuth indication vibration motor 51b is vibrated in a clockwise direction to notify the magnetic north direction, so that the visually impaired person recognizes that the forward direction is south.

Thereafter, with reference to the memorized direction, the vehicle moves to the moving section [A-1], which is a memorized distance, moving eastward according to the magnetic north reference direction recognized by the vibration of the 12th azimuth display vibration motor 51b. At this time, the vibration motor pointing in the magnetic north direction is the 18th azimuth display vibration motor 51b. In addition, since the vibration motor for guiding the magnetic north direction is vibrated at 0.2 second intervals, the visually impaired person can move while correctly recognizing the east direction to go without departing from the other direction.

The visually impaired person moves to the [A-1] moving section and refers to the memorized direction, which is a distance memorized to the south according to the magnetic north direction reference recognized by the vibration of the 18th azimuth display vibration motor 51b. -2] Move to the moving section.

At this time, the main body 200a recognizes the obstacle 500a existing in the moving section [A-2] and outputs the alarm sound differently depending on the distance interval in which the visually impaired person approaches the obstacle 500a. As a result, the visually impaired person may recognize the distance between the obstacle 500a in front of him and the user, and may bypass the obstacle 500a at an appropriate distance.

The visually impaired person may vibrate after bypassing the obstacle 500a because one of the plurality of vibration motors equipped with equal intervals in the elastic band 100 informs the magnetic north direction at predetermined intervals even when the obstacle 500a is bypassed. With reference to the vibration motor, it is possible to move in the traveling direction (south direction) of the moving section memorized in [A-2]. Thereafter, the moving sections [A-3] and [A-4] sections are repeatedly moved in the same process as the above-described process.

In addition, the peripheral road (alley road) of the residence 300 inhabited by the visually impaired person, as well as the road having a direction rotation of 90 °, which is the above-mentioned movement route A, as well as the movement route B from the residence 300 to the market. Even when there is a road that needs to be rotated 330 ° from north to southeast as in the case of moving from [B-2] to [B-3], the vibration motor mounted inside the elastic band 100 is separated by 15 °. Since it is arranged every time, the visually impaired person is guided in the correct direction based on the magnetic north direction, so that the visually impaired person can rotate in the correct direction without departing from the other direction. In addition, the other obstacle 500b existing after the [B-3] moving section may also move to the destination while recognizing and bypassing the obstacle 500b in the front through the same process as described above.

5 is a view showing that the main body and the direction guide portion constituting the pedestrian guide device for the visually impaired is integrally mounted to the hat.

Referring to Figure 5, the walking guide device for the visually impaired of the present invention can be used integrally attached to the hat 400 for easy wearing.

That is, the main body 200b is attached to the front center of the hat 400, and the direction guide means 50 is attached to the lower part of the attached main body 200b.

At this time, one of the reference vibration motor 51a, which is the vibration motor unit 51 constituting the direction guide part 50, and the reference vibration motor 51a, among the 23 azimuth indication vibration motors 51b, is a moving direction of the visually impaired. Located in the center of the front of the cap 400, is disposed at intervals of 15 ° along the circumference of the cap. In addition, the cap 400 is not attached to the above-mentioned reference piece 110, because it performs the function of the hat visor reference piece 110.

In addition, the main body constituting the pedestrian guide device for the visually impaired of the present invention can be attached to the electric wheelchair.

As described above, the present invention provides to the visually impaired to share specific location information based on the magnetic north direction to facilitate the sharing of location information among the visually impaired, as well as to visualize the presence of obstacles in front of the visually impaired. Effectively guide the disabled.

In addition, when the visually impaired person moves to a location memorized distance and direction, it notifies the presence of obstacles in front and moves to a specific position by guiding the accurate direction based on the absolute reference point (magnetic north) every 0.2 seconds. Due to the guides present in the front, even if rotated in various directions can continue to recognize the rotated direction, there is also the effect of accurately moving to the destination without losing the direction.

Claims (9)

Obstacle detecting means (10) for generating an obstacle detection signal by detecting the presence of an obstacle in front of the moving direction of the visually impaired; Direction detecting means (20) for generating a position coordinate signal for indicating a position where the visually impaired person is located; A power supply means 30 for supplying power; Alarm sound output means 40 for indicating that there is an obstacle in front of the moving direction of the visually impaired, and A direction guide means 50 for guiding the visually impaired to recognize the magnetic north direction where the visually impaired person is located; After generating the magnetic north direction signal indicating the magnetic north direction by using the position coordinate signal input from the direction detecting means 20, and controls to be output to the direction guide means 50, input from the obstacle detecting means 10 Gait for the visually impaired, characterized in that the control means for generating an obstacle detection alarm signal indicating that there is an obstacle in front of the obstacle detection signal to be output to the alarm sound output means (40). Guide device. According to claim 1, wherein the direction detecting means 20, The direction detecting unit 21 for generating a position coordinate signal indicating the location of the visually impaired in the coordinates of the X-axis and Y-axis, An amplifier 23 for amplifying the position coordinate signal inputted from the direction detecting unit 10; A / D converter 24 for converting the amplified position coordinate signal which is an analog signal input from the amplifier 23 into a digital signal so that the control means 60 can recognize Pedestrian guide device. The direction detecting unit 21 and the direction detecting unit 21 are alternately inputted when the X axis position coordinate signal and the Y axis position coordinate signal output from the direction detecting unit 21 are inputted to the amplifier 22. Gait guide device for the visually impaired, characterized in that a multiplexer (22) is included between the amplifier (22). The method of claim 1, wherein the direction guide means 50 is mounted inside the cylindrical elastic band, the vibration motor unit 51 is a plurality of vibration motors are arranged at equal intervals, The magnetic north direction signal is input to a corresponding vibration motor connected to a plurality of vibration motors disposed in the vibration motor unit 51 and pointing to the magnetic north direction among the plurality of vibration motors by a magnetic north direction signal input from the controller 70. Pedestrian guide device for the visually impaired, characterized in that consisting of multiplexer 52 for magnetic north direction selection. The walk guide apparatus for the visually impaired of claim 4, wherein the number of the vibration motors is 24, and the vibration motor is disposed at 15 degrees in the cylindrical elastic band. According to any one of claims 2 to 5, wherein the direction detecting unit 21 is a magnetic sensor, The magnetic north direction azimuth signal generated by the control means 60 is a vector analysis of the magnetic field value of the position coordinate signal consisting of the X-axis position coordinate signal and the Y-axis position coordinate signal input from the A / D conversion unit 24, A gait guide device for the visually impaired, characterized by measuring magnetic north direction based on a vector analyzed value, and using the measured magnetic north direction. The method of claim 1, wherein the obstacle detecting means 10, by generating an ultrasonic wave to detect the presence of obstacle in front of the moving direction of the visually impaired to generate a distance detection signal consisting of the ultrasonic transmission signal and the ultrasonic reception signal An ultrasonic transceiver 11, An automatic gain controller 12 which adjusts the magnitude of the distance sensing signal input from the ultrasonic transceiver 11 and amplifies it to a predetermined size; A signal detector 13 for extracting an obstacle detection signal consisting of only an ultrasonic transmission signal among distance detection signals input from the automatic gain controller 12; Pedestrian guide device for the visually impaired, characterized in that consisting of a pulse generator for converting the obstacle detection signal input from the signal detector 13 into a pulse of a predetermined width corresponding to the transmission time. According to claim 1, The walk guide device for the visually impaired is detachable to the abdomen of the visually impaired including obstacle detection means 10, direction detection means 20, power supply means 30 and control means 60 The main body 200a of the belt type, Gait guide device for the visually impaired, characterized in that it comprises a cylindrical elastic band 100 which is worn on the head of the visually impaired as a direction guide means (50). According to claim 1, wherein the main body 200a including the obstacle detecting means 10, the direction detecting means 20, the power supply means 30 and the control means 60 and divided into the direction guide means 50 Become, The main body 200b is attached to the front center of the hat 400, the direction guide means 50 is a walk guide device for the visually impaired, characterized in that attached along the circumference of the hat (400).

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