KR20140000480A - Smart cane system interoperable with smart devices and method at the same - Google Patents

Abstract

The present invention relates to a smart cane system for the blind, and provides a smart cane system interlocked with a smart device and a method for using the same by applying the same to various fields, in a smart device of a cane user interlocked with a smart cane through wireless network. The method includes: (a) a step of measuring distance with a front obstacle through an ultrasonic sensor; (b) a step of measuring three-axis coordinate values through a terrestrial magnetism sensor attached to the smart cane; (c) a step in which the distance and the three-axis coordinate value data measured in the (a) and (b) step are transmitted to the smart device, and the smart device synthesizes the distance and the three-axis coordinate value data into voice for road guiding on the basis of the distance and the three-axis coordinate value data in a road guide app downloaded or installed through the wireless network and then outputs the voice through a speaker of the smart device.

Description

Smart Cane System interoperable with Smart Devices and method at the same}

The present invention relates to an IT-based smart cane for the visually impaired, and more particularly, to a conventional cane for the visually impaired, equipped with an obstacle detection, a distance and a direction sensor to provide a safer and more convenient smart cane, and a smart device. It relates to a system by implementing the smart wand to be interoperable with.

So far, blind people have been walking in buildings or on streets using white canes. In this case, the white cane for the visually impaired allows people to recognize and consider that the person is visually impaired. In addition, the visually impaired person taps and taps the topography feature of the place where he wants to go, and hears the sound and feels the touch to recognize the surrounding obstacles. In addition, a visual guide dog may be able to help you. Likewise, judging by the sound and the touch felt by the blind person using a cane can be effectively used only after some training of other senses after becoming a blind person, as well as slow and uncomfortable detection. Even if you use, there are limitations in understanding the complex signaling system on the road or detecting the direction.

As a result, researches are being actively conducted to help each disabled person using information and communication technology.

One example is the smart wand proposed by Willie Martin, which uses a passive RFID (Radio Frequency Identification Technology) and a system that detects obstacles using a single ultrasonic sensor in contact with the disabled. However, the smart cane proposed by Willie Martin can be applied in a limited area, such as on campus, where there is some degree of protection for the visually impaired, and there are spatial constraints such as the downtown area. there was.

The present invention has been made to solve the above problems, to provide a more secure and convenient smart wand equipped with obstacle detection, distance and direction sensor on the cane for the visually impaired, and can be linked to the smart device An object of the present invention is to provide a system and method for implementing a cane to protect the visually impaired and to minimize inconvenience.

In order to achieve the above object, according to an aspect of the present invention, in the cane for the visually impaired, the first infrared sensor formed in the lower portion of the cane to detect holes or stairs, and formed in the upper portion of the cane in front An ultrasonic sensor for detecting an obstacle or measuring a distance from the obstacle, and second and third infrared sensors formed on an upper portion of the wand to detect left and right obstacles; A bottom vibration motor for generating vibrations on the hole or stairway obstacle detected by the first infrared sensor, and a light vibration motor for generating vibrations on the right obstacle detected by the second infrared sensor. A left vibration motor configured to generate vibrations on the left obstacle detected by the third infrared sensor, and a top vibration motor configured to generate vibrations on the front obstacle detected by the ultrasonic sensor; A first amplifier for amplifying the detection signal of the first infrared sensor, a second amplifier for amplifying the detection signal of the second infrared sensor, and a third amplifier for amplifying the detection signal of the third infrared sensor; A first motor driver for receiving the signal amplified by the first amplifier to drive the bottom vibration motor, and receives the signal amplified by the second amplifier and the third amplifier to receive the light vibration motor and the left vibration motor A second motor driver and a third motor driver for driving; It provides a smart wand including a microprocessor for driving the tower vibration motor or measuring the distance to the obstacle through a fourth motor driver connected when detecting the obstacle from the ultrasonic sensor.

The apparatus may further include a fourth infrared sensor for detecting an obstacle in front of the vehicle, and further comprising a fourth amplifier, a fifth motor driver, and a fifth vibration motor for displaying vibrations according to the obstacle detection.

In addition, the distance may be displayed by calculating a distance from the front obstacle through the ultrasonic sensor and implementing a step-by-step vibration mode to adjust the number of vibrations of the tower vibration motor for each predetermined period according to the distance to the obstacle.

In addition, further comprising a geomagnetic sensor for measuring the three-axis coordinate value of the smart wand, and transmits the three-axis coordinate value data measured through the geomagnetic sensor to a smart device, the smart device and the smart wand master slave method It may further include a Bluetooth module for implementing a communication connection.

In addition, it is formed on the handle portion of the smart wand, further comprising a pulse sensor for measuring the pulse of the smart wand user, transmits the pulse data measured through the pulse sensor to the smart device, the smart device and the smart wand It may further include a Bluetooth module for implementing a communication connection in a master slave manner.

According to another aspect of the present invention, a smart device of the cane user linked to the smart cane and the wireless network, comprising: (a) measuring the distance to the front obstacle through the ultrasonic sensor; (b) measuring a three-axis coordinate value through a geomagnetic sensor attached to the smart wand; (c) transmitting the distance and three-axis coordinate value data measured in steps (a) and (b) to the smart device, wherein the smart device is downloaded from the wireless network or installed in the road guidance app. And synthesizing into voice for guiding the route based on the axis coordinate data and outputting the synthesized voice to the speaker of the smart device.

Further, in the step (c), the first, second, third and fourth vibration motors are arranged in a line in the vertical direction with respect to the left and right moving directions without outputting the voice, and the first and second lines The first, second, third and fourth vibration motor for the smart device linked to the smart device further comprising the step of guiding the direction of movement by increasing the vibration intensity or the number of vibrations in a top-down or bottom-up manner How to use a cane.

According to another embodiment, the smart device of the cane user linked to the smart cane and wireless network, (e) further comprises a pulse sensor formed on the handle portion of the smart cane, the smart cane user through the pulse sensor Measuring the pulse of the; (f) transmitting the pulse data measured in step (e) to the smart device, and storing the transmitted pulse data in a cloud environment for health care; a health using a smart wand linked to a smart device comprising a Provide care methods.

In the conventional walking of the visually impaired, a white cane for the visually impaired can be used to drive indoors such as a building or outdoors like a street. In this case, the information provided to the visually impaired is all about the sound and feel that is felt by using a cane and tapping. Even such information can only be effectively used after becoming blind and after some training of other senses.

 Smart wand according to the present invention is implemented by mounting an ultrasonic sensor, geomagnetic direction sensor, infrared sensor, piezoelectric sensor, through which the user can safely walk without being obstructed by obstacles such as front and left and right obstacles, holes or stairs at the bottom. Can be.

In addition, the smart wand can be connected to a smart phone that the user carries at all times to receive directions such as direction indication, as well as to protect the patient in an emergency such as pulse measurement. As such, when the smart device and the cloud system are connected, there is an effect that is the foundation for building a health care data and platform for the disabled.

1 is a block diagram showing the operation in the smart wand according to an embodiment of the present invention,
2 is a view showing a smart wand according to an embodiment of the present invention,
3 is a flowchart illustrating a process of implementing a smart system by interworking a smart wand and a smart device according to an exemplary embodiment of the present invention.
Figure 4 is a circuit diagram showing a smart wand according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and how to accomplish it, will be described with reference to the embodiments described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. The embodiments are provided so that those skilled in the art can easily carry out the technical idea of the present invention to those skilled in the art.

In the drawings, embodiments of the present invention are not limited to the specific forms shown and are exaggerated for clarity. Also, the same reference numerals denote the same components throughout the specification.

The expression "and / or" is used herein to mean including at least one of the components listed before and after. Also, singular forms include plural forms unless the context clearly dictates otherwise. Also, components, steps, operations and elements referred to in the specification as " comprises "or" comprising " refer to the presence or addition of one or more other components, steps, operations, elements, and / or devices.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 is a block diagram showing the operation in the smart cane 100 according to an embodiment of the present invention, the smart control device is attached to a typical cane, or to manufacture to reflect the international standard of the cane for the visually impaired desirable.

Smart wand according to a preferred embodiment of the present invention uses two different types of sensors for obstacle detection, ultrasonic sensors and infrared sensors may be used.

Referring to FIG. 1, the visually impaired person may be configured with a hole on a road and a sensor for detecting front and left and right obstacles, and an ultrasonic sensor 114 for detecting a forward obstacle and a hole and a left and right obstacle on the road, respectively. Three infrared sensors 111, 112, and 113 for detecting may correspond.

In addition, the first infrared sensor 111 formed at the bottom of the cane detects holes and / or stairs on the road, amplifies the detected sensor signal input through the first amplifier 121, and first motor driver. The bottom vibrator 141 is driven through 131. Meanwhile, the left and right obstacles and the forward obstacles will be described below. First, in case of the left and right obstacles, the sensor signals detected through the left and right infrared sensors 112 and 113 are respectively amplified by the second and third amplifiers 122 and 123, and based on the second and third motor drivers 132, The light vibrator 142 and the left vibrator 143 are driven through the 133. Finally, in the case of the front obstacle, the sensing signal from the ultrasonic sensor 114 is transmitted to the microprocessor 120, and the top vibration motor (Top) through the fourth motor driver 134 based on the sensing signal received at the microprocessor. Vibrator) 144 is driven. In this case, the first amplifier 121 uses an inverting amplifier, while the second and third amplifiers 122 and 123 use a non-inverting amplifier. This is because the first amplifier 121 detects a hole in the lower part of the cane, so if the obstacle is not detected, the hole is set to positive (+) to drive the bottom vibration motor, or the second and / or third In the case of the amplifiers 122 and 123, when there is an obstacle on the left and right sides (when the setting is opposite to that of the first amplifier), it is set to a positive value to drive the light and / or left vibration motor. In addition, the first amplifier 121 may be configured as a non-inverting amplifier, and the second and third amplifiers 122 and 123 may be configured as an inverting amplifier. In addition, an infrared sensor (not shown) may additionally be provided to detect an obstacle on a tree branch or a path of a visually impaired person, and an amplifier, a motor driver, and a vibration motor for displaying vibrations may be further provided. Can be.

 Subsequently, the orientation angle at the installation position of the ultrasonic sensor 114 may correspond to a range of up to 100 degrees, and the measurement distance may be obtained from a distance from the front obstacle in the range of 30 cm to 4 m. In other words, the ultrasonic sensor transmits a pulse width modulation (PWM) signal to calculate the time taken for a reflected echo to be received between the sensor and the sensing object, and multiplies the calculated time by the sound velocity (343 m / s) in the air. Dividing this by 2, you can find the distance from the sensor to the obstacle. At this time, the signal of the ultrasonic sensor is preferably a cone (cone), which can collect the ultrasonic signal at the end of the cone and can maximize along the direction of travel. On the other hand, the infrared sensor of both sides or hole detection is preferable to the linear signal than the cone-shaped signal, which has the effect of minimizing the current (power) consumption than the cone shape, so that the linear signal form is preferable to the portable and exceptional Conical shape may be used.

Subsequently, the distance difference with the obstacle is read through the ultrasonic sensor 114 to adjust the number of vibrations of the vibration motor according to a predetermined period to display the distance to the visually impaired person. For example, if the distance to the obstacle is 3m or more, it is vibration-free.If it is within 2m or more and less than 3m, it will be vibrated once every 0.5 seconds. It is configured to vibrate three times in a second so that the visually impaired person can recognize the distance to the obstacle and protect it from the obstacle. As such, the microprocessor 120 processes the signal sensed by the ultrasonic sensor 114 and implements the above-described stepped vibration mode according to the distance from the obstacle. On the other hand, the infrared sensor is connected to an amplifier and a vibration motor without performing signal processing using a microprocessor, thereby reducing the time and power required for signal processing.

On the other hand, the visually impaired person needs to receive a safe road guide through direction detection, and for this, a geomagnetic triaxial sensor (not shown) may be used. At this time, the geomagnetic sensor reads the 3-axis numerical value of the stick and transmits the 3-axis numerical value read through the Bluetooth module (not shown) built in the smart stick to the smart device. As such, the Bluetooth module transmits the collected data to the smart device through Bluetooth communication. Here, the smart device is preferably any one of a smart phone, a PDA, and a tablet PC, and any mobile system that is easy to carry in order to provide a personalized learning method and system and is capable of internet communication is of course possible.

Subsequently, the visually impaired person may carry a smart wand equipped with a geomagnetic sensor and his smart device, and transmit data between the smart wand and the smart device through short-range wireless communication such as Bluetooth or other wireless LAN and Zigbee. Through this, the visually impaired person is sent to the smart device in real time through the Bluetooth communication to the destination through the geomagnetic sensor, the smart device is installed a road guidance mobile application (hereinafter, App) for the visually impaired, The guide app receives data through Bluetooth communication, displays it, and outputs the results to the speaker through voice synthesis. In addition, when it is difficult to present a direction by voice through a speaker at a location, the visually impaired person may be notified of the direction of movement by vibration. For example, in the left direction with respect to the vibration motors arranged in a line, the vibration intensity or the frequency of vibration is increased from the top to the bottom (in the top down method), so that the movement direction is known, and in the right direction, the opposite is the case (bottom). up method).

As such, the smart wand is configured to work in conjunction with smart phones and smart tablets, which are becoming more common in recent years, making them usefully available to the visual and hearing impaired.

It may be installed on the user's handle portion may be provided with a sensor for measuring the pulse, the pulse sensor, for example, by measuring the human body electricity through an infrared light sensor to count the pulse rate, the measured pulse rate to the smart device through Bluetooth communication To pass.

As such, the pulse sensor of the visually impaired person may be periodically detected by using an optical sensor to implement a healthcare system linked to a cloud-based hospital server through a smart device.

2 is a view showing a smart wand 100 in accordance with a preferred embodiment of the present invention. Referring to Figure 2, the visually impaired to transmit the touch by the vibration to inform the presence of the obstacle and the direction of movement. Accordingly, the top vibration motor 144, the left vibration motor 143, the light vibration motor 142, and the bottom vibration motor 141 are arranged in a line. In the case of the left side of the vibrating motors arranged in a line, for example, the direction of movement may be indicated by the touch caused by the vibration. For example, in the case of the right direction, the vibration intensity is increased from the upper side to the lower side. The opposite is true.

In addition, it can be seen that the sensing means such as the ultrasonic sensor 114, the handle portion 160, the wand 150 and the like are implemented.

3 is a flowchart illustrating a process of implementing a smart system by interworking a smart wand with a smart device according to an exemplary embodiment of the present invention.

First, through the ultrasonic sensor mounted on the smart wand, the distance difference between the obstacle is read with an allowable measurement distance and a wide direction angle (S210).

Then, the microprocessor expresses the vibration of the vibration motor differently according to the measurement distance with the obstacle provided through the ultrasonic sensor (S220). That is, by adjusting the number of vibrations of the vibration motor according to a certain period, the distance can be displayed to the visually impaired. For example, if the distance to the obstacle is 3m or more, it is vibration-free.If it is within 2m or more and less than 3m, it will be vibrated once every 0.5 seconds. It is configured to vibrate three times in a second so that the visually impaired person can recognize the distance to the obstacle and protect it from the obstacle. As such, the microprocessor processes the signal sensed by the ultrasonic sensor and implements the above-described stepped vibration mode according to the distance from the obstacle.

Thereafter, the direction data of the user is transmitted to the smart device through the Bluetooth module embedded in the smart wand through the 3-axis coordinate value of the direction sensor (S230). The smart device and smart wand that the user carries are master and slave Bluetooth communication, and the slave of one piconet synchronizes the clock and frequency hop with the master.

Subsequently, when the user's smart device and the smart wand are connected to the Bluetooth device in a master slave manner, the voice is synthesized through the way guidance app of the smart device according to the progress direction data of the smart wand provided through the Bluetooth module. Is made (S240). At this time, the way guidance app for the visually impaired, when the user inputs the starting point and destination by voice from the smart device, the smart device and the smart wand is connected by Bluetooth communication in real time. Subsequently, the smart device receives the direction data through the Bluetooth communication with the smart device, drives the road guide program according to the location, and outputs the result to the speaker through voice synthesis for direction indication. In addition, when it is difficult to output the voice through the speaker at a location, the user may be notified of the movement direction as a touch by vibration. For example, for the vibration motors arranged in a line, in the left direction, the vibration intensity or the frequency of vibration is increased from the top to the bottom (top down method), so that the movement direction can be known, and vice versa. (bottom up method).

On the other hand, the smart wand user since the visually impaired is always exposed to a dangerous situation and needs a health check, and attaches a piezoelectric sensor wrapped around the handle portion of the smart wand to measure the user's pulse (S250).

Thereafter, when the pulse data measured by the smart wand is transmitted to the smart device through the Bluetooth communication, the transmitted pulse data is stored in the cloud environment for the user (S260). In this case, the cloud environment is linked to the hospital server for managing the blind or the target patient and the smart device of the user to form a patient management platform. Accordingly, the patient management platform can check the user's emergency through the smart device, thereby preventing accidents in advance.

In addition, the smart device received the transmitted pulse data is driven by the app for the visually impaired to synthesize the voice and output the user's safe walking. For example, you can take a break from breathing, output a voice that tells you to move slowly, or compare it with a preset pulse data to connect with a hospital server in a cloud environment to receive first aid for your situation.

In addition, the interworking of the smart device and the smart wand may be implemented in various ways through short-range wireless communication such as Wi-Fi, Zigbee, etc. of the wireless LAN.

Figure 4 is a circuit diagram showing a smart wand according to an embodiment of the present invention.

Referring to Figure 4, the actual configuration of the smart wand circuit configuration, using a DC 12V / 2A adapter for charging, ultrasonic sensors, infrared sensors, geomagnetic sensors, piezoelectric sensors and the like are used in the central circuit shown Is controlled by us. In the central circuit, when the power S / W is pressed, the power circuit is driven to supply power to the MCU. Then, the ultrasonic sensor and various sensors are driven to read data. The read data is transmitted via Bluetooth, and the vibration period of the vibration motor is determined according to the distance.

The result of analyzing the sensor input by the central circuit is transmitted to the user's smart wand through the vibrating motor, which is in turn transmitted to the user's smart device via Bluetooth communication so that the smart wand interacts with the smart device.

In addition, the charging circuit and the charging adapter charge the power battery of the smart device.

As described above, the present invention implements a smart wand equipped with an ultrasonic sensor, a geomagnetic direction sensor, an infrared sensor, and a piezoelectric sensor, through which the visually impaired user can be obsessed with obstacles such as front and left and right obstacles and holes or stairs at the bottom. Can walk safely without receiving. In addition, the smart wand can be connected to a smart phone that the user carries at all times to receive directions such as direction indication, as well as to protect the patient in an emergency such as pulse measurement.

While the invention has been shown and described with respect to the specific embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Anyone with it will know easily.

100: smart wand
111, 112, 113: first, second and third infrared sensors
114: ultrasonic sensor
121, 122, 123: first, second and third amplifiers
131, 132, 133, and 134: first, second, third and fourth motor drivers
141: bottom vibration motor
142: light vibration motor
143: left vibration motor
144: tower vibration motor

Claims (8)

In the cane for the visually impaired,
A first infrared sensor formed at the bottom of the cane to detect a hole or a staircase, an ultrasonic sensor formed at the top of the cane to detect a front obstacle or measuring a distance to the obstacle, and formed at the top of the cane Second and third infrared sensors for detecting obstacles;
A bottom vibration motor for generating vibrations on the hole or stairway obstacle detected by the first infrared sensor, and a light vibration motor for generating vibrations on the right obstacle detected by the second infrared sensor. A left vibration motor configured to generate vibrations on the left obstacle detected by the third infrared sensor, and a top vibration motor configured to generate vibrations on the front obstacle detected by the ultrasonic sensor;
A first amplifier for amplifying the detection signal of the first infrared sensor, a second amplifier for amplifying the detection signal of the second infrared sensor, and a third amplifier for amplifying the detection signal of the third infrared sensor;
A first motor driver for receiving the signal amplified by the first amplifier to drive the bottom vibration motor, and receives the signal amplified by the second amplifier and the third amplifier to receive the light vibration motor and the left vibration motor A second motor driver and a third motor driver for driving;
And a microprocessor configured to drive the top vibration motor through a fourth motor driver connected when the obstacle is detected from the ultrasonic sensor, or to measure a distance from the obstacle. The method of claim 1,
The smart wand further comprises a fourth infrared sensor for detecting an obstacle caught in front, and further comprising a fourth amplifier, a fifth motor driver, and a fifth vibration motor for displaying vibrations according to the obstacle detection. The method of claim 1,
Smart wand characterized by calculating the distance to the front obstacle through the ultrasonic sensor and implementing the step-by-step vibration mode to adjust the number of vibrations of the top vibration motor for each predetermined period according to the distance to the obstacle . The method of claim 1,
Further comprising a geomagnetic sensor for measuring the three-axis coordinate value of the smart wand, and transmits the three-axis coordinate value data measured through the geomagnetic sensor to a smart device, the smart device and the smart wand master slave communication Smart wand further comprises a Bluetooth module to implement. The method of claim 1,
Is formed on the handle portion of the smart wand, further comprising a pulse sensor for measuring the pulse of the smart wand user, transmits the pulse data measured through the pulse sensor to the smart device, the smart device and the smart wand master Smart wand further comprises a Bluetooth module for implementing a communication connection in a slave manner. The smart device of claim 1, wherein the smart device of the cane user interworked with a wireless network.
(a) measuring a distance to the front obstacle through the ultrasonic sensor;
(b) measuring a three-axis coordinate value through a geomagnetic sensor attached to the smart wand;
(c) transmitting the distance and three-axis coordinate value data measured in steps (a) and (b) to the smart device, wherein the smart device is downloaded from the wireless network or installed in the road guidance app. And synthesizing into voice for guiding the route based on the axial coordinate data and outputting the synthesized voice to the speaker of the smart device. The method according to claim 6,
(d) In the step (c), the first, second, third and fourth vibration motors are arranged in a row in the vertical direction with respect to the left and right moving directions without outputting the audio, And guiding the moving direction by increasing the vibration intensity or the number of vibrations with respect to the first, second, third and fourth vibration motors in a top down manner or a bottom up manner. How to use smart wand. The smart device of claim 1, wherein the smart device of the cane user interworked with a wireless network.
(e) further comprising a pulse sensor formed on the handle portion of the smart wand, measuring the pulse of the smart wand user through the pulse sensor;
(f) transmitting the pulse data measured in the step (e) to the smart device, and storing the transmitted pulse data in a cloud environment for health care. Health care using smart wand.

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