KR20190069720A - Object recognition and for the visually imparied pedestrian guidance system - Google Patents

Abstract

The present invention relates to an apparatus for recognizing an object and guiding walking for a visually impaired person, which enables a visually impaired person to accurately and safely walk. The apparatus of the present invention comprises: a mounting unit including a GPS, an azimuth measuring unit, an image photographing unit, a tactile display unit, and a first communication unit; a body including a second communication unit, a third communication unit, a memory unit, a sound output unit, and a central processing unit; and a manipulation unit inputting a command to selectively output information.

Description

[0001] OBJECTIVE RECOGNITION AND FOR THE VISUALLY IMPARIED PEDESTRIAN GUIDANCE SYSTEM [0002]

The present invention relates to a gait guide device capable of precisely and safely walking a target point while recognizing an object in front of a visually impaired person. More particularly, the present invention relates to a gait guide device which acquires a forward image and shapes it, The present invention relates to an object recognizing apparatus and a walking guide apparatus for a visually impaired person who can ascertain a precise position by informing visually impaired persons of building and object information by comparing the information stored in the server and the acquired image through a communication network.

Conventional gait guidance devices for the visually impaired shape objects in front and perceive them to the visually impaired. In other words, we could only know the shape of an object, and we could not know whether it was inanimate or inanimate. For example, if the mannequin is in front of you, you can not tell whether it is a mannequin or a mannequin, so you have to go to the mannequin to ask for help. In addition, even if a visually impaired person reaches the target point by using navigation, when navigation reaches the target point, the guidance of the navigation ends and the user can not know the direction in which the target point is located.

In addition, if obstacles such as a thinning line appear in front of you, you can not detect it, and even if you do detect it, you may not know what obstacles are causing you to be in trouble.

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above-mentioned problems, and it is an object of the present invention to provide a method and system for acquiring detailed information By providing information to the visually impaired, the visually impaired can find the correct position, can recognize the information of the object, and can detect the presence of a small obstacle in front of the visually impaired person. It has its purpose.

 An object of the present invention is to provide a tactile display device that includes a GPS, an orientation measurement section, an image capturing section that captures an image of the front, a tactile display section that receives data and generates electrical stimulation to transmit a shape or character to the skin, A second communication unit that transmits and receives information or data to and from the first communication unit; and a second communication unit that accesses the location information server through a communication network and transmits the information A third communication unit for transmitting surrounding information from the location information server in real time, a memory unit including information for requesting assistance, a sound output unit for informing the outside by sound, And transmits the generated data to the second communication unit, processes the generated data or the information received from the third communication unit, The body having a central processing unit for transmitting sound output portion; And an operation unit for inputting a command to selectively output information received from the second communication unit through the sound output unit, information received from the third communication unit, or information stored in the memory unit, The central processing unit processes the image of the acquired image to recognize the object in front of the visually impaired person through the tactile display unit, And receives the surrounding information from the location information server in real time to guide the target point accurately and safely.

The main body may further include a character input unit for inputting characters and a display unit for outputting characters input by the character input unit.

The proximity sensing unit informs the driver that the object approaches or approaches the obstacle within 1 m ahead of the mounting unit, and when the object approaches or approaches the obstacle within 1 m from the mounting unit, Wherein the central processing unit processes the transmitted photograph information to generate data, and the generated data is transmitted to the main body through the first communication unit, To the tactile display unit to distinguish the obstacles.

In addition, the mounting portion may further include a thermal sensor portion for sensing a front heat, wherein temperature information acquired from the thermal sensor portion is transmitted to the main body through the first communication portion, And the temperature information are compared with each other to generate data, and the generated data is transmitted to the tactile display unit, so that it is possible to determine whether the object in front is biological or inanimate.

The memory unit may further include electronic map information indicating a travel route through the tactile display unit or the sound output unit so that a disabled person can easily navigate to a destination, The electronic map information can be operated.

The present invention can notify the visually impaired through the tactile display unit of the forward situation, distinguish the objects ahead, acquire information from the position information server using the augmented reality, There is also an advantage of knowing information. In addition, by using the heat detection sensor unit, when a request for assistance is made, it is possible to distinguish between inanimate objects and non-living objects such as a real person or a mannequin, thereby reinforcing the dependence on the shape only, thereby preventing the blind person from going to the wrong place. In addition, by inputting a character into a character input unit and communicating it through a display unit, a visually impaired person having difficulty communicating with a sound is also able to request help. Further, even if a small obstacle appears in front of a close-up photographing unit, it is photographed and informed, so that the visually impaired person can easily avoid the obstacle.

1 is a perspective view schematically showing an object recognizing apparatus and a walking guidance apparatus for a visually impaired person according to an embodiment of the present invention.
2 is a block diagram schematically showing a mounting portion in the present invention.
3 is a block diagram schematically showing the main body in the present invention.
4 is a block diagram schematically showing an operation unit in the present invention.

An object of the present invention is to provide a tactile sensor which comprises a GPS (13), an azimuth measuring unit (12), an image capturing unit (14) (1) having a display unit (11), and a first communication unit (18) for transmitting information acquired from the GPS (13), the azimuth measurement unit (12) A second communication unit 21 for transmitting and receiving information or data to and from the first communication unit 18 and a position information server (not shown) via a communication network (not shown) A memory unit 27 including information for requesting assistance, a sound output unit 26 for informing the outside of the sound by sound, Processing the information received from the first communication unit 21 to generate data and transmitting the generated data to the second communication unit 21 Generated body (2) for processing the information received from the data or the third communication unit 25 includes a central processing unit 24 to be transmitted to the sound output section 26; And a command to selectively output information received from the second communication unit 21 through the sound output unit 26, information received from the third communication unit 25, or information stored in the memory unit 27 (1) is worn on the forehead of a visually impaired person, and when the visually impaired person is walking, the image capturing unit (14) acquires an image forward of the image capturing unit (14) The central processing unit 24 processes the image, recognizes the object ahead of the blind person through the tactile display unit 11, receives the surrounding information from the position information server in real time, and accurately and safely The present invention relates to an object recognition apparatus and a walking guidance apparatus for a visually impaired person.

The main body 2 may further include a character input unit 23 for inputting characters and a display unit 22 for outputting the characters input by the character input unit 23.

The mounting portion 1 includes a proximity sensing portion 16 for notifying that an object approaches or approaches an obstacle within 1 m ahead of the mounting portion 1 and a proximity sensing portion 16 for sensing an object within 1 m ahead of the mounting portion 1 Further comprising a close-up photographing unit (17) for photographing the close-up photographing unit when the photographing unit approaches the obstacle or obtaining an image of the obstacle, 2, the central processing unit 24 processes the transmitted photograph information to generate data, and transmits the generated data to the tactile display unit 11 to identify obstacles.

The mounting part 1 further includes a heat sensing part 15 for sensing the front heat and the temperature information obtained from the heat sensing part 15 is transmitted through the first communication part 18 The central processing unit 24 compares the image information and the temperature information to generate data and transmits the generated data to the tactile display unit 11 so that the object in front Or inanimate matter.

The main body 2 further includes electronic map information indicating a travel route through the tactile display unit 11 or the sound output unit 26 so that a disabled person can easily reach a destination, If the information can not be received from the location information server, the electronic map information can be operated.

1 is a perspective view schematically showing an object recognizing apparatus and a walking guidance apparatus for a visually impaired person according to an embodiment of the present invention.

2 is a block diagram schematically showing the mounting portion 1 in the present invention.

3 is a block diagram schematically showing the main body 2 in the present invention.

4 is a block diagram schematically showing the operation unit 3 in the present invention.

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

1 to 4, the object recognition and gait guidance device for a visually impaired person according to an embodiment of the present invention includes a mounting portion 1, a main body 2, and an operation portion 3. [

The mounting portion 1 is substantially in the form of a band and can be detachably attached to and detached from the head by a detachment means such as a Velcro or the like. The GPS 13 (Global Positioning System), the azimuth measuring portion 12, A proximity sensing unit 16, a close sensing unit 17, a tactile display unit 11, an operation sensing unit 19, and a first communication unit 18.

The GPS 13 acquires information on the position of the blind person and transmits the acquired information to the main body 2 through the first communication unit 18. [ A detailed description thereof will be described later.

The azimuth measuring unit 12 uses approximately eight directions, namely, an electronic compass for detecting east, west, south, north, northeast, northwest, southeast, and southwest, And acquires the acquired information to the first communication unit 18

To the main body (2). A detailed description thereof will be described later.

A camera using a CMOS sensor of approximately 640 * 320 pixels is used as the image capturing unit 14, and the image of the front of the visually impaired is captured to acquire image information, To the main body (2) via the main body (18). Here, the image capturing unit 14 processes the image signal into RGB signals in the daytime and processes it in the gray scale using the infrared (IR) in the nighttime, and transmits them to the main body 2 through the first communication unit 18 do. This is because it is difficult to acquire an image because the operation of the SimoS sensor is slowed at a place where the light amount is small due to the characteristics of the camera, Therefore, the RGB signals are separated and processed in the daytime when the light amount is large, and are processed in the gray scale using the infrared (IR) in the nighttime when the light amount is relatively low. .

The heat detection sensor unit 15 uses a substantially electromagnetic heat sensor or the like and senses the heat of the object arranged in the front to acquire information and transmits the obtained information to the main body 2 via the first communication unit 18 send. This is used to distinguish real persons from dolls or mannequins, that is, to distinguish between inanimate objects and inanimate objects, by using images alone, and a description thereof will be described later.

The proximity sensor 16 uses a roughly ultrasonic sensor and acquires information for confirming presence or absence of an obstacle when a person or a vehicle approaches the blind or a blind person approaches the obstacle, 1 communication unit 18 and outputs an alarm sound through the sound output unit 26. The sound output unit 26 outputs the alarm sound. At this time, the detection range of the proximity sensing unit 16 detects an obstacle within 70 cm forward, an inclination angle 60 ° upward from the horizontal, and 60 ° total 120 ° from the top. This is because if a visually impaired person recognizes an obstacle beyond 70cm from a visually impaired person as a staff member, he or she should avoid it. However, if the obstacle approaches within 70cm without being recognized as a cane, The proximity sensing unit 16 senses the obstacle and outputs a warning sound through the sound output unit 26 to inform the visually impaired.

The close-up photographing unit 17 is connected to the proximity detecting unit 16 and operates simultaneously with the detection of the obstacle from the proximity detecting unit 16. [ At this time, the close-up photographing unit 17 has a focal length of 70 cm, captures an obstacle, acquires a photograph, and transmits the obtained photograph to the main body 2 through the first communication unit 18. This is because if a blind person has to avoid the obstacle, it is difficult to avoid the obstacle by only the alarm sound. However, in the case of an obstacle in a thin line, the image capturing unit 14 may not be able to be displayed even if it is photographed. For example, in the case of the image capturing unit 14, since the focus range is set to infinity, it may happen that the thin line is not recognized when it is close to the line. Therefore, a separate camera with a fixed focal length is provided so that a blind person can more easily distinguish obstacles and easily avoid obstacles.

The tactile display unit 11 is brought into close contact with the forehead of the visually impaired person and receives an electric signal and outputs an electric signal for stimulating the tactile sense. At this time, the tactile display unit 11 is formed by distributing a rectangular point of 512 points at which approximately electric signals are outputted so as to form a shape of an object, and electric signals of about 300 V / 10 mA or less are outputted, Or characters, so that the blind person recognizes the situation of the object or the front. A description thereof will be described later.

In order to reduce the amount of electricity used, the operation detecting section 19 switches the mounting section 1 and the main body 2 to the power saving mode when there is no movement of the blind person. At this time, when the mode is switched to the previous month saving mode, only the motion sensing unit 19 and the proximity sensing unit 16 operate in the mounting unit 1, the main body 2 operates only the second communication unit 21, Is stopped and is put into the standby state. As a result, it is possible to go out for a long time by reducing the amount of electricity used. A description thereof will be described later.

The first communication unit 18 acquires from the GPS 13, the azimuth measuring unit 12, the image capturing unit 14, the heat sensing sensor unit 15, the proximity sensing unit 16 and the close- And transmits one information.

The main body 2 has a substantially rectangular parallelepiped shape and includes a second communication unit 21, a third communication unit 25, a memory unit 27 and a central processing unit 24 in the interior thereof. (22) and a sound output section (26).

The second communication unit 21 receives the information transmitted from the first communication unit 18 and transmits the data processed in the main body 2 to the first communication unit 18. [ At this time, the first communication unit 18 and the second communication unit 21 may be connected wirelessly or by wire.

The third communication unit 25 is connected to a wireless communication network (not shown) and connects to a location information server established via a wireless communication network. That is, the third communication unit 25 transmits the information acquired from the GPS 13 and the azimuth measurement unit 12 to the location information server, and compares it with the data stored in the location information server to receive surrounding information in real time. Also, the information obtained from the image capturing unit 14 is compared with the data stored in the location information server to receive information of objects in real time.

The memory unit 27 stores text message information, voice message information, and electronic map information requested by a visually impaired person for assistance. For example, when an unexpected obstacle appears in the front, the voice message information such as "there is an obstacle" is stored, or the problem message information is stored so that the voice message information is notified through the tactile display unit 11. [ When the third communication unit 25 can not receive the information from the location information server, the electronic map information is executed. The GPS 13 and the azimuth measurement unit 12 are used to determine the present position of the disabled person As a text message or voice.

The character input unit 23 has a plurality of keypads for braille, and a blind person can input characters or search for data using a plurality of keypads. For example, in the case of a visually impaired person who is difficult to deliver by voice, it is difficult to communicate to the other party. At this time, if a character is inputted through the character input unit 23, a character is outputted from the display unit 22 and the doctor can be transmitted to the other party. In addition, the characters output to the display unit 22 can be converted into voice and output through the sound output unit 26. Accordingly, even a visually impaired person who is difficult to communicate by voice can communicate with the other party through the character input unit 23.

The display unit 22 is a place where the visually impaired person displays the inputted character to the other party, and the character input from the character input unit 23 is output. Accordingly, the doctor can be transmitted to the other party with a character. At this time, the blind person can be informed via the sound output unit 26 whether the message is properly written.

The sound output unit 26 outputs a warning sound when it detects an unexpected obstacle from the proximity sensing unit 16 or outputs a character input from the character input unit 23 by voice. Further, the information received from the third communication unit 25 may be output by voice. At this time, an earphone terminal unit (not shown) for replacing the sound output unit 26 may be provided at one portion of the main body 2. [ Accordingly, the visually impaired person can voices various kinds of information through the sound output unit 26 or the earphone (not shown).

The central processing unit 24 is connected to the second communication unit 21, the third communication unit 25, the memory unit 27 and the sound output unit 26 and includes a second communication unit 21, a third communication unit 25, And a command input from the character input unit 23. [0044] FIG. For example, the image processing unit 14 processes the image information so that the shape of the object can be transmitted through the tactile display unit 11 from the image information acquired by the image capturing unit 14 and the close-up photographing unit 17, To the communication unit (21). In addition, the information obtained from the heat sensing sensor unit 15 is combined with the image information to distinguish whether it is an inanimate object or inanimate object, that is, a human being or a mannequin. It is also said. A description thereof will be described later. The operation unit 3 includes a fourth communication unit 32 and a key input unit 31 in the form of a wand that the blind is aware of. The fourth communication unit 32 transmits the command input through the key input unit 31 to the second communication unit 21. [ The key input unit 31 is "Help", "Visually impaired, I will pass." And transmits the input command to the fourth communication unit 32 at a place where a command is inputted by providing a plurality of keys such that a voice or a character simply requesting the other party is outputted through the main body 2. [ Accordingly, the visually impaired person can output a simple message while passing through the key input unit 31 and deliver the message to the other party. Here, the main body 2 may be carried by a blind person in one hand, but it may be worn on a part of the body to improve portability. In addition, the main body 2 may further include a microphone (not shown) in a part of the main body 2 so that a blind person can input a command by voice. At this time, speech recognition is publicly known and widely known, and a detailed description thereof will be omitted.

The third communication unit 25 uses the RF communication, the Bluetooth, and the infrared, while the first communication unit 18, the second communication unit 21, and the fourth communication unit 32 use the short- -Fi), 3G (third-generation mobile communication), and 2G (second-generation mobile communication). Further, the mounting portion 1, the main body 2, and the operating portion 3 can be used even in the case of rainy weather, because the waterproofing is applied.

The mounting portion 1, the main body 2, and the operating portion 3 are portable devices. Batteries for supplying power thereto are self-evident to those skilled in the art, and batteries are well known and widely practiced. Description thereof will be omitted.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, operations of an object recognition and gait guidance apparatus for a visually impaired person according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

First, the wearer 1 is put on the head of the visually impaired person so that the tactile display part 11 is brought into close contact with the forehead.

When the blind person walks while wearing the mounting unit 1, the image capturing unit 14 acquires the information of the forward image, acquires information about the position of the blind person at the GPS 13, And acquires information on the direction in which the blind person is looking at the measurement unit 12. The proximity sensing unit 16 senses in real time whether or not an obstacle enters within 70 cm from the visually impaired person. The motion sensing unit 19 acquires the visual sense Detect if the disabled person is moving. At this time, if the blind person is sitting or does not move, the motion detection unit 19 regards that the blind person is not active and switches to the power saving mode to detect the motion detection unit 19 and the proximity detection unit 16, And the second communication unit 21 enter the standby state. When an object appears within 70 cm of a person with visual impairment, the proximity sensing unit 16 senses it and takes a picture at the close sensing unit 17. When the first communication unit 18 is activated, the proximity sensing unit 16, And transmits the acquired information to the second communication unit 21 through the first communication unit 18. [ When the second communication unit 21 receives information from the first communication unit 18, the main body 2 processes the information received from the second communication unit 21 while the standby state of the remaining components of the main body 2 is released, . That is, the data is generated and transmitted to the tactile display unit 11 so that the photograph can recognize the specific shape through the tactile display unit 11. At this time, the sound output unit 26 may sound an alarm for 1 second to 2 seconds. Here, the alarm output may be omitted from the sound output unit 26, and the alarm may be notified through the tactile display unit 11. [ This can be determined by the setting method of the main body 2 by the blind person.

When the visually impaired person walks, the image capturing unit 14 captures an image to acquire information. The heat sensing unit 15 acquires information by measuring the heat of the object ahead, And obtains information on the position and the direction in the measurement unit 12. [ The acquired information is transmitted to the second communication unit 21 through the first communication unit 18 and the information acquired by the image capturing unit 14 and the thermal sensing unit 15 is transmitted from the central processing unit 24 to the second communication unit 21, And the information obtained by the GPS 13 and the azimuth measuring unit 12 is transmitted to the location information server through the third communication unit 25. [

The data processed in the central processing unit 24 is transmitted to the first communication unit 18 via the second communication unit 21 and the data transmitted to the first communication unit 18 is transmitted to the tactile display unit 11, The data is displayed in the tactile display unit 11 in the form of an object or a message, and is delivered to the visually impaired. Accordingly, the visually impaired person can distinguish between inanimate objects and non-inanimate objects through the tactile display unit 11, and can determine the shape of objects. If there is no thermal sensor part 15, the visually impaired person must walk in dependence on the shape only. In other words, if a blind person needs to ask for help, it may happen that a mannequin or a doll is approached for help, especially when a person is covered by an obstacle such as a door or a safety sign. do. However, according to the present invention, by applying the heat sensing sensor unit 15, even when a person is covered by an obstacle, the body temperature can be detected beyond the obstacle so that the direction in which the person is present can be easily detected. You can reach the real person and ask for help. Therefore, it is possible to prevent situations where a blind person approaches a mannequin or a doll to ask for help, and people who are obstructed can easily detect people by sensing body temperature.

On the other hand, the information transmitted to the location information server finds information corresponding to the information stored in the location information server and transmits the information to the third communication unit 25 through the communication network. The information received from the location information server informs the visually impaired about the current place and the building ahead. In other words, using the function of the augmented reality, it informs what is ahead in real time. At this time, an image of an object, a bar code, or the like may be transmitted to the location information server, and information corresponding to the object may be transmitted to the main body 2 in real time to obtain information on the object.

The information received from the position information server is processed by the central processing unit 24 to generate data, and the generated data is notified to the visually impaired through the tactile display unit 11 or the sound output unit 26. At this time, instead of the sound output unit 26, the user may be informed through the earphone attached to the earphone terminal unit so as not to cause harm to the people around him. As a result, the visually impaired can know what building is in front of a few meters. If a visually impaired person has to enter the building, navigation will be used when navigation reaches the target location. At this time, the visually impaired must enter the target building, but the direction of the target building is unknown. In other words, if there is a target building behind the back, it can not be found, and eventually it will be helped by the passing people. However, when the augmented reality is used, the visually impaired person will be informed of the local information in front of him, so that he can know what the building is in front of him. Therefore, if the target building does not appear in front, the visually impaired person can turn his / her head or rotate the body to search the surrounding area. Therefore, even if the target point is behind the back, the augmented reality can be used to accurately recognize the target point. Thus, by acquiring information by accessing the location information server, the visually impaired person can accurately locate a desired target point. Further, by acquiring information on a product using the augmented reality, the visually impaired person can recognize what the product is.

Here, when the third communication unit 25, the communication network, or the location information server has a problem and can not receive information from the location information server, the central processing unit 24 executes the electronic map stored in the memory unit 27. [ When the electronic map is executed, the GPS 13 and the azimuth measurement unit 12 can be used to acquire the direction of the blind person and the area information in the forward direction. Therefore, even if a problem occurs in the third communication unit 25, the communication network, or the location information server, the visually impaired person can accurately locate a desired target point.

On the other hand, the visually impaired person can input a command through the character input unit 23 to receive guidance on the target point, or output a message requesting help through the display unit 22 or the sound output unit 26.

At this time, a help request may be requested through the character input unit 23, but a simple help request or a request message for making a route may be output through the key input unit 31 of the operation unit 3. [ Accordingly, when a person with visual impairment is on the way and presses the key input unit 31 of the operation unit 3 when a person is detected on the operation unit 3, that is, the cane, a message can be output to the person in front of the visually impaired person.

In describing the present invention described above, the same reference numerals are used for the same configurations even if the embodiments are different, and the description thereof may be omitted if necessary.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Shall not be construed as being understood. Therefore, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. The present invention is not limited thereto.

One; Mounting portion
11; Tactile display unit
12; Azimuth measuring unit
13; GPS
14; The image-
15; The heat-
16; Proximity sensing unit
17; Closeup part
18; The first communication unit
19; The motion-
2; main body
21; The second communication section
22; Display portion
23; Character input section
24; Central processing unit
25; The third communication section
26; Sound output section
27; The memory unit
3; Control unit
31; Key input unit
32; The fourth communication section

Claims (5)

A GPS, an azimuth measuring unit, an image capturing unit for capturing an image in front, a tactile display unit for receiving data and generating electric stimulation to transmit a shape or character to the skin, A first communication unit that transmits information acquired from the first communication unit;
A third communication unit for connecting to the position information server through a communication network and transmitting the current position and receiving peripheral information from the position information server in real time; A sound output unit for informing the outside of the sound by the sound, a data output unit for processing the information received from the second communication unit to transmit the generated data to the second communication unit, And a central processing unit for processing the received data or information received from the third communication unit and transmitting the processed data to the sound output unit. And
And an operation unit for inputting a command to selectively output information received from the second communication unit through the sound output unit, information received from the third communication unit, or information stored in the memory unit,
When the wearer walks in the forehead of the visually impaired, the image acquisition unit acquires an image in front of the vision unit, processes the image of the acquired image by the central processing unit, Recognizes an object in front of the object, and receives information of surrounding objects from the position information server in real time, thereby guiding the target point accurately and safely.

The method according to claim 1,
The main body includes:
Further comprising a character input unit for inputting characters, and a display unit for outputting characters input by the character input unit.
The method according to claim 1,
Wherein,
A proximity sensing unit for sensing an object approaching or approaching an obstacle within 1 m ahead of the mounting unit, and a close-up sensing unit for acquiring photograph information when the object approaches or obstacle approaches within 1 m from the mounting unit Including,
The central processing unit transmits the photograph information acquired from the close-up photographing unit to the main body through the first communication unit, the central processing unit processes the transmitted photograph information to generate data, transmits the generated data to the tactile display unit, Wherein the object recognizing and walking guide device for the visually impaired.
The method according to claim 1,
Wherein,
Further comprising a heat sensing sensor unit for sensing heat in the front,
The temperature information acquired from the thermal sensor unit is transmitted to the main body through the first communication unit, the central processing unit compares the image information and the temperature information to generate data, and the generated data is transmitted to the tactile display unit And recognizes whether the object ahead is a living thing or an inanimate object.
The method according to claim 1,
The memory unit,
Further comprising electronic map information for informing a movement path through the tactile display unit or the sound output unit so that the disabled person can easily go to the destination,
And the electronic map information is activated when information can not be received from the location information server.

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