200800130 九、發明說明： 【發明所屬之技術領域】 亡本發明與盲人導引裝置有關，特別是有關於一種可增 加盲人行走安全性的盲人導引裝置。 曰 5【先前技術】 視覺障礙者一般可概分為弱視及全盲，其中以弱視者 居夕。全盲者因無法利用視覺學習，主要經由觸覺（Tactiie perception)或聽覺（Auditory percepti〇n)獲取資訊，並經 常需借助辅助器具以行動，如手杖；弱視者（ambly〇pia❿抓） ί〇觀看物品時，通常需要非常靠近目標物，有時甚至幾乎貼 在目標物上。 視Ρ早者由於視力的障礙，影響其日常生活之行動、社 父，與社會產生隔閡，容易造成一般人的刻板印象。事實 上，除了視力上的限制，他們在其他方面的發展與一般人 15差不多，甚至可經由自我訓練而能在記憶力、聽聲辨人 (sound discrimination)、聽音辨位（soun(i i〇calizati〇n)、 空間概念（spatial concept)等方面具有高於常人的獨特能 力。 1988年，美國通過「身心障礙者技術相關輔助法案」 20 ( The Technology Assistance for People with Disabilities Act of 1988)，又稱為科技法案（The Tech· Act)，科技輔具包括 任何器具、設備、或產品型態，且可直接從市場上購得、 修改、或訂做。政府於民國八十六年四月修訂實施「身心 障礙者保護法」，對於視覺障礙者相關課題的重視，是政府 200800130 關刀的的重要施政方向之一。輔助性科技（Assisuve Teehnobgy ’ AT)是協助個人克服身體障礙的一切設備， 其中包含電腦人因工程點字設備，例如螢幕閱讀機（screen reader)身心p平礙輪椅（電動輪椅，咖加⑽化wheeichair)、 辅助視兔疋位儀器（定位儀，orientated device)等；廣義而 吕，亦包含軟體辅助工程、及人類生活改善的一切科技。 _ 至目前，市面上相關科技性輔具中，有關引導視障者 =動=近距離障礙物偵測裝置較為缺乏。在歐美國家，引 導視障者行動的相關裝置有多種，且功能較為齊全。然而， 1〇與國内比較，基於下列因素相關裝置在國内始終難得一 =，即/更有，亦是國外攜回使用：1·視障者人數市場未具經 濟規核^廄商無意願引進；2·維修不易，售後服務難以兼顧； 3· = 口密度、都會擁擠性、以及文化差異等因素不同，功能 可犯不適用；4·價格高昂，動辄在新台幣30,〇〇〇元以上； 15【偵測器體積或重量稍大，可能功能完備，但攜帶不易Μ 部分產品裝置於手杖上，拆卸過程不易掌握或拆 ’ · 相容性較低。 丨艮， 並針對視覺障礙者行動輔具中，手杖（whitecane)為曰 晋遍使用的工具。Schellingerhout，R·等學者在其研究;琅 2〇冒針對手杖與接觸面的觸碰角度，設計二種具有角^的手 杖進行研究。Nurion-Raycal公司研發出雷射手 (^erCane)，提供視障者的一種電子行動輔J該偵丈 置係固定於手杖上，使用時必須連同手杖一起攜帶，有^ 使用限制。其售價依該網站資料，低於3,000美元。'、 5 200800130200800130 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a blind guide device, and more particularly to a blind guide device that can increase the safety of blind walking.曰 5 [Prior Art] Visually impaired people can generally be divided into amblyopia and total blindness, with amblyopia being in the eve. All blind people can't use visual learning, mainly through Tactiie perception or Auditory percepti〇n, and often need help with aids, such as canes; amblyopias (ambly〇pia❿) It usually needs to be very close to the target, sometimes even almost on the target. It is easy to cause stereotypes of ordinary people because of the obstacles in vision, the actions that affect their daily lives, the social affair, and the society. In fact, in addition to the limitations of vision, they develop in other aspects similar to the average person 15 and can even be self-trained in memory, sound discrimination, and listening (soun (ii〇calizati〇) n), spatial concept and other aspects have a unique ability than ordinary people. In 1988, the United States passed the "Technology for People with Disabilities Act of 1988" (also known as the Technology Assistance for People with Disabilities Act of 1988) The Tech Act, which includes any appliance, equipment, or product type, can be purchased, modified, or customized directly from the market. The government revised the implementation in April of the Republic of China. The Law on the Protection of Persons with Disabilities is one of the important administrative directions for the government's 200800130. The Assisuve Teehnobgy 'AT is a device that assists individuals in overcoming physical disabilities, including Computer human factors engineering equipment, such as screen readers, physical and mental protection , Caga (10) wheeichair), auxiliary device (orientated device), etc.; generalized and Lv, also includes software-assisted engineering, and all technologies for improving human life. _ Until now, the market related science and technology Among the assistive devices, there are relatively few devices that guide the visually impaired = mobile = close obstacle detection devices. In Europe and the United States, there are many related devices for guiding visually impaired people, and the functions are relatively complete. However, 1〇 compares with domestic Based on the following factors, the relevant devices are always rare in China. That is, / more, it is also used abroad: 1 · The number of visually impaired people does not have economic regulations. The merchants have no intention to introduce; 2. Maintenance is not easy , after-sales service is difficult to balance; 3 · = mouth density, congestion, and cultural differences and other factors, the function can not be applied; 4) the price is high, moving at NT$30, above RMB; 15【 The detector is slightly larger in size or weight and may be fully functional, but it is not easy to carry. Some products are placed on the cane, and the disassembly process is difficult to grasp or disassemble. · Low compatibility. 丨艮, and for visually impaired people In the auxiliary aids, the whitecane is a tool used by the Jinjin. Schellingerhout, R. and other scholars in their research; 琅2 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对 针对Research. Nurion-Raycal has developed a laser shooter (^erCane) that provides an electronic action aid for the visually impaired. The detector is fixed on the cane and must be carried along with the cane when used. The price is less than $3,000 based on the information on the website. ', 5 200800130
Ulrich, I.等學者因此開發一種適合視障者使用的自走 式行動手杖（障礙避免系統，Obstacle Advoidance System， OAS )。美國密西根大學 Borenstein，J.，and Ulrich, I·等學者 以其所設計的一障礙避免系統Obstacle Advoidance System 5 (〇AS)為基礎，開發出穿戴式行動辅具（NavBelt)。該辅 具實際使用上包括引導模式（Guidance Mode)及全景模式 (Image Mode)等二種模式，引導模式是帶領使用者在不 發生碰撞的情形下繞過障礙物，而全景模式係以超音波試 圖描繪出區域内的全景地圖，再轉碼成為聲音大小、頻率、 1〇及左右方位差異等發聲方式，告知使用者區域内障礙物的 大小及遠近等訊息，讓使用者在視力受阻的情形下，可間 接判斷出周圍環境狀況。Ulrich, I. and others have developed a self-propelled action cane (Obstacle Advoidance System, OAS) for the visually impaired. Borenstein, J., and Ulrich, I., of the University of Michigan, USA, developed the wearable mobile aid (NavBelt) based on the obstacle avoidance system Obstacle Advoidance System 5 (〇AS). The utility model includes two modes, a guidance mode (Guidance Mode) and an image mode (Image Mode). The guiding mode is to lead the user to bypass the obstacle without collision, and the panoramic mode is ultrasonic. Trying to map the panoramic map in the area, and then transcoding into the sound volume, frequency, 1 〇 and left and right orientation differences, etc., to inform the user of the size and distance of the obstacles in the area, so that the user is blocked in vision. Under, you can indirectly determine the surrounding environment.
Anckew J·等學者開發出行動輔具VA_pAMAID (Veterans Affairs Personal Adaptive Mobility Aid )，主要適 15用對象在於老年族群，可輔助行動者身體的平衡。無可否 認地，VA-PAMAID具有一定功能及優勢，然而其體積過於 龐大，對於視障者而言將不適合。Kim，Y.-J.等人提出一種 電子行動輔具（ETA，electronic travel aids )，硬體方面包括 眼鏡、及自走式手杖等二個部份。eta雖以輕量及輕型化 2〇為目標’但其牽涉的演算法過於龐大，與親身使用的視障 者認知仍有一段落差，尤其部分視障者不希望被一般人以 差異眼光視之，因此導盲眼鏡的佩帶具有排斥感，且價格 高，體積大。 佛羅里達大學（University of Florida) Ran, L。等學者研 200800130 發一種引導裝置，其元件包括精確位置量測系統（predsi〇n position measurement system )、無線裝置、可攜式電腦 (wearable computer)及一個語音介面；在戶外時，可藉由 系統上的切換開關轉至戶外模式，並應用Gps系統。整體 5系統同樣在價格上較高、體積較大，且在使用時較會^起 一般人的注意眼光。 整理以上，目前所研發出的視障人士引導裝置均具有 結構複雜、體積龐大與價格昂責等缺點。如何發展出一種 :不僅體積小、重量輕且成本低廉的引導裝置，提供視障者 10簡便且安裝容易的障礙物偵測裝置，是我們努力'的目標。 【發明内容】 本叙明之主要目的在於提供一種盲人導引裝置，可增 加盲人於行走時的安全性。 曰 15Anckew J. and other scholars have developed the VA_pAMAID (Veterans Affairs Personal Adaptive Mobility Aid), which is mainly used for the elderly and can help the balance of the body of the actor. No ignorance, VA-PAMAID has certain functions and advantages, but its size is too large, it will not be suitable for the visually impaired. Kim, Y.-J. et al. proposed an electronic travel aids (ETA), which include two parts: glasses and self-propelled canes. Although eta is aimed at lightweight and lightweight 2's, the algorithm involved is too large, and there is still a short gap between the visually impaired and the visually impaired. In particular, some visually impaired people do not want to be seen by the average person. Therefore, the wearing of the blind glasses has a sense of repelling, and the price is high and the volume is large. University of Florida Ran, L. Et al. 200800130 issued a guiding device, the components of which include a predsi〇n position measurement system, a wireless device, a wearable computer and a voice interface; in the outdoor, by the system The upper switch is switched to the outdoor mode and the Gps system is applied. The overall 5 system is also higher in price and larger in size, and it will be more common when used. In order to organize the above, the visually impaired guiding devices developed at present have the disadvantages of complex structure, large size and high price. How to develop a kind of guide device that is not only small in size, light in weight and low in cost, but also provides an obstacle detection device that is easy and easy to install. It is our goal. SUMMARY OF THE INVENTION The main purpose of the present invention is to provide a blind guiding device that can increase the safety of a blind person while walking.曰 15
20 土本發明之次一目的在於提供一種盲人導引裝置，其體 和小，且重量較輕、價格低廉，可增加使用上的便利性。 本龟明之再一目的在於提供一種盲人導引裝置，其 偵測障礙物的位置。 為達成上述目的，本發明所提供之盲人 2於人體身上，其包含有複數侧器與—訊號處理器了 ^各在偵測益配戴於人體的不同部位，使各該债測器之 2有-垂直高度差，而各該訊號處理器則與各該偵測器 =連接:各該偵測器包含有—發送器與—接收器，該發 可毛送一偵測讯唬，該偵測訊號受一障礙物阻隔時， 7 200800130 將產生反射，該接收器可接收反射後的該偵測訊號，並 該偵測訊號轉換成一電氣訊號；該訊號處理器可接收該電 氣訊號丄並將該電氣訊號傳送至一警示器，使該警示器】 生一警不訊號，藉由不同的偵測器的偵測結果可讓使用者 5 了=該障礙物在高度上的位置；藉此，本發明所提供之盲 人V引衣置可偵測出不同高度的障礙物，以達到增加盲人 行走安全性的目的，且該盲人導引裝置的體積較小，重量 也較輕，可達到增加使用便利性的目的。 10【實施方式】 茲配合圖式列舉以下較佳實施例，用以對本發明之結 構及功效進行詳細說明；其中所用圖式先簡要說明如下： 第一圖為本發明第一較佳實施例之系統方塊圖； 第二圖為本發明第一較佳實施例配戴於人體之示意 15 圖； 第二圖為本發明第一較佳實施例之使用示意圖；以及 第四圖為本發明之輔助偵測裝置的使用示意圖。 請參閱第一圖及第二圖，本發明第一較佳實施例所提 供之盲人導引裝置（10)，可配戴於人體身上，其包含有複數 2〇偵測器(20)(30)(40)與一訊號處理器(5〇)，在本實施例中，該 等偵測器(20)(30)(40)分別利用一皮帶(12)緊綁在人體的胸 部、腰部，以及腿部，使各該偵測器（20)(30)(40)之間具有 一垂直高度差。 請配合參閱第三圖，各該偵測器(20)(30)(40)具有一發 8 200800130 5 达為（60)與一接收器（62)。各該發送器（6〇)可往使用者的前 方發达-偵測訊號’且相鄰的發送器㈣所發射出的侧訊 號具有-雜重4。該制訊縣超音波，若制者的前 方有-障礙物(7GM，該㈣訊號㈣被轉礙物⑽所阻 隔而產生反射。各該接收器（62)電性連接於各該發送器 _ ’並可將反射後的該偵測訊號加以接收，再轉換成一带 氣訊號。 、 电20 The second object of the present invention is to provide a blind guiding device which is small in size, light in weight, and low in cost, and can be used for convenience. A further object of the present is to provide a blind guiding device that detects the position of an obstacle. In order to achieve the above object, the blind person 2 provided by the present invention comprises a plurality of side devices and a signal processor, each of which is disposed in different parts of the human body, so that each of the debt detectors is There is a vertical height difference, and each of the signal processors is connected to each of the detectors: each of the detectors includes a transmitter and a receiver, and the transmitter can send a detection signal. When the test signal is blocked by an obstacle, 7 200800130 will generate a reflection, the receiver can receive the reflected detection signal, and the detection signal is converted into an electrical signal; the signal processor can receive the electrical signal and The electrical signal is transmitted to a warning device, so that the warning device generates a warning signal, and the detection result of the different detectors allows the user 5 to position the obstacle at a height; thereby, The blind V-coating provided by the invention can detect obstacles of different heights, so as to increase the safety of blind walking, and the blind guiding device is small in size and light in weight, and can be used for increased use. The purpose of convenience. The following is a detailed description of the structure and function of the present invention. The drawings are briefly described as follows: The first figure is the first preferred embodiment of the present invention. 2 is a schematic view of a first preferred embodiment of the present invention; FIG. 2 is a schematic view of the first preferred embodiment of the present invention; and FIG. 4 is an aid of the present invention; A schematic diagram of the use of the detection device. Referring to the first and second figures, the blind guiding device (10) provided by the first preferred embodiment of the present invention can be worn on a human body and includes a plurality of detectors (20) (30). (40) and a signal processor (5〇), in the embodiment, the detectors (20) (30) (40) are respectively tied to the chest and waist of the human body by a belt (12). And the legs, such that there is a vertical height difference between each of the detectors (20) (30) (40). Please refer to the third figure. Each of the detectors (20) (30) (40) has a transmission 8 200800130 5 (60) and a receiver (62). Each of the transmitters (6〇) can be developed to the user's front-detection signal' and the adjacent transmitter (4) emits a side signal having a -heavy weight of 4. The Super Signal of the Xunxun County, if there is an obstacle in front of the maker (7GM, the (four) signal (4) is blocked by the obstruction (10) and the reflection is generated. Each of the receivers (62) is electrically connected to each of the transmitters _ 'The reflected signal can be received and converted into a gas signal.
該訊號處理器（50)分別電性連接至各該等偵測器 (20)(30)(40)，並可以接收該接收器(62)之電氣訊號，並將該 1〇電氣訊號傳送至一警示器(52)，使該警示器(52)其產生一警 示訊號，該警示訊號可為聲響或震動，當不同的偵測器 (20)(30)(40)偵測到障礙物(70)時，警示器(52)會發出不同的 聲響或震動。警示器(52)的數量可為多個，並設在使用者身 上的不同部位，當不同的偵測器(2〇)(3〇)(4〇)偵測到障礙物 15時，會造成不同的警示器(52)發出不同聲響或震動。 經由上述結構，當使用者在行走時，若該障礙物(70) 位於其頭部的高度，該偵測器(20)所發送出的偵測訊號碰到 该障礙物(7〇)後，將會反射至該接收器（62)，該訊號處理器 (5 0.)將會同時把接收器（6 2)的電氣訊號傳送至該警示器 2〇 (52) ’讓該警示器(52)產生聲響或震動，如此一來，使用者 即可藉由該警示器（52)得知該障礙物(70)概略位於其頭部 高度的位置；若該障礙物(7〇)位於其臀部的高度，位於該二 偵測器（30)(40)所發送出的偵測訊號將會分別反射至該接 收器（62)，使該二警示器（52)分別發出聲響或震動，如此一 9 200800130 來，使用者亦可藉由該二警示器(52)得知該障礙物(7〇)概略 位於其腹部至腿部之間的高度位置。藉由不關測器的侦 測結果，可讓使用者了解障礙物在高度上的位置。 藉由以上的裝置，使用者可藉由警示器(52)的訊號，輕 5易了解刖方障礙物⑽在高度上的大概位置。如果使用者需 要確構礙物(7〇)在水平方向的位置時，發明人建議使用者 可轉動身體’讓各該侧裝置⑽⑼胸進行偵測的動 作，如此可了解該障礙物(70)在水平方向的位置。The signal processor (50) is electrically connected to each of the detectors (20) (30) (40), and can receive the electrical signal of the receiver (62), and transmit the 1 〇 electrical signal to A warning device (52) causes the warning device (52) to generate an alarm signal, which may be an audible or vibration signal when different detectors (20) (30) (40) detect an obstacle ( 70), the warning device (52) will make a different sound or vibration. The number of the warning devices (52) can be multiple and set in different parts of the user. When different detectors (2〇) (3〇) (4〇) detect obstacles 15, it will cause Different alarms (52) emit different sounds or vibrations. Through the above structure, when the user is walking, if the obstacle (70) is at the height of the head, the detection signal sent by the detector (20) hits the obstacle (7〇). It will be reflected to the receiver (62), and the signal processor (5 0.) will simultaneously transmit the electrical signal of the receiver (62) to the alarm 2〇(52) 'Let the alarm (52) Producing a sound or vibration, so that the user can know by the warning device (52) that the obstacle (70) is roughly at the height of the head; if the obstacle (7〇) is located at the hip The height of the detection signals sent by the two detectors (30) (40) will be respectively reflected to the receiver (62), so that the two warning devices (52) respectively emit sound or vibration, such that 9 200800130, the user can also know by the two warning devices (52) that the obstacle (7〇) is roughly located at a height position between the abdomen and the leg. By not detecting the result of the detector, the user can know the position of the obstacle in height. With the above device, the user can easily understand the approximate position of the obstacle (10) in height by the signal of the warning device (52). If the user needs to confirm the position of the obstacle (7〇) in the horizontal direction, the inventor suggests that the user can turn the body to let the side device (10) (9) detect the chest, so that the obstacle can be understood (70). Position in the horizontal direction.
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本發明更提供了-輔助偵測I置(8 G )，請參閱第四圖所 示，佩帶於使用者的手部。該辅助偵測裝置(8〇)具有一雷射 發射器與接收ϋ(未齡），藉由發射雷射光與接收遇到一障 礙物(90)而反射雷射光來偵測該障礙物⑼)的位置愈距 離。該輔助偵測裝置_的使科機使清 了解該障礙綱嶋時，μ， 掃描前方。由於雷射光發散的範圍較小，因此可偵測到該 障礙物(90)的較精確位置。 藉此，本發明所提供之盲人導引裝置（1〇)的體積小， 重量也較輕，可依照❹者的需要配戴在不同的部位， 以增加使用上的便利性，另外，該盲人導引裝置⑽所能 偵測_圍㈣’讓❹者在行走私需如有不預期 的突出物或堆積物，以達到增加行走安全性的目的。 發明人也針對本發明做了—系制實驗，其中包括 債測器基本範圍性能_、實物量·模_試以及至 台中啟明學校所做的實地測試，這些測試均證明了本發 200800130 明的實用性與有效性。測試的詳細内容請參閱附件一。 11 200800130 【圖式簡單說明】 第一圖為本發明第一較佳實施例之系統方塊圖。 第二圖為本發明第一較佳實施例配戴於人體之示意 圖。 5 第三圖為本發明第一較佳實施例之使用示意圖。 第四圖為本發明第二較佳實施例之輔助偵測裝置的使 用示意圖。 【主要元件符號說明】 皮帶(12) 訊號處理器（50) 發送器(60) 障礙物(70) 障礙物(90) 10 盲人導引裝置（10) 偵測器(20)(30)(40) 警示器（52) 接收器(62) 辅助偵測裝置(80) 12The present invention further provides an auxiliary detection I (8 G), which is worn on the user's hand as shown in the fourth figure. The auxiliary detecting device (8〇) has a laser emitter and a receiving ϋ (old age), and detects the obstacle (9) by emitting laser light and receiving an obstacle (90) to reflect the laser light. The distance is the distance. When the auxiliary detection device _ is made clear to the obstacle, μ, scans the front. Due to the small range of laser light divergence, a more precise location of the obstacle (90) can be detected. Thereby, the blind guiding device (1〇) provided by the invention is small in size and light in weight, and can be worn in different parts according to the needs of the latter, so as to increase the convenience in use, and the blind person The guiding device (10) can detect the _ _ (4) 'to allow the squatter to walk for private needs if there are unexpected protrusions or deposits, so as to achieve the purpose of increasing walking safety. The inventors also conducted a system experiment for the present invention, including the basic range performance of the debt detector, the physical quantity, the model test, and the field test conducted by the Taichung Qiming School. These tests all prove that the test 200800130 Practicality and effectiveness. Please refer to Appendix 1 for details of the test. 11 200800130 [Simplified description of the drawings] The first figure is a system block diagram of a first preferred embodiment of the present invention. The second figure is a schematic view of the first preferred embodiment of the present invention worn on a human body. 5 is a schematic view showing the use of the first preferred embodiment of the present invention. The fourth figure is a schematic view showing the use of the auxiliary detecting device of the second preferred embodiment of the present invention. [Main component symbol description] Belt (12) Signal processor (50) Transmitter (60) Obstacle (70) Obstacle (90) 10 Blind guide (10) Detector (20) (30) (40 ) Warning device (52) Receiver (62) Auxiliary detection device (80) 12