TW201900134A - Obstacle avoidance device - Google Patents

Abstract

The invention provides an obstacle avoidance device. The device comprises at least one wearing unit for obtaining sampling point position information in an obstacle space around a user according to natural swing information of the user to construct an obstacle spatial distribution model around the user and guiding movement direction of the user according to the obstacle spatial distribution model. The obstacle avoidance device has the following beneficial effects: the obstacle avoidance device fully leverages the mechanical features of human motion; due to the fact that include angles among naturally swing joints and the horizontal plane are formed when the user takes a walk, the scattering angle of an ultrasonic testing module of the wearing unit is expanded so that the detection blind areas in horizontal and vertical directions are reduced; detection is carried out in a wider scope; the detection distance from the user to surrounding obstacles is shortened; and performance of the obstacle avoidance device is improved.

Description

Obstacle avoidance

The invention relates to the technical field of walking aids, and in particular to an obstacle avoidance device.

A large part of the human's acquisition of external environmental information comes from the visual system. Vision deficiency and visual impairment cause great difficulties for the blind and visually impaired people in life, especially the challenge of walking safely.

In order to help blind people to walk, tools for assisting blind people have appeared successively, such as specially trained guide canes and guide dogs, but the method of detecting obstacle information through guide canes is inefficient and physically demanding, and guide dog training The cycle and adaptation period are long and costly, and their use is not universal.

In recent years, with the combination of electronics and navigation services and other related technologies, a series of wearable devices developed using sensors such as GPS technology, ultrasonic, infrared, laser, and camera sensors have appeared, such as blind guide belts and blind helmets. Guidance belts such as the FeelSpace smart belt provide orientation through mobile phone navigation applications. The wearer's body belt vibrates in one of the front, back, left, and right directions to guide the user's walking direction. However, the FeelSpace smart belt mainly uses GPS technology and lacks the ability to detect real-time obstacles. Blind helmets such as the Cloudmind blind guide helmet capture the distance between the user and the obstacle in front through the camera device, and alert the user with an alarm when a certain distance from the obstacle. However, the Cloudmind blind guide helmet requires a very high specification processing unit and image sampling device to implement the image detection function. It is difficult for beginners to accept, and the error rate of image recognition may become a problem.

Obstacle avoidance functions based on ultrasound, laser, and infrared technology can only detect obstacles in a certain direction or height. The method of acquiring images by using dual cameras to obtain the distance between the object and the camera has high computational complexity, large resource consumption, and difficulty in real-time Provide accurate hints.

The object of the present invention is to provide an obstacle avoidance device to make up for the shortcomings of the conventional obstacle avoidance methods.

In order to solve the above technical problem, the present invention provides an obstacle avoidance device. The obstacle avoidance device includes at least one wearing unit for obtaining the position information of the sampling points in the obstacle space around the user according to the user's natural swing information to Construct a spatial distribution model of obstacles around the user, and guide the user's travel direction according to the obstacle spatial distribution model.

Preferably, in the obstacle avoidance device, each wearing unit includes: an ultrasonic detection module for transmitting an ultrasonic signal, and obtaining the relative obstacles of the user's surrounding obstacles to the ultrasonic detection module according to the ultrasonic signal. Direction and distance; a gravity sensor for obtaining the tilt angle of the ultrasonic detection module with respect to the ground; a gyroscope for obtaining the rotation angle of the ultrasonic detection module with respect to the user's travelling front; a process Module for obtaining the obstacle space around the user according to the direction and distance of the obstacle relative to the ultrasonic detection module, the tilt angle of the ultrasonic detection module with respect to the ground, and the rotation angle of the ultrasonic detection module with respect to the user's travel The sampling point position information in the method, constructing an obstacle spatial distribution model based on the sampling point position information, and determining whether the user can continue to travel in the current traveling direction according to the obstacle spatial distribution model; and a prompt module for The determination result of the processing module returns corresponding prompt information to the user.

Preferably, in the obstacle avoidance device, the reminder module is a buzzer, and when the processing module determines that the user cannot continue to travel in the current travel direction, the buzzer feedbacks the prompt information. Is a sound signal; otherwise, the buzzer feedback information is a mute signal.

Preferably, in the obstacle avoidance device, the prompt module is a vibrator, and when the processing module determines that the user cannot continue to travel in the current traveling direction, the prompt information returned by the vibrator is vibration Signal; conversely, the prompt information returned by the vibrator is a mute signal.

Preferably, in the obstacle avoidance device, the number of the wearing units is two, and when the two prompt modules are both vibrators, the two wearing units guide the user according to the obstacle spatial distribution model. The direction of travel includes the following situations: the prompt module of the wearing unit worn on the left arm returns a vibration signal, and the prompt module of the wearing unit worn on the right arm returns a mute signal, guiding the user to turn right until the two wearing units The reminder modules of all the feedback modules return to the current direction until the user moves in the current direction; when the reminder module of the wearing unit worn on the right arm returns the vibration signal, when the reminder module of the wearing unit worn on the left arm returns the mute signal, Guide the user to turn left until the reminder modules of both wearing units return the mute signal, and the user travels in the current direction; the reminder module of the wearing unit worn on the left arm returns the mute signal, which is worn on the right arm When the reminder module of the wearing unit returns the mute signal, it guides the user to travel in the current direction of travel; or wears on the left arm The prompt module of the unit returns the vibration signal. When the prompt module of the wearing unit worn on the right arm returns the vibration signal, it guides the user to travel in the direction in which the vibration of any wearing unit stops.

Preferably, in the obstacle avoidance device, the process of the prompt module determining whether the user can continue to travel in the current travel direction includes: determining information obtained according to the obstacle spatial distribution model; The judgment threshold is compared; when the judgment information exceeds the judgment threshold, the user cannot continue to travel in the current traveling direction; otherwise, the user can continue to travel in the current traveling direction.

Preferably, in the obstacle avoidance device, the determination information is a height of the gap.

Preferably, in the obstacle avoidance device, the determination threshold is set according to a user's own situation.

Preferably, in the obstacle avoidance device, when the number of the wearing units is two, the ultrasonic detection module and the processing module in the two wearing units adopt BLE, ZigBee or WiFi for wireless communication.

Preferably, in the obstacle avoidance device, each wearing unit is worn on one arm and / or lumbosacral region of the user.

Preferably, in the obstacle avoidance device, the natural swing information of the user includes swing position information of the arm and / or swing position information of the lumbosacral region.

In the obstacle avoidance device provided by the present invention, the obstacle avoidance device includes at least one wearing unit, and the wearing unit is configured to obtain the sampling point position information in the obstacle space around the user according to the user's natural swing information to Construct a spatial distribution model of obstacles around the user, and guide the user's travel direction according to the obstacle spatial distribution model. The obstacle avoidance device of the present invention makes full use of the engineering characteristics of human motion. The user's natural swinging joints form a certain angle with the horizontal plane when the user walks, which increases the scattering angle of the ultrasonic detection module in the wearing unit and reduces its The detection blind areas in the horizontal and vertical directions can detect in a larger range, shorten the detection distance of obstacles around the user, and improve the performance of the obstacle avoidance device.

The obstacle avoidance device provided by the present invention will be further described in detail below with reference to the drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description and the scope of patent application. It should be noted that the drawings are all in a very simplified form and all use inaccurate proportions, which are only used to facilitate and clearly explain the purpose of the embodiments of the present invention.

The obstacle avoidance device in this embodiment includes: at least one wearing unit, configured to obtain sampling point position information in the obstacle space around the user according to the user's natural swing information to construct a space distribution model of the obstacle around the user, and Guide the user's travel direction according to the obstacle spatial distribution model. Preferably, each wearing unit is worn on a user's arm and / or lumbosacral region, and the user's natural swing information includes arm swing position information and / or lumbosacral position information.

Please refer to FIG. 1, which is a schematic structural diagram of a wearing unit of the present invention. As shown in FIG. 1, the wearing unit 1 includes an ultrasonic detection module 10, a gravity sensor 11, a gyroscope 12, a processing module 13, and a prompting module 14. The ultrasonic detection module 10 is configured to transmit an ultrasonic signal, and obtain the direction and distance of a user's surrounding obstacles relative to the ultrasonic detection module 10 according to the ultrasonic signal; the gravity sensor 11 is configured to obtain the ultrasonic detection. The tilt angle of the module 10 relative to the ground; the gyroscope 12 is used to obtain the rotation angle of the ultrasonic detection module 10 relative to the user's travel; the processing module 13 is used to detect the obstacle relative to the ultrasonic detection module The direction and distance of 10, the tilt angle of ultrasonic detection module 10 with respect to the ground, and the rotation angle of ultrasonic detection module 10 with respect to the user ’s travel, obtain the position information of sampling points in the obstacle space around the user. The location information constructs an obstacle spatial distribution model, and determines whether the user can continue to travel in the current traveling direction according to the obstacle spatial distribution model; the prompting module 14 is configured to feedback the correspondence according to the determination result of the processing module 13 Prompt information to the user.

In fact, the scattering angle of the ultrasonic signal emitted by the ultrasonic detection module 10 is limited, but because the wearing position of the wearing unit 1 is a position where the user walks naturally (such as the arm and / or lumbosacral region), the ultrasonic detection module The group 10 wobbles naturally when the user walks to form a certain angle with the horizontal plane, thereby increasing the scattering angle of the ultrasonic signal. Therefore, there is no need to provide too many ultrasonic detection modules 10, and each wearing unit 1 only needs one ultrasonic detection module 10 to meet the detection requirements, reducing power consumption and cost.

Specifically, the process of the prompt module 14 determining whether the user can continue to travel in the current travel direction includes the following steps:

S10: determination information obtained according to the obstacle spatial distribution model;

S11: Compare the judgment information with the judgment threshold; when the judgment information exceeds the judgment threshold, the user cannot continue to travel in the current travel direction; otherwise, the user can continue to travel in the current travel direction; wherein the judgment information is a gap Height; the determination threshold is set according to the user's own situation.

In this embodiment, the prompt module 14 is a vibrator. When the processing module 13 determines that the user cannot continue to travel in the current travel direction, the prompt information returned by the vibrator is a vibration signal; otherwise, all The alert information of the vibrator feedback is the mute signal. For example, when the user's left arm and right arm both wear a wearing unit 1, the ultrasonic detection module 10 in the two wearing units 1 uses BLE, ZigBee or WiFi for wireless communication, and the processing modules in the two wearing units 1 Group 13 uses BLE, ZigBee or WiFi for wireless communication.

If the user feels the vibration of one of the wearing units 1 (at this time, the prompt module 14 of the wearing unit 1 is in a vibration state), there is an obstacle in front of the side of the arm where the wearing unit 1 is located, and the user can choose The other wearing unit 1 travels forward on the side of the arm. Specific situations include: the prompt module 14 of the wearing unit 1 worn on the left arm returns a vibration signal, and the prompt module 14 of the wearing unit 1 worn on the right arm returns a mute signal to guide the user to turn right until two The prompt module 14 of the wearing unit 1 returns the mute signal until the user travels in the current direction; the prompt module 14 of the wearing unit 1 worn on the right arm returns a vibration signal, and the prompt of the wearing unit 1 on the left arm When the module 14 feeds back the mute signal, the user is guided to turn left until the reminder modules 14 of the two wearing units 1 both feed back the mute signal, and the user travels in the current direction.

When the user does not feel the vibration of the two wearing units 1, the prompt module 14 of the wearing unit 1 worn on the left arm returns a mute signal, and the prompt module 14 of the wearing unit 1 worn on the right arm returns a mute signal. When the signal is muted, guide the user to travel in the current direction of travel.

When the user feels that both the wearing units 1 are vibrating, it needs to be further detected. The user can extend his hand to the front and gently swing. When the vibration of one of the wearing units 1 stops, guide the user along the wearing. The direction in which the vibration of the unit 1 stops is traveling.

In another embodiment of the present invention, the prompt module 14 may also be a buzzer. When the processing module 13 determines that the user cannot continue to travel in the current travel direction, the buzzer returns a prompt. The information is a sound signal; otherwise, the buzzer feedback information is a mute signal. The user judges the surrounding environment of the user based on the sound signal to determine the next direction of travel, effectively avoids obstacles, and ensures the safety of the user.

Please refer to FIG. 2 to understand the working principle of the obstacle avoidance device of the present invention. The space orientation of the ultrasonic detection module 10 can be calculated from the data contributed by the gyroscope 12 and the gravity sensor 11, and then the space orientation of the ultrasonic detection module 10 can be calculated. Combine the direction and distance of the user's surrounding obstacles reported by the ultrasonic detection module 10 with respect to the ultrasonic detection module 10 to build a spatial distribution model of the obstacles, so as to determine whether the user can continue to travel in the current direction (that is, to avoid obstacles safely) If not, the prompt module 14 outputs the first prompt information (corresponding to information that can remind the user to pay attention, for example, when the prompt module 14 is a vibrator, the first prompt information corresponds to a vibration signal, so that the user feels a shock ); If it can, the prompt module 14 outputs the second prompt information (for example, when the prompt module 14 is a vibrator, the second prompt information corresponds to a mute signal, so that the user will not feel the shock), and continues to monitor the ultrasonic detection The space orientation of the module 10 is used to instantly know whether there is any risk in the user's current travel direction, thereby avoiding obstacles in time.

In order to better understand the output result of the obstacle avoidance device of the present invention, an example is described below. Suppose that in the spatial distribution of sampling points R in the user's forward direction, there is a gap of more than 1m wide and 2.5m high in the user's current traveling direction, and there is no point set exceeding 1cm high in the gap. At this time, it is considered that The user is accessible in the current direction of travel. If the gap is in the front left of the user and the right side is sealed, the wearing unit worn by the right arm will issue the first reminder information, and the wearing unit worn by the left arm will issue the second reminder information to guide the user Turn left and proceed until the direction is correct.

In summary, taking the wearing unit to be worn on a user's arm and lumbosacral region as an example, the obstacle avoidance device provided by the present invention has the following advantages:

1) The wearing unit of the obstacle avoidance device of the present invention is worn on the user's arm, and will increase the coverage of obstacle avoidance detection during the process of the user's reaching out, while supporting the user to actively detect an accurate Location of obstacles.

2) In the process of using the obstacle avoidance device of the present invention, the engineering characteristics of human motion are fully utilized. When the user walks, the arms and lumbosacral part swing naturally to form a certain angle with the horizontal plane, and the ultrasonic detection mode in the wearing unit is enlarged The scattering angle of the group reduces the detection blind zone in the horizontal and vertical directions, which can detect in a larger range, shorten the detection distance of the obstacles around the user, and improve the accuracy of the obstacle spatial distribution model. Degree to lay a solid foundation for accurate obstacle avoidance.

3) The obstacle avoidance device of the present invention is not limited to the two-handed mode (that is, the left and right arms are equipped with wearing units), and is also applicable to the one-handed mode (only the left or right arm is worn with the wearing unit), although the one-handed mode is The hand mode will cause the detection range to be partially reduced, but it still has a large angle, which can be used in situations where the viewing angle of ordinary sighted people is limited, such as using a mobile phone to lower their heads or covering their eyes with an umbrella.

The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention in any way. Any changes and modifications made by those skilled in the art based on the above disclosure shall fall into the protection scope of the patent application scope.

1‧‧‧ wearing unit

10‧‧‧Ultrasonic Inspection Module

11‧‧‧ gravity sensor

12‧‧‧ Gyroscope

13‧‧‧Processing Module

14‧‧‧Hint module

1 is a schematic structural diagram of a wearing unit according to an embodiment of the present invention;

FIG. 2 is a working principle diagram of an obstacle avoidance device in an embodiment of the present invention.

Claims (11)

An obstacle avoidance device includes: at least one wearing unit configured to obtain sampling point position information in an obstacle space around the user according to a user's natural swing information to construct an obstacle space distribution model around the user, And guide the user's travel direction according to the obstacle spatial distribution model. The obstacle avoidance device according to item 1 of the scope of patent application, wherein each of the wearing units includes: an ultrasonic detection module for transmitting an ultrasonic signal, and obtaining obstacles around the user from the ultrasonic signal according to the ultrasonic signal. The direction and distance of the ultrasonic detection module; a gravity sensor for obtaining the tilt angle of the ultrasonic detection module with respect to the ground; a gyroscope for obtaining the rotation angle of the ultrasonic detection module relative to the user's travelling front A processing module for obtaining use according to the direction and distance of an obstacle relative to the ultrasonic detection module, the inclination angle of the ultrasonic detection module with respect to the ground, and the rotation angle of the ultrasonic detection module with respect to the user's travelling front The location information of the sampling points in the obstacle space around the user, constructing the obstacle spatial distribution model based on the sampling point location information, and determining whether the user can continue to travel in the current traveling direction according to the obstacle spatial distribution model; and a prompt mode Group for returning corresponding prompt information to the ambassador according to the judgment result of the processing module By. The obstacle avoidance device according to item 2 of the scope of patent application, wherein the reminder module is a buzzer, and when the processing module determines that the user cannot continue to travel in the current traveling direction, the buzzer returns the prompt information. Is a sound signal; otherwise, the buzzer's feedback information is a mute signal. The obstacle avoidance device according to item 2 of the scope of patent application, wherein the prompt module is a vibrator, and when the processing module determines that the user cannot continue to travel in the current traveling direction, the prompt information returned by the vibrator is vibration Signal; conversely, the prompt information returned by the vibrator is a mute signal. The obstacle avoidance device according to item 4 of the scope of patent application, wherein the number of the wearing units is two and they are respectively worn on the left arm and the right arm. When the two reminder modules are vibrators, two The direction in which the wearing unit guides the user according to the obstacle spatial distribution model includes the following situations: The alert module of the wearing unit worn on the left arm returns a vibration signal, and the wearing unit of the wearing unit on the right arm When the prompt module returns the mute signal, guide the user to turn right until the two reminder modules of the two wearing units return the mute signal, and the user travels in the current direction; the prompt of the wearing unit worn on the right arm The module feedbacks the vibration signal. When the reminder module of the wearing unit on the left arm returns the mute signal, the user is guided to turn left until the two reminder modules of the wearing unit return the mute signal. Traveling in the current direction; the prompt module of the wearing unit on the left arm returns a mute signal, and the raising unit of the wearing unit on the right arm returns When the display module returns the mute signal, it guides the user to travel in the current direction of travel; or the prompt module of the wearing unit worn on the left arm returns a vibration signal, and the prompt module of the wearing unit worn on the right arm When the vibration signal is fed back, the user is guided to travel in a direction in which the vibration of the wearing unit stops. The obstacle avoidance device according to item 2 of the scope of patent application, wherein the process of the prompt module determining whether the user can continue to travel in the current travel direction includes: determination information obtained according to the obstacle spatial distribution model; and determination information Compare with the judgment threshold; when the judgment information exceeds the judgment threshold, the user cannot continue to travel in the current travel direction; otherwise, the user can continue to travel in the current travel direction. The obstacle avoidance device according to item 6 of the scope of patent application, wherein the determination information is the height of the gap. The obstacle avoidance device according to item 6 of the scope of patent application, wherein the determination threshold is set according to a user's own situation. The obstacle avoidance device according to item 2 of the scope of patent application, wherein when the number of the wearing units is two, the ultrasonic detection module and the processing module in the two wearing units are performed by BLE, ZigBee or WiFi. Wireless communication. The obstacle avoidance device according to any one of claims 1 to 9, wherein each of the wearing units is worn on one arm and / or lumbosacral region of a user. The obstacle avoidance device according to any one of claims 1 to 9, wherein the natural swing information of the user includes swing position information of the arm and / or swing position information of the lumbosacral region.