TWI732957B - Obstacle Avoidance Device - Google Patents

Obstacle Avoidance Device Download PDF

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TWI732957B
TWI732957B TW106134558A TW106134558A TWI732957B TW I732957 B TWI732957 B TW I732957B TW 106134558 A TW106134558 A TW 106134558A TW 106134558 A TW106134558 A TW 106134558A TW I732957 B TWI732957 B TW I732957B
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travel
obstacle
module
prompt
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TW201900134A (en
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李夢丹
許曉龍
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英華達股份有限公司
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Health & Medical Sciences (AREA)
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Abstract

本發明提供了一種避障裝置，所述避障裝置包括至少一佩戴單元，所述佩戴單元用於根據使用者的自然擺動資訊獲得使用者周邊的障礙物空間中的採樣點位置資訊以構建使用者周邊的障礙物空間分佈模型，並根據所述障礙物空間分佈模型引導使用者的行進方向。本發明的避障裝置充分利用了人體運動的工學特徵，使用者行走時使用者自然擺動的關節與水平面形成一定的夾角，擴大了佩戴單元中超聲波檢測模組的散射角，減少了其在水平與垂直方向上的探測盲區，能夠在更大範圍進行檢測，拉近了對使用者周圍障礙物的檢測距離，提高了避障裝置的性能。 The present invention provides an obstacle avoidance device. The obstacle avoidance device includes at least one wearing unit for obtaining sampling point position information in an obstacle space around the user according to the user's natural swing information to construct and use 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 body movement. When the user walks, the joints that the user naturally swings form a certain angle with the horizontal plane, which expands the scattering angle of the ultrasonic detection module in the wearing unit and reduces its impact. 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.

Description

避障裝置 Obstacle Avoidance Device

本發明涉及輔助行走設備的技術領域，特別涉及一種避障裝置。 The present invention relates to the technical field of auxiliary walking equipment, in particular to an obstacle avoidance device.

人類對外界環境資訊的獲取很大一部分來自視覺系統，視覺缺失和視力殘疾給盲人和視障患者在生活上帶來極大的困難，尤其是對安全行走極具挑戰性。 A large part of mankind's acquisition of information about the external environment comes from the visual system. Visual loss and visual disabilities bring great difficulties to the blind and visually impaired patients in their lives, especially for safe walking.

為了幫助盲人行走，先後出現輔助盲人行走的工具，例如經過特殊培訓的導盲手杖、導盲犬，但是基於通過導盲手杖來探知障礙物資訊的方法效率低下且耗費體力，而導盲犬訓練週期和適應期較長、成本較高，使用並不普遍。 In order to help the blind to walk, there have been tools to assist the blind in walking, such as specially trained guide canes and guide dogs. However, the method based on the use of guide canes to detect obstacles is inefficient and physically intensive, and guide dog training The cycle and adaptation period is long, the cost is high, and the use is not common.

近年來，隨著電子結合導航服務等相關技術，出現了利用GPS技術、超聲波、紅外線、鐳射、攝像頭等感測器研發的一系列的穿戴式設備，例如導盲腰帶、盲人安全帽等。導盲腰帶諸如FeelSpace智慧腰帶通過手機導航應用提供方位，佩戴者身體腰帶的前、後、左、右某個方向發生震動，指引使用者行走的方向。但FeelSpace智慧腰帶主要使用GPS技術，對於即時障礙物的檢測能力缺失。盲人安全帽諸如Cloudmind導盲頭盔通過攝像頭裝置擷取到使用者與前方障礙物的距離，當距離障礙物一定距離時以警報提醒使用者。但Cloudmind導盲頭盔需要非常高規 格的處理單元和影像採樣裝置來實現影像檢測功能，對於入門使用者較難接受，且影像識別的錯誤率可能成為問題。 In recent years, with the integration of electronic navigation services and other related technologies, a series of wearable devices developed using GPS technology, ultrasonic, infrared, laser, camera and other sensors, such as guide belts and helmets for the blind, have emerged. Guide belts such as FeelSpace smart belts provide directions through mobile navigation applications, and the front, back, left, and right directions of the wearer's body belt vibrate to guide the user in the direction of walking. However, the FeelSpace smart belt mainly uses GPS technology and lacks the ability to detect immediate obstacles. Blind helmets such as Cloudmind guide helmets capture the distance between the user and the obstacle in front of the user through a camera device, and alert the user when the obstacle is a certain distance away. But the Cloudmind guide helmet needs to be very high profile The grid processing unit and image sampling device to realize the image detection function is difficult for beginners to accept, and the error rate of image recognition may become a problem.

基於超聲波、鐳射、紅外線技術實現的避障功能，只能檢測一定方向或高度上障礙物，而通過雙攝像頭採集影像以獲取物體與攝像頭距離的方法計算複雜度高，資源消耗量大，難以即時地提供準確的提示。 The obstacle avoidance function based on ultrasonic, laser, and infrared technology can only detect obstacles in a certain direction or height. However, the method of collecting images through dual cameras to obtain the distance between the object and the camera has high computational complexity, high resource consumption, and difficulty in real-time Provide accurate prompts.

本發明的目的在於提供一種避障裝置，以彌補習知的避障方式存在的不足。 The purpose of the present invention is to provide an obstacle avoidance device to make up for the shortcomings of the conventional obstacle avoidance methods.

為解決上述技術問題，本發明提供一種避障裝置，所述避障裝置包括：至少一佩戴單元，用於根據使用者的自然擺動資訊獲得使用者周邊的障礙物空間中的採樣點位置資訊以構建使用者周邊的障礙物空間分佈模型，並根據所述障礙物空間分佈模型引導使用者的行進方向。 In order to solve the above technical problems, the present invention provides an obstacle avoidance device, the obstacle avoidance device includes: at least one wearing unit for obtaining the location information of sampling points in the obstacle space around the user according to the natural swing information of the user. Construct a spatial distribution model of obstacles around the user, and guide the user's travel direction according to the obstacle spatial distribution model.

較佳的，在所述的避障裝置中，每個佩戴單元均包括：一超聲波檢測模組，用於發射超聲波訊號，並根據所述超聲波訊號獲得使用者周邊障礙物相對超聲波檢測模組的方向和距離；一重力感測器，用於獲得所述超聲波檢測模組相對地面的傾斜角度；一陀螺儀，用於獲得所述超聲波檢測模組相對於使用者行進前方的旋轉角度；一處理模組，用於根據障礙物相對超聲波檢測模組的方向和距離、超聲波檢測模組相對地面的傾斜角度和超聲波檢測模組相對於使用者行進前方的旋轉角度，獲得使用者周邊的障礙物空間中的採樣點位置資訊，根據採樣點位置資訊構建障礙物空間分佈模型，並根據所述障礙物空間分佈模型判定使用 者是否可沿當前行進方向繼續行進；以及一提示模組，用於根據所述處理模組的判定結果回饋對應提示資訊給使用者。 Preferably, in the obstacle avoidance device, each wearing unit includes: an ultrasonic detection module for transmitting an ultrasonic signal, and according to the ultrasonic signal to obtain the user's surrounding obstacles relative to the ultrasonic detection module Direction and distance; a gravity sensor for obtaining the inclination angle of the ultrasonic detection module relative to the ground; a gyroscope for obtaining the rotation angle of the ultrasonic detection module relative to the front of the user; a processing The module is used to obtain the obstacle space around the user according to the direction and distance of the obstacle relative to the ultrasonic detection module, the inclination angle of the ultrasonic detection module relative to the ground, and the rotation angle of the ultrasonic detection module relative to the front of the user. Based on the sampling point location information in the sampling point, construct an obstacle spatial distribution model based on the sampling point location information, and determine the use of Whether the person can continue to travel along the current direction of travel; and a prompt module for feeding back corresponding prompt information to the user according to the determination result of the processing module.

較佳的，在所述的避障裝置中，所述提示模組為蜂鳴器，在所述處理模組判定使用者不可沿當前行進方向繼續行進時，所述蜂鳴器回饋的提示資訊為聲音訊號；反之，所述蜂鳴器回饋的提示資訊為靜音訊號。 Preferably, in the obstacle avoidance device, the prompt module is a buzzer, and when the processing module determines that the user cannot proceed in the current direction of travel, the prompt information returned by the buzzer It is a sound signal; otherwise, the prompt information fed back by the buzzer is a mute signal.

較佳的，在所述的避障裝置中，所述提示模組為振動器，在所述處理模組判定使用者不可沿當前行進方向繼續行進時，所述振動器回饋的提示資訊為振動訊號；反之，所述振動器回饋的提示資訊為靜音訊號。 Preferably, in the obstacle avoidance device, the prompt module is a vibrator, and when the processing module determines that the user cannot proceed in the current direction of travel, the prompt information returned by the vibrator is vibration On the contrary, the prompt information returned by the vibrator is a mute signal.

較佳的，在所述的避障裝置中，所述佩戴單元的數量為兩個，兩個提示模組均為振動器時，兩個佩戴單元根據所述障礙物空間分佈模型引導使用者的行進方向包括情況為：佩戴於左手臂上的佩戴單元的提示模組回饋振動訊號，佩戴於右手臂上的佩戴單元的提示模組回饋靜音訊號時，引導使用者向右轉直至兩個佩戴單元的提示模組均回饋靜音訊號為止，使用者沿當前方向行進；佩戴於右手臂上的佩戴單元的提示模組回饋振動訊號，佩戴於左手臂上的佩戴單元的提示模組回饋靜音訊號時，引導使用者向左轉直至兩個佩戴單元的提示模組均回饋靜音訊號為止，使用者沿當前方向行進； 佩戴於左手臂上的佩戴單元的提示模組回饋靜音訊號，佩戴於右手臂上的佩戴單元的提示模組回饋靜音訊號時，引導使用者沿當前行進方向行進；或佩戴於左手臂上的佩戴單元的提示模組回饋振動訊號，佩戴於右手臂上的佩戴單元的提示模組回饋振動訊號時，引導使用者沿任一佩戴單元的振動停止所在的方向行進。 Preferably, in the obstacle avoidance device, the number of the wearing units is two, and when the two prompting modules are both vibrators, the two wearing units guide the user according to the obstacle spatial distribution model. The direction of travel includes situations where: the reminder module of the wearing unit worn on the left arm feedbacks vibration signals, and the reminder module of the wearing unit worn on the right arm returns a mute signal, guiding the user to turn right until two wearing units The reminder modules of all feed back the mute signal, and the user walks in the current direction; the reminder module of the wearing unit worn on the right arm returns a vibration signal, and when the reminder module of the wearing unit worn on the left arm returns a mute signal, Guide the user to turn left until the prompt modules of the two wearing units both return a mute signal, and the user proceeds in the current direction; The reminder module of the wearing unit worn on the left arm returns a mute signal, and the reminder module of the wearing unit worn on the right arm guides the user to move in the current direction of travel when it returns a mute signal; or the wearer worn on the left arm The reminder module of the unit feeds back the vibration signal, and when the reminder module of the wearing unit worn on the right arm feeds back the vibration signal, it guides the user to move in the direction where the vibration of any wearing unit stops.

較佳的，在所述的避障裝置中，所述提示模組判定使用者是否可沿當前行進方向繼續行進的過程包括：根據所述障礙物空間分佈模型獲取的判定資訊；將判定資訊與判斷閾值進行比較；當判定資訊超過判定閾值，則使用者不能沿當前行進方向繼續行進；反之，則使用者能沿當前行進方向繼續行進。 Preferably, in the obstacle avoidance device, the process of the prompt module determining whether the user can continue to travel along the current direction of travel includes: determining information obtained according to the obstacle spatial distribution model; and comparing the determination information with The judgment threshold is compared; when the judgment information exceeds the judgment threshold, the user cannot continue to travel in the current direction of travel; otherwise, the user can continue to travel in the current direction of travel.

較佳的，在所述的避障裝置中，所述判定資訊為缺口的高度。 Preferably, in the obstacle avoidance device, the determination information is the height of the gap.

較佳的，在所述的避障裝置中，所述判定閾值根據使用者的自身情況進行設定。 Preferably, in the obstacle avoidance device, the judgment threshold is set according to the user's own situation.

較佳的，在所述的避障裝置中，所述佩戴單元的數量為兩個時，兩個佩戴單元中的超聲波檢測模組和處理模組採用BLE、ZigBee或WiFi進行無線通訊。 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 use BLE, ZigBee or WiFi for wireless communication.

較佳的，在所述的避障裝置中，每個佩戴單元被佩戴於使用者的一個手臂和/或腰胯部位上。 Preferably, in the obstacle avoidance device, each wearing unit is worn on an arm and/or waist and hip of the user.

較佳的，在所述的避障裝置中，所述使用者的自然擺動資訊包括手臂的擺動位置資訊和/或腰胯部位的擺動位置資訊。 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 waist and hip.

在本發明所提供的避障裝置中，所述避障裝置包括至少一佩戴單元，所述佩戴單元用於根據使用者的自然擺動資訊獲得使用者周邊的障礙物空間中的採樣點位置資訊以構建使用者周邊的障礙物空間分佈模型，並根據所述障礙物空間分佈模型引導使用者的行進方向。本發明的避障裝置充分利用了人體運動的工學特徵，使用者行走時使用者自然擺動的關節與水平面形成一定的夾角，擴大了佩戴單元中超聲波檢測模組的散射角，減少了其在水平與垂直方向上的探測盲區，能夠在更大範圍進行檢測，拉近了對使用者周圍障礙物的檢測距離，提高了避障裝置的性能。 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 used to obtain position information of sampling points in the obstacle space around the user according to the natural swing information of the user. 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 body movement. When the user walks, the joints that the user naturally swings form a certain angle with the horizontal plane, which expands the scattering angle of the ultrasonic detection module in the wearing unit and reduces its impact. 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.

1:佩戴單元 1: Wearing unit

10:超聲波檢測模組 10: Ultrasonic detection module

11:重力感測器 11: Gravity sensor

12:陀螺儀 12: Gyroscope

13:處理模組 13: Processing module

14:提示模組 14: Prompt module

圖1是本發明一實施例中佩戴單元的結構示意圖；圖2是本發明一實施例中避障裝置的工作原理圖。 Fig. 1 is a schematic structural diagram of a wearing unit in 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.

以下結合圖式和具體實施例對本發明提出的避障裝置作進一步詳細說明。根據下面說明和申請專利範圍，本發明的優點和特徵將更清楚。需說明的是，圖式均採用非常簡化的形式且均使用非精準的比例，僅用以方便、明晰地輔助說明本發明實施例的目的。 The obstacle avoidance device proposed by the present invention will be further described in detail below with reference to the drawings and specific embodiments. According to the following description and the scope of the patent application, the advantages and features of the present invention will be clearer. It should be noted that the drawings all adopt a very simplified form and all use imprecise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

本實施例中避障裝置包括：至少一佩戴單元，用於根據使用者的自然擺動資訊獲得使用者周邊的障礙物空間中的採樣點位置資訊以構建使用者周邊的障礙物空間分佈模型，並根據所述障礙物空間分佈模型引導使用者的行進方向。較佳的，每個佩戴單元被佩戴於使用者的手 臂上和/或腰胯部位，所述使用者的自然擺動資訊包括手臂的擺動位置資訊和/或腰胯部位的擺動位置資訊。 The obstacle avoidance device in this embodiment includes: at least one wearing unit for obtaining the position information of sampling points in the obstacle space around the user according to the natural swing information of the user to construct a spatial distribution model of obstacles around the user, and The user's traveling direction is guided according to the obstacle spatial distribution model. Preferably, each wearing unit is worn on the user’s hand For the upper arm and/or waist and hip, the natural swing information of the user includes the swing position information of the arm and/or the swing position information of the waist and hip.

請參考圖1，其為本發明的佩戴單元的結構示意圖。如圖1所示，所述佩戴單元1包括一超聲波檢測模組10、一重力感測器11、一陀螺儀12、一處理模組13及一提示模組14。所述超聲波檢測模組10用於發射超聲波訊號，並根據所述超聲波訊號獲得使用者周邊障礙物相對超聲波檢測模組10的方向和距離；所述重力感測器11用於獲得所述超聲波檢測模組10相對地面的傾斜角度；所述陀螺儀12用於獲得所述超聲波檢測模組10相對於使用者行進前方的旋轉角度；所述處理模組13用於根據障礙物相對超聲波檢測模組10的方向和距離、超聲波檢測模組10相對地面的傾斜角度和超聲波檢測模組10相對於使用者行進前方的旋轉角度，獲得使用者周邊的障礙物空間中的採樣點位置資訊，根據採樣點位置資訊構建障礙物空間分佈模型，並根據所述障礙物空間分佈模型判定使用者是否可沿當前行進方向繼續行進；所述提示模組14用於根據所述處理模組13的判定結果回饋對應提示資訊給使用者。 Please refer to FIG. 1, which is a schematic diagram of the structure of the 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 prompt module 14. The ultrasonic detection module 10 is used to transmit ultrasonic signals, and obtain the direction and distance of the surrounding obstacles of the user relative to the ultrasonic detection module 10 according to the ultrasonic signals; the gravity sensor 11 is used to obtain the ultrasonic detection The inclination 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 front of the user; the processing module 13 is used to obtain the ultrasonic detection module relative to obstacles 10 direction and distance, the inclination angle of the ultrasonic detection module 10 relative to the ground, and the rotation angle of the ultrasonic detection module 10 relative to the front of the user, to obtain the sampling point position information in the obstacle space around the user, according to the sampling point The location information constructs an obstacle spatial distribution model, and according to the obstacle spatial distribution model, it is determined whether the user can continue to travel along the current direction of travel; the prompt module 14 is used to feed back the corresponding result according to the determination result of the processing module 13 Prompt information to users.

實際上，超聲波檢測模組10發射的超聲波訊號散射角度是有限的，但是由於佩戴單元1佩戴的位置為使用者行走存在自然擺動的位置(例如手臂和/或腰胯部位)，使得超聲波檢測模組10在使用者行走時佩戴位置呈自然擺動以與水平面形成一定的夾角從而擴大了超聲波訊號散射角度。因此，無需設置過多超聲波檢測模組10，每個佩戴單元1僅需要一個超聲波檢測模組10即可滿足檢測的需求，降低了功耗及成本。 In fact, the scattering angle of the ultrasonic signal emitted by the ultrasonic detection module 10 is limited, but because the wearing unit 1 is worn at a position where the user walks and there is a natural swing (for example, the arm and/or waist and crotch), the ultrasonic detection module The wearing position of the group 10 naturally swings when the user is walking to form a certain angle with the horizontal plane, thereby expanding 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.

具體的，所述提示模組14判定使用者是否可沿當前行進方向繼續行進的過程包括如下步驟：S10：根據所述障礙物空間分佈模型獲取的判定資訊；S11：將判定資訊與判斷閾值進行比較；當判定資訊超過判定閾值，則使用者不能沿當前行進方向繼續行進；反之，則使用者能沿當前行進方向繼續行進；其中，所述判定資訊為缺口的高度；所述判定閾值根據使用者的自身情況進行設定。 Specifically, the process of the prompt module 14 determining whether the user can continue to travel along the current direction of travel includes the following steps: S10: determining information obtained according to the obstacle spatial distribution model; S11: performing the determination information and the determination threshold Comparison; when the judgment information exceeds the judgment threshold, the user cannot continue to travel in the current direction of travel; otherwise, the user can continue to travel in the current direction of travel; wherein the judgment information is the height of the gap; the judgment threshold is based on use Set up the person’s own situation.

在本實施例中，所述提示模組14為振動器，在所述處理模組13判定使用者不可沿當前行進方向繼續行進時，所述振動器回饋的提示資訊為振動訊號；反之，所述振動器回饋的提示資訊為靜音訊號。例如，當使用者的左手臂和右手臂均佩戴有佩戴單元1時，兩個佩戴單元1中的超聲波檢測模組10採用BLE、ZigBee或WiFi進行無線通訊，兩個佩戴單元1中的處理模組13採用BLE、ZigBee或WiFi進行無線通訊。 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 direction of travel, the prompt information returned by the vibrator is a vibration signal; The prompt information returned by the vibrator is a mute signal. For example, when the user wears the wearing unit 1 on both the left arm and the right arm, the ultrasonic detection modules 10 in the two wearing units 1 use 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.

若使用者感受到其中一個佩戴單元1存在震動感時(此時佩戴單元1的提示模組14處於振動狀態)，則該佩戴單元1所在的手臂一側的前方存在障礙物，使用者可以選擇另一佩戴單元1所在的手臂一側的前方行進。具體情況包括：佩戴於左手臂上的佩戴單元1的提示模組14回饋振動訊號，佩戴於右手臂上的佩戴單元1的提示模組14回饋靜音訊號時，引導使用者向右轉直至兩個佩戴單元1的提示模組14均回饋靜音訊號為止，使用者沿當前方向行進；佩戴於右手臂上的佩戴單元1的提示模組14回饋振動訊號，佩戴於左手臂上的佩戴單元1的提示模組14回饋靜音訊號 時，引導使用者向左轉直至兩個佩戴單元1的提示模組14均回饋靜音訊號為止，使用者沿當前方向行進。 If the user feels a sense of vibration in one of the wearing units 1 (at this time the prompt module 14 of the wearing unit 1 is in a vibrating state), there is an obstacle in front of the arm side where the wearing unit 1 is located, and the user can choose The other wearing unit 1 travels in front of the arm side. The specific situation includes: the prompt module 14 of the wearing unit 1 worn on the left arm feedbacks vibration signals, and the prompt module 14 of the wearing unit 1 worn on the right arm returns the mute signal, guiding the user to turn right until two The reminder module 14 of the wearing unit 1 all feeds back the mute signal, and the user walks in the current direction; the reminder module 14 of the wearing unit 1 worn on the right arm returns vibration signals, and the reminder of the wearing unit 1 worn on the left arm Module 14 feedback mute signal When the time, the user is guided to turn left until the prompt modules 14 of the two wearing units 1 both return a mute signal, and the user moves in the current direction.

當使用者未感受到兩個佩戴單元1存在震動感時，即佩戴於左手臂上的佩戴單元1的提示模組14回饋靜音訊號，佩戴於右手臂上的佩戴單元1的提示模組14回饋靜音訊號時，引導使用者沿當前行進方向行進。 When the user does not feel the vibration of the two wearing units 1, that is, the prompt module 14 of the wearing unit 1 worn on the left arm will feedback the mute signal, and the prompt module 14 of the wearing unit 1 worn on the right arm will feedback When the signal is muted, the user is guided to move in the current direction of travel.

當使用者感受到兩個佩戴單元1均存在震動感時，則需要進一步檢測，可以通過將手伸至前方輕度搖擺的方式，當其中一佩戴單元1的振動停止時，引導使用者沿佩戴單元1的振動停止所在的方向行進。 When the user feels that there is a sense of vibration in both wearing units 1, further testing is needed. You can extend your hand to the front and gently swing. When the vibration of one of the wearing units 1 stops, guide the user to wear The vibration of unit 1 travels in the direction where the vibration stops.

在本發明的另一實施例中，所述提示模組14還可以為蜂鳴器，在所述處理模組13判定使用者不可沿當前行進方向繼續行進時，所述蜂鳴器回饋的提示資訊為聲音訊號；反之，所述蜂鳴器回饋的提示資訊為靜音訊號。使用者根據聲音訊號來判斷使用者周圍的環境情況，以決定接下來行進的方向，有效避開障礙物，保證使用者的安全。 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 direction of travel, the buzzer returns a prompt The information is a sound signal; otherwise, the prompt information fed back by the buzzer is a mute signal. The user judges the environment around the user based on the sound signal to determine the next direction of travel, effectively avoiding obstacles, and ensuring the safety of the user.

請參考圖2理解本發明的避障裝置的工作原理，通過陀螺儀12和重力感測器11貢獻的資料可以計算出超聲波檢測模組10的空間指向，之後將超聲波檢測模組10的空間指向結合超聲波檢測模組10上報的使用者周邊障礙物相對超聲波檢測模組10的方向和距離構建障礙物空間分佈模型，從而判斷使用者是否可沿當前行進方向繼續行進(即能安全避障)，若不能，則提示模組14輸出第一提示資訊(對應可以提醒使用者加以注意的資訊，例如當提示模組14為振動器時，第一提示資訊對應振動訊號，使使用者感受到震感)；若能，則提示模組14輸出第二提示 資訊(例如當提示模組14為振動器時，第二提示資訊對應靜音訊號，使使用者不會感受到震感)，並繼續監測超聲波檢測模組10的空間指向，即時獲知使用者當前行進方向是否存在風險，從而及時避障。 Please refer to FIG. 2 to understand the working principle of the obstacle avoidance device of the present invention. The spatial orientation of the ultrasonic detection module 10 can be calculated through the data contributed by the gyroscope 12 and the gravity sensor 11, and then the spatial orientation of the ultrasonic detection module 10 Combine the direction and distance of the obstacles around the user reported by the ultrasonic detection module 10 relative to the ultrasonic detection module 10 to construct an obstacle spatial distribution model to determine whether the user can continue to travel in the current direction of travel (that is, the obstacle can be safely avoided) 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 shock ); if so, 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 continue to monitor the spatial orientation of the ultrasonic detection module 10, and know the user’s current travel direction in real time Whether there is a risk, so as to avoid obstacles in time.

為了較好的理解本發明的避障裝置的輸出結果，下面舉例說明。假設在使用者前進方向上採樣點R的空間分佈中，使用者當前的行進方向存在一個超過1m寬，2.5m高的缺口，且該缺口內沒有超過1cm高的點集，此時，則認為使用者在當前的行進方向是可通行的。若該缺口在使用者的左前方，而右邊是封住的，則此時右手臂佩戴的佩戴單元會發出第一提示資訊，左手臂佩戴的佩戴單元會發出第二提示資訊，從而引導使用者左轉行進，直至方向正確為止。 In order to better understand the output results of the obstacle avoidance device of the present invention, an example is given below. Assuming that in the spatial distribution of the sampling point R in the direction of the user, there is a gap of more than 1m wide and 2.5m high in the user’s current travel direction, and there is no point set more than 1cm high in the gap. At this time, it is considered The user is passable in the current direction of travel. If the gap is on the left front of the user and the right side is sealed, then the wearing unit worn on the right arm will send out the first prompt message, and the wearing unit worn on the left arm will send out the second prompt message to guide the user Turn left and proceed until the direction is correct.

綜上，以佩戴單元被佩戴於使用者的手臂上和腰胯部位為例，本發明所提供的避障裝置具有如下優點： In summary, taking the wearing unit being worn on the arm and waist and hip of the user as an example, the obstacle avoidance device provided by the present invention has the following advantages:

1)本發明的避障裝置的佩戴單元被佩戴於使用者的手臂上，在使用者做出伸手動作的過程中將增大避障檢測的覆蓋範圍，同時可以支援使用者主動檢測某個精確位置的障礙物情況。 1) The wearing unit of the obstacle avoidance device of the present invention is worn on the arm of the user, which will increase the coverage of obstacle avoidance detection when the user makes a hand-stretching action, and at the same time can support the user to actively detect a certain precise Obstacle situation at the location.

2)利用本發明的避障裝置過程中，充分利用了人體運動的工學特徵，使用者行走時手臂以及腰胯部位呈自然擺動以與水平面形成一定的夾角，擴大了佩戴單元中超聲波檢測模組的散射角，減少了其在水平與垂直方向上的探測盲區，能夠在更大範圍進行檢測，拉近了對使用者周圍障礙物的檢測距離，提高了構建的障礙物空間分佈模型的精準度，為準確避障奠定堅實的基礎。 2) In the process of using the obstacle avoidance device of the present invention, the engineering features of human movement are fully utilized. When the user walks, the arms and waist and hips naturally swing to form a certain angle with the horizontal plane, which expands the ultrasonic detection model in the wearing unit. The scattering angle of the group reduces the detection blind area in the horizontal and vertical directions, can detect in a larger range, shortens the detection distance of obstacles around the user, and improves the accuracy of the constructed obstacle spatial distribution model Degree, lay a solid foundation for accurate obstacle avoidance.

3)本發明的避障裝置不局限於雙手模式(即左右手臂都佩戴有佩戴單元)，也適用於單手模式(僅左手臂或右手臂佩戴佩戴單元)，雖然單手模式相比雙手模式會導致檢測範圍的部分降低，但是仍然具備較大的角度，可以被應用在普通視力者視角受限的情況，如低頭使用手機，打傘遮住視線等情況。 3) The obstacle avoidance device of the present invention is not limited to the two-handed mode (that is, the wearing unit is worn on both the left and right arms), and is also applicable to the single-handed mode (only the left arm or the right arm is wearing the wearing unit), although the single-handed mode is more The hand mode will result in a partial reduction of the detection range, but still has a larger angle, which can be used in situations where the viewing angle of ordinary people is limited, such as using a mobile phone with your head down, and an umbrella covering the line of sight.

上述描述僅是對本發明較佳實施例的描述，並非對本發明範圍的任何限定，本發明領域的通常知識者根據上述揭示內容做的任何變更、修飾，均屬於申請專利範圍的保護範圍。 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 or modifications made by a person skilled in the field of the present invention based on the above disclosure shall fall within the protection scope of the patent application.

1:佩戴單元 1: Wearing unit

10:超聲波檢測模組 10: Ultrasonic detection module

11:重力感測器 11: Gravity sensor

12:陀螺儀 12: Gyroscope

13:處理模組 13: Processing module

14:提示模組 14: Prompt module

Claims (8)

一種避障裝置，其中，包括：至少一佩戴單元，用於根據使用者在自然行走過程中的自然擺動資訊獲得使用者周邊的障礙物空間中的採樣點位置資訊以構建使用者周邊的一障礙物空間分佈模型，並根據該障礙物空間分佈模型引導使用者的行進方向，每個該配戴單元包含：一提示模組，用於根據一判定結果回饋對應提示資訊給使用者；其中，每個該佩戴單元被佩戴於使用者的一個手臂和/或腰胯部位上，所述使用者的自然擺動資訊包括手臂的擺動位置資訊和/或腰胯部位的擺動位置資訊；其中當該佩戴單元的數量為兩個，且分別被佩戴於左手臂和右手臂上，兩個該佩戴單元根據該障礙物空間分佈模型引導使用者的行進方向包括情況為：佩戴於左手臂上的該佩戴單元的該提示模組回饋振動訊號，佩戴於右手臂上的該佩戴單元的該提示模組回饋靜音訊號時，引導使用者向右轉直至兩個該佩戴單元的該提示模組均回饋靜音訊號為止，使用者沿當前方向行進；佩戴於右手臂上的該佩戴單元的該提示模組回饋振動訊號，佩戴於左手臂上的該佩戴單元的該提示模組回饋靜音訊號時，引導使用者向左轉直至兩個該佩戴單元的提示模組均回饋靜音訊號為止，使用者沿當前方向行進；佩戴於左手臂上的該佩戴單元的該提示模組回饋靜音訊號，佩戴於右手臂上的該佩戴單元的該提示模組回饋靜音訊號時，引導使用者沿當前行進方向行進；或 佩戴於左手臂上的該佩戴單元的該提示模組回饋振動訊號，佩戴於右手臂上的該佩戴單元的該提示模組回饋振動訊號時，引導使用者沿任一該佩戴單元的振動停止所在的方向行進。 An obstacle avoidance device, which includes: at least one wearing unit for obtaining sampling point position information in the obstacle space around the user according to the natural swing information of the user during natural walking to construct an obstacle around the user The object space distribution model, and guide the user's travel direction according to the obstacle space distribution model, each of the wearing units includes: a prompt module for feeding back corresponding prompt information to the user according to a determination result; wherein, each The wearing unit is worn on an arm and/or waist and crotch of the user, and the natural swing information of the user includes the swing position information of the arm and/or the swing position information of the waist and crotch; The number is two, and they are respectively worn on the left arm and the right arm. The two wearing units guide the user’s travel direction according to the obstacle spatial distribution model, including the situation: the wearing unit worn on the left arm The prompt module feedbacks vibration signals. When the prompt module of the wearing unit worn on the right arm returns a mute signal, guide the user to turn right until the prompt modules of the two wearing units both return the mute signal. The user travels in the current direction; the prompt module of the wearing unit worn on the right arm returns vibration signals, and the prompt module of the wearing unit worn on the left arm returns a mute signal when guiding the user to turn left Until the two reminder modules of the wearing unit both return a mute signal, the user walks in the current direction; the reminder module of the wearing unit worn on the left arm returns a mute signal, and the wearing unit worn on the right arm The prompt module of, guides the user to move in the current direction of travel when it returns a mute signal; or The prompt module of the wearing unit worn on the left arm returns vibration signals, and the prompt module of the wearing unit worn on the right arm returns vibration signals to guide the user to stop the vibration of any of the wearing units. In the direction of travel. 如申請專利範圍第1項所述的避障裝置，其中，每個該佩戴單元均包括：一超聲波檢測模組，用於發射一超聲波訊號，並根據該超聲波訊號獲得使用者周邊障礙物相對該超聲波檢測模組的方向和距離；一重力感測器，用於獲得該超聲波檢測模組相對地面的傾斜角度；一陀螺儀，用於獲得該超聲波檢測模組相對於使用者行進前方的旋轉角度；以及一處理模組，用於根據障礙物相對該超聲波檢測模組的方向和距離、該超聲波檢測模組相對地面的傾斜角度和該超聲波檢測模組相對於使用者行進前方的旋轉角度，獲得使用者周邊的障礙物空間中的採樣點位置資訊，根據採樣點位置資訊構建該障礙物空間分佈模型，並根據該障礙物空間分佈模型判定使用者是否可沿當前行進方向繼續行進。 For the obstacle avoidance device described in item 1 of the scope of patent application, each of the wearing units includes: an ultrasonic detection module for emitting an ultrasonic signal, and according to the ultrasonic signal to obtain the user's surrounding obstacles relative to the The direction and distance of the ultrasonic detection module; a gravity sensor for obtaining the inclination angle of the ultrasonic detection module relative to the ground; a gyroscope for obtaining the rotation angle of the ultrasonic detection module relative to the front of the user And a processing module for obtaining the direction and distance of the 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 front of the user. Based on the location information of sampling points in the obstacle space around the user, a spatial distribution model of the obstacles is constructed based on the location information of the sampling points, and the obstacle spatial distribution model is used to determine whether the user can continue to travel along the current direction of travel. 如申請專利範圍第2項所述的避障裝置，其中，該提示模組為蜂鳴器，在該處理模組判定使用者不可沿當前行進方向繼續行進時，該蜂鳴器回饋的提示資訊為聲音訊號；反之，該蜂鳴器回饋的提示資訊為靜音訊號。 For example, the obstacle avoidance device described in item 2 of the scope of patent application, wherein the prompt module is a buzzer, and the prompt information returned by the buzzer when the processing module determines that the user cannot proceed in the current direction of travel It is a sound signal; otherwise, the prompt information returned by the buzzer is a mute signal. 如申請專利範圍第2項所述的避障裝置，其中，該提示模組為振動器，在該處理模組判定使用者不可沿當前行進方向繼續行進時，該振動器回饋的提示資訊為振動訊號；反之，該振動器回饋的提示資訊為靜音訊號。 For example, the obstacle avoidance device described in 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 proceed in the current direction of travel, the prompt information returned by the vibrator is vibration On the contrary, the prompt information returned by the vibrator is a mute signal. 如申請專利範圍第2項所述的避障裝置，其中，該提示模組判定使用者是否可沿當前行進方向繼續行進的過程包括：根據該障礙物空間分佈模型獲取的判定資訊；將判定資訊與判斷閾值進行比較；當判定資訊超過判定閾值，則使用者不能沿當前行進方向繼續行進；反之，則使用者能沿當前行進方向繼續行進。 For example, in the obstacle avoidance device described in item 2 of the scope of patent application, the process of the prompt module determining whether the user can continue to travel along the current direction of travel includes: determining information obtained according to the obstacle spatial distribution model; determining information Compare with the judgment threshold; when the judgment information exceeds the judgment threshold, the user cannot continue to travel in the current direction of travel; otherwise, the user can continue to travel in the current direction of travel. 如申請專利範圍第5項所述的避障裝置，其中，該判定資訊為缺口的高度。 For the obstacle avoidance device described in item 5 of the scope of patent application, the determination information is the height of the gap. 如申請專利範圍第5項所述的避障裝置，其中，該判定閾值根據使用者的自身情況進行設定。 For the obstacle avoidance device described in item 5 of the scope of patent application, the judgment threshold is set according to the user's own situation. 如申請專利範圍第2項所述的避障裝置，其中，該佩戴單元的數量為兩個時，兩個該佩戴單元中的該超聲波檢測模組和該處理模組採用BLE、ZigBee或WiFi進行無線通訊。 For example, the obstacle avoidance device described in item 2 of the scope of patent application, wherein, when the number of the wearing unit is two, the ultrasonic detection module and the processing module in the two wearing units adopt BLE, ZigBee, or WiFi. Wireless communication.
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