TWI768974B - Visually impaired auxiliary device - Google Patents
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Description
本發明係關於一種視障輔助器,特別是一種有關於一種智慧型視障輔助器。The present invention relates to an aid for the visually impaired, in particular to an intelligent aid for the visually impaired.
在日常生活中,視障人士行動上相當仰賴導盲杖等輔具,但傳統導盲杖因為體積大並且需要透過與地面、物體敲擊接觸來感知障礙物,往往會導致行動緩慢或是影響到其他路人用路。In daily life, visually impaired people rely heavily on assistive devices such as guide sticks. However, traditional guide sticks are large and need to touch the ground and objects to perceive obstacles, which often leads to slow movement or influence. Use the road to other passersby.
因此,如何解決上述問題,提升視障人士行走時的安全,是目前在設計導盲杖等輔具時的重要課題。Therefore, how to solve the above problems and improve the safety of visually impaired people when walking is an important issue when designing assistive devices such as guide sticks for the blind.
有鑑於此,本案之發明人提出一種更自然的人機交互方式,設計一個智慧型視障輔助器,透過震動與視障人士互動,希望取代或整合傳統的輔具。In view of this, the inventor of this case proposes a more natural human-computer interaction method, and designs a smart aid for the visually impaired, which interacts with the visually impaired through vibration, hoping to replace or integrate traditional aids.
鑒於上述內容,本揭露之一態樣係提供一種視障輔助器,包含:一主體部,具有一容置空間,其中該容置空間外的部份配置有一控制開關、以及與一控制模組連接之一影像擷取模組、一光達感測器、至少一啟閉開關、一加速計感測器、一藍芽模組、以及一電源;一伸縮部,實體連接該主體部並可收納於該主體部之該容置空間內,其中遠離該主體部之一端部具有一雷達感測器,而該雷達感測器與該控制模組連接,且其中該控制開關控制該伸縮部的伸縮;以及一驅動模組,分別連接至少一線性諧振致動器與該控制模組。該驅動模組係根據經該控制模組處理過之該影像擷取模組、該光達感測器、該至少一啟閉開關、該加速計感測器、該雷達感測器或該藍芽模組所輸入的訊號,使得該至少一線性諧振致動器產生震動,以通知一視障之使用者做出適當反應。In view of the above, one aspect of the present disclosure provides an aid for the visually impaired, including: a main body portion having an accommodating space, wherein a portion outside the accommodating space is configured with a control switch and a control module connected to an image capture module, a lidar sensor, at least one on-off switch, an accelerometer sensor, a bluetooth module, and a power supply; a telescopic part, which is physically connected to the main body and can be It is accommodated in the accommodating space of the main body part, wherein an end part far from the main body part has a radar sensor, and the radar sensor is connected with the control module, and wherein the control switch controls the expansion and contraction of the telescopic part telescopic; and a driving module, respectively connecting at least one linear resonance actuator and the control module. The driving module is based on the image capture module, the lidar sensor, the at least one on-off switch, the accelerometer sensor, the radar sensor or the bluetooth processed by the control module The signal input by the bud module causes the at least one linear resonance actuator to vibrate, so as to notify a visually impaired user to make an appropriate response.
以下揭露提供不同的實施例或示例,以建置所提供之標的物的不同特徵。以下敘述之成分以及排列方式的特定示例是為了簡化本公開,目的不在於構成限制;元件的尺寸和形狀亦不被揭露之範圍或數值所限制,但可以取決於元件之製程條件或所需的特性。例如,利用剖面圖描述本發明的技術特徵,這些剖面圖是理想化的實施例示意圖。因而,由於製造工藝和/公差而導致圖示之形狀不同是可以預見的,不應為此而限定。The following disclosure provides different embodiments or examples for implementing different features of the provided subject matter. The specific examples of components and arrangements described below are for the purpose of simplifying the present disclosure and are not intended to be limiting; the size and shape of the elements are not limited by the disclosed ranges or values, but may depend on the processing conditions of the elements or the desired characteristic. For example, technical features of the invention are described using cross-sectional illustrations that are schematic illustrations of idealized embodiments. Thus, variations in the shapes of the illustrations due to manufacturing processes and/or tolerances are foreseeable and should not be limited thereto.
再者,空間相對性用語,例如「下方」、「在…之下」、「低於」、「在…之上」以及「高於」等,是為了易於描述圖式中所繪示的元素或特徵之間的關係;此外,空間相對用語除了圖示中所描繪的方向,還包含元件在使用或操作時的不同方向。Furthermore, spatially relative terms such as "below", "below", "below", "above" and "above" are used to facilitate the description of the elements depicted in the drawings or relationship between features; further, spatially relative terms encompass different orientations of elements in use or operation in addition to the orientation depicted in the illustrations.
圖1係本發明一實施例之視障輔助器的示意圖。圖2係本發明一實施例之視障輔助器的硬體架構示意圖。首先,說明本發明一實施例之視障輔助器如下。FIG. 1 is a schematic diagram of a visually impaired aid according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a hardware structure of a visually impaired aid according to an embodiment of the present invention. First, a visually impaired aid according to an embodiment of the present invention is described as follows.
如圖1所示,此實施例之視障輔助器100包含一主體部104以及一伸縮部102。其中,伸縮部102包含次伸縮部102a、次伸縮部102b以及次伸縮部102c。As shown in FIG. 1 , the visually
如圖1所示,主體部104內部有一容置空間,用於收納伸縮部102。請一併參考圖2,此容置空間外的部份配置有與一控制模組200、一控制開關30、至少一啟閉開關50,另外還配置有一影像擷取模組20a、一光達感測器20b、一加速計感測器210、一藍芽模組208、以及一電源206。在此實施例中,控制模組200由一主機板201及一微控制器202構成。而且,控制開關30、至少一啟閉開關50、影像擷取模組20a、光達感測器20b、加速計感測器210、藍芽模組208、以及電源206皆與控制模組200形成連接,亦即與微控制器202形成連接。在此實施例中,電源206、加速計感測器210、藍芽模組208係配置於主機板201上。其中,光達感測器20b發出脈衝雷射光20c而偵測遠處的障礙物。另外,至少一啟閉開關50可對視障輔助器100進行功能設定。另外,影像擷取模組20a係擷取環境之影像,並傳送至控制模組200,以進行實時環境構建模擬,其中控制開關30與至少一啟閉開關50係可為觸控感測器,進一步為電容式觸控感測器。As shown in FIG. 1 , the
請再參考圖1,伸縮部102係與主體部104實體連接,並可收納於主體部104之上述容置空間內,其中,次伸縮部102a可收納於次伸縮部102b內,且次伸縮部102b可收納於次伸縮部102c內。另外,伸縮部102的伸縮動作乃是藉由控制開關30進行,其中,控制開關30係藉由一彈簧(圖未顯示) 等彈性元件控制伸縮部102的伸縮,亦即控制次伸縮部102a、次伸縮部102b以及次伸縮部102c的伸縮。Referring again to FIG. 1 , the
如圖1、2所示,遠離主體部104之一端部,亦即次伸縮部102a的末端,具有一雷達感測器10(或簡稱「雷達」),且雷達感測器10與控制模組200連接,並傳輸訊號至控制模組200。其中,雷達感測器10發出高功率電磁波10a而偵測近處地面的障礙物。As shown in FIGS. 1 and 2 , an end away from the
如圖2所示,一驅動模組204,分別連接至少一線性諧振致動器40a、40b、40c、40d與控制模組200。在此實施例中,驅動模組204係一馬達驅動IC;至少一線性諧振致動器40a、40b、40c、40d皆為震動馬達。其中,驅動模組204係根據經控制模組200處理過之影像擷取模組20a、光達感測器20b、至少一啟閉開關50、加速計感測器210、雷達感測器10或藍芽模組208所輸入的訊號,使得至少一線性諧振致動器40a、40b、40c、或40d產生震動,以通知一視障之使用者做出適當反應。在此實施例中,至少一啟閉開關50為電容式啟閉開關。在其他實施例中,至少一啟閉開關50為壓電式啟閉開關或壓阻式啟閉開關。As shown in FIG. 2 , a
接著,請再參考圖2,在此將進一步說明本發明一實施例之視障輔助器的硬體架構。Next, please refer to FIG. 2 again, where the hardware structure of the visually impaired aid according to an embodiment of the present invention will be further described.
在此實施例中,主機板201及配置於其上之微控制器202構成控制模組200。如前所述,除了電源206、加速計感測器210、藍芽模組208可配置於主機板201上,驅動模組204亦配置於主機板201上。其中,電源206可以是電池,供電給主機板201。其餘與控制模組200連接之硬體元件如前所述,在此不再贅述。In this embodiment, the
在此實施例中,影像擷取模組20a可以是一相機鏡頭,透過MIPI CSI-2介面連接至微控制器202。光達感測器20b與雷達感測器10透過UART或I2C介面連接至微控制器202。藍芽模組208與控制開關30透過UART介面連接至微控制器202。加速計感測器210與至少一啟閉開關50透過SPI介面連接至微控制器202。所述硬體元件透過所述各自介面輸入訊號至微控制器202,然後經微控制器202處理後,促使驅動模組204驅動至少一線性諧振致動器40a、40b、40c、或40d,以產生震動訊息給視障之使用者。In this embodiment, the
以下,將進一步說明本發明一實施例之視障輔助器的軟體架構。圖3係本發明一實施例之視障輔助器的軟體架構示意圖。Hereinafter, the software architecture of the visually impaired aid according to an embodiment of the present invention will be further described. FIG. 3 is a schematic diagram of a software architecture of a visually impaired aid according to an embodiment of the present invention.
如圖3所示,行動通訊裝置302透過藍芽模組208而與視障輔助器100配對,然後可以導入行動通訊裝置302的應用程式(APP),例如障礙偵測應用程式314、導航應用程式316以及候車應用程式318等等。行動通訊裝置302、障礙偵測應用程式314、導航應用程式316以及候車應用程式318的訊號經計算及控制程序300處理後,促使震動馬達320產生震動訊息給視障之使用者。As shown in FIG. 3 , the
請再參考圖3,視障之使用者透過控制開關30、至少一啟閉開關50的按壓力訊號304也會經計算及控制程序300處理後,促使震動馬達320產生震動訊息給視障之使用者。另外,影像擷取模組20a取得的影像訊號308,光達感測器20b取得影像深度訊號306,會在影像訊號308及影像深度訊號306經一影像程序310處理後,成為一合成3D影像資料312,並傳送至計算及控制程序300處理後,促使震動馬達320產生震動訊息給視障之使用者。在此,震動馬達320可以是至少一線性諧振致動器40a、40b、40c、40d之一或其組合。Referring to FIG. 3 again, the visually impaired user passes through the
接著,圖4係本發明一實施例之視障輔助器與智慧型手機連線的示意圖。如圖4所示,行動通訊裝置302是一智慧型手機,透過藍芽模組208與視障輔助器100連線,並以導航應用程式316管理視障輔助器100,例如在需要轉彎時發出訊號,使視障輔助器100的至少一線性諧振致動器40a、40b、40c、或40d產生震動,提示視障之使用者做出正確反應。至少一線性諧振致動器40a、40b、40c、40d之單一或組合的震動,可以在設計時賦予相對意義。Next, FIG. 4 is a schematic diagram of a connection between a visually impaired aid and a smart phone according to an embodiment of the present invention. As shown in FIG. 4 , the
請再參考圖1,例如,至少一線性諧振致動器40a、40b、40c、40d配置於主體部104前後左右不同位置,當至少一線性諧振致動器40a震動時可代表正前方有障礙物;當至少一線性諧振致動器40c震動時可代表左方有障礙物。Referring to FIG. 1 again, for example, at least one
當視障之使用者搭乘公車時,與候車應用程式318連動,可於公車到站前給予提醒,如:一般資訊(N分鐘到站),則視障輔助器100震動一下並由手機APP顯示提示。公車即將到站時,視障輔助器100可以發出間隔的震動訊號。公車已進站時,輔助器會發出警示,提示使用者上車,APP也可提供上車鈴服務,若視障之使用者需要上車可透過按壓視障輔助器100底部至少一啟閉開關50預約上車,未來也可以與公車站連動,進入公車站後由公車站發送訊號告知視障之使用者。When a visually impaired user takes a bus, it can be linked with the
當然,透過至少一線性諧振致動器40a、40b、40c、40d震動的數量、震動時間長短、震動方式,即可設計成具有不同意義的訊息,以提示視障之使用者做出適當的反應。如此一來,視障之使用者透過行動通訊裝置302上不同的應用程式(APP),搭配視障輔助器100使用,可以在偵測障礙物、導航、候車之外,衍生出更多生活輔助應用的可能性。Of course, through at least one linear
以上實施方式僅用以說明本發明的技術方案而非限制,儘管參照較佳實施方式對本發明進行了詳細說明,本領域的普通技術人員應當理解,可以對本發明的技術方案進行修改或等同替換,而不脫離本發明技術方案的精神和範圍。The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced. Without departing from the spirit and scope of the technical solutions of the present invention.
10:雷達感測器
10a:高功率電磁波
20a:影像擷取模組
20b:光達感測器
20c:脈衝雷射光
30:控制開關
50:至少一啟閉開關
40a、40b、40c、40d:至少一線性諧振致動器
50:至少一啟閉開關
100:視障輔助器
102:伸縮部
102a:次伸縮部
102b:次伸縮部
102c:次伸縮部
104:主體部
200:控制模組
201:主機板
202:微控制器
204:驅動模組
206:電源
208:藍芽模組
210:加速計感測器
300:計算及控制程序
302:行動通訊裝置
304:按壓力訊號
306:影像深度訊號
308:影像訊號
310:影像程序
312:合成3D影像資料
314:障礙偵測應用程式
316:導航應用程式
318:候車應用程式
320:震動馬達10:
圖1係本發明一實施例之視障輔助器的示意圖。FIG. 1 is a schematic diagram of a visually impaired aid according to an embodiment of the present invention.
圖2係本發明一實施例之視障輔助器的硬體架構示意圖。FIG. 2 is a schematic diagram of a hardware structure of a visually impaired aid according to an embodiment of the present invention.
圖3係本發明一實施例之視障輔助器的軟體架構示意圖。FIG. 3 is a schematic diagram of a software architecture of a visually impaired aid according to an embodiment of the present invention.
圖4係本發明一實施例之視障輔助器與智慧型手機連線的示意圖。FIG. 4 is a schematic diagram of a connection between a visually impaired aid and a smart phone according to an embodiment of the present invention.
10:雷達感測器 10: Radar sensor
10a:高功率電磁波 10a: High Power Electromagnetic Waves
20a:影像擷取模組 20a: Image capture module
20b:光達感測器 20b: LiDAR sensor
20c:脈衝雷射光 20c: Pulsed laser light
30:控制開關 30: Control switch
50:至少一啟閉開關 50: At least one on-off switch
40a、40b、40c、40d:至少一線性諧振致動器 40a, 40b, 40c, 40d: at least one linear resonant actuator
50:至少一啟閉開關 50: At least one on-off switch
100:視障輔助器 100: Visually Impaired Aids
102:伸縮部 102: Telescopic part
102a:次伸縮部 102a: Secondary telescopic part
102b:次伸縮部 102b: Secondary telescopic part
102c:次伸縮部 102c: Secondary telescopic part
104:主體部 104: Main body
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CN101076841A (en) * | 2004-12-10 | 2007-11-21 | L·凯特斯 | Management and navigation system for blind |
CN104688498A (en) * | 2015-03-29 | 2015-06-10 | 杜秀枫 | Intelligent guide walking stick for blind people |
TWM587998U (en) * | 2019-05-16 | 2019-12-21 | 大詳有限公司 | Stepless telescopic crutch adjustment structure |
CN111838907A (en) * | 2020-06-22 | 2020-10-30 | 杭州电子科技大学 | Intelligent walking stick for blind person |
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