WO2016086441A1

WO2016086441A1 - Indoor positioning system for totally blind population

Info

Publication number: WO2016086441A1
Application number: PCT/CN2014/093533
Authority: WO
Inventors: 杨小康; 翟广涛; 李铎; 闵雄阔
Original assignee: 上海交通大学
Priority date: 2014-12-04
Filing date: 2014-12-11
Publication date: 2016-06-09
Also published as: CN104535059A

Abstract

Provided in the present invention is an indoor positioning system for a totally blind population, comprising: a wearable guiding device and a positioning label comprising a series of specific information, the wearable guiding device detects positioning labels spread all over the room, extracts the specific information comprised on the positioning label and delivers the information to a blind people so as to realize functions of indoor positioning and guiding. The wearable guiding device comprises a headset eyewear holder, an image acquisition device for detecting an external environment, a prompting device and a data processing center. The present invention enables a blind man to observe the external environment through the wearable guiding device and to extract information on the positioning label via analysis when the specific positioning label is detected, and transfers the corresponding information to the blind people by means of voice, pressure sensing, and temperature sensing. The wearable guiding device can interact with blind people so as to help positioning of the blind people in a specific environment.

Description

Indoor positioning system for blind people

Technical field

The invention relates to the technical field of blind indoor positioning, and in particular to an indoor positioning system for a blind population.

Background technique

Blind people are those who suffer from diseases or accidental injuries that cause blindness or blindness. Blind people are divided into congenital blind people and acquired blind people. According to estimates by the World Health Organization, there are between 40 million and 45 million blind people worldwide. Among the more than 83 million disabled people in China, there are 12.33 million visually handicapped persons and 5 million blind people. It is one of the countries with the largest number of blind people in the world. How to solve their normal learning, work and life issues has become the focus of social attention.

Visual impairment is caused by innate or acquired causes of partial or total loss of function of the visual system, so that it is impossible to accurately identify external things. According to the relevant regulations, visual failure is less than 0.3, or visual field is within 20 °. According to the degree of obstacles, visual impairment can be divided into two categories: the visual acuity of the two eyes is less than 0.3 above 0.03 or the visual field is less than 20°; the visual acuity of the two eyes is less than 0.03 for total blindness. People with amblyopia can usually use vision for daily life, but there are certain obstacles in visual observation. Generally, optical aids or special magnification equipment are needed to observe things.

The blind population cannot rely on vision for daily life at all, and usually can only take an alternative approach to daily life. For example, haptic aids, hearing aids, and other types of assistive devices are used in place of vision. Most information barrier technologies and devices can be applied to the entire blind population. Almost all visually impaired people can compensate for the quality of life and participate in social life through assistive devices. However, the second sample survey showed that only 7.97% of the visually impaired persons in China were assisted with services; 14.49% of the cities and 5.82% of the rural areas.

The wearable guiding device refers to an auxiliary device that can improve various situations in a complicated environment even if visual information is not accepted by detection and data analysis of the wearer's surrounding environment. Due to the particularity of the blind population, the wearable guiding device for the blind population should belong to the non-visual visual aid, making full use of functions other than vision, such as hearing and touch, to compensate for the defects of visual function and improve the quality of life of the visually impaired. Auxiliary equipment involves all aspects of life, work, study, entertainment, etc. of the blind population. For example: for daily life Live blind mobile phones and telephones, vocal clocks; blind canes and blind roads for travel; Braille for reading and communication, dot display, audio books, various screen reading software, etc.

Due to the particularity of the blind, the indoor positioning system for the blind is very difficult to implement. Due to the introduction of the wearable guiding device, we hope to make an indoor positioning system for the blind population.

In summary, the indoor positioning system for the blind population is of great significance to the life and work of the blind population. The existing variety of indoor positioning systems are not suitable for the special group of blind people. For the blind, it does not conform to the principles of ease of use, application, simple portability, and scalability.

Summary of the invention

In view of the deficiencies in the prior art, the object of the present invention is to provide an indoor positioning system for a blind population, which can collect real-life scenes in real time, analyze the scenes, extract information hidden by the positioning tags, and provide voice reminders. Signals such as pressure sensing reminder, vibration sensing reminder, temperature sensing reminder, etc. are transmitted to the blind to achieve indoor positioning. At the same time, the wearable guiding device includes various sensors for monitoring the surrounding conditions, and transmitting signals to the wearer with sound, touch and the like to realize the function of full blind guidance.

To achieve the above object, the present invention provides an indoor positioning system for a blind population, comprising: a wearable guiding device and a positioning tag containing a series of specific information, the wearable guiding device detecting a positioning tag distributed throughout the room and extracting The specific information contained in the positioning tag is transmitted and transmitted to the blind person, thereby realizing the function of indoor positioning and guiding.

Preferably, the wearable guiding device comprises:

Head-mounted eyeglass holder for mounting and connecting the various components of the system and for easy wearing by the user;

An image acquisition device is disposed on the head mounted frame for recording a peripheral picture;

a warning reminding device for reminding the blind, the device is controlled by a data processing center;

An interaction module that helps the wearer interact with the wearable boot device;

a plurality of sensors for detecting external information and the state of the glasses and transmitting the signals to the data processing center;

a data processing center for overall control of the system, including image acquisition and processing of the image acquisition device, and acceptance and processing of the sensor data; wherein the image processing is implemented by an image processing module, the image processing module is real-time The image is collected from the image acquisition device, and the collected image is processed. After analyzing the scene, the hidden information of the positioning tag is extracted and transmitted to the wearer to achieve the effect of indoor positioning.

Further, the image collecting device collects the front side of the wearer or collects the various angles of the wearer in all directions; if the image is collected in all directions, the image is spliced in the data processing center. The panoramas are formed, or the images of the respective angles of view are separately stored without splicing.

Further, the warning reminding device uses one or more of a voice reminder, a pressure sensing reminder, a vibration sensing reminder, and a temperature sensing reminding method to perform reminding.

Further, the sensor collects and detects the external information and the state of the glasses. If the object is approaching the wearer by analyzing the distance image and the infrared image, the warning reminding device issues a prompt and indicates the direction to remind the wearer to pay attention. Safety, at the same time, the pressure sensor is used to stimulate the wearer to achieve the same effect.

Further, the data processing center detects, by using an algorithm in the image processing module, whether the image contains a positioning tag disposed in a certain place, and extracts information therein, and according to the information, the data processing center passes the voice reminder and pressure At least one of the sensing reminder, the vibration sensing reminder, or the temperature sensing reminding mode informs the wearable guiding device wearer.

Further, the interaction module, wherein the manner in which the wearable guiding device interacts with the wearer includes one or more of voice, motion recognition, and vibration sensing.

Further, the positioning tag is disposed at each position in a specific scene according to the need, and the wearable guiding device captures an image through the image capturing device, detects the positioning tag through the data processing center, and extracts the specific component included in the positioning tag. information.

The invention also provides a method for identifying a positioning tag of an indoor positioning system for a blind population, the method comprising the following steps:

Initial entry: In the initial entry process, the wearer of the wearable guiding device reaches the position suitable for detecting the positioning label under the guidance of the device, and then performs detection;

Prompt link: When entering, the device prompts to send out, prompting to start detection; the prompt can be voice reminder, pressure sensing reminder, vibration sensing reminder, temperature sensing reminder, etc. or a combination of some of them;

Detection link: After the input is successful, the wearable guiding device performs image recognition and information extraction on the image. After successfully extracting the information in the positioning tag, the wearable guiding device issues a prompt, and then starts the guiding process.

Preferably, the positioning tag form can be various, and is not limited to a certain form. For example, the form of the positioning tag exists in the form of an image, in which case an image capturing device on the wearable guiding device needs to be used for identification; or the positioning tag exists in the form of a circuit or an approach communication device. In this case, the wearable guiding device uses the sensor to detect; or, in a special environment, the positioning tag is hidden by technical means, so that people cannot see its existence, but can be detected by the wearable guiding device. .

Compared with the prior art, the present invention has the following beneficial effects:

The present invention is an indoor positioning system for blind people. Wearable devices that are simple, portable, easy to expand, etc. The advantage is that the blind population can be used in daily life; the recognition processing algorithm is used to detect the positioning label and extract the information; the signal is output in different ways (sound, pressure, temperature, vibration, etc.) for reminding the wearer around the situation. By using the camera to detect the information in the positioning tag, the function of indoor positioning of the blind person can be realized.

DRAWINGS

Other features, objects, and advantages of the present invention will become apparent from the Detailed Description of Description

1 is a schematic view showing the working principle of a preferred embodiment of the present invention;

2 is a schematic structural view of a preferred embodiment of the present invention;

In the figure: 1 is a head-mounted glasses holder, 2 is a warning reminder device, 3 is an optical camera and an infrared camera surrounding one week, 4 is a left and right eyeglasses; 5 is a data processing center.

detailed description

The invention will now be described in detail in connection with specific embodiments. The following examples are intended to further understand the invention, but are not intended to limit the invention in any way. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the inventive concept. These are all within the scope of protection of the present invention.

As shown in FIG. 1 , it is a schematic diagram of the working principle of the indoor positioning system for the blind population, including a wearable guiding device, a positioning label containing a series of specific information, and the wearable guiding device detects the positioning label distributed throughout the room, and is wearable and guided. The device detects the positioning tag and extracts the specific information contained in the positioning tag, and transmits information to the blind person through voice reminder, pressure sensing reminder, vibration sensing reminder, temperature sensing reminder, etc., thereby realizing the function of indoor positioning and guiding.

The so-called specific information means that the information stored in the positioning tag is stored by an algorithm in order to facilitate indoor positioning. This information includes location information, direction information, function information, and the like. The algorithm for storing the information on the positioning tag is related to the existence form of the positioning tag. For example, if it is an image tag, the image encryption algorithm or the two-dimensional code encoding may be used to store the related information. Accordingly, the algorithm used in the extraction of this information corresponds to the encryption algorithm.

FIG. 2 is a schematic structural diagram of a wearable guiding device for a blind population according to a preferred embodiment of the present invention. In the figure, the

head glasses holders

1 and 2 are warning reminding devices, and the image capturing device is a one-week optical device. The camera and the infrared camera 3, the left and right eyeglasses 4; 5 are data processing centers (interaction modules), wherein:

The headgear support 1 is used for mounting, connecting and fixing various components of the system, and is convenient for the user to wear wore;

The warning reminding device 2 is configured to output a signal to remind or prompt the wearer; the microphone is used to transmit the voice command of the wearer to the system, and the system can be controlled by the analysis and understanding of the system.

The surrounding optical camera and the infrared camera 3 are used for real-time monitoring of surrounding conditions and transmitting the recorded information to the data processing center;

a plurality of sensors for detecting external information and the state of the glasses and transmitting the signals to the data processing center, including an infrared sensor, a distance sensor, etc. In the embodiment, the sensors are disposed in all directions of the bracket to supervise various directions. Case;

The left and right eyeglass lenses 4 are used to block blind glasses; in other embodiments, they may also be omitted;

The data processing center 5 is used for overall control of the system, including image acquisition and processing of the camera 3, and acceptance and processing of sensor data; wherein the image processing is implemented by an image processing module, and the image processing module The image is acquired from the camera 3 in real time, and the acquired image is processed. After analyzing the scene, the hidden information of the positioning tag is extracted, and at least one of the voice reminder, the pressure sensing reminder, the vibration sensing reminder, and the temperature sensing reminder is transmitted to the wearer to achieve the indoor positioning effect.

As a preferred embodiment, the data processing center 5, after receiving the image data from the camera 3, performs processing, and if the dangerous object or the object that is rapidly approaching is detected, the wearer is prompted by the warning reminding device 2; The algorithms used are adaptively adapted to the needs. The interaction module is integrated in the data processing center 5, and the wearable guiding device can communicate with the wearer in a plurality of interactive manners, and the interaction manner of the wearable guiding device can be freely selected according to needs. In other embodiments, the interaction modules can also be set separately.

The interaction module, wherein the wearable guiding device can interact with the user in a variety of ways, including voice, motion recognition, and vibration sensing.

The image acquisition device may be an ordinary camera or other device such as an infrared sensor. The specific settings are based on actual needs and usage environment.

The image capturing device may only collect the front side of the wearer, or may collect all the angles of view. In this embodiment, an optical camera that surrounds the circumference and the infrared camera 3 are used; In the data processing center, the images of the omnidirectional view can be spliced to form a panoramic image, or the images of the respective viewing angles can be separately stored without splicing.

The positioning tag form can be various and is not limited to a certain form. Positioning tags are placed at various locations in a particular scene as needed. The positioning tag can be in the form of an image or a chip or a wireless circuit. The specific setting depends on the actual needs and the use environment, and its appearance does not affect its substantive role. In particular, the positioning tag may be in the form of an image, in which case a camera on the wearable guiding device is required for identification. The positioning tag can also be in the form of a circuit or an incoming communication device, in which case the wearable guiding device utilizes other sensors therein for detection. In special circumstances, the positioning tag can also be hidden by certain technical means. People can't see it, but it can be detected by the wearable guiding device, for example, the positioning tag is hidden, but the surface temperature is guaranteed. The distribution contains certain information, so this special positioning tag can be detected by the infrared sensor.

The wearable guiding device needs to meet certain requirements when identifying the positioning tag, and the wearable guiding device first uses some algorithms to detect the position of the positioning tag, and then uses a voice reminder, a pressure sensing reminder, a vibration sensing reminder, The sensing method such as temperature sensing reminds the wearer to reach the designated position and then recognizes it to improve the accuracy of information extraction.

Further, in the above indoor positioning system for a blind population, the method for identifying the positioning tag includes the following steps:

The main function of the system described in this embodiment is to perform indoor positioning and guidance for the blind population. The system can not only monitor various environments, but also enable patients to understand the surrounding environment even if they cannot see it. And in the data processing center, different environmental monitoring programs can be designed, so that patients can protect themselves in various environments and understand the surrounding conditions; the data processing center uses various detection algorithms to analyze the positioning tags. Information and communicate to the wearer. Thereby achieving the function of indoor positioning.

The specific embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the specific embodiments described above, and various modifications and changes may be made by those skilled in the art without departing from the scope of the invention.

Claims

An indoor positioning system for a blind population, comprising: a wearable guiding device and a positioning tag containing a series of specific information, the wearable guiding device detecting the positioning tag distributed throughout the room and extracting the positioning tag Contains specific information and passes the information to the blind to achieve indoor positioning and guidance.
The indoor positioning system for a blind population according to claim 1, wherein the wearable guiding device comprises:

Head-mounted eyeglass holder for mounting and connecting the various components of the system and for easy wearing by the user;

An image acquisition device is disposed on the head mounted frame for recording a peripheral picture;

a warning reminding device for reminding the blind, the device is controlled by a data processing center;

An interaction module that helps the wearer interact with the wearable boot device;

a plurality of sensors for detecting external information and the state of the glasses and transmitting the signals to the data processing center;

a data processing center for overall control of the system, including image acquisition and processing of the image acquisition device, and acceptance and processing of the sensor data; wherein the image processing is implemented by an image processing module, the image processing module is real-time The image is collected from the image acquisition device, and the collected image is processed. After analyzing the scene, the hidden information of the positioning tag is extracted and transmitted to the wearer to achieve the effect of indoor positioning.
The indoor positioning system for a blind person according to claim 2, wherein the image collecting device collects the front side of the wearer or collects the various angles of the wearer in all directions; In the data processing center, the images of the omnidirectional view are spliced to form a panoramic image, or the splicing is not performed, and the images of the respective viewing angles are separately stored.
The indoor positioning system for a blind person according to claim 2, wherein the warning reminding device adopts one or more of a voice reminder, a pressure sensing reminder, a vibration sensing reminder, and a temperature sensing reminding method. Remind.
The indoor positioning system for a blind population according to claim 4, wherein the sensor collects and detects external information and the state of the glasses, and if the analysis of the distance image and the infrared image is found, the object is approaching the wearer. The warning reminding device will issue a prompt and indicate the direction to remind the wearer to pay attention to safety, and at the same time, the pressure sensor is used to perform tactile stimulation on the wearer to achieve the same effect.
The indoor positioning system for a blind population according to any one of claims 2 to 5, wherein the data processing center detects, by an algorithm in the image processing module, whether the image contains a place in some places. The positioning tag is well positioned, and the information therein is extracted. According to the information, the data processing center informs the wearable guiding device wearer by at least one of a voice reminder, a pressure sensing reminder, a vibration sensing reminder or a temperature sensing reminding manner.
The indoor positioning system for a blind population according to any one of claims 2 to 5, wherein the interaction module, wherein the manner in which the wearable guiding device interacts with the wearer includes voice, motion recognition, and vibration sensing. One or more of them.
The indoor positioning system for a blind population according to any one of claims 2 to 5, wherein the positioning label is placed at each position in a specific scene as needed, and the wearable guiding device captures an image through the image capturing device. The positioning tag is detected by the data processing center processing, and the specific information contained in the positioning tag is extracted.
The method for identifying a positioning tag of an indoor positioning system for a blind population according to any one of claims 1-8, wherein the identification of the positioning tag comprises the following steps:

Initial entry: In the initial entry process, the wearer of the wearable guiding device reaches the position suitable for detecting the positioning label under the guidance of the device, and then performs detection;

Prompt link: When entering, the device will prompt to send out, prompting to start testing;

Detection link: After the input is successful, the wearable guiding device performs image recognition and information extraction on the image. After successfully extracting the information in the positioning tag, the wearable guiding device issues a prompt, and then starts the guiding process.
The method for identifying a positioning tag according to claim 9, wherein when the form of the positioning tag is in the form of an image, the wearable guiding device performs positioning tag identification by the image capturing device; or the positioning tag is In the form of a circuit or an approach communication device, the wearable guiding device uses the sensor to perform positioning tag detection; or, in a special environment, the positioning tag is hidden by technical means, so that people cannot see its existence, but can pass The wearable boot device detected it.