WO2016112557A1 - 基于电子标签的室内导盲系统和导盲方法 - Google Patents
基于电子标签的室内导盲系统和导盲方法 Download PDFInfo
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- WO2016112557A1 WO2016112557A1 PCT/CN2015/071313 CN2015071313W WO2016112557A1 WO 2016112557 A1 WO2016112557 A1 WO 2016112557A1 CN 2015071313 W CN2015071313 W CN 2015071313W WO 2016112557 A1 WO2016112557 A1 WO 2016112557A1
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 3
- 201000004569 Blindness Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004040 coloring Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Classifications
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Definitions
- the invention relates to the technical field of guiding blindness, in particular to an indoor guide blind system and a blind guiding method based on an electronic tag.
- the environment map model matching navigation is to detect the surrounding environment by sensors, construct a local environment map, and match it with the map stored in the inside. This method is more flexible, but more complicated, and needs precise positioning of moving objects and target objects.
- Road sign navigation is to break down the global route into segments between road signs and road signs on the premise of knowing the coordinates and shape of the road signs in advance. By constantly detecting the road signs to determine their position to complete navigation, the method relies on the environment. Larger. Visual navigation mainly needs to detect and identify obstacles and road signs.
- the most widely used is to achieve local visual navigation by installing cameras. For the blind, the above method of indoor navigation is inconvenient and costly, and thus is not suitable for indoor use by blind people.
- the main object of the present invention is to provide an indoor guide blind system and a blind guide method which are convenient for blind people to use indoors, and which are convenient and low in cost.
- the present invention provides an electronic tag-based indoor guide blind system, the electronic tag-based indoor guide blind system comprising a navigation car, a plurality of guide road signs and an electronic tag;
- the plurality of guiding road signs are laid on the floor of the room for guiding the navigation vehicle to follow the guiding road sign to the destination;
- the electronic tag is disposed on the guiding road sign for storing location information and direction information of the guiding road sign;
- the navigation vehicle is configured to operate according to the instruction information input by the user, and read position information and direction information of the guiding road sign stored in the electronic tag during operation, and identify route information of the guiding road sign, according to the The route information and the location information and direction information are moved to the destination.
- the electronic tag is disposed at a start point, an end point, and a middle portion of each of the guide road signs, and a intersection of the plurality of guide road signs.
- the navigation vehicle comprises a signal receiving module, a control module, an identification module and an information reading module, wherein:
- the signal receiving module is connected to the control module, and configured to receive indication information input by a user, and send the indication information to the control module;
- the identification module is connected to the control module, configured to identify route information of the guiding road sign, and send the identified route information to the control module;
- the information reading module is connected to the control module, configured to read location information and direction information of the guiding road sign in the electronic tag, and send the location information and direction information to the control module;
- the control module is connected to the signal receiving module, the identification module, and the information reading module, and is configured to control the navigation vehicle action to a destination according to the indication information, the route information, and the location information and direction information.
- the electronic tag is disposed at a start point, an end point, and a middle portion of each of the guide road signs, and a intersection of the plurality of guide road signs.
- the identification module comprises an image acquisition unit and an image processing unit:
- the image acquisition unit is configured to collect a route image of the guide road sign, and send the route image to the image processing unit;
- the image processing unit is configured to process the route image, obtain route information of the guidance road sign, and send the route information to the control module.
- the electronic tag is disposed at a start point, an end point, and a middle portion of each of the guide road signs, and a intersection of the plurality of guide road signs.
- the signal receiving module is a voice input module, configured to collect indication information including a destination input by a user through voice;
- the signal receiving module is further configured to perform validity determination on the input indication information, and send the indication information to the control module when the indication information is valid.
- the electronic tag is disposed at a start point, an end point, and a middle portion of each of the guide road signs, and a intersection of the plurality of guide road signs.
- control module comprises:
- a route control unit configured to control the navigation vehicle to travel along a center line of the guiding road sign according to the received route information of the guiding road sign;
- a direction control unit configured to control, according to the received indication information, and the read location information and direction information of the guiding road sign in the electronic tag, the action direction of the navigation vehicle.
- the electronic tag is disposed at a start point, an end point, and a middle portion of each of the guide road signs, and a intersection of the plurality of guide road signs.
- the electronic tag based indoor guide blind system further comprises:
- An obstacle detecting module is connected to the control module, configured to detect an obstacle in the guiding road sign, and send location information of the obstacle to the control module when the obstacle is detected, for the control module to control the The navigation car stops running.
- the electronic tag is disposed at a start point, an end point, and a middle portion of each of the guide road signs, and a intersection of the plurality of guide road signs.
- the present invention also provides a guide method for an indoor guide blind system based on an electronic tag, the guide blind method comprising the following steps:
- the control module of the navigation vehicle receives the indication information input by the user received by the signal receiving module, and controls the navigation vehicle to start;
- the electronic tag-based indoor blind guiding method further comprises the steps of:
- the signal receiving module performs validity determination on the input indication information, and sends the indication information to the control module when the indication information is valid.
- the electronic tag-based indoor blind guiding method further comprises the steps of:
- the control module receives the position information of the obstacle sent by the obstacle detection module, and controls the navigation vehicle to stop running.
- the invention receives the instruction information input by the user through the navigation vehicle, the indication information includes the destination that the user wants to reach, the navigation vehicle starts and travels toward the destination; during the running of the navigation vehicle, the electronic tag is read.
- the stored position information and direction information determine the driving direction of the next step according to the position information and the direction information, and the navigation vehicle recognizes the route information of the guiding road sign in real time to ensure that the driving is always at the center of the guiding road sign and finally reaches the destination.
- the blind system is convenient for blind people to use indoors, which is convenient and low in cost.
- FIG. 1 is a schematic structural view of a first embodiment of an indoor guide blind system based on an electronic tag according to the present invention
- FIG. 2 is a schematic diagram of functional modules of the navigation vehicle of FIG. 1;
- FIG. 3 is a schematic diagram of functional modules of the identification module of FIG. 2;
- FIG. 4 is a schematic diagram of functional modules of the control module of FIG. 2;
- FIG. 5 is a schematic structural view of a second embodiment of an indoor guide blind system based on an electronic tag according to the present invention.
- FIG. 6 is a schematic flow chart of a first embodiment of an indoor guide blind method based on an electronic tag according to the present invention
- FIG. 7 is a schematic flow chart of a second embodiment of an indoor electronic blind labeling method according to the present invention.
- FIG. 8 is a schematic flow chart of a third embodiment of an indoor guide blind method based on an electronic tag according to the present invention.
- the invention provides an indoor guide blind system based on an electronic tag, which guides the activities of the blind person indoors through the navigation vehicle.
- the navigation vehicle is controlled to run in the guiding road sign laid on the floor of the room, and the driving direction of the navigation vehicle is controlled in real time through the position information and the direction information of the guiding road sign stored in the read electronic tag.
- the navigation vehicle is controlled to carry the user to the destination of the input.
- FIG. 1 is a schematic structural view of a first embodiment of an indoor guide blind system based on an electronic tag according to the present invention.
- the electronic tag based indoor guide blind system includes a navigation vehicle 10, a plurality of guiding road signs 20 and an electronic tag 30, wherein:
- a plurality of guiding road signs 20 are laid on the floor of the room for guiding the navigation vehicle 10 to move along the guiding road sign 20 to the destination;
- the electronic tag 30 is disposed on the guiding road sign 20 for storing location information and direction information of the guiding road sign 20;
- the navigation vehicle 10 is configured to operate according to the instruction information input by the user, and read the position information and the direction information of the guiding road sign stored in the electronic tag 30 during the running process, and identify the route information of the guiding road sign 20, according to the route information and the position information. And direction information to the destination.
- the navigation vehicle 10 can be set to sit or stand.
- the user can sit on the seat set on the navigation vehicle 10 or stand in the standing position set on the navigation vehicle 10.
- the navigation vehicle 10 is preferably set to sit.
- a plurality of guide road signs 20 are laid on the floor of the room.
- the guide road signs 20 can be correspondingly arranged according to the number and location of a plurality of destinations in the room, and the navigation vehicle 10 can carry the user actions along the guide road sign 20 to the destination input by the user.
- the guiding road sign 20 can be set as a single coloring belt, and the color is not easy to be confused with the surrounding environment.
- the width of the guiding road sign 20 can be used in the navigation vehicle 10, for example, 20 ⁇ 30cm; the guiding road sign 20 can also be set. In the area corresponding to the width of the navigation vehicle 10, the entire vehicle runs in the area while the navigation vehicle 10 is walking.
- An electronic tag 30 is disposed on each of the guiding road signs 20, in which position information and direction information of the guiding road sign 20 are stored.
- the electronic tag 30 is disposed at the beginning, the end, and the middle of each of the guide road signs 20, and the intersection of the plurality of guide road signs 20.
- the electronic tag is disposed at the start and end points of the guide road sign 20, wherein the current position information is stored, and the current position of the navigator 10 can be directed.
- the electronic tag 30 is disposed at a position on the guide road sign 20 where the direction of the route changes, in which the direction change information is stored; if the electronic tag 30 is disposed at the intersection of the plurality of guide road signs 20, a plurality of guide road signs 20 are stored therein. The location that can be reached in the direction.
- the indication information input by the user is received, the indication information includes the destination that the user wants to reach, the navigation vehicle 10 starts and travels toward the destination; during the running of the navigation vehicle 10 Reading the position information and the direction information of the guiding road sign 20 stored in the electronic tag 30, and after reading the position information and the direction information, determining the driving direction of the next step according to the position information and the direction information; meanwhile, the navigation vehicle 10 recognizes in real time.
- the route information of the road sign 20 is guided, that is, the area where the guide road sign 20 is located is identified to ensure that the vehicle is always traveling at the center of the guide road sign 20, and finally the user is brought to the destination.
- the navigation vehicle 10 receives the indication information input by the user, where the indication information includes the destination that the user wants to reach, the navigation vehicle 10 starts and travels toward the destination; during the running of the navigation vehicle 10, the reading is performed. Taking the position information and the direction information stored in the electronic tag 30, determining the traveling direction of the next step according to the position information and the direction information, and simultaneously the navigation vehicle 10 recognizes the route information of the guiding road sign 20 in real time to ensure that the driving of the road sign 20 is always in the center. In the final destination, this blinding system is convenient for blind people to use indoors, which is convenient and low cost.
- FIG. 2 is a schematic diagram of functional modules of the navigation vehicle of FIG.
- the navigation vehicle 10 includes a signal receiving module 101, a control module 102, an identification module 103, and an information reading module 104, wherein:
- the signal receiving module 101 is connected to the control module 102, and is configured to receive the indication information input by the user, and send the indication information to the control module 102;
- the identification module 103 is connected to the control module 102 for identifying the route information of the guidance road sign 20, and transmitting the identified route information to the control module 102;
- the information reading module 104 is connected to the control module 102, for reading the position information and direction information of the guiding road sign in the electronic tag 30, and transmitting the position information and the direction information to the control module 102;
- the control module 102 is coupled to the signal receiving module 101, the identification module 103, and the information reading module 104 for controlling the navigation vehicle 10 to act to the destination based on the indication information, the route information, and the location information and the direction information.
- the signal receiving module 101 is disposed on the navigation vehicle 10 at a position convenient for the user to input, for example, on the seat armrest of the navigation vehicle 10, and receives instruction information input by the user by means of voice, text, etc.; the identification module 103 is disposed on the navigation vehicle 10 It is convenient to collect the location of the route image of the guiding road sign 20; in order to conveniently read the position information and the direction information of the guiding road sign 20 stored in the electronic tag 30, the navigation vehicle 10 is further provided with an information reading module 104, the information reading module 104 may be an RFID reader/writer, which may be disposed at a position on the navigation vehicle 10 near the electronic tag 30, for example, on the wheel of the navigator 10, and the distance range in which the RFID reader/writer can recognize the electronic tag 30 is set at 0 ⁇ 10cm. After the location information and the direction information of the guiding road sign 20 are read, the control module 102 is sent to the control module 102 for the control module 102 to match the driving direction of the navigation vehicle 10 according to the position information and the direction
- the user When the navigation is started by the navigation vehicle 10, the user receives the indication information input by the user through the signal receiving module 101, and the indication information includes the destination that the user wants to reach.
- the control module 102 controls the navigation vehicle 10 to start. And traveling in the direction of the destination; during the running of the navigation vehicle 10, the position information and the direction information stored in the electronic tag 30 are read by the information reading module 104 provided on the navigation vehicle 10, and the position information is read.
- the control module 102 controls the driving direction of the navigation vehicle 10 in the next step; at the same time, the identification module 103 identifies the route information of the guiding road sign 20 in real time, that is, identifies the area where the guiding road sign 20 is located, and the identification module 103 sends the route information to The control module 102 controls the navigation vehicle 10 to always travel at the center of the guidance road sign 20, and finally controls the navigation vehicle 10 to carry the user to the destination.
- the signal receiving module 101 can be a voice input module, and the blind person only needs to input the indication information by using a voice input method, and the voice input module collects the indication information.
- the signal receiving module 101 is further configured to perform validity determination on the input indication information, and send the indication information to the control module 102 when the indication information is valid. After the signal receiving module 101 receives the indication information input by the user, it is determined whether the indication information is valid, that is, whether the destination in the indication information is a valid address, and whether the address corresponding to the current indoor is stored in the control module 102; When the indication information is valid information, the signal receiving module 101 sends the prompt information to the control module 102 for controlling the navigation vehicle 10 to start. If the destination address in the indication information does not exist, the indication information prompted by the voice input module is invalid, and needs to be re-entered; such as the destination address in the indication information and the location information and direction information stored in the read electronic tag 30.
- the voice input module prompts that the destination has been reached.
- the validity determination of the indication information by the signal receiving module 101 reduces the amount of calculation of the control module 102 and avoids the erroneous startup and operation of the navigation vehicle 10.
- FIG. 3 is a schematic diagram of functional modules of the identification module of FIG.
- the identification module 103 includes an image acquisition unit 1031 and an image processing unit 1032, wherein:
- the image acquisition unit 1031 is configured to collect the route image of the guide road sign 20, and send the route image to the image processing unit 1032;
- the image processing unit 1032 is configured to process the route image, obtain route information of the guide road sign 20, and send the route information to the control module 102.
- the image capturing unit 1031 may employ a camera.
- the route image of the guiding road sign 20 on the current route is collected in real time, and the collected route image is sent to the image processing unit 1032, and the image processing unit 1032 performs image processing on the route image, for example, performs grayscale processing to obtain a grayscale information value corresponding to the route information of the guidance road sign 20, and then sends the route information to the control module 102, and the control module 102 can obtain the route information according to the route information.
- the direction of the navigation 10 is adjusted so that the navigator 10 always travels along the centerline of the guide sign 20.
- FIG. 4 is a schematic diagram of functional modules of the control module of FIG.
- control module 102 includes:
- the route control unit 1021 is configured to control the navigation vehicle 10 to travel along the center line of the guiding road sign 20 according to the received route information of the guiding road sign 20;
- the direction control unit 1022 is configured to control the action direction of the navigation vehicle 10 according to the received indication information and the position information and direction information of the guidance road sign 20 in the read electronic tag 30.
- the route control unit 1021 of the control module 102 After receiving the route information of the guidance road sign 20 sent by the image processing unit 1032, the route control unit 1021 of the control module 102 determines the current traveling direction of the navigation vehicle 10 according to the route information, such as deviating from the center line of the guiding road sign 20, and adjusting the navigation.
- the direction of travel of the vehicle 10 is such that it travels along the centerline of the guide road sign 20.
- the direction control unit 1022 of the control module 102 controls the navigation vehicle 10 to travel in the direction of the destination; and, upon receiving the electronic information read by the information reading module 104 After the position information and the direction information of the guidance road sign 20 in the tag 30, the direction control unit 1022 controls the navigation vehicle 10 to change the traveling direction or continue to travel in the original direction.
- FIG. 5 is a schematic structural view of a second embodiment of an indoor guide blind system based on an electronic tag according to the present invention.
- the navigation vehicle 10 further includes:
- the obstacle detecting module 40 is connected to the control module 102 for detecting obstacles in the guiding road sign 20, and transmitting position information of the obstacle to the control module 102 when the obstacle is detected, for the control module 102 to control the navigation vehicle 10 to stop. run.
- An obstacle detecting module 40 is disposed on the navigation vehicle 10 to detect an obstacle in the guiding road sign 20 in real time during the running of the navigation vehicle 10, and the obstacle detecting module 40 can detect the obstacle by using an ultrasonic detecting method, and navigate During the operation of the vehicle 10, the ultrasonic signal is transmitted in real time, and according to the returned ultrasonic signal, it is determined whether there is an obstacle in the current guiding road sign 20. When the obstacle is detected in the guiding road sign 20, the obstacle detecting module 40 sets the position information of the obstacle. The control module 102 sends a stop signal to the control module 102 to control the navigation vehicle 10 to stop running before the navigation vehicle 10 reaches the obstacle.
- the navigator 10 further includes a headlight (not shown) disposed in front of the navigator 10, the headlight being used as the identification module 103.
- the image acquisition unit 1021 collects a route image of the guidance road sign 20 to provide light. That is, when the light is not good or the night is dark, the front light of the car can be illuminated to illuminate the route environment in front of the navigation vehicle 10 to facilitate the image acquisition unit 1021 to collect the route image of the guide road sign 20.
- the invention also provides an indoor label blinding method based on electronic tags.
- FIG. 6 is a schematic flow chart of a first embodiment of an indoor guide blind method based on an electronic tag according to the present invention.
- the method for indoor blindness based on electronic tags includes:
- Step S10 the control module of the navigation vehicle receives the indication information input by the user received by the signal receiving module
- Step S11 the control module controls the navigation vehicle to start
- Step S20 the control module receives the position information and the direction information of the guiding road sign in the electronic tag read by the information reading module, and determines the traveling direction of the navigation vehicle;
- step S30 the control module receives the route information of the guiding road sign recognized by the identification module, and controls the navigation vehicle to travel to the destination along the center line of the guiding road sign according to the route information.
- the user receives the indication information input by the user through the signal receiving module, where the indication information includes the destination that the user wants to reach, and after receiving the indication information, the control module controls the navigation vehicle to start and faces the destination.
- the information reading module stored in the navigation vehicle reads the position information and the direction information stored in the electronic tag, and after reading the position information and the direction information, the control module controls
- the identification module identifies the route information of the guiding road sign in real time, that is, identifies the area where the guiding road sign is located, the identification module sends the route information to the control module, and the control module controls the navigation vehicle to always be at the center of the guiding road sign. Drive, and finally control the navigation car to carry the user to the destination.
- the signal receiving module receives the indication information input by the user, where the indication information includes a destination that the user wants to reach, and the control module controls the navigation vehicle to start according to the indication information and travels toward the destination; the navigation vehicle travels.
- the identification module identifies the route information of the guiding road sign in real time, and the control module controls the navigation vehicle to always travel in the center of the guiding road sign according to the route information, and simultaneously reads the position information and the direction information stored in the electronic tag through the information reading module, and the control module According to the position information and the direction information, the next driving direction of the navigation vehicle is controlled, and finally the navigation vehicle is controlled to carry the user to the destination.
- This blind guiding method is convenient for the blind person to use indoors, and is convenient and low in cost.
- FIG. 7 is a schematic flow chart of a second embodiment of an indoor guide blind method based on an electronic tag according to the present invention.
- the method further includes: before the step S11, the method further includes:
- Step S40 The signal receiving module performs validity determination on the input indication information, and sends the indication information to the control module when the indication information is valid.
- the signal receiving module can be a voice input module, and the blind person only needs to input the indication information by means of voice input, and the voice input module collects the indication information.
- the signal receiving module is further configured to perform validity determination on the input indication information, and send the indication information to the control module when the indication information is valid. After the signal receiving module receives the indication information input by the user, determining whether the indication information is valid, that is, determining whether the destination in the indication information is a valid address, whether the address corresponding to the current indoor is stored in the control module; When the information is valid information, the signal receiving module sends the prompt information to the control module for controlling the navigation vehicle to start. If the destination address in the indication information does not exist or the address is the same as the address corresponding to the location information and the direction information stored in the read electronic tag, the voice input module is prompted to reach the destination. The validity of the indication information is judged by the signal receiving module, the calculation amount of the control module is reduced, and the wrong startup and operation of the navigation vehicle are avoided.
- FIG. 8 is a schematic flow chart of a third embodiment of an indoor guide blind method based on an electronic tag according to the present invention.
- the method further includes:
- step S50 the control module receives the position information of the obstacle sent by the obstacle detection module, and controls the navigation vehicle to stop running.
- An obstacle detecting module is arranged on the navigation vehicle to detect an obstacle in the guiding road sign in real time during the running of the navigation vehicle.
- the position information of the obstacle is sent to the control module to control
- the module generates a stop signal immediately, and controls the navigation vehicle to stop running before the navigation vehicle reaches the obstacle.
- the step S50 can be performed at any time after the control module controls the navigation of the navigation vehicle.
- the embodiment is preferably executed after the step S11 described above, that is, after the control module controls the navigation vehicle to start to receive the position information of the guidance road sign in the electronic tag and This step S50 is performed before the direction information.
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Abstract
一种基于电子标签的室内导盲系统，该系统包括：多条引导路标（20），用于引导导航车（10）沿引导路标（20）行动至目的地；电子标签（30），用于存储引导路标（20）的位置信息和方向信息；导航车（10），用于根据用户输入的指示信息运行，并在运行过程中读取电子标签（30）中存储的引导路标（20）的位置信息和方向信息、识别引导路标（20）的路线信息，根据路线信息以及位置信息和方向信息行动至目的地。还公开了一种基于电子标签的室内导盲方法。上述导盲系统和导盲方法，方便盲人在室内使用，实现方便且成本低。
Description
技术领域
本发明涉及导盲技术领域，尤其涉及一种基于电子标签的室内导盲系统和导盲方法。
背景技术
现有的室内导航的常见方式有三种：环境地图模型匹配导航、路标导航和视觉导航。环境地图模型匹配导航是通过传感器探测周围环境，构造局部环境地图，并与其事先存储于内部的地图进行匹配，该方法灵活性较大，但是较为复杂，需要对运动物体和目标物体精确的定位，但现有技术很难达到，因此准确度一般，不适合盲人使用。路标导航是在事先知道路标的坐标、形状等特征的前提下，将全局路线分解为路标与路标之间的片段，通过不断探测路标来确定自身的位置以完成导航，该方法对环境的依赖性较大。视觉导航主要要完成障碍物和路标的探测及识别，目前应用最多的是通过安装摄像机实现局部视觉导航。对于盲人来说，上述室内导航的方法实现不方便、成本高，因而不适于盲人在室内使用。
发明内容
本发明的主要目的在于提供一种方便盲人在室内使用、实现方便且成本低的室内导盲系统和导盲方法。
为实现上述目的，本发明提供一种基于电子标签的室内导盲系统，所述基于电子标签的室内导盲系统包括导航车、多条引导路标和电子标签；
所述多条引导路标铺设在室内的地面上，用于引导所述导航车沿引导路标行动至目的地；
所述电子标签，设置在所述引导路标上，用于存储所述引导路标的位置信息和方向信息；
所述导航车，用于根据用户输入的指示信息运行，并在运行过程中读取所述电子标签中存储的引导路标的位置信息和方向信息、识别所述引导路标的路线信息，根据所述路线信息以及所述位置信息和方向信息行动至目的地。
优选地，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
优选地，所述导航车包括信号接收模块、控制模块、识别模块和信息读取模块，其中：
所述信号接收模块与所述控制模块连接，用于接收用户输入的指示信息，将所述指示信息发送至所述控制模块；
所述识别模块与所述控制模块连接，用于识别所述引导路标的路线信息，并将识别的所述路线信息发送至所述控制模块；
所述信息读取模块与所述控制模块连接，用于读取所述电子标签中的引导路标的位置信息和方向信息，并将所述位置信息和方向信息发送至所述控制模块；
所述控制模块与所述信号接收模块、识别模块和信息读取模块连接，用于根据所述指示信息、路线信息以及所述位置信息和方向信息控制所述导航车行动至目的地。
优选地，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
优选地，所述识别模块包括图像采集单元和图像处理单元：
所述图像采集单元用于采集所述引导路标的路线图像，将所述路线图像发送至所述图像处理单元；
所述图像处理单元用于对所述路线图像进行处理，得到所述引导路标的路线信息，并将所述路线信息发送至所述控制模块。
优选地，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
优选地，所述信号接收模块为语音输入模块，用于采集用户通过语音输入的包括目的地的指示信息；
所述信号接收模块还用于对输入的所述指示信息进行有效性判断，并在所述指示信息有效时将所述指示信息发送至所述控制模块。
优选地，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
优选地，所述控制模块包括：
路线控制单元，用于根据接收的所述引导路标的路线信息，控制所述导航车沿所述引导路标的中心线行驶；
方向控制单元，用于根据接收的所述指示信息，以及读取的所述电子标签中的引导路标的位置信息和方向信息，控制所述导航车的行动方向。
优选地，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
优选地，所述基于电子标签的室内导盲系统还包括：
障碍物检测模块，与所述控制模块连接，用于检测所述引导路标中的障碍物，并在检测到障碍物时向所述控制模块发送障碍物的位置信息，供所述控制模块控制所述导航车停止运行。
优选地，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
此外，为实现上述目的，本发明还提供一种基于电子标签的室内导盲系统的导盲方法，所述导盲方法包括以下步骤：
导航车的控制模块接收信号接收模块所接收的用户输入的指示信息，控制所述导航车启动；
接收所述信息读取模块读取的电子标签中的引导路标的位置信息和方向信息，确定所述导航车的行驶方向；
接收识别模块识别的引导路标的路线信息，根据所述路线信息控制所述导航车沿所述引导路标的中心线行驶至目的地。
优选地，所述基于电子标签的室内导盲方法还包括步骤：
信号接收模块对输入的所述指示信息进行有效性判断，并在所述指示信息有效时将所述指示信息发送至所述控制模块。
优选地，所述基于电子标签的室内导盲方法还包括步骤：
控制模块接收到障碍物检测模块发送的障碍物的位置信息，控制所述导航车停止运行。
本发明通过导航车接收用户输入的指示信息，该指示信息中包含有用户想要到达的目的地，导航车启动并朝向目的地的方向行驶；在导航车行驶的过程中，读取电子标签中存储的位置信息和方向信息，根据位置信息和方向信息确定下一步的行驶方向，同时导航车实时识别引导路标的路线信息，以保证始终在引导路标的中心行驶，最终到达目的地，这种导盲系统方便盲人在室内使用，实现方便且成本低。
附图说明
图1为本发明基于电子标签的室内导盲系统第一实施例的结构示意图；
图2为图1中导航车的功能模块示意图；
图3为图2中识别模块的功能模块示意图；
图4为图2中控制模块的功能模块示意图；
图5为本发明基于电子标签的室内导盲系统第二实施例的结构示意图；
图6为本发明基于电子标签的室内导盲方法第一实施例的流程示意图；
图7为本发明基于电子标签的室内导盲方法第二实施例的流程示意图；
图8为本发明基于电子标签的室内导盲方法第三实施例的流程示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明提供一种基于电子标签的室内导盲系统，通过导航车对盲人在室内的活动进行引导。根据用户输入的目的地，控制导航车在室内的地面上所铺设的引导路标中运行，并通过读取的电子标签中存储的引导路标的位置信息和方向信息实时控制导航车下一步的行驶方向，最终控制导航车搭载用户行驶至输入的目的地。
参照图1，图1为本发明基于电子标签的室内导盲系统第一实施例的结构示意图。
基于电子标签的室内导盲系统包括导航车10、多条引导路标20和电子标签30，其中：
多条引导路标20铺设在室内的地面上，用于引导导航车10沿引导路标20行动至目的地；
电子标签30设置在引导路标20上，用于存储引导路标20的位置信息和方向信息；
导航车10，用于根据用户输入的指示信息运行，并在运行过程中读取电子标签30中存储的引导路标的位置信息和方向信息、识别引导路标20的路线信息，根据路线信息以及位置信息和方向信息行动至目的地。
本实施例中，导航车10可以设置为坐式或站立式，用户可坐在导航车10上设置的座位上，也可站立在导航车10上设置的站立位置上，当然，为方便盲人使用，本实施例优选将导航车10设置为坐式。
在室内的地面上铺设多条引导路标20，引导路标20可根据室内的多个目的地的数量和位置对应设置，导航车10可沿引导路标20搭载用户行动至用户输入的目的地。引导路标20作为人工路标，可以设置为单一着色带，颜色以不易与周围环境混淆为佳，引导路标20的宽度以导航车10可正好在其中行驶，例如20~30cm；引导路标20还可以设置为与导航车10宽度相当的区域，导航车10行走时整个车运行于该区域内。
在每一条引导路标20上设置有电子标签30，其中存储了该条引导路标20的位置信息和方向信息。本实施例中电子标签30设置在各条引导路标20的起点、终点和中部，以及多条引导路标20的交汇处。电子标签设置在引导路标20的起点和终点，其中存储当前位置信息，可以指引导航车10所在的当前位置。如电子标签30设置在一条引导路标20上路线方向发生改变的位置，其中存储有方向改变的信息；如电子标签30设置在多条引导路标20的交汇处，则其中存储有多条引导路标20所在方向所能够到达的位置。
在通过导航车10开始导航时，接收用户输入的指示信息，该指示信息中包含有用户想要到达的目的地，导航车10启动并朝向目的地的方向行驶；在导航车10行驶的过程中，读取电子标签30中存储的引导路标20的位置信息和方向信息，在读取到位置信息和方向信息后，根据位置信息和方向信息确定下一步的行驶方向；同时，导航车10实时识别引导路标20的路线信息，即识别出引导路标20所在的区域，以保证始终在引导路标20的中心行驶，最终搭载用户到达目的地。
本实施例通过导航车10接收用户输入的指示信息，该指示信息中包含有用户想要到达的目的地，导航车10启动并朝向目的地的方向行驶；在导航车10行驶的过程中，读取电子标签30中存储的位置信息和方向信息，根据位置信息和方向信息确定下一步的行驶方向，同时导航车10实时识别引导路标20的路线信息，以保证始终在引导路标20的中心行驶，最终到达目的地，这种导盲系统方便盲人在室内使用，实现方便且成本低。
参照图2，图2为图1中导航车的功能模块示意图。
在本发明基于电子标签的室内导盲系统一优选实施例中，导航车10包括信号接收模块101、控制模块102、识别模块103和信息读取模块104，其中：
信号接收模块101与控制模块102连接，用于接收用户输入的指示信息，将指示信息发送至控制模块102；
识别模块103与控制模块102连接，用于识别引导路标20的路线信息，并将识别的路线信息发送至控制模块102；
信息读取模块104与控制模块102连接，用于读取电子标签30中的引导路标的位置信息和方向信息，并将位置信息和方向信息发送至控制模块102；
控制模块102与信号接收模块101、识别模块103和信息读取模块104连接，用于根据指示信息、路线信息以及位置信息和方向信息控制导航车10行动至目的地。
信号接收模块101设置在导航车10上用户可方便输入的位置，例如导航车10的座椅扶手上，接收用户通过语音、文字等方式输入的指示信息；识别模块103设置在导航车10上能够便于采集引导路标20的路线图像的位置；为方便读取电子标签30中所存储的引导路标20的位置信息和方向信息，导航车10上还设置有信息读取模块104，该信息读取模块104可以为RFID读写器，其可设置在导航车10上靠近电子标签30的位置处，例如将其设置在导航车10的车轮上，RFID读写器可识别电子标签30的距离范围设置在0~10cm。在读取到引导路标20的位置信息和方向信息后，发送至控制模块102，以供控制模块102根据位置信息和方向信息匹配导航车10下一步的行驶方向。
在通过导航车10开始导航时，用户通过信号接收模块101接收用户输入的指示信息，该指示信息中包含有用户想要到达的目的地，控制模块102接收到指示信息后，控制导航车10启动并朝向目的地的方向行驶；在导航车10行驶的过程中，通过设置在导航车10上的信息读取模块104读取电子标签30中存储的位置信息和方向信息，在读取到位置信息和方向信息后，控制模块102控制导航车10下一步的行驶方向；同时，识别模块103实时识别引导路标20的路线信息，即识别出引导路标20所在的区域，识别模块103将路线信息发送至控制模块102，控制模块102控制导航车10始终在引导路标20的中心行驶，最终控制导航车10搭载用户到达目的地。
在上述实施例中，为方便盲人使用，信号接收模块101可以为语音输入模块，盲人只需通过语音输入的方法输入指示信息，语音输入模块采集该指示信息。
进一步地，信号接收模块101还用于对输入的指示信息进行有效性判断，并在指示信息有效时将指示信息发送至控制模块102。在信号接收模块101接收到用户输入的指示信息后，判断指示信息是否有效，即判断该指示信息中的目的地是否为有效地址，在控制模块102中是否存储有当前室内所对应的该地址；当指示信息为有效信息时，信号接收模块101将该提示信息发送至控制模块102，供其控制导航车10启动。如指示信息中的目的地地址不存在，则通过语音输入模块提示输入的指示信息无效，需重新输入；如指示信息中的目的地地址与读取的电子标签30中存储的位置信息和方向信息对应的地址相同，则通过语音输入模块提示已到达目的地。通过信号接收模块101对指示信息进行有效性判断，减小了控制模块102的计算量，并且避免了导航车10的错误启动和运行。
参照图3，图3为图2中识别模块的功能模块示意图。
在上述实施例中，识别模块103包括图像采集单元1031和图像处理单元1032，其中：
图像采集单元1031用于采集引导路标20的路线图像，将路线图像发送至图像处理单元1032；
图像处理单元1032用于对路线图像进行处理，得到引导路标20的路线信息，并将路线信息发送至控制模块102。
本实施例中，图像采集单元1031可以采用摄像头，在导航车10行驶的过程中，实时采集当前路线上引导路标20的路线图像，将采集到的路线图像发送至图像处理单元1032，图像处理单元1032对路线图像进行图像处理，例如进行灰度处理得到灰度信息值，该灰度信息值对应引导路标20的路线信息，然后将该路线信息发送至控制模块102，控制模块102可根据路线信息调整导航10的方向，使导航车10始终沿着引导路标20的中心线行驶。
参照图4，图4为图2中控制模块的功能模块示意图。
在上述实施例中，控制模块102包括：
路线控制单元1021，用于根据接收的引导路标20的路线信息，控制导航车10沿引导路标20的中心线行驶；
方向控制单元1022，用于根据接收的指示信息，以及读取的电子标签30中的引导路标20的位置信息和方向信息，控制导航车10的行动方向。
在接收到图像处理单元1032发送的引导路标20的路线信息后，控制模块102的路线控制单元1021根据该路线信息判断导航车10当前的行驶方向，如偏离引导路标20的中心线，则调整导航车10的行驶方向，使其沿引导路标20的中心线行驶。
在接收到信号接收模块101发送的包含目的地的指示信息后，控制模块102的方向控制单元1022控制导航车10按目的地的方向行驶；以及，在接收到信息读取模块104读取的电子标签30中的引导路标20的位置信息和方向信息后，方向控制单元1022控制导航车10改变行驶方向或继续按原方向行驶。
参照图5，图5为本发明基于电子标签的室内导盲系统第二实施例的结构示意图。
在上述本发明基于电子标签的室内导盲系统第一实施例的基础上，第二实施例中，导航车10还包括：
障碍物检测模块40，与控制模块102连接，用于检测引导路标20中的障碍物，并在检测到障碍物时向控制模块102发送障碍物的位置信息，供控制模块102控制导航车10停止运行。
在导航车10上设置障碍物检测模块40，在导航车10运行的过程中实时检测引导路标20中的障碍物，障碍物检测模块40可以通过超声波检测的方法实现对障碍物的检测，在导航车10运行过程中实时发射超声波信号，根据返回的超声波信号确定当前引导路标20中是否存在障碍物，在检测到该引导路标20中存在障碍物时，障碍物检测模块40将障碍物的位置信息发送至控制模块102，控制模块102即时生成停止信号，在导航车10达到该障碍物之前，控制导航车10停止运行。
基于上述本发明基于电子标签的室内导盲系统第一实施例，导航车10还包括设置在导航车10前方的车前灯（图中未示出），该车前灯用于为识别模块103的图像采集单元1021采集引导路标20的路线图像提供光线。即在光线不好或黑夜的时候，打开车前灯即可照亮导航车10运行前方的路线环境，以方便图像采集单元1021采集到引导路标20的路线图像。
本发明还提供一种基于电子标签的室内导盲方法。
参照图6，图6为本发明基于电子标签的室内导盲方法第一实施例的流程示意图。
本实施例中，基于电子标签的室内导盲方法包括：
步骤S10，导航车的控制模块接收信号接收模块所接收的用户输入的指示信息；
步骤S11，控制模块控制导航车启动；
步骤S20，控制模块接收信息读取模块读取的电子标签中的引导路标的位置信息和方向信息，确定导航车的行驶方向；
步骤S30，控制模块接收识别模块识别的引导路标的路线信息，根据路线信息控制导航车沿引导路标的中心线行驶至目的地。
在通过导航车开始导航时，用户通过信号接收模块接收用户输入的指示信息，该指示信息中包含有用户想要到达的目的地，控制模块接收到指示信息后，控制导航车启动并朝向目的地的方向行驶；在导航车行驶的过程中，通过设置在导航车上的信息读取模块读取电子标签中存储的位置信息和方向信息，在读取到位置信息和方向信息后，控制模块控制导航车下一步的行驶方向；同时，识别模块实时识别引导路标的路线信息，即识别出引导路标所在的区域，识别模块将路线信息发送至控制模块，控制模块控制导航车始终在引导路标的中心行驶，最终控制导航车搭载用户到达目的地。
本实施例通过信号接收模块接收用户输入的指示信息，该指示信息中包含有用户想要到达的目的地，控制模块根据指示信息控制导航车启动并朝向目的地的方向行驶；在导航车行驶的过程中，识别模块实时识别引导路标的路线信息，控制模块根据路线信息控制导航车始终在引导路标的中心行驶，同时通过信息读取模块读取电子标签中存储的位置信息和方向信息，控制模块根据位置信息和方向信息控制导航车下一步的行驶方向，最终控制导航车搭载用户到达目的地，这种导盲方法方便盲人在室内使用，实现方便且成本低。
参照图7，图7为本发明基于电子标签的室内导盲方法第二实施例的流程示意图。
在上述本发明基于电子标签的室内导盲方法第一实施例的基础上，第二实施例中，在步骤S11之前，该方法还包括：
步骤S40，信号接收模块对输入的指示信息进行有效性判断，并在指示信息有效时将指示信息发送至控制模块。
为方便盲人使用，信号接收模块可以为语音输入模块，盲人只需通过语音输入的方法输入指示信息，语音输入模块采集该指示信息。
进一步地，信号接收模块还用于对输入的指示信息进行有效性判断，并在指示信息有效时将指示信息发送至控制模块。在信号接收模块接收到用户输入的指示信息后，判断指示信息是否有效，即判断该指示信息中的目的地是否为有效地址，在控制模块中是否存储有当前室内所对应的该地址；当指示信息为有效信息时，信号接收模块将该提示信息发送至控制模块，供其控制导航车启动。如指示信息中的目的地地址不存在或该地址与读取的电子标签中存储的位置信息和方向信息对应的地址相同，则通过语音输入模块提示已到达目的地。通过信号接收模块对指示信息进行有效性判断，减小了控制模块的计算量，并且避免了导航车的错误启动和运行。
参照图8，图8为本发明基于电子标签的室内导盲方法第三实施例的流程示意图。
在上述本发明基于电子标签的室内导盲方法第一实施例的基础上，第二实施例中，该方法还包括：
步骤S50，控制模块接收到障碍物检测模块发送的障碍物的位置信息，控制导航车停止运行。
在导航车上设置障碍物检测模块，在导航车运行的过程中实时检测引导路标中的障碍物，在检测到该引导路标中存在障碍物时，将障碍物的位置信息发送至控制模块，控制模块即时生成停止信号，在导航车达到该障碍物之前，控制导航车停止运行。该步骤S50可以在控制模块控制导航车启动之后的任何时候执行，本实施例，优选在上述步骤S11之后执行，即在控制模块控制导航车启动之后至接收电子标签中的引导路标的位置信息和方向信息之前执行该步骤S50。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
Claims (15)
- 一种基于电子标签的室内导盲系统，其特征在于，所述基于电子标签的室内导盲系统包括导航车、多条引导路标和电子标签；所述多条引导路标铺设在室内的地面上，用于引导所述导航车沿引导路标行动至目的地；所述电子标签，设置在所述引导路标上，用于存储所述引导路标的位置信息和方向信息；所述导航车，用于根据用户输入的指示信息运行，并在运行过程中读取所述电子标签中存储的引导路标的位置信息和方向信息、识别所述引导路标的路线信息，根据所述路线信息以及所述位置信息和方向信息行动至目的地。
- 如权利要求1所述的基于电子标签的室内导盲系统，其特征在于，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
- 如权利要求1所述的基于电子标签的室内导盲系统，其特征在于，所述导航车包括信号接收模块、控制模块、识别模块和信息读取模块，其中：所述信号接收模块与所述控制模块连接，用于接收用户输入的指示信息，将所述指示信息发送至所述控制模块；所述识别模块与所述控制模块连接，用于识别所述引导路标的路线信息，并将识别的所述路线信息发送至所述控制模块；所述信息读取模块与所述控制模块连接，用于读取所述电子标签中的引导路标的位置信息和方向信息，并将所述位置信息和方向信息发送至所述控制模块；所述控制模块与所述信号接收模块、识别模块和信息读取模块连接，用于根据所述指示信息、路线信息以及所述位置信息和方向信息控制所述导航车行动至目的地。
- 如权利要求3所述的基于电子标签的室内导盲系统，其特征在于，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
- 如权利要求3所述的基于电子标签的室内导盲系统，其特征在于，所述识别模块包括图像采集单元和图像处理单元：所述图像采集单元用于采集所述引导路标的路线图像，将所述路线图像发送至所述图像处理单元；所述图像处理单元用于对所述路线图像进行处理，得到所述引导路标的路线信息，并将所述路线信息发送至所述控制模块。
- 如权利要求5所述的基于电子标签的室内导盲系统，其特征在于，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
- 如权利要求3所述的基于电子标签的室内导盲系统，其特征在于，所述信号接收模块为语音输入模块，用于采集用户通过语音输入的包括目的地的指示信息；所述信号接收模块还用于对输入的所述指示信息进行有效性判断，并在所述指示信息有效时将所述指示信息发送至所述控制模块。
- 如权利要求7所述的基于电子标签的室内导盲系统，其特征在于，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
- 如权利要求3所述的基于电子标签的室内导盲系统，其特征在于，所述控制模块包括：路线控制单元，用于根据接收的所述引导路标的路线信息，控制所述导航车沿所述引导路标的中心线行驶；方向控制单元，用于根据接收的所述指示信息，以及读取的所述电子标签中的引导路标的位置信息和方向信息，控制所述导航车的行动方向。
- 如权利要求9所述的基于电子标签的室内导盲系统，其特征在于，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
- 如权利要求3所述的基于电子标签的室内导盲系统，其特征在于，所述导航车还包括：障碍物检测模块，与所述控制模块连接，用于检测所述引导路标中的障碍物，并在检测到障碍物时向所述控制模块发送障碍物的位置信息，供所述控制模块控制所述导航车停止运行。
- 如权利要求11所述的基于电子标签的室内导盲系统，其特征在于，所述电子标签设置在各条所述引导路标的起点、终点和中部，以及多条所述引导路标的交汇处。
- 一种利用权利要求1所述的基于电子标签的室内导盲系统的导盲方法，其特征在于，所述导盲方法包括以下步骤：导航车的控制模块接收信号接收模块所接收的用户输入的指示信息，控制所述导航车启动；接收所述信息读取模块读取的电子标签中的引导路标的位置信息和方向信息，确定所述导航车的行驶方向；接收识别模块识别的引导路标的路线信息，根据所述路线信息控制所述导航车沿所述引导路标的中心线行驶至目的地。
- 如权利要求13所述的基于电子标签的室内导盲方法，其特征在于，所述基于电子标签的室内导盲方法还包括步骤：信号接收模块对输入的所述指示信息进行有效性判断，并在所述指示信息有效时将所述指示信息发送至所述控制模块。
- 如权利要求13所述的基于电子标签的室内导盲方法，其特征在于，所述基于电子标签的室内导盲方法还包括步骤：控制模块接收到障碍物检测模块发送的障碍物的位置信息，控制所述导航车停止运行。
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