WO2018058937A1

WO2018058937A1 - Head-mount blind guiding device

Info

Publication number: WO2018058937A1
Application number: PCT/CN2017/080332
Authority: WO
Inventors: 胡小波; 张芳芳; 张无忌
Original assignee: 深圳市镭神智能系统有限公司
Priority date: 2016-09-30
Filing date: 2017-04-13
Publication date: 2018-04-05
Also published as: CN106420287A

Abstract

Provided is a head-mounted type blind guiding device, comprising a laser radar system (2) capable of detecting surroundings of a user and forming position information of a detected object; a controller (3) for forming road condition information according to the position information of the detected object and forming a prompting control command according to the road condition information; a prompting device (4) for outputting road condition prompting information according to the control command; and a fixing structure (1) which is wearable on the user's head and is arranged to mount the laser radar system (2), the controller (3) and the prompting device (4).

Description

Head-mounted guide device

Technical field

The present disclosure pertains to the field of blind guide devices, for example, to a head mounted guide device.

Background technique

According to relevant agencies, China currently has about 10 million blind people, accounting for 18% of the world's total blind population, and there is a continuing trend of increasing in the future. By 2020, the number of blind people in China is estimated to reach 50 million. As a special group in the society, the blind people need the society to give them more care and care so that they can live a better life independently. How to walk safely is the biggest problem facing the blind. But currently the navigation products for the blind are not very mature.

A guide helmet is commonly used in the market, including a helmet shell, a camera and an ultrasonic measuring instrument are mounted on the outer side of the helmet shell, and a GPS (Global Positioning System) navigation system and an inertial navigation system are built in the helmet shell. The camera, the ultrasonic measuring instrument, the GPS navigation system and the inertial navigation system are all connected to the data processor, and the data processor is connected to the human-computer interaction device, the human-computer interaction device comprises a headphone and a microphone, and the helmet shell has a built-in power supply. However, using GPS, camera and ultrasonic measurement technology, the equipment structure is more complicated, the operation is difficult, the detection range and detection range are limited, the precision is not high, the obstacle cannot be accurately positioned, and the obstacle size information cannot be perceived, and the product performance is not enough. Stable, at the same time expensive equipment, low market acceptance, difficult to get popularized.

Summary of the invention

The embodiment provides a head-worn guiding device, which solves the complicated structure of the guiding device in the related art, is difficult to operate, has limited detection range and detection range, has low precision, cannot accurately locate obstacles, and cannot be perceived. The problem of obstacle size information.

This embodiment provides a head-mounted guide device, including:

a lidar system that detects the surrounding environment of the user and forms location information of the detected object;

Forming road condition information according to the position information of the detected object, and forming a controller prompting the control instruction according to the road condition information;

a prompting device that outputs road condition prompt information according to the control command;

Wearable on the user's head, configured to mount the lidar system, controller, and prompting device Fixed structure.

The head-mounted guide blind device provided by the present disclosure detects a surrounding environment of a user through a laser radar system provided on the helmet, and forms position information of the detected object, and processes the position information of the detected object through the controller to form The road condition information forms a prompt control command for controlling the prompting device to send the prompt information for indicating the environmental condition and the road condition to the user; the device performs the environment, the road condition detection, the detection range, the scanning range, the scanning frequency, and the angle through the laser radar system. The parameters such as resolution and measurement distance accuracy are effectively improved, and the equipment is simple to install, practical and real-time, which can help blind people to carry out accurate and real-time navigation obstacle avoidance, and greatly improve the walking condition and travel safety of the blind.

BRIEF abstract

1 is a structural block diagram of a head-mounted guide blind device provided by this embodiment;

2 is a structural block diagram of a laser radar system provided by this embodiment;

3 is a structural block diagram of a second laser radar provided by the embodiment;

4 is a schematic diagram 1 of the probe of the head-mounted guide blind device provided in this embodiment;

FIG. 5 is a second schematic diagram of the probe of the head-mounted guide device according to the embodiment; FIG.

FIG. 6 is a structural diagram of a head-mounted guide blind device according to the embodiment; FIG.

FIG. 7 is a structural diagram of another head-mounted guide device according to the embodiment; FIG.

8 is a structural block diagram of a controller provided in this embodiment;

9 is a structural block diagram of a prompting device provided by this embodiment;

FIG. 10 is a structural block diagram of a positioning apparatus according to the embodiment.

detailed description

The present disclosure will be described in detail below with reference to the accompanying drawings and embodiments. The features of the following embodiments and embodiments may be combined with each other without conflict.

The head-mounted guide blind device provided by the present disclosure detects a surrounding environment of a user through a laser radar system provided on the helmet, and forms position information of the detected object, and processes the position information of the detected object through the controller to form The road condition information forms a prompt control command for controlling the prompting device to send the prompt information for indicating the environmental condition and the road condition to the user; the device performs the environment, the road condition detection, the detection range, the scanning range, the scanning frequency, and the angle through the laser radar system. The parameters such as resolution and measurement distance accuracy are effectively improved, and the equipment is simple to install, practical and real-time, which can help blind people to carry out accurate and real-time navigation obstacle avoidance, greatly improving the walking condition and travel safety of the blind person. Good test, suitable for large-scale promotion.

The present disclosure will be described below by way of examples.

As shown in FIG. 1 , the embodiment provides a head-mounted guide device, including:

a fixed structure 1 that can be worn on the user's head; a lidar system 2 that can detect the surrounding environment of the user and form position information of the detected object; form road condition information according to the position information of the detected object, and form according to the road condition information a controller 3 that prompts the control command; and a prompting device 4 that outputs the road condition prompt information according to the control command. The fixed structure 1 is arranged to mount the laser radar system 2, the controller 3 and the prompting device 4, wherein the fixed structure 1 is a wearable structure, such as a helmet, that can be worn on the user's head. The helmet can be adapted to the size of the user's head to meet the comfort requirements of the user.

In this embodiment, the environment and road condition detection are performed by the laser radar system, and parameters such as detection distance, scanning range, scanning frequency, angular resolution, and measurement distance accuracy are effectively improved, and the device is simple to install, practical and real-time, and can help the blind person. Accurate and real-time navigation and obstacle avoidance greatly improve the walking conditions and travel safety of the blind.

As shown in FIG. 2, FIG. 3, FIG. 4, FIG. 5, as one embodiment, the laser radar system 2 includes: a first laser radar 21 that detects an environmental condition within a 360 degree range around the user; and a second detection of the road condition in front of the user. Lidar 22.

In one embodiment, the first laser radar 21 employs a TOF laser radar based on the TOF (Time of Flight) principle, and obtains the optical path of the modulated laser emission and return to obtain the optical path to obtain the distance information of the measured object. The TOF laser radar can detect the environment around the 360 degree range of the user, and can realize 360-degree scanning detection on the environment within 200 meters around the user, with high precision, fast scanning frequency, real-time data update and high reliability.

In one embodiment, the first laser radar 21 is a single laser radar capable of 360-degree range detection, or is composed of multiple laser radar splicing for 360-degree scanning detection, which may be selected according to actual needs. If the first laser radar 21 is composed of a plurality of laser radar splicing, the scanning areas of each laser radar are combined to form a 360-degree scanning detection form surrounding the user, so that the detection effect is more flexible.

As shown in FIG. 3, in one embodiment, the second laser radar 22 is a structured light laser radar that can detect road conditions by structured light. The structured light laser radar includes a structured light emitting module 221, a signal collecting module 222, and a signal processing module 223.

The "module" in this embodiment and the following embodiments may be implemented by an integrated circuit, and thus the "module" may also be called "circuit".

The structured light emitting module 221 is configured to generate and emit a structured optical signal.

The signal acquisition module 222 is configured to collect the reflected structured optical signal emitted by the structured light emitting module 221 and reflected by the detected object. The CMOS (Complementary Metal Oxide Semiconductor) image sensor may be used as an example.

The signal processing module 223 is configured to process the distance information of the detected object according to the position information of the reflected structure optical signal on the signal acquisition module 222.

In one embodiment, the second laser radar 22, in the case of a structured light laser radar, may be mounted obliquely below the helmet at an angle to the detection plane of the first laser radar 21, which is controlled by the signal processing module 223. The structured light emitting module 221 generates a structured optical signal, and the signal collecting module 222, such as a CMOS image sensor, receives the structured optical signal reflected by the measured object, and reflects the reflected structured optical signal reflected by the detected object in the signal collecting module 222. The position information in the image is transmitted to the signal processing module 223, and the signal processing module 223 analyzes the light return information of the signal acquisition module 222, and obtains the surrounding environment distance information in the structured light illumination range by using the triangulation principle. The first laser radar 21, taking the TOF laser radar as an example, may be installed directly above the helmet shell. The laser radar is based on the time-of-flight method, and obtains the optical path by calculating the time difference between the modulated laser emission and the return, thereby obtaining the distance information of the measured object. .

As shown in FIG. 4, in the embodiment, the structured optical signal is emitted by the output end of the structured light emitting module 221, and the structured optical signal has an output end as a vertex to form a bundle on the same plane with a certain angle. The light is emitted. Because the structured light laser radar has a special structured light design, the beam of the structured light signal can cover a two-dimensional plane of a certain angle, achieving higher angular resolution and scanning frequency, and accurately detecting close obstacles and road surface flatness information. Such as azimuth, distance and obstacle contour size, etc., to detect road conditions in real time.

Optionally, the angle α of the outgoing light of the structured optical signal may be set within a range of 0 to 180 degrees, thereby ensuring detection of an environmental condition in a user's forward direction.

Optionally, the angle α of the outgoing light of the structured optical signal is between 60 and 110 degrees to have a sufficient detection width, and the detection width refers to a left and right extension in the user's forward direction to the space or the road surface of the user. A full detection scan is performed, the width of the detection scan meeting the range of motion when the person is normally advancing. For example, the user's forward route is not a straight line. For example, if the user takes a side to the side, if there is not enough detection width, the user may not be detected. If the scan width is too large, the detection distance will be shortened. The accuracy is also lowered, so that the above-mentioned deficiency can be better solved by setting the angle α of the outgoing light of the structured light signal between 60 and 110 degrees.

As shown in FIG. 5, in one embodiment, the angle β between the normal of the output end of the second laser radar 22 and the scanning plane of the first laser radar 21 is in the range of 30 to 80 degrees, and the angular range makes the second laser The radar 22 can scan the road surface information in front of the user.

Optionally, the angle between the normal of the output end of the second laser radar 22 and the scanning plane of the first laser radar 21 is in the range of 45 to 60 degrees, and the detection range and the detection distance are appropriate, thereby realizing the accuracy of the road ahead of the user. probe.

In this embodiment, the TOF laser radar can perform 360-degree scanning laser radar. The TOF laser radar can be installed directly on the outer side of the helmet shell to realize 360-degree scanning detection, and can measure within 200 meters. The distance, bearing and speed information of the object, the data update rate is fast. The structured light laser radar can be installed under the oblique angle of the helmet to achieve accurate detection and scanning of the close-range environment. Here, it mainly scans the environmental condition of the user in the forward direction, and it can measure the range of 0 to 10 meters with high precision. Dimensional plane distance and bearing information, high measurement frequency and fast data update rate.

In one embodiment, the helmet 1 is used as a mounting body for implementing the scanning detection function. The installation manner of the first laser radar 21 and the second laser radar 22 on the helmet 1 includes: 1. Two laser radars are separately installed on the helmet 1 . As shown in FIG. 6; 2, two laser radars are combined into a fixed module mounted on the helmet 1, as shown in FIG.

It should be noted that the first laser radar and the second laser radar may be any combination of one or several types of radars, and the radar may be: a single-line and multi-line laser radar based on TOF (Time of Flight), and based on Lidar for the principle of triangulation (including single-point measurement lidar and structured light lidar).

Exemplarily, the laser radar installation position is the installation position of the first laser radar and the second laser radar in the above embodiment, as long as the omnidirectional measurement effect can be achieved.

As shown in FIG. 8, in one embodiment, the controller 3 includes: a signal receiving module 31 configured to receive distance information of the detected object; and a data processing module 32 that processes the distance information of the detected object to form road condition information. And converting the road condition information into a signal conversion module 33 prompting the control command; and outputting the prompt control command to the signal transmission module 34 of the prompting device 4. Among them, the road condition information may be obstacles or other road features, such as pits, relative distance to the user, angle, speed and the like.

FIG. 9 is a structural block diagram of a prompting apparatus provided in this embodiment. As shown in FIG. 9 , in one embodiment, the prompting device 4 includes a prompt information output unit 41 that can output prompt information according to the prompt control command, wherein the prompt information output unit 41 includes: a voice prompt module and a vibration prompt module. And one or more combinations of haptic feedback prompting modules.

The voice prompting module is an audio player, such as an earphone; the vibration prompting module allows the user to know the road condition by sensing different vibration forms by generating vibration; the tactile feedback prompting module, for example, displaying the road condition information in the form of Braille on the screen.

In the present embodiment, the distance information of the detected object obtained by the laser radar system 2 after scanning and detecting the surrounding environment is used as an input signal, and the distance information is processed by the data processing module 32 to form road condition information, such as the detected object and The relative distance, the azimuth, the speed and the like information between the users; the road condition information is converted into the prompt control command by the signal conversion module 33, and the prompt control command is transmitted to the prompting device 4 by the signal transmission module 34 in a wired or wireless manner, for example, prompting The device 4 has a voice prompting module, and the voice prompting module is an audio player, such as a Bluetooth headset, and the prompting control command is wirelessly transmitted to the Bluetooth headset through the signal transmission module 34 for voice broadcast, and the blind person makes an independent judgment after hearing the voice prompt. It is possible to generate corresponding actions.

As shown in FIG. 10, in one embodiment, the head-mounted guide device further includes a positioning device 5, the positioning device 5 includes: a GPS module 51 configured to acquire positioning information of the device; and transmitting the positioning information Wireless communication module 52 to an associated terminal or background server. Through this program, the blind user's family can determine the location of the blind through the network anywhere, in order to prevent the blind user from getting lost, which can ensure the safety of the blind.

In one embodiment, the head-mounted guide device is further provided with a signal indicator light for making a call for help or passive collision avoidance. As a passive anti-collision signal indicator, the user is more recognizable when walking at night, avoiding collisions caused by other people; when the person can also have a call for help function, when the user feels or the system detects the danger The road condition can be called for a flashing light through the signal indicator, and a buzzer can also be configured to enhance the rescue effect.

The head-mounted guide blind device provided by the above embodiment detects the surrounding environment of the user through a lidar system provided on the helmet, and forms distance information of the detected object, and processes the distance information of the detected object through the controller. Forming road condition information, and forming a prompt control command for controlling the prompting device to send prompt information for indicating environmental conditions and road conditions to the user; the device performs environment, road condition detection, detection distance, scanning range, scanning frequency, and the like by the laser radar system. The parameters such as angular resolution and measurement distance accuracy are effectively improved, and the equipment is simple to install, practical and real-time, which can help blind people to carry out accurate and real-time navigation obstacle avoidance, greatly improving the walking situation and travel safety of blind people, user experience. Good, suitable for large-scale promotion.

Industrial applicability

The head-mounted guide device provided by the present disclosure is applied to the user week through a laser radar system provided on the helmet The environment is detected and the position information of the detected object is formed, and the position information of the detected object is processed by the controller to form road condition information, and a prompt control command is formed to control the prompting device to indicate the environmental condition and the road condition to the user. The prompt information; the device through the laser radar system for environmental and road condition detection, detection distance, scanning range, scanning frequency, angular resolution, measurement distance accuracy and other parameters are effectively improved, and the device installation is simple, practical and real-time, It can help blind people to carry out accurate and real-time navigation and obstacle avoidance, which greatly improves the walking situation and travel safety of the blind.

Claims

A head-mounted guide device includes:

a lidar system that detects the surrounding environment of the user and forms location information of the detected object;

Forming road condition information according to the position information of the detected object, and forming a controller prompting the control instruction according to the road condition information;

a prompting device that outputs a road condition prompt information according to the prompt control command;

It can be worn on the user's head and is provided with a fixed structure for mounting the lidar system, the controller and the prompting device.
The head-mounted guide device of claim 1, wherein the laser radar system comprises:

a first lidar that detects environmental conditions within a 360 degree range around the user;

A second laser radar that detects the road conditions ahead of the user.
The head-mounted guide blind device according to claim 2, wherein said first laser radar is a single laser radar capable of 360-degree range detection, or is composed of a plurality of laser radar splicing for 360-degree range scanning. Detection.
The head-mounted guide blind device according to claim 2, wherein said second laser radar is a structured light laser radar capable of detecting road conditions by structured light, said structured light laser radar comprising:

a structured light emitting module configured to generate and emit a structured light signal;

a signal acquisition module, configured to collect a reflective structured optical signal emitted by the structured light emitting module and reflected by the detected object;

The signal processing module is configured to generate a structured optical signal by the control structure light emitting module, and process the distance information of the detected object according to the position information of the reflective structured optical signal on the signal collecting module.
The head-mounted guide blind device according to claim 4, wherein said structured light signal is emitted by an output end of said structured light-emitting module, said structured optical signal forming a bundle with said output end as a vertex The outgoing light is located on the same plane and has a preset angle, and the angle of the outgoing light is in the range of 0 to 180 degrees.
The head-mounted guide blind device according to claim 3 or 4, wherein an angle between a normal of the output end of the second laser radar and a scanning plane of the first laser radar is in the range of 30 to 80 degrees.
The head-mounted guide device of claim 1, wherein the controller comprises:

a signal receiving module configured to receive distance information of the detected object;

Processing the distance information of the detected object to form a data processing module of the road condition information;

Converting the road condition information into a signal conversion module that prompts a control command;

The prompt control command is output to a signal transmission module of the prompting device.
The head-mounted guide device according to claim 1, wherein the prompting device comprises a prompt information output unit that can output prompt information according to the prompt control command, and the prompt information output unit comprises:

One or more combinations of a voice prompt module, a vibration prompt module, and a tactile feedback prompt module.
The head-mounted guide device of claim 1, further comprising a positioning device, the positioning device comprising:

a Global Positioning System GPS module configured to obtain location information for the device;

The positioning information is sent to a wireless communication module of an associated terminal or background server.
The head-mounted guide device of claim 1 further comprising a signal indicator light for making a call for help or passive collision avoidance.