WO2018119588A1 - Procédé et système pour permettre un voyage sécurisé pour une personne aveugle, et dispositif pouvant être porté - Google Patents

Procédé et système pour permettre un voyage sécurisé pour une personne aveugle, et dispositif pouvant être porté Download PDF

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Publication number
WO2018119588A1
WO2018119588A1 PCT/CN2016/112135 CN2016112135W WO2018119588A1 WO 2018119588 A1 WO2018119588 A1 WO 2018119588A1 CN 2016112135 W CN2016112135 W CN 2016112135W WO 2018119588 A1 WO2018119588 A1 WO 2018119588A1
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Prior art keywords
travel
blind
module
image
information
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PCT/CN2016/112135
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English (en)
Chinese (zh)
Inventor
王斌
郭松
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深圳前海达闼云端智能科技有限公司
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Priority to PCT/CN2016/112135 priority Critical patent/WO2018119588A1/fr
Priority to CN201680003358.7A priority patent/CN107072867A/zh
Publication of WO2018119588A1 publication Critical patent/WO2018119588A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means

Definitions

  • the present application relates to the field of information processing technologies of wearable devices, cloud computing, and car networking systems, and in particular, to a method, system, and wearable device for protecting a blind person based on a car network system.
  • Chinese Patent Application No. 201410852790.6 discloses a blind navigation device that communicates with an electronic tag embedded in a blind track.
  • the blind navigation device includes a control module and a tag reader, an inductive switch module and a reminder module electrically connected to the control module, the inductive switch module is configured to sense a change in acceleration of the blind navigation device and sense the The information is transmitted to the control module, and the control module controls the opening and closing of the blind navigation device by sensing the information sensed by the switch module, and the tag reader is configured to receive the information of the electronic tag and transmit the information to the control module.
  • the control module transmits the information of the electronic tag to the reminder module, and the reminder module works according to the information of the electronic tag transmitted by the control module, so that the blind person can travel.
  • the existing blind navigation device needs to communicate with an electronic tag embedded in the blind road.
  • the blind navigation system reads the information of the electronic tag and transmits the information to the Bluetooth earphone, thereby providing road conditions and surrounding environment information for the blind.
  • Voice navigation tips The blind person's convenience measures have limited functions. The blind person needs to walk the blind road to obtain the guidance information, and can only remind the blind person to avoid the obstacle by voice prompt.
  • the blind people have safety hazards in addition to avoiding road obstacles when crossing the zebra crossing or when hitting a moving car or bicycle.
  • the purpose of the embodiments of the present application is to provide a method and system for implementing safe travel for blind people, and a wearable device.
  • the image recognition technology based on the wearable device and the car network system can fully protect the personal safety of the blind person.
  • the blind safe travel implementation system is based on wearable devices, cloud computing, and the Internet of Vehicles In order to realize the blind people in the process of traveling, they can know the objects moving at high speed and issue warnings. They can also carry out hedging control for the fast-moving moving objects (cars) when crossing the road to protect their own lives.
  • an implementation manner of the present application provides a method for implementing a safe travel for a blind, which is applied to a wearable device, including:
  • the on-site reminder device is activated or the remote security protection measures based on the vehicle network are started.
  • the remote security protection measure based on the vehicle network is completed by the cloud server, the vehicle networking module, and the driving system, and determining the current traveling state of the blind person includes identifying an image element in the panoramic image, and identifying the image element and the preset traveling state. Element comparisons determine the status of the trip.
  • the identified image element includes a road zebra crossing
  • the license plate information appearing in the panoramic image is identified, and the identified license plate information is sent to the cloud server.
  • the processing on the server side is: the cloud server searches for the vehicle networking module information corresponding to the license plate information according to the license plate information, and sends a braking message to the corresponding vehicle networking module according to the information of the vehicle networking module.
  • the car is processed as follows: the car networking module is connected with the driving system. After receiving the braking message, the car networking module obtains the current driving speed of the car. When the speed is within the set range, the car networking module voice prompts the user to decelerate; when the speed exceeds When the range is set, the vehicle networking module issues a braking request to the driving system, and the driving system controls the braking mechanism to decelerate.
  • the on-site reminding device is a flashing light, and when the road zebra image element disappears, the flashing light is turned off.
  • a radar speed sensor is also provided to obtain a speed parameter of a moving target around the blind person.
  • an embodiment of the present application further provides a blind travel wearable device, including a processor, and further comprising:
  • Panoramic camera for capturing panoramic images around the blind
  • An image processing module configured to determine a current travel status of the blind person, and identify security information related to the travel status from the panoramic image
  • the processor activates the on-site reminder device or initiates a remote security protection measure based on the Internet of Vehicles according to the security information.
  • the wearable device further includes a preset library of travel status elements, the image processing module is configured to identify image elements in the panoramic image, compare the identified image elements with preset travel status elements, and determine a travel status.
  • the image processing module includes a license plate recognition module for identifying license plate information appearing in the panoramic image when the recognized image element includes a road zebra crossing, and transmitting the recognized license plate information to the cloud server.
  • the live reminding device includes a flashing light and a sound module.
  • the wearable device includes a radar speed sensor to obtain a speed parameter of a moving target around the blind.
  • an embodiment of the present application further provides a blind person safe travel implementation system, including a wearable device, a cloud server, and an in-vehicle system, configured to acquire a panoramic image of a blind person for determining a current travel status of the blind person. And identifying, from the panoramic image, security information related to the travel status, and for initiating the live reminding device according to the security information and transmitting the security information to the cloud server;
  • the cloud server is configured to send a control message to the in-vehicle system according to the security information
  • the in-vehicle system adjusts the travel of the vehicle based on the control message.
  • the wearable device includes a preset library of travel status elements, the image processing module is configured to identify image elements in the panoramic image, compare the identified image elements with preset travel status elements, and determine a travel status; the image processing module
  • the license plate recognition module is configured to identify the license plate information appearing in the panoramic image when the recognized image element includes the road zebra crossing, and send the identified license plate information to the cloud server.
  • the cloud server searches for the vehicle networking module information corresponding to the license plate information according to the license plate information, and sends a braking message to the corresponding vehicle networking module according to the information of the vehicle networking module.
  • the vehicle networking module is connected to a driving system, and the vehicle networking module includes a voice module, and receives the brake After the message, the car networking module obtains the current driving speed of the car. When the speed is within the set range, the voice module prompts the user to decelerate; when the speed exceeds the set range, the car networking module sends a braking request to the driving system, and the driving system controls the braking. The mechanism slows down.
  • the on-site reminding device of the wearable device is a flashing light, and the wearable device turns off the blinking light when the road zebra image element disappears.
  • the wearable device sets a radar speed sensor to obtain a speed parameter of a moving target around the blind.
  • the embodiment of the present application can safely control a traveling object (automobile) that is approaching at a high speed when the blind person crosses the road, and protects his life safety, and recognizes the possibility in the environment based on the image recognition technology of the wearable device. Dangerous safety information occurs, and prompt warning to remind others or through the cloud computing and car networking system, remote security measures to eliminate the dangers of blind people in the environment, fully protect the personal safety of the blind.
  • autonomous traveling object
  • Dangerous safety information occurs, and prompt warning to remind others or through the cloud computing and car networking system, remote security measures to eliminate the dangers of blind people in the environment, fully protect the personal safety of the blind.
  • FIG. 1 is a system block diagram of a blind safe travel implementation system according to the present application.
  • FIG. 2 is a block diagram of a wearable device in accordance with the present application.
  • FIG. 3 is a flow chart of processing a blind person crossing the road in the method for implementing safe travel for blind persons according to the present application;
  • FIG. 5 is a main flowchart of a wearable device according to the method for implementing safe travel for blind people according to the present application
  • FIG. 6 is a flowchart of a system process for implementing a blind safe travel method according to the present application
  • FIG. 7 is a schematic diagram showing the hardware structure of an electronic device for implementing a blind person safe travel method according to an embodiment of the present application.
  • the blind safe travel implementation system of this embodiment of the present application includes a wearable device 100, a cloud server 200, and an in-vehicle system.
  • the wearable device 100 acquires a panoramic image of the blind person, determines a current travel status of the blind person, and identifies safety information related to the travel status from the panoramic image, and activates the on-site reminding device according to the safety information and sends the safety information to the cloud. server.
  • the cloud server 200 transmits a control message to the in-vehicle system according to the security information.
  • the cloud server 200 forms a user data system 220.
  • the registration information includes user information, car networking module information, and car information.
  • the in-vehicle system adjusts the travel of the vehicle based on the control message.
  • the in-vehicle system includes an internetworking module 300 and a driving system 350.
  • the blind travel wearable device includes a processor 110, a panoramic camera 101, a prompting device 104, a sound module 105, an image processing module, and a transmitting module 120 and a receiving module 130.
  • the image processing module includes a face recognition module 102 and a license plate recognition module 103.
  • the face recognition module 102 blurs the face in the captured image when the travel state of the blind user is walking, estimates the flow of people around the blind person, and can inform the blind user through the sound module 105.
  • the panoramic camera 101 is configured to acquire a panoramic image around a blind person.
  • the memory of the wearable device 100 stores a preset library of travel status elements
  • the image processing module is configured to identify image elements in the panoramic image, compare the identified image elements with preset travel status elements, and determine a travel status.
  • the image processing module is further configured to identify security information related to the travel status from the panoramic image.
  • the license plate recognition module 103 identifies the license plate information appearing in the panoramic image when the extracted image element includes a road zebra crossing, and the license plate information is safety information.
  • the transmitting module of the wearable device 110 transmits the identified license plate information to the cloud server 200.
  • the receiving module of the wearable device 110 is configured to receive a feedback message related to remote security protection measures sent from the cloud server.
  • the processor 110 of the wearable device 100 activates the on-site reminder device or initiates a vehicle network-based remote security protection measure according to the security information.
  • the on-site reminding device can be implemented in various manners, and can be a sound or a tactile reminder to the blind user, or a pedestrian who passes the sound and light to remind the passing.
  • the live reminding device includes the sound module 105 and the flashing prompt light.
  • the flashing light is connected to the processor 110.
  • the wearable device 100 turns off the blinking light.
  • the wearable device 100 further includes a radar speed sensor for acquiring a speed parameter of a moving target around the blind person. Through the radar speed sensor, the blind person can know the object moving at high speed during the traveling process.
  • the radar speed sensor acquires the speed of the surrounding identifiable target when the blind person is walking.
  • the sound module 105 is activated to remind the user of the current safety hazard.
  • the license plate recognition module identifies the license plate information appearing in the currently acquired panoramic image, and sends the identified license plate information to the cloud server to start Remote security protection measures based on car networking.
  • the cloud server 200 After receiving the license plate information, the cloud server 200 sends the license plate information to the docking module 210.
  • the docking module 210 verifies the authorization information of the user, and searches for the vehicle networking module information corresponding to the license plate information from the user data system 220, according to the vehicle networking.
  • the module information sends a brake message to the vehicle networking module 300.
  • the vehicle networking module 300 is coupled to a driving system 350 that controls the braking mechanism 352 .
  • the car networking module 300 includes a voice module 310. After the car networking module 300 receives the brake message sent by the cloud server 200, the car network module 300 acquires the current traveling speed of the car and responds to the server's message according to the current speed of the car. When the current speed of the automobile is within the set range, the voice module 310 prompts the driving user to decelerate; when the current speed of the automobile exceeds the set range, the vehicle networking module issues a braking request to the driving system 350, and the driving system 350 controls the braking mechanism 352 to decelerate.
  • vehicle networking module 300 can also be connected to an OBD (On-Board Diagnostic abbreviation) on-board diagnostic system of a car to implement braking by OBD.
  • OBD On-Board Diagnostic abbreviation
  • the remote security protection measure of the embodiment of the present application can provide security protection for blind people and driving users when a blind person using a wearable device crosses the road.
  • the blind user is prepared to pass through the zebra crossing; 1) the wearable device 100 is on the blind body, which may be a guide blind helmet in this embodiment; 2) the wearable device 100 recognizes the zebra crossing image element through the image processing module to realize the detection of the zebra crossing; 3) After the wearable device 100 detects the zebra crossing, the wearable device 100 turns on its own flashing light to make a prompt to the surrounding vehicle; 4) the blind person passes normally from the zebra crossing, and the wearable device 100 continues to detect the surrounding environment and judges Is there a security risk?
  • the wearable device 100 detects no abnormalities in the surrounding area, and the blind person normally passes through the road;
  • the wearable device 100 detects an abnormal situation in the periphery, for example, the radar speed sensor of the wearable device detects that the vehicle with a faster speed approaches;
  • the wearable device 100 completes the license plate recognition, and identifies the license plate information appearing in the image through the image processing module, and the license plate information is a vehicle that is faster and closer to the blind person;
  • the cloud server 200 finds the vehicle network module ID of the vehicle from the user data system through the docking module 210;
  • the cloud server 200 sends a brake message to the vehicle network module of the mobile vehicle for reminding or forcibly braking.
  • the embodiment of the present application further provides a method for implementing safe travel for blind people, which mainly includes:
  • Step 102 Obtain a panoramic image around the blind person
  • Step 104 Determine the current travel status of the blind person
  • Step 106 Identify security information related to the travel status from the panoramic image; the security information is information related to security of the blind user. It may be the speed of the fast moving target of the image recognition, or the license plate number of the traveling vehicle; in order to protect the safety of the blind, the quick response safety hazard, in another embodiment, the speed of the moving target may be completed by the radar speed sensor;
  • Step 108 Start the on-site reminding device according to the security information or initiate remote security protection measures based on the Internet of Vehicles.
  • step 204 shows a specific implementation manner for determining a current travel state of a blind person, the image processing module of the wearable device recognizes an image element in the image, and then identifies the recognized image element with a preset travel status element. Compare and determine the travel status;
  • Step 206 When the travel state is walking, the safety information is a speed parameter of the moving target around the blind obtained by the radar speed sensor, and the speed parameter exceeds the threshold to activate the on-site reminding device; the live reminding device is implemented in various manners, and may be sound or The touch reminds the blind user, or the pedestrian who passes the sound and the light reminder.
  • the live reminding device includes the sound module 105 and the flashing prompt light.
  • Step 208 When the travel status is crossing the road, the safety information is the license plate information identified in the panoramic image, and the remote security protection measure of the vehicle network is started according to the license plate information.
  • Figure 6 shows the details of the technical processing in the cloud and the Internet of Vehicles when the blind crosses the road zebra crossing.
  • Step 302 The processing on the wearable device side is: the wearable device end identifies the image element in the panoramic image acquired by the panoramic camera, and determines whether the image element includes a road zebra crossing; if the image element includes a road zebra crossing, identifies the panoramic image.
  • the license plate information that appears and sends the identified license plate information to the cloud server.
  • Step 304 The processing of the cloud server is: the cloud server searches for the corresponding vehicle network module information from the user data system 220 according to the license plate information sent from the wearable device, and the cloud server sends the brake to the vehicle networking module according to the information of the vehicle networking module. Message. Among them, the cloud server is not directly connected to the driving system to ensure the independence of driving and driving safety.
  • Step 306 The processing in the in-vehicle system is: the in-vehicle system includes the vehicle networking module 300 and the driving system 350. After the car networking module receives the brake message from the cloud server, the car networking module acquires the car. Current driving speed;
  • Step 308 When the current speed of the acquired automobile is within the set range, the voice module 310 of the vehicle networking module prompts the vehicle driving user to decelerate by voice.
  • Step 310 When the current speed of the acquired automobile exceeds the set range, the vehicle networking module issues a braking request to the driving system, and the driving system controls the braking mechanism to forcibly decelerate the vehicle.
  • the blinking light keeps working during the passage of the blind user through the sidewalk.
  • the image processing module of the wearable device recognizes that the road zebra image element disappears, the blinking light is turned off.
  • This patent relates to the field of intelligent robots.
  • sudden encounters occur when a blind person passes through the sidewalk.
  • the vehicle passes the prompt when it does not notice the blind person traveling or the red light.
  • judge trigger the command to reach the cloud for data query, and then directly issue instructions to the fast approaching car for forced braking to ensure the safety of blind and driving users.
  • the wearable device sets a radar speed sensor to quickly acquire the speed of moving the target around the blind, and quickly responds to dangers and prompts to ensure user safety.
  • the wearable device of the present embodiment sets a GPU (Graphics Processing Unit, GPU) and a CPU (Central Processing Unit, CPU) to perform large-data-quantity image recognition operations to ensure fast environment. Identify and respond in a timely manner.
  • the cloud server in the embodiment of the present application queries the user data system through the docking module to ensure the security of the data of the user data system.
  • FIG. 7 is a schematic diagram showing the hardware structure of an electronic device 600 for implementing a blind person's safe travel method according to an embodiment of the present invention.
  • the electronic device 500 includes:
  • the plurality of processors 510, 520 and the memory 530, and the plurality of processors in FIG. 7 are respectively an example of a CPU and a GPU.
  • the processors 510, 520 and the memory 530 may be connected by a bus or other means, as exemplified by a bus connection in FIG.
  • the memory 530 is used as a non-volatile computer readable storage medium, and can be used for storing a non-volatile software program, a non-volatile computer executable program, and a module, as in the blind person safe travel implementation method in the embodiment of the present application.
  • Program instructions/modules eg, image processing module, person shown in Figure 2
  • Face recognition module 102 and license plate recognition module 103 Face recognition module 102 and license plate recognition module 103.
  • the processor 510, 520 executes various functional applications and data processing of the terminal or the server by executing non-volatile software programs, instructions, and modules stored in the memory 530, that is, implementing blind person safe travel in the foregoing method embodiments. method.
  • the memory 530 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the blind safe travel implementation device, and the like. Further, the memory 530 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, memory 530 can optionally include memory remotely located relative to processors 510, 520 that can be connected to the blind safe travel implementation device over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 530, and when executed by the one or more processors 510, 520, perform a blind safe travel implementation method in any of the above method embodiments, for example, performing the above description
  • the method step 102 to step 110 in FIG. 4, the method step 202 to step 208 in FIG. 5, and the method step 302 to step 310 in FIG. 6 implement the image processing module, the face recognition module 102, and the license plate in FIG.
  • the electronic device of the embodiment of the present application exists in various forms, including but not limited to:
  • Mobile communication devices These devices are characterized by mobile communication functions and are mainly aimed at providing voice and data communication.
  • Such terminals include: smart phones (such as iPhone), multimedia phones, functional phones, and low-end phones.
  • Ultra-mobile personal computer equipment This type of equipment belongs to the category of personal computers, has computing and processing functions, and generally has mobile Internet access.
  • Such terminals include: PDAs, MIDs, and UMPC devices, such as the iPad.
  • Portable entertainment devices These devices can display and play multimedia content.
  • This type of equipment includes: Audio, video players (such as iPod), handheld game consoles, e-books, and smart toys and portable car navigation devices.
  • the server consists of a processor, a hard disk, a memory, a system bus, etc.
  • the server is similar to a general-purpose computer architecture, but because of the need to provide highly reliable services, processing power and stability High reliability in terms of reliability, security, scalability, and manageability.
  • the embodiment of the present application provides a non-transitory computer readable storage medium storing computer-executable instructions that are executed by one or more processors, such as in FIG.
  • the processor 510, 520 may be configured to enable the one or more processors to perform the blind safe travel implementation method in any of the foregoing method embodiments, for example, to perform the method steps 102 to 110 in FIG. 4 described above, FIG.
  • the method steps 202 to 208 and the method steps 302 to 310 in FIG. 6 implement the functions of the image processing module, the face recognition module 102, and the license plate recognition module 103 in FIG. 2, and implement docking of the docking module in FIG. 210 features.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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Abstract

La présente invention concerne un procédé pour permettre un voyage sécurisé pour une personne aveugle, consistant à : acquérir une image panoramique autour d'une personne aveugle (102) ; déterminer un état de trajet actuel de la personne aveugle (104) ; identifier des informations de sécurité relatives à l'état de voyage à partir de l'image panoramique (106) ; et démarrer, selon les informations de sécurité, un appareil de rappel sur site (108), ou une mesure de protection de sécurité à distance sur la base de l'Internet des véhicules (110).
PCT/CN2016/112135 2016-12-26 2016-12-26 Procédé et système pour permettre un voyage sécurisé pour une personne aveugle, et dispositif pouvant être porté WO2018119588A1 (fr)

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PCT/CN2016/112135 WO2018119588A1 (fr) 2016-12-26 2016-12-26 Procédé et système pour permettre un voyage sécurisé pour une personne aveugle, et dispositif pouvant être porté
CN201680003358.7A CN107072867A (zh) 2016-12-26 2016-12-26 一种盲人安全出行实现方法、系统以及可穿戴设备

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PCT/CN2016/112135 WO2018119588A1 (fr) 2016-12-26 2016-12-26 Procédé et système pour permettre un voyage sécurisé pour une personne aveugle, et dispositif pouvant être porté

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