WO2018161251A1

WO2018161251A1 - Smart guidance system and method for the visually impaired, apparel with smart guidance for the visually impaired

Info

Publication number: WO2018161251A1
Application number: PCT/CN2017/075873
Authority: WO
Inventors: 韩连强
Original assignee: 深圳市欸阿技术有限公司
Priority date: 2017-03-07
Filing date: 2017-03-07
Publication date: 2018-09-13
Also published as: CN107995859A

Abstract

A smart guidance system for the visually impaired, for guiding a living entity wearing the smart guidance system for the visually impaired. The system comprises: a global positioning system (1), a voice system (2), and at least one smart guidance device (3). The voice system (2) is connected to the global positioning system (1), and is used to collect voice command information from the living entity and to guide the living entity to move according to a target path acquired by the global positioning system (1). The global positioning system (1) acquires the target path according to the voice command information. Each of the smart guidance devices (3) for the visually impaired is used to detect the distance to an inspection point and an obstacle near the living entity, and is used to guide the living entity to correct a movement according to the distance detected. A smart guidance method for the visually impaired and an apparel with a smart guidance function for the visually impaired comprises a feedback system and a guidance system. The invention allows a visually impaired person to move in a foreign environment and features excellent real-time performance and high reliability. The invention can also prevent the visually impaired person from being trapped between obstacles.

Description

Intelligent blind guiding system and method, clothing with intelligent guiding function

Technical field

The invention relates to the field of guiding blind technology, in particular to an intelligent guiding blind system and method, and a garment with intelligent guiding function.

Background technique

The intelligent guide blind system in the prior art can be worn on a blind person, and the distance between the obstacles is detected by ultrasonic waves, and the travel of the blind person is measured by the pedometer.

Combining the distance detected by the ultrasonic distance from the obstacle and the stroke of the blind measured by the pedometer, the time when the blind person hits the obstacle at the current speed is calculated.

When the calculated time of encountering the obstacle is less than the preset time, the alarm sends an alarm signal to remind the blind person, on the one hand, to liberate the blind person during the walking process.

Hands, on the other hand, ensure the safety of blind people on the move. However, the intelligent guide blind system is only suitable for blind people to walk in a familiar environment to cope with the flow in the familiar environment.

Obstacles, when a blind person walks in an unfamiliar environment, he still needs the leader of the eye, so how can the blind person walk freely in an unfamiliar environment without relying on the eye

People become an urgent problem to solve.

Summary of the invention

The main object of the present invention is to solve the technical problem that the blind person cannot walk freely in an unfamiliar environment in the prior art.

To achieve the above objective, the present invention provides an intelligent guide blind system for guiding an active body wearing the intelligent guide blind system, which includes a global positioning system,

a voice system and at least one intelligent guide device;

The voice system is connected to the global positioning system, and is used for collecting voice instruction information of the active body and guiding the target body to obtain the target according to the global positioning system.

Standard course movement

The global positioning system is configured to acquire a target route according to the voice instruction information;

Each of the intelligent guide blind devices is configured to respectively detect a distance between each detection point and an obstacle in an environment in which the movable body is located, and guide the active body repair according to the measured distance.

Positive action.

Preferably, the intelligent guide blind device comprises a distance measuring device, a processor and a vibrator; the distance measuring device is connected to the processor for detecting the detection point and the surrounding environment

The distance between the obstacles in the middle and the measured distance is sent to the processor; the processor controls the opening and closing of the vibrator according to the measured distance

.

Preferably, the global positioning system is further configured to determine whether a motion trajectory of the active body matches the target route; the smart guide device and the global positioning

The system connection is further configured to guide the active body correcting action when it is determined that the motion track of the active body does not match the target route.

a distance between the obstacles in the medium and transmitting the measured distance to the processor; the processor is coupled to the global positioning system for receiving the global setting

The result information of the bit system is determined, and the vibrator is turned on and off according to the received judgment result information or the measured distance.

Preferably, the intelligent guide blind device further comprises a switch for controlling the smart guide device to open and close.

The invention also provides an intelligent guiding method, which comprises the following steps:

Collecting voice command information of the active body;

Obtaining a target route according to the voice instruction information;

Directing the activity body to follow the target route;

When the moving body moves according to the target route, respectively detecting the distance between the obstacle in the environment where each detecting point is located and each detecting point, and according to the measured distance

Introduce the active body correction action.

Preferably, the intelligent guiding method further comprises the following steps:

Determining whether the motion trajectory of the active body matches the target route;

If the motion trajectory of the moving body does not match the target route, the moving body correction action is directed.

Preferably, the step of acquiring the target route according to the instruction information is: planning a route with the shortest route and a traffic intersection passing according to the instruction information.

They are all routes with intersections with traffic lights and routes that do not pass through traffic intersections; the routes with the shortest route selected by the active body or the traffic intersections passing through are all

A route with a traffic light at a junction or a route that does not pass a traffic intersection is used as a target route.

The invention also provides a garment with intelligent blind guiding function, which comprises the intelligent guiding blind system according to any one of the above technical solutions.

Preferably, each of the intelligent guiding device is disposed on the head, shoulder, elbow, wrist, chest, abdomen, hip, knee or ankle of the garment with intelligent guiding function.

One or more locations in the location.

The intelligent guide blind system disclosed by the invention collects voice instruction information of an active body through a voice system, and the global positioning system plans a target route according to the voice instruction information.

And then, through the voice system, the activity body is guided to follow the target route, and when the intelligent guide device detects that the flow obstacle is located at the target route to be walked by the active body

When it is up, it will guide the active body correction action to avoid the obstacle. That is, the present invention enables the movable body to walk unfamiliarly by setting a global positioning system and a voice system.

The environment, through the intelligent guide blind device, allows the movable body to walk freely in an unfamiliar environment. At the same time, the present invention provides a feedback system (smart guide device)

With the guidance system (Global Positioning System and voice system), it has the characteristics of high real-time performance and high reliability, and can avoid the dilemma of blind people surrounded by obstacles.

DRAWINGS

1 is a structural block diagram of a preferred embodiment of the intelligent guide blind system of the present invention;

2 is a schematic flow chart of a preferred embodiment of a smart guide blind method according to the present invention;

3 is a schematic flow chart of another preferred embodiment of the smart guide blind method of the present invention;

FIG. 4 is a schematic view of the garment with intelligent guiding function of the present invention being worn on a human body.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

detailed description

The preferred embodiments of the present invention are described in conjunction with the accompanying drawings, and the preferred embodiments described herein are intended to illustrate and explain the invention.

The present invention is used to define the present invention, and the features of the embodiments and the embodiments of the present invention may be combined with each other without conflict.

The invention provides an intelligent guiding blind system for leading the active body wearing the intelligent guiding blind system, the active body may be a blind person or may be in a dark ring

The eye-catching person in the environment or in the blindfold can also be other adaptable animals or robots. For the convenience of description and to facilitate the understanding of the present invention, the following is an example of using a moving body as a blind person.

Be explained.

1 is a structural block diagram of a preferred embodiment of a smart guide blind system according to the present invention. In this embodiment, the intelligent guide blind system of the present invention includes a global positioning system 1 and a voice.

System 2, a plurality of intelligent guiding device 3, a main switch 4 for controlling the entire opening and closing of the intelligent guiding system, and a power supply 5 for supplying energy to the entire intelligent guiding system,

Designing a master switch 4 can be turned off when the smart guide blind system is not used, and opening when using the smart guide blind system makes the blind user's operation simple and convenient. In the implementation

In this example, the power source 5 and the global positioning system 1 can be placed in a backpack shape over the shoulders of the blind person. Wherein, the global positioning system 1 is connected to the voice system 2, and several intelligences are

The guiding device 3 is connected to the global positioning system 1 through a main switch 4, which includes an earphone worn in the ear of the blind and a microphone located at the mouth of the blind for collecting

The voice instruction information of the blind person is guided and the blind person is guided to move according to the target route acquired by the global positioning system 1; the global positioning system 2 is used to obtain the information according to the voice instruction information.

Taking the target route; each intelligent guiding device 3 is used for respectively detecting the distance between each detecting point and the obstacle in the environment where the blind person is located, and guiding the blind according to the measured distance

The person corrects the action.

For example, if the blind person needs to go to a certain place, he only needs to wear the intelligent guide blind system on his body, turn on the main switch 4, and say the destination to be reached (voice command information).

The voice system 2 collects the destination of the blind input to the intelligent guide blind system; after acquiring the destination, the global positioning system 1 plans a plurality of routes, and the plurality of route packages

The shortest route, the passing traffic intersection are all routes with traffic lights and the routes that do not pass through the traffic intersection; the voice system 2 is aware of global positioning.

After the system has planned the route, if the route is planned well, please select the route with the shortest route or the traffic intersection that passes through the route with traffic lights or

Routes that do not pass through traffic intersections; such as traffic routes that blind people choose to pass are routes with traffic lights at the intersection (recommended, because traffic intersections have traffic signals)

Light, then GPS 1 will get the traffic signal at the same time, and broadcast it through the voice system 2, so that the blind can also stop according to the red light, the green light

Passing the rules, it can ensure that the blind can also comply with traffic regulations and further ensure safety. If the blind does not respond to the choice, the traffic intersections that will pass will have traffic.

The route of the intersection of the signal light is taken as the target route; the traffic intersections collected by the voice system 2 are the routes of the intersection with the traffic signal; the global positioning system acquires

After the target route selected by the blind, the blind route is guided according to the target route; the voice system 2 guides the blind movement according to the navigation of the global positioning system;

In the process, each intelligent guiding device 3 detects the distance between each detecting point and an obstacle in the environment where the blind person is located, and if the measured distance is less than the preset distance, the blind is guided.

The person corrects the action, such as guiding the blind person to move to the right front or the left front. When the current route is straight, when the blind person's orientation is biased to the left or to the right, the corresponding intelligent guide blinds

Setting 3 will remind the blind person that the left or right deviation occurs in the walking, so that the blind person can correct it in time; when the current route needs to turn, the blind person's turning angle is too large or too small, correspondingly

The intelligent guide blind device 3 will remind the blind person that the turning angle is too large or too small, so that the blind person can correct it in time. This blind person will not fall into the dilemma of obstacles, can be free

Walking in an unfamiliar environment without relying on the leader of the eye, you can of course walk in a familiar environment.

In a preferred embodiment, the speech system 2 includes an earphone that is worn in the ear of a blind person, and the earphone is a single ear earphone that allows blind hearing without being excessively restricted and does not disturb

others.

The intelligent guide blind device 3 in the above embodiment specifically includes a distance measuring device 31, a processor 32 and a vibrator 33; wherein the distance measuring device 31 is connected to the processor 32 for detecting

Measuring the distance between the point and the obstacle in the surrounding environment, and transmitting the measured distance to the processor 32; the processor 32 controls the opening of the vibrator 33 based on the measured distance

Start and close.

The distance measuring device 31 may specifically be an infrared distance measuring device or an ultrasonic distance measuring device, etc., to detect the distance information of the surrounding environmental obstacles at the moment when it is turned on, in order to

The distance between the detection point and the obstacle can be accurately detected, and the resource is not wasted. The distance measuring device 31 of the present invention is a PSD infrared distance measuring sensor, and the infrared distance measuring is performed.

The effective distance is about 2m. After the processor 32 obtains the distance between the detection point and the obstacle measured by the distance measuring device 31, it is determined whether the distance is greater than 2 m, if

If the distance is greater than 2m, it is safe to continue testing; if the distance is less than 2m, it is dangerous, start the vibrator 33 to remind the blind to correct the action, the vibrator 33 vibrates the preset

The time (e.g., 1 s) is stopped, and the distance measuring device 31 continues the detection.

In this embodiment, the intelligent guide blind device 3 is used as a module, that is, the distance measuring device 31, the processor 32 and the vibrator 33 are made into a single ligand, and the intelligent guide blind device 3 can be passed through.

The glueless Velcro fastening structure is bound to various parts of the body, such as fixing the smart guide device 3 to the head, shoulder, elbow, wrist, chest, abdomen, hip,

Knee or ankle. It can avoid collision between blind people and obstacles in all directions and ensure the safety of blind people.

In a preferred embodiment, the global positioning system 1 is further configured to determine whether the motion track of the blind person matches the target route; the intelligent guide blind device 3 is connected to the global positioning system 1 and

It is used to guide the active body correction action when it is determined that the blind person's motion trajectory does not match the target route.

In the event of an obstacle, the blind person is required to correct his movements, and when the blind person does not follow the target route, the blind person is required to correct the movement. Specifically, the Global Positioning System

The system 1 obtains the orientation of the blind person and determines whether the orientation of the blind person is consistent with the direction of the target route. If the orientation of the blind person is consistent with the direction of the target route, the blind person continues to be acquired.

Orientation, if the orientation of the blind is inconsistent with the direction of the target route, the intelligent guide device 3 directs the blind person to correct its movement. If the current route is straight, the direction of the blind

When the left or right is biased, the corresponding intelligent guide device 3 will remind the blind person that the left or right deviation of the walking occurs, so that the blind person can correct it in time;

When the blind person's turning angle is too large or too small, the corresponding intelligent guide device 3 will remind the blind person that the turning angle is too large or too small, so that the blind person can correct it in time, that is, the hair is guaranteed.

Ming intelligent guide system has high real-time performance and high accuracy.

Measuring the distance between the point and the obstacle in the surrounding environment, and transmitting the measured distance to the processor 32; the processor 32 is connected to the global positioning system 1 for receiving the global

The judgment result information of the positioning system 1 is located, and the opening and closing of the vibrator 33 is controlled based on the received judgment result information or the measured distance.

The time (e.g., 1 s) is stopped, and the distance measuring device 31 continues the detection. At the same time, the processor 32 also obtains the judgment result information of the global positioning system 1 (the movement track and the target of the blind person)

If the track is matched or not matched, when the track of the blind person is matched with the target route, the information of the judgment result is continuously obtained, and the motion track of the blind person is obtained.

When the target route does not match, the vibrator 33 is activated to remind the blind person to correct the action, and the vibrator 33 is stopped after the preset time (eg, 1 s), and the processor 32 continues to obtain the judgment.

Break the result information.

In a preferred embodiment, each intelligent guiding device further includes a branch switch 6 for controlling the opening and closing of the intelligent guiding device, and by designing each branch switch 6, the

The intelligent guide device that uses or causes misjudgment in special activities is temporarily turned off, increasing user experience.

The invention also provides a smart guiding method,

As shown in FIG. 2, FIG. 2 is a schematic flowchart of a preferred embodiment of a smart guide blind method according to the present invention. The smart guide blind method includes the following steps:

Step S10, collecting voice instruction information of the active body;

Step S20, acquiring a target route according to the voice instruction information;

Step S30, guiding the moving body to move according to the target route;

Step S40, when the moving body moves according to the target route, respectively detecting the distance of the obstacle in the environment where each detecting point is located from each detecting point, and according to the measured

The distance guides the body correction action.

The active body can be blind, or a bright-eyed person in the dark or blindfold, or other adaptable animal or robot. For the convenience of description and for the sake of reason

The present invention is explained, and the following is an example in which the moving body is a blind person.

For example, blind people need to go to a certain place, blind people say the destination they need to reach (voice command information); intelligent blind guide system to achieve this intelligent guide blind method to collect blind people lose

According to the destination, a number of routes are planned for the blind to select, to obtain the target route selected by the blind; and then to guide the blind according to the target route

Human movement, in the process of blind movement, detecting the distance between each detection point and the obstacle in the environment where the blind person is located, if the measured distance is less than the preset distance (such as 2 meters)

), instructing the blind to correct the action, such as guiding the blind to move to the right front or left front.

The intelligent guide blind method disclosed by the invention first collects the voice instruction information of the blind person, and plans a target route according to the voice instruction information, and then guides the blind person according to the target

The standard route is walking, and at the same time, detecting the distance of the obstacles in the environment where each detection point is located from each detection point, and guiding the moving body correction action according to the measured distance to hide

Avoid the obstacle. That is, the present invention can enable a blind person to walk freely in an unfamiliar environment, and at the same time, the present invention sets a feedback step (detecting a barrier in the environment where each detection point is located)

Obstacle distance from each detection point, and guide the moving body correction action according to the measured distance to avoid the obstacle) and guiding steps (planning the target route and guiding blindness)

The person walks in accordance with the target route, and has the characteristics of high real-time performance and high reliability, and can avoid the predicament that the blind person is surrounded by obstacles.

As shown in FIG. 3, FIG. 3 is a schematic flowchart diagram of another preferred embodiment of the smart guide blind method according to the present invention. In a preferred embodiment, the smart guide blind method of the present invention is in the above embodiment.

Based on the following steps:

Step S50, determining whether the motion track of the moving body matches the target route;

Step S60, if the motion track of the moving body does not match the target route, the moving body correction action is directed.

In the event of an obstacle, the blind person is required to correct his movements, and when the blind person does not follow the target route, the blind person is required to correct the movement. Specifically, first obtain blindness

The orientation of the person determines whether the orientation of the blind person is consistent with the direction of the target route. If the orientation of the blind person is consistent with the direction of the target route, the orientation of the blind person continues to be obtained.

The orientation of the blind is inconsistent with the direction of the target route, guiding the blind to correct its movements. If the current route is straight, when the blind person’s orientation is biased to the left or to the right,

A blind person has a left or right deviation in his walking, so that the blind person can correct it in time; if the current route is a need to turn, the blind person’s turning angle is too large or too small, then the blind is reminded.

The person's turning angle is too large or too small, so that the blind can be corrected in time. In this way, the blind person will not fall into the dilemma of obstacles, and can walk freely in an unfamiliar environment without

You need to rely on the leader of the eye, and of course you can walk freely in a familiar environment.

In a specific embodiment, the step S20 is: according to the instruction information, the specific step of acquiring the target route is: planning the route with the shortest route according to the instruction information, and passing

Traffic intersections are routes with traffic lights and routes that do not pass traffic intersections; obtain the shortest route or traffic that is selected by the activity body

The intersections are all routes with intersections with traffic lights or routes that do not pass traffic intersections.

The destination; then, based on the destination, a number of routes are planned for the blind, including the shortest route and the passing traffic

Routes with intersections with traffic lights and routes that do not pass traffic intersections. The blind road from the shortest route and the traffic intersection are all roads with traffic lights.

The route of the mouth and the route that does not pass through the traffic intersection are selected as the target route, and are collected to the intelligent guide blind system that implements the intelligent guide blind method, and then

To get the target route chosen by the blind. If the active body does not respond to the selected target route within the preset time, the default target route is executed, and the default target route is

The passing traffic intersections are all routes with intersections with traffic lights.

The invention also provides a garment with intelligent guiding function, the garment with intelligent guiding function includes the intelligent guiding system in the above embodiment, that is, the intelligent

The garment with the guiding function has all the beneficial effects of the intelligent guiding system in the above embodiment, and details are not described herein again. At the same time, because the intelligent guide system is installed in the clothing

In addition, it also has the combined benefits after being combined with the garment, such as the advantages of simple wearing and easy collection.

As shown in FIG. 4, FIG. 4 is a schematic view of the garment with intelligent blind guiding function worn on the human body. In a preferred embodiment, each intelligent guide device is disposed in the smart

One or more of the head, shoulder, elbow, wrist, chest, abdomen, hip, knee or ankle position of a garment that is capable of guiding blindness.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and equivalent structures or equivalents made by the description of the present invention and the contents of the drawings are equivalent.

The process transformation, or directly or indirectly, is used in other related technical fields, and is included in the scope of patent protection of the present invention.

Claims

An intelligent guide blind system for leading an active body wearing the intelligent guide blind system, wherein the intelligent guide blind system comprises a global positioning system and a language

Sound system and at least one intelligent guide device;

The voice system is connected to the global positioning system, and is used for collecting voice instruction information of the active body and guiding the target body to obtain the target according to the global positioning system.

Standard course movement

The global positioning system is configured to acquire a target route according to the voice instruction information;

Each of the intelligent guide blind devices is configured to respectively detect a distance between each detection point and an obstacle in an environment in which the movable body is located, and guide the active body repair according to the measured distance.

Positive action.
The intelligent guide blind system according to claim 1, wherein said intelligent guide blind device comprises a distance measuring device, a processor and a vibrator; said distance measuring device and said

a processor connection for detecting a distance between the detection point and an obstacle in the surrounding environment, and transmitting the measured distance to the processor;

The measured distance controls the opening and closing of the vibrator.
The intelligent guide system according to claim 1, wherein the global positioning system is further configured to determine whether a motion trajectory of the moving body is related to the target road

a line matching; the smart guide device is connected to the global positioning system, and is further configured to: when it is determined that the motion track of the active body does not match the target route,

Introduce the active body correction action.
The intelligent guide blind system according to claim 3, wherein said intelligent guide blind device comprises a distance measuring device, a processor and a vibrator; said distance measuring device and said

a processor connection for detecting a distance between the detection point and an obstacle in the surrounding environment, and transmitting the measured distance to the processor; the processor and the

a global positioning system connection, configured to receive the judgment result information of the global positioning system, and control the location according to the received judgment result information or the measured distance

The vibrator is turned on and off.
The intelligent guide blind system according to claim 2 or 4, wherein the intelligent guide blind device further comprises a switch for controlling the intelligent guide blind device to be turned on and off.
An intelligent guide blind method, comprising the following steps:

Collecting voice command information of the active body;

Obtaining a target route according to the voice instruction information;

Directing the activity body to follow the target route;

When the moving body moves according to the target route, respectively detecting the distance between the obstacle in the environment where each detecting point is located and each detecting point, and according to the measured distance

Introduce the active body correction action.
The intelligent guide blind method according to claim 6, further comprising the steps of:

Determining whether the motion trajectory of the active body matches the target route;

If the motion trajectory of the moving body does not match the target route, the moving body correction action is directed.
The intelligent guide blind method according to claim 6 or 7, wherein the specific step of acquiring the target route according to the instruction information is: according to the instruction

The information is planned to be the shortest route, and the traffic intersections passing through are the routes with traffic lights and the routes that do not pass the traffic intersection;

The route with the shortest route or the traffic intersection that passes is the route with the traffic signal or the route that does not pass the traffic intersection as the target route.
A garment having an intelligent guiding function, wherein the garment having the intelligent guiding function comprises the intelligent guiding system according to any one of claims 1 to 5.
The garment with intelligent guiding function according to claim 9, wherein each of the intelligent guiding device is disposed on the head of the garment with intelligent guiding function

One or more of the position of the part, shoulder, elbow, wrist, chest, abdomen, hip, knee or ankle.