WO2018161251A1 - Système de guidage intelligent et procédé pour personnes malvoyantes, appareil avec guidage intelligent pour personnes malvoyantes - Google Patents

Système de guidage intelligent et procédé pour personnes malvoyantes, appareil avec guidage intelligent pour personnes malvoyantes Download PDF

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Publication number
WO2018161251A1
WO2018161251A1 PCT/CN2017/075873 CN2017075873W WO2018161251A1 WO 2018161251 A1 WO2018161251 A1 WO 2018161251A1 CN 2017075873 W CN2017075873 W CN 2017075873W WO 2018161251 A1 WO2018161251 A1 WO 2018161251A1
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WO
WIPO (PCT)
Prior art keywords
intelligent
blind
global positioning
distance
route
Prior art date
Application number
PCT/CN2017/075873
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English (en)
Chinese (zh)
Inventor
韩连强
Original Assignee
深圳市欸阿技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市欸阿技术有限公司 filed Critical 深圳市欸阿技术有限公司
Priority to PCT/CN2017/075873 priority Critical patent/WO2018161251A1/fr
Priority to CN201780001057.5A priority patent/CN107995859A/zh
Publication of WO2018161251A1 publication Critical patent/WO2018161251A1/fr

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Classifications

    • 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
    • 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
    • A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception

Definitions

  • 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.
  • 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.
  • the alarm sends an alarm signal to remind the blind person, on the one hand, to liberate the blind person during the walking process.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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
  • 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.
  • 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 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.
  • 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:
  • the intelligent guiding method further comprises the following steps:
  • the moving body correction action is directed.
  • 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.
  • 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.
  • 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 are 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.
  • 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
  • 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.
  • the present invention provides a feedback system (smart guide device)
  • 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.
  • FIG. 1 is a structural block diagram of a preferred embodiment of the intelligent guide blind system of the present invention
  • FIG. 2 is a schematic flow chart of a preferred embodiment of a smart guide blind method according to the present invention.
  • FIG. 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 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.
  • the following is an example of using a moving body as a blind person.
  • the intelligent guide blind system of the present invention includes a global positioning system 1 and a voice.
  • 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.
  • the power source 5 and the global positioning system 1 can be placed in a backpack shape over the shoulders of the blind person.
  • 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.
  • 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 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.
  • 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 are routes with traffic lights at the intersection (recommended, because traffic intersections have traffic signals)
  • 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
  • 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
  • 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;
  • 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.
  • 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
  • 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.
  • 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
  • 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.
  • the present invention provides a feedback system (smart guide device)
  • 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.
  • 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
  • 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
  • the processor 32 controls the opening of the vibrator 33 based on the measured distance
  • 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.
  • the vibrator 33 vibrates the preset
  • the time (e.g., 1 s) is stopped, and the distance measuring device 31 continues the detection.
  • 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.
  • 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
  • the blind person 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.
  • the Global Positioning System 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.
  • the intelligent guide device 3 directs the blind person to correct its movement. If the current route is straight, the direction of the blind
  • the corresponding intelligent guide device 3 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;
  • 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.
  • 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
  • the processor 32 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 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.
  • the vibrator 33 vibrates the preset
  • the time (e.g., 1 s) is stopped, and the distance measuring device 31 continues the detection.
  • 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)
  • 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.
  • 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.
  • the preset time eg, 1 s
  • 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
  • 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.
  • the present invention is explained, and the following is an example in which the moving body is a blind person.
  • 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
  • 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)
  • 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
  • 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)
  • 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.
  • FIG. 3 is a schematic flowchart diagram of another preferred embodiment of the smart guide blind method according to the present invention.
  • the smart guide blind method of the present invention is in the above embodiment.
  • 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.
  • the blind person 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
  • 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
  • intersections are all routes with intersections with traffic lights or routes that do not pass traffic intersections.
  • 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
  • the destination then, based on the destination, a number of routes are planned for the blind, including the shortest route and the passing traffic
  • 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
  • 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
  • FIG. 4 is a schematic view of the garment with intelligent blind guiding function worn on the human body.
  • each intelligent guide device is disposed in the smart

Abstract

La présente invention concerne un système de guidage intelligent pour personnes malvoyantes qui permet de guider une entité vivante portant le système de guidage intelligent pour personnes malvoyantes. Le système comprend : un système de positionnement global (1), un système vocal (2) et au moins un dispositif de guidage intelligent (3). Le système vocal (2) est connecté au système de positionnement global (1), et est utilisé pour collecter des informations de commande vocale à partir de l'entité vivante et pour guider l'entité vivante à se déplacer selon un trajet cible acquis par le système de positionnement global (1). Le système de positionnement global (1) acquiert le trajet cible selon les informations de commande vocale. Chacun des dispositifs de guidage intelligent (3) pour personnes malvoyantes est utilisé pour détecter la distance jusqu'à un point d'inspection et un obstacle à proximité de l'entité vivante, et est utilisé pour guider l'entité vivante à corriger un mouvement en fonction de la distance détectée. Un procédé de guidage intelligent pour personnes malvoyantes et un vêtement avec une fonction de guidage intelligent pour personnes malvoyantes comprend un système de rétroaction et un système de guidage. La présente invention permet à une personne malvoyante de se déplacer dans un environnement étranger et présente d'excellentes performances en temps réel et une fiabilité élevée. La présente invention peut également empêcher la personne malvoyante d'être piégée entre des obstacles.
PCT/CN2017/075873 2017-03-07 2017-03-07 Système de guidage intelligent et procédé pour personnes malvoyantes, appareil avec guidage intelligent pour personnes malvoyantes WO2018161251A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2017/075873 WO2018161251A1 (fr) 2017-03-07 2017-03-07 Système de guidage intelligent et procédé pour personnes malvoyantes, appareil avec guidage intelligent pour personnes malvoyantes
CN201780001057.5A CN107995859A (zh) 2017-03-07 2017-03-07 一种智能导盲系统及方法、具有智能导盲功能的服装

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/075873 WO2018161251A1 (fr) 2017-03-07 2017-03-07 Système de guidage intelligent et procédé pour personnes malvoyantes, appareil avec guidage intelligent pour personnes malvoyantes

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WO2018161251A1 true WO2018161251A1 (fr) 2018-09-13

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WO (1) WO2018161251A1 (fr)

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CN109925169A (zh) * 2019-04-08 2019-06-25 浙江师范大学 一种新型的智能导盲佩戴系统
CN110464610B (zh) * 2019-07-29 2022-03-01 北京服装学院 一种基于超声波的避障服及避障方法
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