CN102670383B - Full-automatic manned blind guide vehicle and control method based on image identification technology - Google Patents
Full-automatic manned blind guide vehicle and control method based on image identification technology Download PDFInfo
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Abstract
The invention provides a full-automatic manned blind guide vehicle and a control method based on an image identification technology, belonging to the field of transportation tools dedicated for the disabled. The full-automatic manned blind guide vehicle comprises a blind sidewalk identifying system, a voice navigation system, a central control system and a power system, wherein the central control system is used for controlling the action mode of the power system in accordance with a control strategy embedded into the central control system according to system information transmitted by the blind sidewalk identifying system and the voice navigation system; the control method comprises the following steps that: the central control system carries out software/hardware initialization operation after being powered on; the central control system transmits an instruction to prompt a system to carry out unlocking operation in mode of voice; the central control system transmits an instruction; the voice navigation system is started and waits for an identification voice information instruction; and the voice navigation system converts the voice information into a system instruction through the voice identification module when receiving the voice information instruction, and transmits the system instruction to the central control system. The invention has the advantages that the system intelligent degree is high, the control method is advanced and scientific, the running route is safe and accurate, and the like, and is an ideal dedicated transportation tool for the blind and the aged.
Description
Technical field
The present invention relates to a kind of Full-automatic manned guide vehicle based on image recognition technology and control method, belong to the special-purpose field of vehicles of people with disability.
Background technology
Along with the continuous progress of science and technology and human civilization, the people with disability has the right to enjoy a series of useful achievement that modernization science and technology is brought.As the blind person, the variation in this world of personal experiences that more should have an opportunity to come by the achievement that modern science and technology is created.Early stage guide measure mostly is seeing-eye dog and blind guiding stick; Later stage, glasses for guiding blind and blind-guidance robot were also towards blind person consumer along with development in science and technology.Each large scientific research institution and professional are also constantly exploring innovation and are improving the serial of methods of guide equipment, and similar guide vehicle based on ultrasound wave sidewalk for visually impaired people Detection Techniques also has patent to announce.
Which kind of research does not finally all realize automatically the drive effect of going on a journey of blind person, and guide equipment is the instrument that shows the way of blind person's trip.
Summary of the invention
That the present invention will solve and technical problem is: the problem that exists for existing guide equipment, in conjunction with the long-term practical experience of inventor, take image recognition template comparison technology as core, design a kind of Full-automatic manned guide vehicle based on image recognition technology and control method.
The technical solution adopted for the present invention to solve the technical problems is: should be based on the Full-automatic manned guide vehicle of image recognition technology, it is characterized in that: comprise the sidewalk for visually impaired people recognition system, speech guide system, central control system and dynamical system, central control system is controlled the action pattern of dynamical system according to the system information of sidewalk for visually impaired people recognition system and speech guide system transmission according to the embedded control strategy of central control system.
Described sidewalk for visually impaired people recognition system comprises the road conditions identification module, sidewalk for visually impaired people identification module and sidewalk for visually impaired people recognition system central control module; The road conditions identification module adopts the high speed image process chip, by realizing the identification of road barricade thing in the line template comparison, road pedestrian identification, Traffic Sign Recognition and road vehicle identification; The sidewalk for visually impaired people identification module adopts the high speed image process chip, by realizing that in the line template comparison sidewalk for visually impaired people is surveyed and the location, sidewalk for visually impaired people; Sidewalk for visually impaired people recognition system central control module is responsible for the concrete action of road conditions identification module and sidewalk for visually impaired people identification module, provides real-time road condition information and sidewalk for visually impaired people information for central control system simultaneously.
Described speech guide system comprises that one can be to the GPS Voice Navigation module of the free setting of course Voice Navigation and course, GPRS communication module, sound identification module and speech guide system central control module; One can make blind person car owner and extraneous conversation contact and realize the GPRS communication module of Long-distance Control in emergency circumstances; One can obtain voice messaging, and be converted into the sound identification module and that system command offers the speech guide system central control module can the integrated treatment sound identification module, the concrete action of GPRS communication module and GPS Voice Navigation module provides the speech guide system central control module of real-time phonetic navigation information simultaneously for central control system.
Described central control system comprises an on-demand system information of can the integrated treatment communication management module obtaining, and specifically control the micro treatment module of the relevant action of self-locking module, one can realize central control system and sidewalk for visually impaired people recognition system, fingerprint recognition locking when the instant messaging administration module between speech guide system and dynamical system and the communication management module of self-locking module and can realize Parking and speech recognition locking, prevent the accidental operation of vehicle when Parking, and prevent the self-locking module that vehicle is stolen.
Described dynamical system comprises the power drive module for the power output of vehicle, turn and the electronic-controlled power steering module of forward-reverse and immediately obtain the control signal of central control system, the dynamical system central control module of the concrete action of Comprehensive Control power drive module and electronic-controlled power steering module in the left and right that is used for vehicle.
The system information of described transmission is traffic information, sidewalk for visually impaired people information and real-time phonetic navigation information.
A kind of control method of the Full-automatic manned guide vehicle based on image recognition technology, it is characterized in that: the concrete steps of the control strategy that central control system is embedded are:
Step 1: after starting power supply, central control system carries out the software and hardware initialization operation, and system works normally turns step 2; Otherwise sound fault is reported to the police;
Step 2: central control system sends instruction speech prompting system unlocking operation, and release successfully turns step 3; Otherwise voice suggestion is unlocking operation again, and errors number surpasses default limit value, central control system permanent locking;
Step 3: central control system sends instruction, and speech guide system is opened, and waits voice messaging instruction to be identified, if receive the voice messaging instruction, turns step 4; Otherwise, the voice suggestion input voice information, after the prompting number of times surpassed default limit value, the central control system self-locking turned step 2;
Step 4: when speech guide system receives the voice messaging instruction, by sound identification module, voice messaging is converted into system command, and this system command is passed to central control system; Central control system is controlled the concrete action of GPS Voice Navigation module and GPRS communication module according to this system command, start simultaneously sidewalk for visually impaired people recognition system and dynamical system, turns step 5;
Step 5: central control system integrated treatment GPS Voice Navigation module information, GPRS communication module information and sidewalk for visually impaired people recognition system information, and carry out accordingly the real-time control of dynamical system.
Compared with prior art, the present invention is based on the Full-automatic manned guide vehicle of image recognition technology and beneficial effect that control method has is:
Of the present invention based on image recognition technology automatically can manned guide, adopt image recognition technology to carry out that the sidewalk for visually impaired people is surveyed and locate the sidewalk for visually impaired people, guaranteed safety and the accuracy of course; Utilize remote control function and call function in the GPRS communication module, guaranteed the safety that the blind person in case of emergency drives a vehicle; Adopt GPS Voice Navigation module to realize the free setting of driving distance; Full-automatic manned guide vehicle and control method based on image recognition technology of the present invention, adopt the higher control method of intelligent degree, greatly improved the present situation of present blind person's trip, having promoted blind person's quality of life, is the desirable walking-replacing tool that following people with disability or even normal old people drive to go on a journey.
Description of drawings
Fig. 1 the present invention is based on the Full-automatic manned guide vehicle central control system control strategy block diagram of image recognition technology;
Fig. 2 the present invention is based on the structured flowchart of the Full-automatic manned guide vehicle of image recognition technology;
Fig. 3 the present invention is based on the Full-automatic manned guide vehicle trip road conditions demonstration graph of image recognition technology.
Fig. 1-3 are the Full-automatic manned guide vehicle based on image recognition technology of the present invention and control method most preferred embodiment.
Wherein: in Fig. 3,1,4,5,8,9 are the keep straight on front vehicles of front vehicle 16 guide vehicle present positions 9 of sign 13 road axis 14 central ring 15 guide vehicle present positions 9 of sidewalk for visually impaired people 12 of advancing of diverse location 2 road pedestrian 3 road vehicles 6 prompting sidewalk for visually impaired people 7 zebra crossing 10 traffic light 11 on guide vehicle road of living in.
The specific embodiment
Below in conjunction with accompanying drawing 1-3, Full-automatic manned guide vehicle and control method based on image recognition technology are elaborated.
Be illustrated in figure 1 as the Full-automatic manned guide vehicle central control system control strategy block diagram that the present invention is based on image recognition technology, concrete control strategy is as follows:
After step 1 starts power supply, central control system carries out the software and hardware initialization operation, and system works normally turns step 2; Otherwise sound fault is reported to the police;
Step 3 central control system sends instruction, and speech guide system is opened, and waits voice messaging instruction to be identified, if receive the voice messaging instruction, turns step 4; Otherwise, the voice suggestion input voice information, after the prompting number of times surpassed default limit value, the central control system self-locking turned step 2; Prompting input number of times generally is limited between 3-10 time, and the obfuscation information command is adopted in the voice messaging instruction, as long as just but include the action of central control system designated order information trigger event in i.e. instruction;
When step 4 speech guide system receives the voice messaging instruction, by sound identification module, voice messaging is converted into system command, and this system command is passed to central control system; Central control system is controlled the concrete action of GPS Voice Navigation module and GPRS communication module according to this system command, start simultaneously sidewalk for visually impaired people recognition system and dynamical system, turns step 5; Central control system is according to phonetic order information, by controlling GPS Voice Navigation module, automatically determine that the best marches to destination's route, the GPRS communication module is mainly used in daily conversation and in emergency circumstances realizes the function of Long-distance Control, and namely blind person car owner designated contact can be passed through voice or short message mode Long-distance Control steering vehicle; The system command that the operation of all each modules all obtains by sound identification module was determined concrete action priority afterwards by the integrated treatment of central control system;
Step 5 central control system integrated treatment GPS Voice Navigation module information, GPRS communication module information and sidewalk for visually impaired people recognition system information, and carry out accordingly the real-time control of dynamical system.Be specially various turnings, advance, retreat, stop, park and the event-action such as first aid, all by central control system, each module and the system information instruction of obtaining are carried out controlling after integrated treatment.
Be illustrated in figure 2 as the structured flowchart of the Full-automatic manned guide vehicle that the present invention is based on image recognition technology, comprise the sidewalk for visually impaired people recognition system, speech guide system, central control system and dynamical system; Central control system is according to the system information of sidewalk for visually impaired people recognition system and speech guide system transmission, and system information is traffic information, sidewalk for visually impaired people information and real-time phonetic navigation information.Specifically control the action pattern of dynamical system according to the embedded control strategy of central control system.
The sidewalk for visually impaired people recognition system comprises the road conditions identification module, sidewalk for visually impaired people identification module and sidewalk for visually impaired people recognition system central control module; The road conditions identification module mainly adopts the high speed image process chip, low side as the W99713 picture processing chip, the high-end image Parallel Processing chip I MAPCAR2 as Japanese NEC, and the TM320C6X of American TI Company etc., by realize the identification of road barricade thing at the line template comparison technology, road pedestrian identification, Traffic Sign Recognition and road vehicle identification, as zebra crossing, parking turning mark, signal lights and other sign thereof, pedestrian's posture feature, Vehicle Driving Cycle feature all around, crossing etc., this module can also realize the automatic parking function; The sidewalk for visually impaired people identification module mainly adopts the high speed image process chip, by realizing that at the line template comparison technology sidewalk for visually impaired people is surveyed and the location, sidewalk for visually impaired people, guarantee the steady safe operation of road that vehicle goes out along sidewalk for visually impaired people and sidewalk for visually impaired people disconnecting, if when collecting jaywalk pedestrian image, central control system passes through computing and compares, and according to pedestrian's attitude and traverse speed, the parameter such as road conditions all around, intelligent decision safe distance and require further to take measures according to safe distance is as brake, lane change etc.; Sidewalk for visually impaired people recognition system central control module mainly is responsible for the concrete action of road conditions identification module and sidewalk for visually impaired people identification module, provides real-time road condition information and sidewalk for visually impaired people information for central control system simultaneously.
Speech guide system comprises GPS Voice Navigation module, GPRS communication module, sound identification module and speech guide system central control module; The voice recognition chip that sound identification module adopts such as the QNC260 of Israel TRODIO company, also have such as RSC-100/164T, RSC-300/364, RSC4XX etc., GPS Voice Navigation module mainly is responsible for the free setting of course Voice Navigation and course; The GPRS communication module mainly is responsible for the blind person car owner and is contacted and realize in emergency circumstances remote control function with extraneous conversation, can carry out the Long-distance Control of voice and note dual mode; Sound identification module mainly is responsible for obtaining voice messaging, and is converted into system command and offers the speech guide system central control module; Speech guide system central control module integrated treatment sound identification module, the concrete action of GPRS communication module and GPS Voice Navigation module provides the real-time phonetic navigation information for central control system simultaneously.
Central control system comprises micro treatment module, communication management module and self-locking module; The timely system information that micro treatment module integrated treatment communication management module is obtained, and specifically control the relevant action of fingerprint recognition self-locking module; Micro treatment module can adopt 2407,5402 grades of DSP such as American TI Company or suitable high-speed data process chip with it, and communication management module mainly is responsible for central control system and sidewalk for visually impaired people recognition system, the instant messaging between speech guide system and dynamical system; Fingerprint recognition locking when the self-locking module mainly is responsible for Parking and speech recognition locking prevent the accidental operation of vehicle when Parking, and prevent that vehicle is stolen.
Dynamical system comprises the power drive module, electronic-controlled power steering module and dynamical system central control module; The power drive module mainly comprises power battery pack, and high power DC electric machine and power drive system mainly are responsible for the power output of vehicle; Turn and the action such as forward-reverse in the left and right that the electronic-controlled power steering module mainly is responsible for vehicle; The dynamical system central control module obtains the control signal of central control system immediately, the concrete action of Comprehensive Control power drive module and electronic-controlled power steering module.
Sidewalk for visually impaired people recognition system central control module, speech guide system central control module and dynamical system central control module all can adopt the single-chip microcomputer of general data disposal ability, carry out key data as 0881,0882 single-chip microcomputer of NEC etc. or microprocessor and process operation.
Be illustrated in figure 3 as the Full-automatic manned guide vehicle trip road conditions demonstration graph that the present invention is based on image recognition technology;
Situation one: when the Full-automatic manned guide vehicle that the present invention is based on image recognition technology is in site of road 1, when the sidewalk for visually impaired people recognition system detects road pedestrian 2 by the road conditions identification module in it, it is according to existing road pedestrian image template in the high speed image process chip, by in time judge road pedestrian 2 behavior characteristics at the line template comparison technology, and comparison result is sent to central control system, central control system according to the traffic information that obtains (apart from pedestrian's spacing, pedestrian's feature etc. of advancing), send the concrete action that dynamical system is controlled in instruction automatically; If advance fast for the pedestrian at the line template comparison result, central control system in time sends instruction according to the traffic information that obtains and automatically reduces the speed of a motor vehicle to dynamical system, and voice suggestion car owner road ahead situation is for there being the pedestrian to walk rapidly;
situation two: when the Full-automatic manned guide vehicle that the present invention is based on image recognition technology is in site of road 4, when the sidewalk for visually impaired people recognition system detects road vehicle 3 by the road conditions identification module in it, it is according to existing road vehicle image template in the high speed image process chip, by in time judge the behavior characteristics of road vehicle 3 at the line template comparison technology, and comparison result is sent to central control system, central control system according to the traffic information that obtains (apart from the spacing of vehicle, vehicle feature (the speed of advancing, keep straight on, turn round etc.), vehicle, license plate number etc.), send instruction and automatically control the concrete action of dynamical system, if be vehicle turning at the line template comparison result, central control system in time sends instruction according to the traffic information that obtains and automatically reduces the speed of a motor vehicle to dynamical system, and voice suggestion car owner road ahead situation is for there being the road vehicle turning,
situation three: when the Full-automatic manned guide vehicle that the present invention is based on image recognition technology is in site of road 5, when the sidewalk for visually impaired people recognition system detects prompting sidewalk for visually impaired people 6 by the sidewalk for visually impaired people identification module in it, it is according to existing prompting sidewalk for visually impaired people image template in the high speed image process chip, by judging in time that at the line template comparison technology road ahead is as turning, the crossroad, the road conditions such as ground height situation, and comparison result is sent to central control system, central control system is according to the sidewalk for visually impaired people identifying information that obtains, send instruction and automatically control the concrete action of dynamical system, and while voice prompt blind car owner, carry out next step operation of advancing, if be the place ahead earth bulge at the line template comparison result, central control system in time sends instruction according to the sidewalk for visually impaired people identifying information that obtains and automatically reduces the speed of a motor vehicle to dynamical system, and voice suggestion car owner road ahead situation is earth bulge, and requires next step operation of advancing of prompting (as continuing the reduction speed of a motor vehicle etc.),
situation four: when the Full-automatic manned guide vehicle that the present invention is based on image recognition technology is in site of road 8, when the sidewalk for visually impaired people recognition system detects zebra crossing 7 by the road conditions identification module in it, it is according to existing road signs image template in the high speed image process chip, by judging in time that at the line template comparison technology road ahead is crossing, when the road conditions identification module detects traffic light 10, its according to existing road signs image template in the high speed image process chip by judging in time that at the line template comparison technology road ahead traffic signal are as current, stop waiting signal, and comparison result is sent to central control system, central control system is according to the traffic sign recognition information that obtains, send instruction and automatically control the concrete action of dynamical system, and while voice prompt blind car owner, if be that the place ahead green light is current at the line template comparison result, road signs is zebra crossing, central control system in time sends instruction to the automatic regulation speed of dynamical system according to the road signs information that obtains, and voice suggestion car owner road ahead situation be crossing without the pedestrian, stop-light is right of way signal,
Situation five: when the Full-automatic manned guide vehicle that the present invention is based on image recognition technology is in site of road 9, the sidewalk for visually impaired people recognition system detects front and back vehicle 16 and at 15 o'clock by the road conditions identification module in it, it utilizes high speed image process chip Real-time Collection front and back automobile image, and in time carry out the real-time online template comparison of front and back automobile image, and comparison information is sent to central control system; Central control system is according to real-time vehicle image template comparison information, determine spacing and the road speed of front and back vehicle 16 and 15, and automatically control the gait of march of guide vehicle dynamical system of the present invention according to this information of vehicles, the voice prompt blind car owner front and back vehicle feature (speed of a motor vehicle, spacing etc.) of advancing simultaneously;
Above various situation, all highway section operations coordinate dynamical system to complete by GPS speech guide system and central control system; In case of emergency, central control system all will be controlled dynamical system and stop as controlling priority, to trigger remote control function (automatically send short messages or connect the predefined emergency number of blind person car owner) in the GPRS communication module as controlling inferior priority, with this generation of avoiding fortuitous event, guarantee personal safety.
The above is only preferred embodiment of the present invention, is not to be the present invention to be done the restriction of other form, and any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the equivalent embodiment of equivalent variations.But every technical solution of the present invention content that do not break away to any simple modification, equivalent variations and remodeling that above embodiment does, still belongs to the protection domain of technical solution of the present invention according to technical spirit of the present invention.
Claims (5)
1. Full-automatic manned guide vehicle based on image recognition technology, it is characterized in that: comprise the sidewalk for visually impaired people recognition system, speech guide system, central control system and dynamical system, central control system is controlled the action pattern of dynamical system according to the system information of sidewalk for visually impaired people recognition system and speech guide system transmission according to the embedded control strategy of central control system;
Described sidewalk for visually impaired people recognition system comprises the road conditions identification module, sidewalk for visually impaired people identification module and sidewalk for visually impaired people recognition system central control module; The road conditions identification module adopts the high speed image process chip, by realizing the identification of road barricade thing in the line template comparison, road pedestrian identification, Traffic Sign Recognition and road vehicle identification; The sidewalk for visually impaired people identification module adopts the high speed image process chip, by realizing that in the line template comparison sidewalk for visually impaired people is surveyed and the location, sidewalk for visually impaired people; Sidewalk for visually impaired people recognition system central control module is responsible for the concrete action of road conditions identification module and sidewalk for visually impaired people identification module, provides real-time road condition information and sidewalk for visually impaired people information for central control system simultaneously;
Described speech guide system comprises that one can be to the GPS Voice Navigation module of the free setting of course Voice Navigation and course, GPRS communication module, sound identification module and speech guide system central control module; One can make blind person car owner and extraneous conversation contact and realize the GPRS communication module of Long-distance Control in emergency circumstances; One can obtain voice messaging, and be converted into the sound identification module and that system command offers the speech guide system central control module can the integrated treatment sound identification module, the concrete action of GPRS communication module and GPS Voice Navigation module provides the speech guide system central control module of real-time phonetic navigation information simultaneously for central control system.
2. the Full-automatic manned guide vehicle based on image recognition technology according to claim 1, it is characterized in that: described central control system comprises an on-demand system information of can the integrated treatment communication management module obtaining, and specifically control the micro treatment module of the relevant action of self-locking module, one can realize central control system and sidewalk for visually impaired people recognition system, fingerprint recognition locking when the instant messaging administration module between speech guide system and dynamical system and the communication management module of self-locking module and can realize Parking and speech recognition locking, prevent the accidental operation of vehicle when Parking, and prevent the self-locking module that vehicle is stolen.
3. the Full-automatic manned guide vehicle based on image recognition technology according to claim 1, it is characterized in that: described dynamical system comprises the power drive module for the power output of vehicle, turn and the electronic-controlled power steering module of forward-reverse and immediately obtain the control signal of central control system, the dynamical system central control module of the concrete action of Comprehensive Control power drive module and electronic-controlled power steering module in the left and right that is used for vehicle.
4. the Full-automatic manned guide vehicle based on image recognition technology according to claim 1, it is characterized in that: the system information of described transmission is traffic information, sidewalk for visually impaired people information and real-time phonetic navigation information.
5. the control method of the Full-automatic manned guide vehicle based on image recognition technology claimed in claim 1, it is characterized in that: the concrete steps of the control strategy that central control system is embedded are:
Step 1: after starting power supply, central control system carries out the software and hardware initialization operation, and system works normally turns step 2; Otherwise sound fault is reported to the police;
Step 2: central control system sends instruction speech prompting system unlocking operation, and release successfully turns step 3; Otherwise voice suggestion is unlocking operation again, and errors number surpasses default limit value, central control system permanent locking;
Step 3: central control system sends instruction, and speech guide system is opened, and waits voice messaging instruction to be identified, if receive the voice messaging instruction, turns step 4; Otherwise, the voice suggestion input voice information, after the prompting number of times surpassed default limit value, the central control system self-locking turned step 2;
Step 4: when speech guide system receives the voice messaging instruction, by sound identification module, voice messaging is converted into system command, and this system command is passed to central control system; Central control system is controlled the concrete action of GPS Voice Navigation module and GPRS communication module according to this system command, start simultaneously sidewalk for visually impaired people recognition system and dynamical system, turns step 5;
Step 5: central control system integrated treatment GPS Voice Navigation module information, GPRS communication module information and sidewalk for visually impaired people recognition system information, and carry out accordingly the real-time control of dynamical system.
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