CN106652505A - Street-crossing guiding system for vision disorder pedestrians based on intelligent glasses - Google Patents
Street-crossing guiding system for vision disorder pedestrians based on intelligent glasses Download PDFInfo
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- CN106652505A CN106652505A CN201710045530.1A CN201710045530A CN106652505A CN 106652505 A CN106652505 A CN 106652505A CN 201710045530 A CN201710045530 A CN 201710045530A CN 106652505 A CN106652505 A CN 106652505A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention relates to a street-crossing guiding system for vision disorder pedestrians based on intelligent glasses. The street-crossing guiding system comprises a road system and a behavior indication system based on the intelligent glasses, wherein the road system comprises signal lamp information emitting equipment, vehicle information emitting equipment and vehicle information receiving equipment; the signal lamp information emitting equipment is mounted on a signal lamp of a street to be crossed by pedestrians, is connected with a signal machine and is used for sending signal lamp information to the vision disorder pedestrians; the vehicle information emitting equipment is mounted on a motor vehicle, is connected with vehicle-mounted GPS tracking equipment and is used for sending vehicle position information to the vision disorder pedestrians; the vehicle information receiving equipment is mounted on the motor vehicle, is connected with a vehicle-mounted voice prompt system, and is used for receiving position information sent by the vision disorder pedestrians; and the behavior indication system based on the intelligent glasses comprises the intelligent glasses and a mobile phone. By virtue of the street-crossing guiding system, vision disorder pedestrian crowds can conveniently and rapidly cross the street by themselves.
Description
Technical field
The invention belongs to human engineering field, is directed to traffic safety technology field, and in particular to one kind auxiliary vision barrier
Pedestrains safety is hindered to guide system by the street crossing of zebra stripes.
Background technology
According to the World Health Organization（WHO）Data, 2010, there was blind person in China（blind）824.8 ten thousand, low visual acuity
（low vision）6727.4 ten thousand, it is with visual disabilities（visual impairment）It is both summations 7551.2 ten thousand, guide equipment
For the quality of life tool for improving these dysopias crowd is very helpful.
Existing guide aid is mostly that obstacle is detected based on tactile and the sense of hearing, for example blind guiding stick and with ultrasound
The electronics guide equipment of echo principle design, on traffic sign of these aids in detection based on visual identity still
There is deficiency.Visually impaired person still independently, cannot be crossed the street easily and efficiently because seeing street pedestrian and zebra stripes clearly.
Additionally, at the crossing without pedestrian crossing signal lamp, pedestrian needs to be crossed the street by the judgement of oneself, dysopia pedestrian differentiates
Overlong time, often misses street crossing opportunity, it would therefore be highly desirable to develop a kind of view-based access control model identification, the intelligent pedestrian of auxiliary judgment
Street crossing guide equipment.
The content of the invention
It is an object of the invention to provide a kind of can make the street crossing guiding that dysopia crowd is autonomous, easily and fast cross the street
System, solves the problems, such as that existing blind person, low visual acuity and people with visual disabilities street crossing is difficult.
For achieving the above object, guiding system in street of the present invention includes：Roadnet and the row based on intelligent glasses
To indicate two parts of system；The roadnet launches equipment, information of vehicles transmitting equipment and vehicle letter by signal information
Breath receiving device is constituted；The signal information transmitting equipment is arranged on the signal lamp of pedestrian's street crossing, is connected with semaphore, is used
In to dysopia pedestrian's sending signal lamp information；Information of vehicles transmitting equipment is arranged on motor vehicle, with vehicle GPS with
Track equipment connects, for sending vehicle position information to dysopia pedestrian；The information of vehicles receiving device is arranged on motor-driven
Che Shang, is connected with vehicle-mounted voice prompt system, for receiving the positional information sent from dysopia pedestrian；It is described based on intelligence
The behavior of energy glasses indicates that system includes intelligent glasses, mobile phone；Wherein, the intelligent glasses include lens body, are arranged on eye
The minisize pick-up head of mirror main body middle, the first radio communication device being arranged in lens body；The minisize pick-up head is used
In high-definition shooting road image；First radio communication device is connected respectively with minisize pick-up head and mobile phone, for receiving
Minisize pick-up head shoot road image be transferred in real time in mobile phone；The mobile phone and the first radio communication device, signal lamp
Information transmitting equipment, information of vehicles transmitting equipment, information of vehicles receiving device are connected by wireless signal, for realizing traffic control
System, the real-time Communication for Power between vehicle, pedestrian, and realize transmission of the information between pedestrian and vehicle；It was provided with the mobile phone
Street guide control device；The street crossing guide control device includes right-of-way judge module, is connected with right-of-way judge module
Image information analysis module, the path planning module being connected with image information analysis module, and with path planning module and logical
The verbal cue module that row power judge module is connected, the voice cue module is finally passed information by the bluetooth in mobile phone
Transport to bluetooth earphone；The right-of-way judge module is by signal processing module, vehicle position information processing module and and vehicle
First judge module of position information process module connection is constituted；The signal processing module is used to receive and process from signal
Lamp information launches the signal of equipment, and basis signal result judges that right-of-way, i.e. red light stop, green light row；The vehicle position
Message processing module is put for receiving and is processed and launch the vehicle position information that equipment sends from information of vehicles, based on vehicle
Positional information calculation vehicle was travelled to the time needed for zebra stripes；First judge module is by vehicle position information processing module
The time of acquisition is compared with pedestrians crossing time threshold value, and right-of-way is judged accordingly；Described image information analysis module is by scheming
As processing module, the pattern recognition module of connection image processing module, the second judge module institute being connected with pattern recognition module
Constitute；Described image processing module is used for the image to being collected by minisize pick-up head to be carried out inclining angle compensation and correction, figure
As pretreatment, IPM conversion obtain the actual coordinate of a certain plane epigraph under world coordinate system；The pattern recognition module, it is right
The image information for having processed of image processing module is identified, and is used for：One is identification zebra stripes region, and generating pedestrian can traveling
Set of paths；Two is identification pedestrian's current location information, including pedestrian is to the distance of zebra stripes both sideslWithr, pedestrian is to zebra stripes
Start line distancef, and pedestrian is in the face of direction and the horizontal drift angle of zebra stripeso；Three is the sky for recognizing pedestrian and other pedestrians
Between position relationship；Second judge module judges walking for pedestrian for judging the information of pattern recognition module identification
Whether walking along the street footpath is correct, if be present in the risk of collision of other pedestrians；The path planning module be used for plan traveling path,
Pedestrian is obtained in longitudinal direction and the traveling scheme of distance, and the traveling scheme of pedestrian's yawing moment clockwise or counterclockwise,
So as to ensure that pedestrian can walk in traveling set of paths；The voice cue module is defeated to earphone by Bluetooth of mobile phone by information
Go out voice messaging, be pedestrian's street crossing navigation.
Additionally, listening to voice for convenience, bluetooth earphone is also carried on intelligent glasses, the bluetooth earphone is arranged on glasses master
Body leg receives the navigation information that mobile phone sends at cochlea by Bluetooth of mobile phone, so ensure that even noisy
Traffic environment, pedestrian also can obtain clearly traveling instruction.
Advantages of the present invention and good effect are：
1st, guiding system of the invention can not only real-time reception belisha beacon information be also equipped with what is communicated with driving vehicle
Function, therefore except pedestrains safety can be guided to cross the street, while being also equipped with pointing out the motor vehicle at crossing to cross the street to dysopia
The function that pedestrian avoids, further ensures the security of dysopia pedestrian's street crossing.
2nd, the present invention can realize the mutual biography of information between intelligent glasses, bluetooth earphone and cell phone apparatus by radio communication
Pass.Bluetooth earphone facilitates pedestrian to receive guidance information under noisy environment.Additionally, bluetooth earphone, mobile phone in life all more
Popularization, and have the advantages that it is cheap, be convenient for carrying.
3rd, guiding system of the invention is also equipped with the row at without pedestrian's street crossing signal junction except possessing street crossing navigation feature
People crosses the street the decision-making function of timing so that pedestrian without other people in the case where helping, can independently, safely,
Quickly street crossing.
4th, the embedded glasses of minisize pick-up head act as the eyes of visually impaired person by the present invention, compared to blind guiding stick,
Glasses have the advantages that small volume, light, it is easy to which visually impaired person is dressed；And can be set glasses according to the different demands of user
Various styles are counted into, for example, is adapted to youthful fashion type, colorful type, or the conservative liked of the elderly etc..
Description of the drawings
Fig. 1 is guiding system use state schematic diagram of the present invention.
Fig. 2 is that behavior of the present invention based on intelligent glasses indicates system structure diagram.
Fig. 3 is that guiding system of the present invention connects block diagram.
Fig. 4 is the structured flowchart of present invention street crossing guide control device.
Fig. 5 is pedestrian position identification schematic diagram of the present invention based on image procossing.
Fig. 6 is the using method flow chart of guiding system of the present invention.
Specific embodiment
To more fully understand the present invention, the present invention is described in further details with reference to specific embodiment.
A kind of dysopia pedestrian's street crossing based on intelligent glasses that the present invention is provided guides the system, core control thought to be
Traffic Information is passed into pedestrian by radio communication, pedestrian receives letter by means of the intelligent glasses and cell phone apparatus of wearing
Breath, and crossed the street safely by means of Voice Navigation.
Refering to Fig. 1, Fig. 2, Fig. 3, guiding system of the present invention includes roadnet with the behavior based on intelligent glasses
Two parts of instruction system.The roadnet is believed by signal information transmitting equipment 1, information of vehicles transmitting equipment 2 with vehicle
Breath receiving device 3 is constituted；The signal information transmitting equipment 1 is arranged on the signal lamp of pedestrian's street crossing, is connected with semaphore,
For to dysopia pedestrian's sending signal lamp information, signal projector being adopted in actual use；The vehicle
Information transmitting equipment 2 is arranged on motor vehicle, is connected with vehicle mounted GPS tracking equipment, for sending vehicle to dysopia pedestrian
Positional information, can adopt in actual use cab signal transmitter；The information of vehicles receiving device 3 is arranged on machine
On motor-car, it is connected with vehicle-mounted voice prompt system, for receiving the positional information sent from dysopia pedestrian, actually makes
Cab signal receiver can be adopted with during.
The behavior based on intelligent glasses indicates that system includes intelligent glasses 4, mobile phone 5；Wherein, the intelligent glasses 4
Including lens body 41, the minisize pick-up head 42 of lens body middle is arranged on, first be arranged in lens body is wireless
Communicator 43；The minisize pick-up head 42 is used for high-definition shooting road image, including zebra line image, other rows on road surface
The obstructions chart picture such as people, electric pole；First radio communication device 43 is connected respectively with minisize pick-up head 42 and mobile phone 5, uses
The road image shot in the minisize pick-up head 42 by reception is transferred in real time in mobile phone 5.Additionally, listening to voice, intelligence for convenience
Bluetooth earphone 44 can be also carried on glasses 4, the bluetooth earphone 44 is arranged on lens body leg at cochlea, by mobile phone
The navigation information that Bluetooth receptions mobile phone 5 sends.So ensure that even in noisy traffic environment, pedestrian also can obtain clearly
Clear traveling instruction.
The radio communication device 43, signal information of the mobile phone 5 and first transmitting equipment 1, information of vehicles transmitting equipment 2,
Information of vehicles receiving device 3 is connected by wireless signal, for realizing the real-time Communication for Power between traffic control, vehicle, pedestrian, and
Realize transmission of the information between pedestrian and vehicle.Street crossing guide control device is provided with the mobile phone 5, mobile phone is street crossing guiding
The main control device of control device, with the function that right-of-way judgement, graphical analysis, path planning machine navigate.The street crossing guiding
Control device includes：Right-of-way judge module, the image information analysis module being connected with right-of-way judge module, with image information
The connected path planning module of analysis module, and the verbal cue being connected with path planning module and right-of-way judge module
Module, the voice cue module finally by information by the Bluetooth transmission in mobile phone to bluetooth earphone 44.
The right-of-way judge module is by signal processing module A, vehicle position information processing module B and and vehicle location
First judge module C of message processing module connection is constituted；The signal processing module A is used to receive and process from signal lamp
Information launches the signal of equipment 1, and basis signal result judges that right-of-way, i.e. red light stop, green light row；The vehicle location
Message processing module B is used to receive and process to launch the vehicle position information that equipment 2 sends from information of vehicles, based on vehicle
Positional information calculation vehicle was travelled to the time needed for zebra stripes；Vehicle position information is processed mould by the first judge module C
The time that block B is obtained is compared with pedestrians crossing time threshold value, and right-of-way is judged accordingly.
Described image information analysis module by image processing module D, connection image processing module D pattern recognition module F,
The second judge module E being connected with pattern recognition module F is constituted.Described image processing module D is used for by minisize pick-up head
42 images for collecting carry out inclining angle compensation and correction, Image semantic classification, IPM conversion（Inverse Perspective
Mapping）Obtain the actual coordinate of a certain plane epigraph under world coordinate system；The pattern recognition module F, to image procossing
The image information for having processed of module is identified, and is used for：One is identification zebra stripes region, and generating pedestrian can traveling path set
Close；Two is identification pedestrian's current location information, including pedestrian is to the distance of zebra stripes both sideslWithr, pedestrian is to zebra stripes start line
Distancef, and pedestrian is in the face of direction and the horizontal drift angle of zebra stripeso（See Fig. 5）；Three is the sky for recognizing pedestrian and other pedestrians
Between position relationship；The second judge module E judges pedestrian's for judging the information of pattern recognition module F identifications
Whether traveling path is correct, if be present in the risk of collision of other pedestrians.
Path planning module G obtains pedestrian in longitudinal direction and the traveling scheme of distance for planning traveling path,
And the traveling scheme of pedestrian's yawing moment clockwise or counterclockwise, so as to ensure that pedestrian can walk in traveling set of paths；
Information is exported voice messaging by voice cue module H by Bluetooth of mobile phone to earphone, is pedestrian's street crossing navigation.
Refering to Fig. 6, the above-mentioned dysopia pedestrian's street crossing based on intelligent glasses guides the using method of system, tool
Body is comprised the following steps：
Step S1 pedestrian reaches street crossing region, starts to receive road information, if there is pedestrian crossing signal lamp crossing, the meeting of mobile phone 5
Receive the signal for launching equipment 1 from signal information；If without walker signal lamp control crossing, mobile phone 5 receive from
The vehicle position information that information of vehicles transmitting equipment 2 sends.
Step S2 mobile phone 5 judges whether pedestrian possesses right-of-way.If having pedestrian crossing signal lamp crossing, in mobile phone 5
The signal of equipment 1 is launched in signal processing module A process from signal information, if red light, pedestrian waits, and proceeds to step S3；
If green light, step S4 is proceeded to；If crossing is controlled without walker signal lamp, at vehicle position information processing module B in mobile phone 5
The vehicle position information that reason information of vehicles transmitting equipment 2 sends, obtains time of vehicle operation, and with first are stored into mould the time
Threshold data in block C is compared, if being more than threshold value, pedestrian can pass through, and proceed to step S4；If being less than threshold value, pedestrian
Wait, proceed to step S3.
Step S3 voice indicating module H carries the information to bluetooth earphone 44 by bluetooth, and earphone to pedestrian sends voice police
Accuse, pedestrian need to stop waiting.
The image information that shooting is obtained is transferred to hand by step S4 minisize pick-up head 42 by the first radio communication device 43
Machine 5.
Step S5 mobile phone 5 starts image information analysis, and wherein image processing module D processes image, pattern recognition module F
Identification pedestrian can traveling set of paths；The distance of pedestrian to zebra stripes both sideslWithr, pedestrian is to zebra stripes start line distancef, with
And pedestrian is in the face of direction and the horizontal drift angle of zebra stripeso；The distance between identification pedestrian and other pedestrians.
Step S6 the second judge module E judges that if so, whether pedestrian current location can be being gone in traveling set of paths
Step S7；If it is not, needing to carry out position adjustment to pedestrian, step S8 is gone to.
Information is transferred to earphone 44 by step S7 by means of voice indicating module H by bluetooth, is instructed by earphone 44 and is gone
People's traveling, and proceed to step S11 and further judged.
Step S8 path planning module G starts to plan traveling path again, draws pedestrian's parallel orientation to the left or to the right
The traveling scheme in traveling scheme or clockwise or counterclockwise direction, proceeds to step S7.
Step S9 the second judge module E judge the distance between pedestrian and other pedestrians whether beyond pedestrian impact away from
From threshold value, position adjustment is if so, carried out, go to step S8；If it is not, then going to step S10.
Whether step S10 the second judge module E judges pedestrian current location by zebra stripes, if it is not, proceeding to step
S11, while returning S4；If so, then guiding terminates.
Pedestrian position information, motor vehicle are sent on mobile phone entrained by step S11 pedestrian to the motor vehicle for just driving towards crossing
By the receive information of information of vehicles receiving device 3, the preparation avoided in advance to pedestrian is made.
Claims (2)
1. a kind of dysopia pedestrian's street crossing based on intelligent glasses guides system, it is characterised in that：The guiding system includes road
Road system indicates two parts of system with the behavior based on intelligent glasses；The roadnet by signal information launch equipment,
Information of vehicles is launched equipment and is constituted with information of vehicles receiving device；The signal information transmitting equipment is arranged on pedestrian's street crossing
On signal lamp, it is connected with semaphore, for dysopia pedestrian's sending signal lamp information；The information of vehicles transmitting equipment peace
It is mounted on motor vehicle, is connected with vehicle mounted GPS tracking equipment, for sends vehicle position information to dysopia pedestrian；The car
Information receiving device is arranged on motor vehicle, be connected with vehicle-mounted voice prompt system, for reception from dysopia pedestrian
The positional information of transmission；The behavior based on intelligent glasses indicates that system includes intelligent glasses, mobile phone；Wherein, the intelligence
Glasses include lens body, are arranged on the minisize pick-up head of lens body middle, and first be arranged in lens body is wireless
Communicator；The minisize pick-up head is used for high-definition shooting road image；First radio communication device is taken the photograph respectively with miniature
As head and mobile phone connect, for the road image that the minisize pick-up head of reception shoots to be transferred in real time in mobile phone；The mobile phone
Pass through nothing with the first radio communication device, signal information transmitting equipment, information of vehicles transmitting equipment, information of vehicles receiving device
Line signal connects, for realizing the real-time Communication for Power between traffic control, vehicle, pedestrian, and realize information pedestrian and vehicle it
Between transmission；Street crossing guide control device is provided with the mobile phone；The street crossing guide control device judges mould including right-of-way
Block, the image information analysis module being connected with right-of-way judge module, the path planning mould being connected with image information analysis module
Block, and the verbal cue module being connected with path planning module and right-of-way judge module, the voice cue module is most
Afterwards by information by the Bluetooth transmission in mobile phone to bluetooth earphone；The right-of-way judge module is by signal processing module, vehicle
Position information process module and the first judge module being connected with vehicle position information processing module are constituted；The signal transacting
Module is used to receiving and processing the signal for launching equipment from signal information, and basis signal result judges right-of-way,
I.e. red light stops, green light row；The vehicle position information processing module is used to receive and process to send out from information of vehicles transmitting equipment
The vehicle position information for going out, is travelled to the time needed for zebra stripes based on the positional information calculation vehicle of vehicle；Described first sentences
The time that disconnected module obtains vehicle position information processing module is compared with pedestrians crossing time threshold value, judges current accordingly
Power；Described image information analysis module is known by image processing module, the pattern recognition module of connection image processing module with pattern
Second judge module of other module connection is constituted；Described image processing module is used for the figure to being collected by minisize pick-up head
The reality of a certain plane epigraph under world coordinate system is obtained as carrying out inclination angle compensation and correction, Image semantic classification, IPM conversion
Coordinate；The pattern recognition module, is identified to the image information for having processed of image processing module, is used for：One is identification
Zebra stripes region, generating pedestrian can traveling set of paths；Two is identification pedestrian's current location information；Three be identification pedestrian and other
The spatial relation of pedestrian；Second judge module is used to judge the information of pattern recognition module identification, judges
Whether the traveling path of pedestrian is correct, if be present in the risk of collision of other pedestrians；The path planning module is used to plan
Traveling path, obtain pedestrian in longitudinal direction and the traveling scheme of distance, and pedestrian's yawing moment clockwise or counterclockwise
Traveling scheme, so as to ensure that pedestrian can walk in traveling set of paths；The voice cue module is blue by mobile phone by information
Tooth to earphone exports voice messaging, is pedestrian's street crossing navigation.
2. a kind of dysopia pedestrian's street crossing based on intelligent glasses according to claim 1 guides system, its feature to exist
In：Bluetooth earphone is also carried on the intelligent glasses, the bluetooth earphone is arranged on lens body leg at cochlea, passes through
Bluetooth of mobile phone receives the navigation information that mobile phone sends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710045530.1A CN106652505B (en) | 2017-01-22 | 2017-01-22 | A kind of dysopia pedestrian's street crossing guidance system based on intelligent glasses |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710045530.1A CN106652505B (en) | 2017-01-22 | 2017-01-22 | A kind of dysopia pedestrian's street crossing guidance system based on intelligent glasses |
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| CN106652505B CN106652505B (en) | 2019-01-25 |
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| CN201710045530.1A Expired - Fee Related CN106652505B (en) | 2017-01-22 | 2017-01-22 | A kind of dysopia pedestrian's street crossing guidance system based on intelligent glasses |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107456362A (en) * | 2017-07-14 | 2017-12-12 | 武汉理工大学 | A kind of blind person's trip intelligent guidance system and method |
| CN108399738A (en) * | 2018-03-15 | 2018-08-14 | 青岛智慧城市产业发展有限公司 | A kind of intelligent transportation device of assisting blind trip |
| CN109116397A (en) * | 2018-07-25 | 2019-01-01 | 吉林大学 | A kind of vehicle-mounted multi-phase machine vision positioning method, device, equipment and storage medium |
| CN112263447A (en) * | 2020-07-09 | 2021-01-26 | 长江师范学院 | Intelligent voice glasses for blind people, control method, storage medium and program |
| CN114822010A (en) * | 2021-01-22 | 2022-07-29 | 丰田自动车株式会社 | Information processing apparatus, information processing method, and computer program |
| WO2023197913A1 (en) * | 2022-04-13 | 2023-10-19 | 华为技术有限公司 | Image processing method and related device |
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| Publication number | Publication date |
|---|---|
| CN106652505B (en) | 2019-01-25 |
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