CN110988944A - Blind guiding method and system based on satellite navigation - Google Patents
Blind guiding method and system based on satellite navigation Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- H04W—WIRELESS COMMUNICATION NETWORKS
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- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
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Abstract
The invention discloses a blind guiding method and a blind guiding system based on satellite navigation. In the invention: the CPU carries out information interaction with the head-mounted equipment through the communication chip; the voice recognition IC recognizes and converts voice information of a user into a character instruction and transmits the character instruction to the CPU; the CPU combines the navigation APP to form navigation data according to the destination address information transmitted by the voice recognition IC; and then the navigation APP carries out phonization processing on the navigation data and outputs the processed navigation data through the audio output module. The invention identifies the destination instruction information of the user through the voice identification IC, positions the user in real time through the GPS positioning chip, provides real-time navigation information through the navigation APP, converts the navigation information into voice to guide the blind person, and is convenient for identification operation by arranging operation keyboards with different shapes.
Description
Technical Field
The invention belongs to the technical field of navigation systems, and particularly relates to a blind guiding method and system based on satellite navigation.
Background
At present, the navigation problem of the traveling of the blind and the visually impaired people is always a big problem. The existing blind people go out and mostly navigate through the following ways: 1) arranging family relatives and friends or volunteers to accompany for delivery; the method needs a specially-assigned person to accompany and send for a long time, and occupies large human resources; 2) the method comprises the following steps of (1) prompting by blind roads, traffic lights and voices; the method needs the government to perfect related public facilities, and in addition, in consideration of the current inundation of the shared single vehicles, a large number of shared single vehicles are parked on a plurality of roads, and blind roads are not available generally. 3) Adopting guide dogs and other modes; the method is high in cost, one professional blind guiding dog needs 20-30 thousands, and the blind guiding dog cannot be trained in batches at present at home, so that the method is valuable and marketable. 4) And adopting modes of a blind guiding walking stick and the like. The method has low cost but limited effect, can confirm whether the front is obstructed by the blind who knocks the front road for many times, has no navigation and recognition capability, and needs to ask a road all the time.
In order to solve the problem, a blind guiding method and a system based on satellite navigation are provided, user instructions are identified through a voice identification IC, satellite positioning navigation is carried out through a GPS positioning chip, positioning precision is improved, voice navigation information is improved through a navigation APP, and the blind person can conveniently travel and navigate.
Disclosure of Invention
The invention aims to provide a blind guiding method and a system thereof based on satellite navigation, which are characterized in that destination instruction information of a user is identified through a voice identification IC, the user is positioned in real time through a GPS positioning chip, navigation information is converted into voice through a navigation APP to guide the blind, and the blind is conveniently identified by arranging operation keyboards with different shapes.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a blind guiding system based on satellite navigation, which comprises a mobile terminal, wherein the mobile terminal comprises a CPU, a GPS positioning chip, a microphone, a voice recognition IC, a sound and a communication network;
the CPU is in communication connection with a navigation APP; the navigation APP is used for providing navigation information and voice reminding information; the CPU is in communication connection with the GPS positioning chip through a wire, and the GPS positioning chip provides positioning information for the CPU; the CPU carries out information interaction with the head-mounted equipment through the communication chip; the CPU is also connected with an operation keyboard, and the operation keyboard transmits a confirmation/cancellation signal to the CPU; the CPU is connected with the memory, and voice data, off-line map data and navigation record data are stored in the memory; the navigation APP calls voice data in the memory to play during navigation, and records are stored in the memory after navigation is completed;
the microphone is in communication connection with the voice recognition IC through a wire, and the voice recognition IC is in communication connection with the CPU through a wire.
Furthermore, the head-mounted equipment can be used for tightening or loosening a head band, a micro camera and a laser range finder are arranged in the head band, and the micro camera is in communication connection with the MCU through a wire; the laser range finder is in communication connection with the MCU;
the voice recognition IC adopts a voice recognition chip with an NKR10 model;
the communication network is a Zigbee wireless communication network, and the information interaction is carried out between the CPU and the MCU through the Zigbee wireless communication network.
Further, the miniature camera is used for obtaining the image information in the front of the user and transmitting the image information to the MCU, the MCU informs the user of avoiding when encountering obstacles in the front, and the specific obstacle judgment mode is as follows:
the method comprises the following steps: acquiring image information of all objects in front of the camera;
step two: measuring the distance between any object and the user by using a laser range finder;
step three: when the distance is smaller and smaller, an attention signal is generated, and whether the object belongs to a static state or a dynamic state is distinguished, wherein the specific distinguishing method comprises the following steps:
s10: randomly acquiring two pictures of an object separated by preset time T1; the T1 time is preset by a manager, is not too long, and keeps the backgrounds of the two pictures basically similar as much as possible; calibrating a front picture as a comparison picture and calibrating a rear picture as a real picture;
s20: the contrast graph and the real graph are subjected to contouring, namely contour lines of the contrast graph and the real graph are obtained; comparing the two contour lines to obtain the area of the non-overlapped part of the two contour lines, and marking the area with the difference area;
s30: when the differential area exceeds X2, a dynamic signal is generated; otherwise, generating a static signal; x2 is user set point;
step four: generating a pause avoidance signal when a dynamic signal is generated;
step five: generating a bypass signal when the static signal is generated;
the MCU is used for transmitting a pause avoidance signal and a detour signal to the CPU through a communication network, and the CPU drives and influences to send a 'front incoming object, please pause avoidance' when receiving the pause avoidance signal transmitted by the MCU;
when receiving the bypass signal transmitted by the MCU, the CPU drives and influences the sending of 'a front fixed obstacle, please bypass'.
Further, the microphone collects user audio information and transmits the user audio information to the voice recognition IC, and the voice recognition IC recognizes and converts the user voice information into a character instruction and transmits the character instruction to the CPU; the CPU transmits the destination address information transmitted by the voice recognition IC to a navigation APP;
the navigation APP automatically forms navigation data according to the destination address information, and the navigation data are subjected to phonation processing and transmitted to the CPU, and are output through the audio output module; the CPU is also connected with a vibrator.
Further, the mobile terminal adopts a mobile phone or a smart watch; the mobile terminal is connected with a power supply, and the power supply supplies power to the mobile terminal.
Furthermore, the audio output module is connected with an earphone; the user receives the navigation information through the headset.
Further, the operation keyboard is two keys with different shapes and is used for inputting instruction information of determination/cancellation.
Further, the CPU controls the switch of the vibrator, and when the user needs to turn or stop or turn around, the CPU controls the vibrator to vibrate.
A blind guiding method based on satellite navigation comprises the following steps:
the method comprises the following steps: destination acquisition and determination
SS01, inputting destination name by microphone by user, and recognizing the destination name transmitted by microphone and transmitting to CPU by voice recognition IC; the CPU transmits the destination name to a navigation APP to automatically form navigation data;
SS02, the navigation APP outputs the destination position information through the audio output module and waits for confirmation, if the user confirms the destination position information and inputs a confirmation instruction through the operation keyboard, the second step is carried out, and if the user negates the destination position information and inputs a cancellation instruction through the operation keyboard, the steps are repeated;
step two: route planning
After a user determines destination position information, the CPU sends the destination position information and positioning information transmitted by a GPS positioning chip to a navigation APP, the navigation APP provides navigation data according to the destination position information and the positioning information provided by the CPU, and the navigation data are transmitted to the mobile terminal;
step three: navigation directions
When the CPU receives navigation data transmitted by the navigation APP, the navigation APP is driven to convert the navigation data into audio data, the audio data are output through the audio output module in real time, a user can listen to the navigation data through the earphone and then move, and when the navigation APP turns around or stops or turns around, the CPU controls the vibrator to vibrate;
the head-mounted equipment is used for judging a front object in the advancing process so as to avoid the obstacle;
step three: navigation completion
After the user arrived the destination, GPS positioning chip with signal transmission to CPU, CPU with signal transmission to navigation APP, navigation APP passes through audio output module output audio frequency and reminds the user to with the navigation record storage in the memory.
The invention has the following beneficial effects:
the invention identifies the destination instruction information of the user through the voice identification IC, positions the user in real time through the GPS positioning chip, provides real-time navigation information through the navigation APP, converts the navigation information into voice to guide the blind person, and is convenient for identification operation by arranging operation keyboards with different shapes.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a system diagram of a blind guiding system based on satellite navigation according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the invention is a blind guiding system based on satellite navigation, comprising a mobile terminal, wherein the mobile terminal comprises a CPU, a GPS positioning chip, a microphone, a voice recognition IC, a sound and a communication network;
the CPU is in communication connection with a navigation APP; the navigation APP is used for providing navigation information and voice reminding information; the CPU is in communication connection with the GPS positioning chip through a wire, and the GPS positioning chip provides positioning information for the CPU; the CPU carries out information interaction with the head-mounted equipment through the communication chip; the CPU is also connected with an operation keyboard, and the operation keyboard transmits a confirmation/cancellation signal to the CPU; the CPU is connected with the memory, and voice data, off-line map data and navigation record data are stored in the memory; the navigation APP calls voice data in the memory to play during navigation, and records are stored in the memory after navigation is completed;
the microphone is in communication connection with the voice recognition IC through a wire, and the voice recognition IC is in communication connection with the CPU through a wire.
The head-mounted equipment can be used for tightening or loosening a head band, a micro camera and a laser range finder are arranged in the head band, and the micro camera is in communication connection with the MCU through a lead; the laser range finder is in communication connection with the MCU;
the voice recognition IC adopts a voice recognition chip with an NKR10 model;
the communication network is a Zigbee wireless communication network, and the information interaction is carried out between the CPU and the MCU through the Zigbee wireless communication network.
Wherein, miniature camera is used for acquireing the image information in the positive place ahead of user to transmit image information to MCU, MCU notifies the user to notice when meeting the barrier in the front and dodges, specifically judges the barrier mode as follows:
the method comprises the following steps: acquiring image information of all objects in front of the camera;
step two: measuring the distance between any object and the user by using a laser range finder;
step three: when the distance is smaller and smaller, an attention signal is generated, and whether the object belongs to a static state or a dynamic state is distinguished, wherein the specific distinguishing method comprises the following steps:
s10: randomly acquiring two pictures of an object separated by preset time T1; the T1 time is preset by a manager, is not too long, and keeps the backgrounds of the two pictures basically similar as much as possible; calibrating a front picture as a comparison picture and calibrating a rear picture as a real picture;
s20: the contrast graph and the real graph are subjected to contouring, namely contour lines of the contrast graph and the real graph are obtained; comparing the two contour lines to obtain the area of the non-overlapped part of the two contour lines, and marking the area with the difference area;
s30: when the differential area exceeds X2, a dynamic signal is generated; otherwise, generating a static signal; x2 is user set point;
step four: generating a pause avoidance signal when a dynamic signal is generated;
step five: generating a bypass signal when the static signal is generated;
the MCU is used for transmitting a pause avoidance signal and a detour signal to the CPU through a communication network, and the CPU drives and influences to send a 'front incoming object, please pause avoidance' when receiving the pause avoidance signal transmitted by the MCU;
when receiving the bypass signal transmitted by the MCU, the CPU drives and influences the sending of 'a front fixed obstacle, please bypass'.
The microphone collects user audio information and transmits the user audio information to the voice recognition IC, and the voice recognition IC recognizes and converts the user voice information into a character instruction and transmits the character instruction to the CPU; the CPU transmits the destination address information transmitted by the voice recognition IC to a navigation APP;
the navigation APP automatically forms navigation data according to the destination address information, and the navigation data are subjected to phonation processing and transmitted to the CPU, and are output through the audio output module; the CPU is also connected with a vibrator.
The mobile terminal adopts a mobile phone or a smart watch; the mobile terminal is connected with a power supply, and the power supply supplies power to the mobile terminal.
The audio output module is connected with an earphone; the user receives the navigation information through the headset.
The operation keyboard is two keys with different shapes and is used for inputting instruction information of determination/cancellation.
The CPU controls the switch of the vibrator, and when a user needs to turn or stop or turn around, the CPU controls the vibrator to vibrate.
A blind guiding method based on satellite navigation comprises the following steps:
the method comprises the following steps: destination acquisition and determination
SS01, inputting destination name by microphone by user, and recognizing the destination name transmitted by microphone and transmitting to CPU by voice recognition IC; the CPU transmits the destination name to a navigation APP to automatically form navigation data;
SS02, the navigation APP outputs the destination position information through the audio output module and waits for confirmation, if the user confirms the destination position information and inputs a confirmation instruction through the operation keyboard, the second step is carried out, and if the user negates the destination position information and inputs a cancellation instruction through the operation keyboard, the steps are repeated;
step two: route planning
After a user determines destination position information, the CPU sends the destination position information and positioning information transmitted by a GPS positioning chip to a navigation APP, the navigation APP provides navigation data according to the destination position information and the positioning information provided by the CPU, and the navigation data are transmitted to the mobile terminal;
step three: navigation directions
When the CPU receives navigation data transmitted by the navigation APP, the navigation APP is driven to convert the navigation data into audio data, the audio data are output through the audio output module in real time, a user can listen to the navigation data through the earphone and then move, and when the navigation APP turns around or stops or turns around, the CPU controls the vibrator to vibrate;
the head-mounted equipment is used for judging a front object in the advancing process so as to avoid the obstacle;
step three: navigation completion
After the user arrived the destination, GPS positioning chip with signal transmission to CPU, CPU with signal transmission to navigation APP, navigation APP passes through audio output module output audio frequency and reminds the user to with the navigation record storage in the memory.
It should be noted that, in the above system embodiment, each included unit is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
In addition, it can be understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above can be implemented by instructing the relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (9)
1. A blind guiding system based on satellite navigation is characterized by comprising a mobile terminal, wherein the mobile terminal comprises a CPU, a GPS positioning chip, a microphone, a voice recognition IC, a sound and a communication network;
the CPU is in communication connection with a navigation APP; the navigation APP is used for providing navigation information and voice reminding information; the CPU is in communication connection with the GPS positioning chip through a wire, and the GPS positioning chip provides positioning information for the CPU; the CPU carries out information interaction with the head-mounted equipment through the communication chip; the CPU is also connected with an operation keyboard, and the operation keyboard transmits a confirmation/cancellation signal to the CPU; the CPU is connected with the memory, and voice data, off-line map data and navigation record data are stored in the memory; the navigation APP calls voice data in the memory to play during navigation, and records are stored in the memory after navigation is completed;
the microphone is in communication connection with the voice recognition IC through a wire, and the voice recognition IC is in communication connection with the CPU through a wire.
2. The blind guiding system based on satellite navigation is characterized in that the head-mounted equipment can be used for loosening and tightening a head band, a micro camera and a laser range finder are arranged in the head band, and the micro camera is in communication connection with an MCU (micro control unit) through a lead; the laser range finder is in communication connection with the MCU;
the voice recognition IC adopts a voice recognition chip with an NKR10 model;
the communication network is a Zigbee wireless communication network, and the information interaction is carried out between the CPU and the MCU through the Zigbee wireless communication network.
3. The system of claim 2, wherein the micro-camera is configured to obtain image information directly in front of the user and transmit the image information to the MCU, and the MCU notifies the user of avoiding when an obstacle is encountered, and the specific obstacle determination method is as follows:
the method comprises the following steps: acquiring image information of all objects in front of the camera;
step two: measuring the distance between any object and the user by using a laser range finder;
step three: when the distance is smaller and smaller, an attention signal is generated, and whether the object belongs to a static state or a dynamic state is distinguished, wherein the specific distinguishing method comprises the following steps:
s10: randomly acquiring two pictures of an object separated by preset time T1; the T1 time is preset by a manager, is not too long, and keeps the backgrounds of the two pictures basically similar as much as possible; calibrating a front picture as a comparison picture and calibrating a rear picture as a real picture;
s20: the contrast graph and the real graph are subjected to contouring, namely contour lines of the contrast graph and the real graph are obtained; comparing the two contour lines to obtain the area of the non-overlapped part of the two contour lines, and marking the area with the difference area;
s30: when the differential area exceeds X2, a dynamic signal is generated; otherwise, generating a static signal; x2 is user set point;
step four: generating a pause avoidance signal when a dynamic signal is generated;
step five: generating a bypass signal when the static signal is generated;
the MCU is used for transmitting a pause avoidance signal and a detour signal to the CPU through a communication network, and the CPU drives and influences to send a 'front incoming object, please pause avoidance' when receiving the pause avoidance signal transmitted by the MCU;
when receiving the bypass signal transmitted by the MCU, the CPU drives and influences the sending of 'a front fixed obstacle, please bypass'.
4. The blind guiding system based on satellite navigation is characterized in that the microphone collects user audio information and transmits the user audio information to the voice recognition IC, and the voice recognition IC recognizes and converts the user voice information into text instructions to transmit the text instructions to the CPU; the CPU transmits the destination address information transmitted by the voice recognition IC to a navigation APP;
the navigation APP automatically forms navigation data according to the destination address information, and the navigation data are subjected to phonation processing and transmitted to the CPU, and are output through the audio output module; the CPU is also connected with a vibrator.
5. The blind guiding system based on satellite navigation is characterized in that the mobile terminal adopts a mobile phone or a smart watch; the mobile terminal is connected with a power supply, and the power supply supplies power to the mobile terminal.
6. The system of claim 1, wherein the audio output module is connected to an earphone; the user receives the navigation information through the headset.
7. The system according to claim 1, wherein the operation keyboard is two keys with different shapes for inputting instruction information of determination/cancellation.
8. The system according to claim 1, wherein the CPU controls the vibrator to turn on or off, and when the user needs to turn or stop or turn around, the CPU controls the vibrator to vibrate.
9. A blind guiding method based on satellite navigation is characterized by comprising the following steps:
the method comprises the following steps: destination acquisition and determination
SS01, inputting destination name by microphone by user, and recognizing the destination name transmitted by microphone and transmitting to CPU by voice recognition IC; the CPU transmits the destination name to a navigation APP to automatically form navigation data;
SS02, the navigation APP outputs the destination position information through the audio output module and waits for confirmation, if the user confirms the destination position information and inputs a confirmation instruction through the operation keyboard, the second step is carried out, and if the user negates the destination position information and inputs a cancellation instruction through the operation keyboard, the steps are repeated;
step two: route planning
After a user determines destination position information, the CPU sends the destination position information and positioning information transmitted by a GPS positioning chip to a navigation APP, the navigation APP provides navigation data according to the destination position information and the positioning information provided by the CPU, and the navigation data are transmitted to the mobile terminal;
step three: navigation directions
When the CPU receives navigation data transmitted by the navigation APP, the navigation APP is driven to convert the navigation data into audio data, the audio data are output through the audio output module in real time, a user can listen to the navigation data through the earphone and then move, and when the navigation APP turns around or stops or turns around, the CPU controls the vibrator to vibrate;
the head-mounted equipment is used for judging a front object in the advancing process so as to avoid the obstacle;
step three: navigation completion
After the user arrived the destination, GPS positioning chip with signal transmission to CPU, CPU with signal transmission to navigation APP, navigation APP passes through audio output module output audio frequency and reminds the user to with the navigation record storage in the memory.
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