CN110988944B - Blind guiding method and system based on satellite navigation - Google Patents

Blind guiding method and system based on satellite navigation Download PDF

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CN110988944B
CN110988944B CN201911151380.8A CN201911151380A CN110988944B CN 110988944 B CN110988944 B CN 110988944B CN 201911151380 A CN201911151380 A CN 201911151380A CN 110988944 B CN110988944 B CN 110988944B
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signal
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CN110988944A (en
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芦伟
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Sound Technology Chongqing Co ltd
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Sound Technology Chongqing Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/60—Subscription-based services using application servers or record carriers, e.g. SIM application toolkits
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Veterinary Medicine (AREA)
  • Automation & Control Theory (AREA)
  • Computational Linguistics (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
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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 following components are added: the CPU performs information interaction with the head-mounted device through the communication chip; the voice recognition IC recognizes and converts voice information of a user into a text instruction and transmits the text 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 the navigation APP carries out voice processing on the navigation data and outputs the voice processing result through the audio output module. According to the invention, the destination instruction information of the user is identified through the voice identification IC, the user is positioned in real time through the GPS positioning chip, the real-time navigation information is provided through the navigation APP, meanwhile, the navigation information is converted into voice to guide the blind person, and the voice identification IC is convenient to use for identification operation through setting operation keyboards with different shapes.

Description

Blind guiding method and system based on satellite navigation
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 blind and visually impaired people going out is always a big problem. The prior travel of the blind is mostly conducted by the following ways: 1) Arranging family relatives and friends or volunteers to accompany and send; the method needs special people to accompany and pick up for a long time, and the occupied manpower resource is large; 2) Through the modes of blind sidewalk, traffic light voice prompt and the like; this approach requires government perfection of the relevant utilities and additionally, in view of the current flooding of shared bicycles, the stopping of large numbers of shared bicycles on many roads, blind roads, has become generally unavailable. 3) Adopting a guide dog and other modes; the method has higher cost, 20-30 ten thousand of special guide dogs are needed, and the batch training of the guide dogs cannot be realized at present in China, so that the method is valuable and has no market. 4) Adopts the modes of a blind guiding walking stick and the like. The method has low cost, but has limited effect, and the blind person needs to strike the road surface in front for many times to confirm whether the road surface in front is obstructed or not, and has no navigation and recognition capability and needs to always ask the road.
In order to solve the problem, the blind guiding method and the system based on satellite navigation are provided, the user instruction is identified through the voice recognition IC, the satellite positioning navigation is performed through the GPS positioning chip, the positioning precision is improved, the voice navigation information is improved through the navigation APP, and the travel navigation problem of the blind is facilitated.
Disclosure of Invention
The invention aims to provide a blind guiding method and a blind guiding system based on satellite navigation, which are used for identifying destination instruction information of a user through a voice identification IC, positioning the user in real time through a GPS positioning chip, converting navigation information into voice through a navigation APP to guide the blind, and conveniently performing identification operation 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 the 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 performs 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/cancel signal to the CPU; the CPU is connected with the memory, and voice data, offline map data and navigation record data are stored in the memory; the navigation APP calls voice data in the memory to play when navigating, and records are stored in the memory after navigating;
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.
Further, the head-mounted device can be tightened, a miniature camera and a laser range finder are arranged in the head-mounted device, and the miniature 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 of NKR10 model;
the communication network is a Zigbee wireless communication network, and information interaction is carried out between the CPU and the MCU through the Zigbee wireless communication network.
Further, the miniature camera is used for acquiring image information right in front of a user and transmitting the image information to the MCU, and the MCU informs the user to pay attention to avoiding when the front meets the obstacle, and the specific obstacle judging mode is as follows:
step one: acquiring image information of all objects right in front;
step two: measuring the distance between any object and the user by using a laser range finder;
step three: when the distance is smaller, an attention signal is generated, and the object is distinguished to be static or dynamic, and the specific distinguishing method is as follows:
s10: two pictures of an object at intervals of preset time T1 are arbitrarily acquired; the time T1 is preset by a manager, is not suitable for overlong, and keeps the backgrounds of the two pictures basically similar as far as possible; calibrating a preceding picture as a comparison picture and calibrating a following picture as a real picture;
s20: outlining the comparison graph and the real graph to obtain the contour lines of the comparison graph and the real graph; comparing the contour lines of the two to obtain the area of the non-overlapping part of the two, and marking the area with different areas;
s30: generating a dynamic signal when the differential area exceeds X2; otherwise, generating a static signal; x2 is a user set value;
step four: generating a pause avoidance signal when generating the dynamic signal;
step five: generating a bypass signal when generating the static signal;
the MCU is used for transmitting a pause avoidance signal and a detour signal to the CPU through the communication network, and the CPU can drive and influence to send a front object when receiving the pause avoidance signal transmitted by the MCU, and please pause avoidance;
the CPU can drive to influence to send a front fixed obstacle and ask to bypass when receiving a bypass signal transmitted by the MCU.
Further, the microphone collects the audio information of the user and transmits the audio information to the voice recognition IC, and the voice recognition IC recognizes and converts the voice information of the user into a text instruction and transmits the text instruction to the CPU; the CPU transmits the destination address information transmitted by the voice recognition IC to the navigation APP;
the navigation APP automatically forms navigation data according to the destination address information, carries out phonetic processing on the navigation data, transmits the navigation data to the CPU, and outputs the navigation data 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.
Further, the audio output module is connected with the earphone; the user receives the navigation information through the earphone.
Further, the operation keyboard is provided with two keys with different shapes and is used for inputting determined/cancelled instruction information.
Further, 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, comprising the following steps:
step one: destination acquisition and determination
The SS01, the user inputs the destination name through the microphone, the said voice recognition IC recognizes the destination name that the microphone transmits and transmits to CPU; the CPU transmits the destination name to a navigation APP, and navigation data is automatically formed;
the SS02 outputs the destination position information through the audio output module, waits for confirmation, and if the user determines the destination position information and then inputs a determination instruction through the operation keyboard, the step two is carried out, and if the user inputs a cancellation instruction through the operation keyboard after negating the destination position information, the steps are repeated;
step two: route planning
After the user determines the destination position information, the CPU sends the destination position information and the positioning information transmitted by the GPS positioning chip to a navigation APP, and the navigation APP provides navigation data according to the destination position information and the positioning information provided by the CPU and transmits the navigation data to the mobile terminal;
step three: navigation guidance
When the CPU receives navigation data transmitted by the navigation APP, the CPU drives the navigation APP to convert the navigation data into audio data, the audio data is output through the audio output module in real time, a user listens to the navigation data through the earphone and then moves, and when the navigation APP turns around or stops or turns around, the CPU controls the vibrator to vibrate;
judging a front object through the head-mounted device in the running process, and avoiding an obstacle;
step three: navigation completion
After the user arrives at the destination, the GPS positioning chip transmits signals to the CPU, the CPU transmits signals to the navigation APP, and the navigation APP outputs audio through the audio output module to remind the user and stores the navigation record in the memory.
The invention has the following beneficial effects:
according to the invention, the destination instruction information of the user is identified through the voice identification IC, the user is positioned in real time through the GPS positioning chip, the real-time navigation information is provided through the navigation APP, meanwhile, the navigation information is converted into voice to guide the blind person, and the voice identification IC is convenient to use for identification operation through setting operation keyboards with different shapes.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a system diagram of a blind guiding system based on satellite navigation according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention discloses 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 the 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 performs 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/cancel signal to the CPU; the CPU is connected with the memory, and voice data, offline map data and navigation record data are stored in the memory; the navigation APP calls voice data in the memory to play when navigating, and records are stored in the memory after navigating;
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 device can tighten and loosen the head hoop, a miniature camera and a laser range finder are arranged in the head hoop, and the miniature 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 of NKR10 model;
the communication network is a Zigbee wireless communication network, and information interaction is carried out between the CPU and the MCU through the Zigbee wireless communication network.
The miniature camera is used for acquiring image information in front of a user and transmitting the image information to the MCU, and the MCU informs the user to pay attention to avoiding when the front obstacle is met, and the specific obstacle judging mode is as follows:
step one: acquiring image information of all objects right in front;
step two: measuring the distance between any object and the user by using a laser range finder;
step three: when the distance is smaller, an attention signal is generated, and the object is distinguished to be static or dynamic, and the specific distinguishing method is as follows:
s10: two pictures of an object at intervals of preset time T1 are arbitrarily acquired; the time T1 is preset by a manager, is not suitable for overlong, and keeps the backgrounds of the two pictures basically similar as far as possible; calibrating a preceding picture as a comparison picture and calibrating a following picture as a real picture;
s20: outlining the comparison graph and the real graph to obtain the contour lines of the comparison graph and the real graph; comparing the contour lines of the two to obtain the area of the non-overlapping part of the two, and marking the area with different areas;
s30: generating a dynamic signal when the differential area exceeds X2; otherwise, generating a static signal; x2 is a user set value;
step four: generating a pause avoidance signal when generating the dynamic signal;
step five: generating a bypass signal when generating the static signal;
the MCU is used for transmitting a pause avoidance signal and a detour signal to the CPU through the communication network, and the CPU can drive and influence to send a front object when receiving the pause avoidance signal transmitted by the MCU, and please pause avoidance;
the CPU can drive to influence to send a front fixed obstacle and ask to bypass when receiving a bypass signal transmitted by the MCU.
The microphone collects the audio information of the user and transmits the audio information to the voice recognition IC, and the voice recognition IC recognizes and converts the voice information of the user into a text instruction and transmits the text instruction to the CPU; the CPU transmits the destination address information transmitted by the voice recognition IC to the navigation APP;
the navigation APP automatically forms navigation data according to the destination address information, carries out phonetic processing on the navigation data, transmits the navigation data to the CPU, and outputs the navigation data through the audio output module; the CPU is also connected with a vibrator.
The mobile terminal adopts a mobile phone or an intelligent watch; the mobile terminal is connected with a power supply, and the power supply supplies power to the mobile terminal.
Wherein the audio output module is connected with the earphone; the user receives the navigation information through the earphone.
The operation keyboard is provided with two keys with different shapes and is used for inputting determined/cancelled instruction information.
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, comprising the following steps:
step one: destination acquisition and determination
The SS01, the user inputs the destination name through the microphone, the said voice recognition IC recognizes the destination name that the microphone transmits and transmits to CPU; the CPU transmits the destination name to a navigation APP, and navigation data is automatically formed;
the SS02 outputs the destination position information through the audio output module, waits for confirmation, and if the user determines the destination position information and then inputs a determination instruction through the operation keyboard, the step two is carried out, and if the user inputs a cancellation instruction through the operation keyboard after negating the destination position information, the steps are repeated;
step two: route planning
After the user determines the destination position information, the CPU sends the destination position information and the positioning information transmitted by the GPS positioning chip to a navigation APP, and the navigation APP provides navigation data according to the destination position information and the positioning information provided by the CPU and transmits the navigation data to the mobile terminal;
step three: navigation guidance
When the CPU receives navigation data transmitted by the navigation APP, the CPU drives the navigation APP to convert the navigation data into audio data, the audio data is output through the audio output module in real time, a user listens to the navigation data through the earphone and then moves, and when the navigation APP turns around or stops or turns around, the CPU controls the vibrator to vibrate;
judging a front object through the head-mounted device in the running process, and avoiding an obstacle;
step three: navigation completion
After the user arrives at the destination, the GPS positioning chip transmits signals to the CPU, the CPU transmits signals to the navigation APP, and the navigation APP outputs audio through the audio output module to remind the user and stores the navigation record in the memory.
It should be noted that, in the above system embodiment, each unit included is only divided according to the functional logic, but not limited to the above division, so long as the corresponding function can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
In addition, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program to instruct related hardware, and the corresponding program may be stored in a computer readable storage medium, such as a ROM/RAM, a magnetic disk or an optical disk, etc.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form 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 understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims (6)

1. The 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 the 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 performs 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/cancel signal to the CPU; the CPU is connected with the memory, and voice data, offline map data and navigation record data are stored in the memory; the navigation APP calls voice data in the memory to play when navigating, and records are stored in the memory after navigating;
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 tighten and loosen the head hoop, a miniature camera and a laser range finder are arranged in the head hoop, and the miniature 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 of NKR10 model;
the communication network is a Zigbee wireless communication network, and information interaction is carried out between the CPU and the MCU through the Zigbee wireless communication network;
the miniature camera is used for acquiring image information in front of a user and transmitting the image information to the MCU, and the MCU informs the user to pay attention to avoid when the front obstacle is met, and the specific obstacle judging mode is as follows:
step one: acquiring image information of all objects right in front;
step two: measuring the distance between any object and the user by using a laser range finder;
step three: when the distance is smaller, an attention signal is generated, and the object is distinguished to be static or dynamic, and the specific distinguishing method is as follows:
s10: two pictures of an object at intervals of preset time T1 are arbitrarily acquired; the time T1 is preset by a manager, is not suitable for overlong, and keeps the backgrounds of the two pictures basically similar as far as possible; calibrating a preceding picture as a comparison picture and calibrating a following picture as a real picture;
s20: outlining the comparison graph and the real graph to obtain the contour lines of the comparison graph and the real graph; comparing the contour lines of the two to obtain the area of the non-overlapping part of the two, and marking the area with different areas;
s30: generating a dynamic signal when the differential area exceeds X2; otherwise, generating a static signal; x2 is a user set value;
step four: generating a pause avoidance signal when generating the dynamic signal;
step five: generating a bypass signal when generating the static signal;
the MCU is used for transmitting a pause avoidance signal and a detour signal to the CPU through the communication network, and the CPU can drive and influence to send a front object when receiving the pause avoidance signal transmitted by the MCU, and please pause avoidance;
the CPU can drive the influence to send a front fixed obstacle and bypass when receiving a bypass signal transmitted by the MCU;
the microphone collects the audio information of the user and transmits the audio information to the voice recognition IC, and the voice recognition IC recognizes and converts the voice information of the user into a text instruction and transmits the text instruction to the CPU; the CPU transmits the destination address information transmitted by the voice recognition IC to the navigation APP;
the navigation APP automatically forms navigation data according to the destination address information, carries out phonetic processing on the navigation data, transmits the navigation data to the CPU, and outputs the navigation data through the audio output module; the CPU is also connected with a vibrator.
2. The satellite navigation-based blind guiding system according to claim 1, wherein the mobile terminal is 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.
3. The satellite navigation-based blind guiding system of claim 1 wherein the audio output module is coupled to headphones; the user receives the navigation information through the earphone.
4. The satellite navigation-based blind guiding system according to claim 1, wherein the operation keyboard is two keys with different shapes for inputting the determined/cancelled instruction information.
5. The satellite navigation-based blind guiding system according to claim 1, wherein the CPU controls the on-off of the vibrator, and the CPU controls the vibrator to vibrate when a user needs to turn or stop or turn around.
6. A satellite navigation-based blind guiding method, which is characterized by comprising the following steps:
step A: destination acquisition and determination
The SS01, the user inputs the destination name through the microphone, the voice recognition IC recognizes the destination name transmitted by the microphone and transmits the destination name to the CPU; the CPU transmits the destination name to a navigation APP, and navigation data is automatically formed;
the SS02 outputs the destination position information through the audio output module, waits for confirmation, and if the user determines the destination position information and then inputs a determination instruction through the operation keyboard, the step B is performed, and if the user negates the destination position information and then inputs a cancellation instruction through the operation keyboard, the steps are repeated;
and (B) step (B): route planning
After the user determines the destination position information, the CPU sends the destination position information and the positioning information transmitted by the GPS positioning chip to a navigation APP, and the navigation APP provides navigation data according to the destination position information and the positioning information provided by the CPU and transmits the navigation data to the mobile terminal;
step C: navigation guidance
When the CPU receives navigation data transmitted by the navigation APP, the CPU drives the navigation APP to convert the navigation data into audio data, the audio data is output through the audio output module in real time, a user listens to the navigation data through the earphone and then moves, and when the navigation APP turns around or stops or turns around, the CPU controls the vibrator to vibrate;
judging a front object through the head-mounted device in the running process, and avoiding an obstacle;
the specific obstacle determination mode is as follows:
step C1: acquiring image information of all objects right in front;
step C2: measuring the distance between any object and the user by using a laser range finder;
step C3: when the distance is smaller, an attention signal is generated, and the object is distinguished to be static or dynamic, and the specific distinguishing method is as follows:
c301: two pictures of an object at intervals of preset time T1 are arbitrarily acquired; the time T1 is preset by a manager, is not suitable for overlong, and keeps the backgrounds of the two pictures basically similar as far as possible; calibrating a preceding picture as a comparison picture and calibrating a following picture as a real picture;
c302: outlining the comparison graph and the real graph to obtain the contour lines of the comparison graph and the real graph; comparing the contour lines of the two to obtain the area of the non-overlapping part of the two, and marking the area with different areas;
c303: generating a dynamic signal when the differential area exceeds X2; otherwise, generating a static signal; x2 is a user set value;
step C4: generating a pause avoidance signal when generating the dynamic signal;
step C5: generating a bypass signal when generating the static signal;
the MCU is used for transmitting a pause avoidance signal and a detour signal to the CPU through the communication network, and the CPU can drive and influence to send a front object when receiving the pause avoidance signal transmitted by the MCU, please pause avoidance;
the CPU can drive the influence to send a front fixed obstacle and bypass when receiving a bypass signal transmitted by the MCU;
step D: navigation completion
After the user arrives at the destination, the GPS positioning chip transmits signals to the CPU, the CPU transmits signals to the navigation APP, and the navigation APP outputs audio through the audio output module to remind the user and stores the navigation record in the memory.
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