CN202011393U - Full-automatic manned guide vehicle based on image recognition technology - Google Patents
Full-automatic manned guide vehicle based on image recognition technology Download PDFInfo
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- CN202011393U CN202011393U CN2011200564754U CN201120056475U CN202011393U CN 202011393 U CN202011393 U CN 202011393U CN 2011200564754 U CN2011200564754 U CN 2011200564754U CN 201120056475 U CN201120056475 U CN 201120056475U CN 202011393 U CN202011393 U CN 202011393U
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Abstract
A full-automatic manned guide vehicle based on the image recognition technology belongs to the field of disabled special vehicles and comprises a blind sidewalk recognition system, a voice navigation system, a central control system and a power system; and the central control system controls the motion modes of the power system according to the built-in control strategy of the central control system on the basis of the system information transmitted by the blind sidewall recognition system and the voice navigation system. The image recognition technology is adopted for blind sidewalk detection and location, so the safety and veracity of the driving route are ensured; the remote control function and the conversation function of a GPRS (general packet radio service) communication module are utilized to ensure the driving safety of the blind in case of emergency; the driving route can be set freely through a GPS (global positioning system) voice navigation module; and the full-automatic manned guide vehicle based on the image recognition technology adopts a more intelligent control method, greatly improves the current going out situation of the blind, also improves the quality of life of the blind and is an ideal guide vehicle for the disabled and normal olds to drive.
Description
Technical field
The utility model relates to a kind of full automaticity based on image recognition technology can manned guide vehicle, belongs to the special-purpose field of vehicles of disabled person.
Background technology
Along with the continuous progress of science and technology and human civilization, the disabled person has the right to enjoy a series of useful achievement that modernized science and technology is brought.As the blind person, the variation that comes this world of personal experiences by the achievement that modern science and technology is created of more should having an opportunity.Early stage guide measure mostly is seeing-eye dog and blind guiding stick; Later stage, guide glasses and guide robot were also towards blind person customer along with development in science and technology.Also in the serial of methods of constantly exploring innovation and improvement guide equipment, similar guide vehicle based on super sonic sidewalk for visually impaired people Detection Techniques also has patent to announce for each big scientific research institution and professional.
Which kind of research does not finally all realize drive the automatically effect of going on a journey of blind person, and guide equipment is the instrument that shows the way of blind person's trip.
The utility model content
To be solved in the utility model and technical matters is: the problem that exists at existing guide equipment, in conjunction with contriver's long-term practical experience, with image recognition template comparison technology is core, and designing a kind of full automaticity based on image recognition technology can manned guide vehicle.
The technical scheme that its technical matters that solves the utility model adopts is: should can manned guide vehicle based on the full automaticity of image recognition technology, it is characterized in that: comprise the sidewalk for visually impaired people recognition system, speech guide system, central control system and power system, central control system is according to the system information of sidewalk for visually impaired people recognition system and speech guide system transmission, according to the pattern of the embedded control policy control power system of central control system.
Described speech guide system comprises that one can be to the GPS Voice Navigation module of freely setting of course Voice Navigation and course, GPRS communication module, sound identification module and speech guide system Central Control Module (CCM); One can make blind person car owner and extraneous conversation get in touch and realize the GPRS communication module of Long-distance Control in emergency circumstances; One can obtain voice messaging, and be converted into system directive offer the sound identification module and of speech guide system Central Control Module (CCM) can the comprehensive treatment sound identification module.
Described sidewalk for visually impaired people recognition system comprises the road conditions identification module, sidewalk for visually impaired people identification module and sidewalk for visually impaired people recognition system Central Control Module (CCM); Road conditions identification module and sidewalk for visually impaired people identification module adopt the high speed image process chip.
Described central control system comprises an on-demand system information of can the comprehensive treatment communication management module obtaining, and specifically control the micro treatment module of the relevant action of self-locking module, one can realize central control system and sidewalk for visually impaired people recognition system, fingerprint recognition locking when instant messaging administration module between speech guide system and the power system and the communication management module of self-locking module and can realize Parking and speech recognition locking prevent the self-locking module that vehicle is stolen.
Described power system comprises the power driven module of the takeoff output that is used for vehicle, be used for vehicle about turn and the power steering module of forward-reverse and obtain the control signal of central control system immediately, the power system Central Control Module (CCM) of the concrete action of Comprehensive Control power driven module and power steering module.
The system information of described transmission is traffic information, sidewalk for visually impaired people information and real-time phonetic navigation information.
Should be based on the concrete control method of can the manned guide vehicle central control system embedded control policy of the full automaticity of image recognition technology:
Step 1: central control system carries out the software and hardware initialization operation after starting power supply, and system works is normally changeed step 2; Otherwise, the voice fault alarm;
Step 2: central control system sends instruction speech prompting system unlocking operation, and step 3 is successfully changeed in release; Otherwise voice suggestion is unlocking operation once more, and errors number surpasses default limit value, central control system permanent locking;
Step 3: central control system sends instruction, and speech guide system is opened, and waits voice messaging instruction to be identified, if receive the voice messaging instruction, changes step 4; Otherwise, voice suggestion input voice messaging, after the prompting number of times surpassed default limit value, step 2 was changeed in the central control system self-locking;
Step 4: when speech guide system receives the voice messaging instruction, by sound identification module voice messaging is converted into system directive, and this system directive is passed to central control system; Central control system starts sidewalk for visually impaired people recognition system and power system simultaneously according to the concrete action of this system directive control GPS Voice Navigation module and GPRS communication module, changes step 5;
Step 5: central control system comprehensive treatment GPS Voice Navigation module information, GPRS communication module information and sidewalk for visually impaired people recognition system information, and carry out the real-time control of power system in view of the above.
Compared with prior art, the utility model based on the full automaticity of image recognition technology can manned guide vehicle has beneficial effect be:
Full automaticity based on image recognition technology of the present utility model can manned guide, adopts image recognition technology to carry out that the sidewalk for visually impaired people is surveyed and locate the sidewalk for visually impaired people, has guaranteed the safety and the accuracy of course; Utilize remote control function and call function in the GPRS communication module, guaranteed blind person's traveling security in case of emergency; Adopt GPS Voice Navigation module to realize freely setting of driving distance; Full automaticity based on image recognition technology of the present utility model can manned guide vehicle, adopt the higher control method of intelligent degree, greatly improved the present situation of present blind person's trip, having promoted blind person's quality of life, is the desirable walking-replacing tool that following disabled person or even normal the elderly drive to go on a journey.
Description of drawings
Fig. 1 be the utility model based on the full automaticity of image recognition technology can manned guide vehicle structured flowchart;
Fig. 2 is the utility model can manned guide vehicle trip road conditions demonstration graph based on the full automaticity of image recognition technology;
Fig. 3 is that the utility model can manned guide vehicle central control system control policy block diagram based on the full automaticity of image recognition technology.
Fig. 1-3 be the utility model based on the full automaticity of image recognition technology can manned guide vehicle most preferred embodiment.
Wherein: among Fig. 2,1,4,5,8,9 are the 2 road pedestrians of the diverse location on the guide vehicle road of living in, 3 on-road vehicles, 6 prompting sidewalk for visually impaired people 7 zebra crossings, 10 traffic signal lamp 11 the keep straight on front vehicles of front vehicle 16 guide vehicle present positions 9 of sign 13 road axiss 14 central rings 15 guide vehicle present positions 9 of sidewalk for visually impaired people 12 of advancing.
The specific embodiment
Below in conjunction with accompanying drawing 1-3 the full automaticity based on image recognition technology can be elaborated by manned guide vehicle.
Be illustrated in figure 1 as the utility model based on the full automaticity of image recognition technology can manned guide vehicle structured flowchart, comprise the sidewalk for visually impaired people recognition system, speech guide system, central control system and power system; Central control system is according to the system information of sidewalk for visually impaired people recognition system and speech guide system transmission, and system information is traffic information, sidewalk for visually impaired people information and real-time phonetic navigation information.Specifically control the pattern of power system according to the embedded control policy of central control system.
The sidewalk for visually impaired people recognition system comprises the road conditions identification module, sidewalk for visually impaired people identification module and sidewalk for visually impaired people recognition system Central Control Module (CCM); The road conditions identification module mainly adopts the high speed image process chip, low side as the W99713 picture processing chip, high-end image Parallel Processing chip I MAPCAR2 as Japanese NEC, and the TM320C6X of American TI Company etc., by realize the identification of road barricade thing in line template comparison technology, road pedestrian identification, Traffic Sign Recognition and on-road vehicle identification, as zebra crossing, parking turning mark, signal lamp and other sign thereof, pedestrian's posture feature, vehicle ' feature all around, crossing etc., this module can also realize the automatic parking function; The sidewalk for visually impaired people identification module mainly adopts the high speed image process chip, by realizing that in line template comparison technology the sidewalk for visually impaired people is surveyed and the location, sidewalk for visually impaired people, guarantee the steady safe operation of road that vehicle goes out along sidewalk for visually impaired people and sidewalk for visually impaired people disconnecting, if when collecting jaywalk pedestrian image, central control system is through computing and comparison, and according to pedestrian's attitude and traverse speed, parameter such as road conditions all around, intelligent decision safety distance and require further to take measures according to safety distance is as brake, lane change etc.; Sidewalk for visually impaired people recognition system Central Control Module (CCM) mainly is responsible for the concrete action of road conditions identification module and sidewalk for visually impaired people identification module, provides real-time road condition information and sidewalk for visually impaired people information for central control system simultaneously.
Speech guide system comprises GPS Voice Navigation module, GPRS communication module, sound identification module and speech guide system Central Control Module (CCM); The voice recognition chip that sound identification module adopts such as the QNC260 of Israel TRODIO company, also have such as RSC-100/164T, RSC-300/364, RSC4XX etc., GPS Voice Navigation module mainly is responsible for freely setting of course Voice Navigation and course; The GPRS communication module mainly is responsible for the blind person car owner and is got in touch and realize in emergency circumstances remote control function with extraneous conversation, can carry out the Long-distance Control of voice and note dual mode; Sound identification module mainly is responsible for obtaining voice messaging, and is converted into system directive and offers the speech guide system Central Control Module (CCM); Speech guide system Central Control Module (CCM) comprehensive treatment sound identification module, the concrete action of GPRS communication module and GPS Voice Navigation module provides the real-time phonetic navigation information for central control system simultaneously.
Central control system comprises micro treatment module, communication management module and self-locking module; The timely system information that micro treatment module comprehensive treatment communication management module is obtained, and specifically control the relevant action of fingerprint recognition self-locking module; Micro treatment module can adopt 2407,5402 grades or the cooresponding with it high speed data process chip of DSP such as American TI Company, and communication management module mainly is responsible for central control system and sidewalk for visually impaired people recognition system, the instant messaging between speech guide system and the power system; Fingerprint recognition locking when the self-locking module mainly is responsible for Parking and speech recognition locking prevent the accidental operation of vehicle when Parking, and prevent that vehicle is stolen.
Power system comprises the power driven module, power steering module and power system Central Control Module (CCM); The power driven module mainly comprises power battery pack, high power DC electric machine and power drive system, the mainly takeoff output of responsible vehicle; The power steering module mainly be responsible for vehicle about turn and action such as forward-reverse; The power system Central Control Module (CCM) obtains the control signal of central control system immediately, the concrete action of Comprehensive Control power driven module and power steering module.
Sidewalk for visually impaired people recognition system Central Control Module (CCM), speech guide system Central Control Module (CCM) and power system Central Control Module (CCM) all can adopt the micro controller system of general data processing capacity, carry out principal data as 0881,0882 micro controller system of NEC etc. or microprocessor and handle operation.
Being illustrated in figure 3 as the utility model can manned guide vehicle central control system control policy block diagram based on the full automaticity of image recognition technology, and concrete control policy is as follows:
Central control system carried out the software and hardware initialization operation after step 1 started power supply, and system works is normally changeed step 2; Otherwise, the voice fault alarm;
Step 3 central control system sends instruction, and speech guide system is opened, and waits voice messaging instruction to be identified, if receive the voice messaging instruction, changes step 4; Otherwise, voice suggestion input voice messaging, after the prompting number of times surpassed default limit value, step 2 was changeed in the central control system self-locking; Prompting input number of times generally is limited between 3-10 time, and the obfuscation information command is adopted in the voice messaging instruction, as long as just but include the action of central control system designated order information trigger event in the i.e. instruction;
When step 4 speech guide system receives the voice messaging instruction, by sound identification module voice messaging is converted into system directive, and this system directive is passed to central control system; Central control system starts sidewalk for visually impaired people recognition system and power system simultaneously according to the concrete action of this system directive control GPS Voice Navigation module and GPRS communication module, changes step 5; Central control system is according to phonetic order information, by control GPS Voice Navigation module, automatically determine that the best marches to the destination route, the GPRS communication module is mainly used in daily conversation and in emergency circumstances realizes the function of Long-distance Control, and promptly blind person car owner designated contact can be passed through voice or short message mode Long-distance Control steering vehicle; The system directive that the operation of all each modules all obtains by sound identification module was determined concrete action priority afterwards by the comprehensive treatment of central control system;
Step 5 central control system comprehensive treatment GPS Voice Navigation module information, GPRS communication module information and sidewalk for visually impaired people recognition system information, and carry out the real-time control of power system in view of the above.Be specially various turnings, advance, retreat, stop, park and event-action such as first aid, all each module and the system information instruction of obtaining are carried out controlling after the comprehensive treatment by central control system.
Being illustrated in figure 2 as the utility model can manned guide vehicle trip road conditions demonstration graph based on the full automaticity of image recognition technology;
Situation one: when the utility model can manned guide vehicle be in site of road 1 based on the full automaticity of image recognition technology, when the sidewalk for visually impaired people recognition system detects road pedestrian 2 by the road conditions identification module in it, it is according to existing road pedestrian image template in the high speed image process chip, by in time judge road pedestrian 2 behavioural characteristic in line template comparison technology, and comparison result sent to central control system, central control system according to the traffic information that obtains (apart from pedestrian's spacing, pedestrian's feature etc. of advancing), send the concrete action of instruction automatic guidance power system; If advance fast for the pedestrian at the line template comparison result, then central control system in time sends instruction according to the traffic information that obtains and reduces the speed of a motor vehicle automatically to power system, and voice suggestion car owner road ahead situation walks rapidly for the pedestrian is arranged;
Situation two: when the utility model can manned guide vehicle be in site of road 4 based on the full automaticity of image recognition technology, when the sidewalk for visually impaired people recognition system detects on-road vehicle 3 by the road conditions identification module in it, it is according to existing on-road vehicle image template in the high speed image process chip, by in time judge the behavioural characteristic of on-road vehicle 3 in line template comparison technology, and comparison result sent to central control system, central control system according to the traffic information that obtains (apart from the spacing of vehicle, vehicle feature (the speed of advancing, keep straight on, turn round etc.), vehicle, license plate number etc.), send the concrete action of instruction automatic guidance power system; If at the line template comparison result is that vehicle turns round, then central control system in time sends instruction according to the traffic information that obtains and reduces the speed of a motor vehicle automatically to power system, and voice suggestion car owner road ahead situation is for there being the on-road vehicle turning;
Situation three: when the utility model can manned guide vehicle be in site of road 5 based on the full automaticity of image recognition technology, when the sidewalk for visually impaired people recognition system detects prompting sidewalk for visually impaired people 6 by the sidewalk for visually impaired people identification module in it, it is according to existing prompting sidewalk for visually impaired people image template in the high speed image process chip, by judging in time that in line template comparison technology road ahead is turning, cross roads, road conditions such as ground height situation, and comparison result sent to central control system, central control system is according to the sidewalk for visually impaired people identifying information that obtains, send the concrete action of instruction automatic guidance power system, and while voice prompt blind car owner, carry out next step operation of advancing; If at the line template comparison result is the place ahead earth bulge, then central control system in time sends instruction according to the sidewalk for visually impaired people identifying information that obtains and reduces the speed of a motor vehicle automatically to power system, and voice suggestion car owner road ahead situation is earth bulge, and requires next step operation of advancing of prompting (as continuing the reduction speed of a motor vehicle etc.);
Situation four: when the utility model can manned guide vehicle be in site of road 8 based on the full automaticity of image recognition technology, when the sidewalk for visually impaired people recognition system detects zebra crossing 7 by the road conditions identification module in it, it is according to existing road signs image template in the high speed image process chip, by judging in time that in line template comparison technology road ahead is a cross walk, when the road conditions identification module detects traffic signal lamp 10, it judges in time that by compare technology at line template the road ahead traffic signal are for current according to existing road signs image template in the high speed image process chip, stop to wait signal, and comparison result sent to central control system, central control system is according to the road signs identifying information that obtains, send the concrete action of instruction automatic guidance power system, and while voice prompt blind car owner; If it is current for the place ahead green light at the line template comparison result, road signal is a zebra crossing, then central control system in time sends instruction to the power system automatic guidance speed of a motor vehicle according to the road signs information that obtains, and voice suggestion car owner road ahead situation is that cross walk does not have the pedestrian, and stop-light is a right of way signal;
Situation five: when the utility model can manned guide vehicle be in site of road 9 based on the full automaticity of image recognition technology, the sidewalk for visually impaired people recognition system detects front and back vehicle 16 and at 15 o'clock by the road conditions identification module in it, it utilizes the high speed image process chip to gather the front and back automobile image in real time, and in time carry out the real-time online template comparison of front and back automobile image, and comparison information is sent to central control system; Central control system is according to real-time vehicle image template comparison information, determine the spacing and the road speed of front and back vehicle 16 and 15, and according to the gait of march of this information of vehicles automatic guidance the utility model guide vehicle power system, the voice prompt blind car owner front and back vehicle feature (speed of a motor vehicle, spacing etc.) of advancing simultaneously;
More than various situations, the operation of all highway sections cooperates power system to finish by GPS speech guide system and central control system; In case of emergency, central control system all will be controlled power system and stop as control priority, to trigger remote control function in the GPRS communication module (send short messages automatically or connect the predefined emergency number of blind person car owner) as the inferior priority of control, with this generation of avoiding unforeseen circumstances, guarantee personal safety.
The above, it only is preferred embodiment of the present utility model, be not to be the restriction of the utility model being made other form, any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the equivalent embodiment of equivalent variations.But every technical solutions of the utility model content that do not break away to any simple modification, equivalent variations and remodeling that above embodiment did, still belongs to the protection domain of technical solutions of the utility model according to technical spirit of the present utility model.
Claims (6)
- One kind can manned guide vehicle based on the full automaticity of image recognition technology, it is characterized in that: comprise the sidewalk for visually impaired people recognition system, speech guide system, central control system and power system, central control system is according to the system information of sidewalk for visually impaired people recognition system and speech guide system transmission, according to the pattern of the embedded control policy control power system of central control system.
- 2. the full automaticity based on image recognition technology according to claim 1 can manned guide vehicle, it is characterized in that: described speech guide system comprises that one can be to the GPS Voice Navigation module of freely setting of course Voice Navigation and course, the GPRS communication module, sound identification module and speech guide system Central Control Module (CCM); One can make blind person car owner and extraneous conversation get in touch and realize the GPRS communication module of Long-distance Control in emergency circumstances; One can obtain voice messaging, and be converted into system directive offer the sound identification module and of speech guide system Central Control Module (CCM) can the comprehensive treatment sound identification module.
- 3. the full automaticity based on image recognition technology according to claim 1 can manned guide vehicle, and it is characterized in that: described sidewalk for visually impaired people recognition system comprises the road conditions identification module, sidewalk for visually impaired people identification module and sidewalk for visually impaired people recognition system Central Control Module (CCM); Road conditions identification module and sidewalk for visually impaired people identification module adopt the high speed image process chip.
- 4. the full automaticity based on image recognition technology according to claim 1 can manned guide vehicle, it is characterized in that: described central control system comprises an on-demand system information of can the comprehensive treatment communication management module obtaining, and specifically control the micro treatment module of the relevant action of self-locking module, one can realize central control system and sidewalk for visually impaired people recognition system, fingerprint recognition locking when instant messaging administration module between speech guide system and the power system and the communication management module of self-locking module and can realize Parking and speech recognition locking prevent the self-locking module that vehicle is stolen.
- 5. the full automaticity based on image recognition technology according to claim 1 can manned guide vehicle, it is characterized in that: described power system comprises the power driven module of the takeoff output that is used for vehicle, be used for vehicle about turn and the power steering module of forward-reverse and obtain the control signal of central control system immediately, the power system Central Control Module (CCM) of the concrete action of Comprehensive Control power driven module and power steering module.
- 6. the full automaticity based on image recognition technology according to claim 1 can manned guide vehicle, and it is characterized in that: the system information of described transmission is traffic information, sidewalk for visually impaired people information and real-time phonetic navigation information.
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| CN2011200564754U CN202011393U (en) | 2011-03-05 | 2011-03-05 | Full-automatic manned guide vehicle based on image recognition technology |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102670383A (en) * | 2011-03-05 | 2012-09-19 | 山东申普交通科技有限公司 | Full-automatic manned blind guide vehicle and control method based on image identification technology |
| CN104229009A (en) * | 2013-06-09 | 2014-12-24 | 李梦婷 | Electric bicycle for the blind |
| CN104760592A (en) * | 2015-02-15 | 2015-07-08 | 福州华鹰重工机械有限公司 | Decision control method of motor vehicle |
| CN107662605A (en) * | 2016-07-28 | 2018-02-06 | 比亚迪股份有限公司 | Long-range control method, system, controlled vehicle and the control vehicle of vehicle |
| CN108527379A (en) * | 2018-03-29 | 2018-09-14 | 上海理工大学 | A kind of station service for blind readers robot |
| CN108555922A (en) * | 2018-03-29 | 2018-09-21 | 上海理工大学 | A kind of airport service for blind readers robot |
| CN108714901A (en) * | 2018-05-04 | 2018-10-30 | 安徽三弟电子科技有限责任公司 | A kind of street corner navigation directions robot control system based on GPS analyses |
| CN110811992A (en) * | 2019-10-18 | 2020-02-21 | 甘肃筑鼎建设有限责任公司 | Intelligent blind guiding system |
| CN113706790A (en) * | 2021-09-28 | 2021-11-26 | 平安国际智慧城市科技股份有限公司 | Method, system, device, equipment and medium for driving assistance |
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2011
- 2011-03-05 CN CN2011200564754U patent/CN202011393U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102670383A (en) * | 2011-03-05 | 2012-09-19 | 山东申普交通科技有限公司 | Full-automatic manned blind guide vehicle and control method based on image identification technology |
| CN102670383B (en) * | 2011-03-05 | 2013-11-06 | 山东申普交通科技有限公司 | Full-automatic manned blind guide vehicle and control method based on image identification technology |
| CN104229009A (en) * | 2013-06-09 | 2014-12-24 | 李梦婷 | Electric bicycle for the blind |
| CN104760592A (en) * | 2015-02-15 | 2015-07-08 | 福州华鹰重工机械有限公司 | Decision control method of motor vehicle |
| CN104760592B (en) * | 2015-02-15 | 2016-02-17 | 福州华鹰重工机械有限公司 | Self-propelled vehicle Decision Control method |
| CN107662605A (en) * | 2016-07-28 | 2018-02-06 | 比亚迪股份有限公司 | Long-range control method, system, controlled vehicle and the control vehicle of vehicle |
| CN107662605B (en) * | 2016-07-28 | 2020-07-10 | 比亚迪股份有限公司 | Remote control method and system of vehicle, controlled vehicle and control vehicle |
| CN108527379A (en) * | 2018-03-29 | 2018-09-14 | 上海理工大学 | A kind of station service for blind readers robot |
| CN108555922A (en) * | 2018-03-29 | 2018-09-21 | 上海理工大学 | A kind of airport service for blind readers robot |
| CN108714901A (en) * | 2018-05-04 | 2018-10-30 | 安徽三弟电子科技有限责任公司 | A kind of street corner navigation directions robot control system based on GPS analyses |
| CN110811992A (en) * | 2019-10-18 | 2020-02-21 | 甘肃筑鼎建设有限责任公司 | Intelligent blind guiding system |
| CN113706790A (en) * | 2021-09-28 | 2021-11-26 | 平安国际智慧城市科技股份有限公司 | Method, system, device, equipment and medium for driving assistance |
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