CN114246766A - Intelligent blind assisting head band based on multi-section type air bag interactive navigation and configuration method - Google Patents

Abstract

The invention discloses an intelligent blind-aiding head hoop based on multi-section type airbag interactive navigation, which comprises a user side and a remote control end, wherein the output end of the user side is connected with the input end of the remote control end; the configuration method comprises the following steps: step 1: the pressure set test comprises that when the navigation function is used for the first time, the air bag applies different pressures to different parts of the head of a user, when the gyroscope judges that the head turns to a specified angle, a signal is sent to the main controller, and the main controller records the current air bag pressure application data as turning reference data; step 2: GPS navigation; and step 3: the air bag applies pressure to steer. According to the intelligent head band, the configuration scheme of the intelligent head band adopting multi-section type air bag interactive navigation is adopted, navigation and obstacle avoidance are realized by applying pressure to the air bag, and better use feeling is brought to the blind on the premise of ensuring comfort and accuracy.

Description

Intelligent blind assisting head band based on multi-section type air bag interactive navigation and configuration method

Technical Field

The invention relates to the technical field of intelligent blind-aiding navigation, in particular to an intelligent blind-aiding head band based on multi-section type air bag interactive navigation and a configuration method.

Background

According to 2016 statistics, the number of people with visual impairment in China has increased to 1731 ten thousand. That is, there is one blind person out of every eighty. Therefore, china is the world with the largest number of visually impaired people. For the visually impaired, they are faced with a condition that is weaker than physical disability, such as the condition of traffic lights at the intersection cannot be checked, normal social contact cannot be performed, and the like.

The blind-aiding auxiliary tools which are widely used at present are a blind-guiding stick and a blind-guiding dog, the blind-guiding stick can help the blind to carry out the most basic life to a certain extent, but the life level of the blind cannot be improved more intelligently, and the blind-guiding dog is often greatly limited because the blind-guiding dog is not allowed to enter.

There are also many scientific and technological blind-helping products on the market, but still not enough in the aspects of comfort, convenience and the like. For example, some blind-aiding products often prompt the blind through a voice description, and blind people who do not have a visual sense of the world often need a more direct body prompt rather than a relatively abstract voice description. Therefore, a low-cost, high-convenience, high-comfort man-machine interactive product is urgently needed to improve the use feeling.

Disclosure of Invention

1. Technical problem to be solved

The invention aims to solve the problems that many scientific and technological blind-aiding products in the prior art are still insufficient in the aspects of comfort, convenience and the like, and provides an intelligent blind-aiding head band based on multi-section type air bag interactive navigation and a configuration method.

2. Technical scheme

In order to achieve the purpose, the invention adopts the following technical scheme:

the intelligent blind-aiding head band based on multi-section type airbag interactive navigation comprises a user side and a remote control end, wherein the output end of the user side is connected with the input end of the remote control end, the user side comprises a head band body, a configuration module and a positioning module, and the configuration module and the positioning module are both arranged in the head band body;

the inner wall of the head hoop body is fixedly connected with a multi-section type air bag, the outer wall of the head hoop body is fixedly connected with a power switch, a fingerprint identification module and a camera, the configuration module comprises a communication module, a raspberry group, a gyroscope, a pulse sensor, a sound sensor, an A/D conversion module and an ear bone earphone, the output ends of the pulse sensor and the sound sensor are connected with the input end of the A/D conversion module, the output ends of the power switch, the fingerprint identification module, the camera, a positioning module and the A/D conversion module are connected with the input end of the raspberry group, the output end of the raspberry group is connected with the input end of the ear bone earphone, and the output ends of the gyroscope and the multi-section type air bag are in bidirectional connection with the input end of the raspberry group;

the remote control end includes APP and computer terminal, the output of raspberry group and the input of APP and computer terminal are both way junction, the output of APP and the input of computer terminal are both way junction, communication module and raspberry group and the input of APP are both way junction.

Preferably, the user terminal is connected with the input end of the remote control terminal through a server.

Preferably, the positioning module is an ATGM332D positioning module.

Preferably, the communication module is a GSM Shield communication module.

Preferably, the configuration module further comprises an ultrasonic ranging module, an output end of the ultrasonic ranging module is connected with an input end of the raspberry pi, and the ultrasonic ranging module is HC-SRO4 in model.

Preferably, the configuration module further comprises a body temperature sensor, and the body temperature sensor is an MLX90615 infrared sensor.

Preferably, the computer terminal is a Baidu intelligent cloud open platform and a database.

The invention also provides a configuration method of the intelligent blind-aiding head band based on multi-section type air bag interactive navigation, which comprises the following steps:

step 1: the pressure set test comprises that when the navigation function is used for the first time, the air bag applies different pressures to different parts of the head of a user, when the gyroscope judges that the head turns to a specified angle, a signal is sent to the main controller, and the main controller records the current air bag pressure application data as turning reference data;

step 2: GPS navigation, namely uploading real-time position data of a user to a Baidu map, and inputting a navigation destination into a Baidu map platform through voice input to obtain a planned path of the Baidu map platform;

and step 3: the air bag pressure applying steering is to intelligently analyze the surrounding environment of a user through a camera, and the multi-section air bag is utilized to apply pressure to the left forehead and the right forehead according to recorded reference steering data so as to automatically steer the head of the user to prompt the user to turn, and the navigation prompt function is optimized on the premise of not influencing walking.

Preferably, voice-assisted prompts are provided in step 3 simultaneously to perform interactive navigation for the user.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) according to the intelligent head band, the configuration scheme of the intelligent head band adopting multi-section type air bag interactive navigation is adopted, navigation and obstacle avoidance are achieved through air bag pressure application, and good use feeling is brought to the blind on the premise that comfort and accuracy are guaranteed.

(2) In the invention, through the technology of Internet of things, a user controls various home devices by using a head band to realize connection between objects and people, and simultaneously can also realize connection between the objects, and various home devices (such as audio and video devices, lighting systems, curtain control, air conditioner control, security systems, digital cinema systems, audio and video servers, video cabinet systems, network household appliances and the like) are connected together through the technology of Internet of things, thereby providing multiple functions and means such as household appliance control, lighting control, telephone remote control, indoor and outdoor remote control, heating and ventilation control, infrared forwarding, programmable timing control and the like.

(3) According to the design of the portable face recognition and memory device for deep learning, the camera is used for face recognition, strange faces can be stored in the device, voice is used when the stored faces meet, a user is prompted, the user is helped to complete social activities, when the faces need to be recognized, the device scans and judges the surroundings, if the stored faces appear, the device gives a prompt, when the smooth itinerant of a program is ensured, the portability maximization of the head band is utilized, when the user meets the faces needing to be recorded, new faces can be stored in the device, then the user can number the faces, and the camera performs face recognition again, so that the social interaction of the blind is realized.

(4) In the invention, the functions of automatic alarm under emergency, real-time positioning of the outgoing trace of the user, monitoring the body health condition of the user, automatic alarm when detecting the body discomfort of the user and the like are provided by associating with the mobile phone APP, and the user can realize interconnection and information sharing after equipping the head band and the terminal with APP input information.

Drawings

FIG. 1 is a block diagram of a system structure of an intelligent assistant head band based on multi-segment air bag interactive navigation proposed by the present invention;

FIG. 2 is a hardware structure diagram of the intelligent blind-aiding head band based on multi-segment air bag interactive navigation proposed by the present invention;

fig. 3 is a schematic structural view of an intelligent blind-aiding head band based on multi-segment air bag interactive navigation proposed by the present invention;

fig. 4 is a working flow chart of the intelligent blind-aiding head band based on multi-segment air bag interactive navigation provided by the invention.

In the figure: the device comprises a configuration module 1, anair bag 2, a head band body 3, a fingerprint identification module 4 and a power switch 5.

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.

Example 1:

referring to fig. 1-4, the intelligent assistant head band based on multi-segment type airbag interactive navigation comprises a user side and a remote control end, wherein the output end of the user side is connected with the input end of the remote control end, the user side is connected with the input end of the remote control end through a server, the user side comprises a head band body 3, a configuration module 1 and a positioning module, the positioning module is an ATGM332D positioning module, and the configuration module 1 and the positioning module are both arranged inside the head band body 3;

according to the invention, a multi-sectiontype air bag 2 is fixedly connected to the inner wall of a head hoop body 3, a power switch 5, a fingerprint identification module 4 and a camera are fixedly connected to the outer wall of the head hoop body 3, and a configuration module 1 comprises a communication module, a raspberry, a gyroscope, a pulse sensor, a sound sensor, an A/D conversion module and an ear bone earphone;

in the invention, the output ends of the pulse sensor and the sound sensor are connected with the input end of the A/D conversion module, the output ends of the power switch 5, the fingerprint identification module 4, the camera, the positioning module and the A/D conversion module are connected with the input end of the raspberry pie, the output end of the raspberry pie is connected with the input end of the auricular earphone, and the output ends of the gyroscope and the multi-sectiontype air bag 2 are in bidirectional connection with the input end of the raspberry pie;

in the invention, the configuration module 1 further comprises an ultrasonic ranging module, the output end of the ultrasonic ranging module is connected with the input end of the raspberry pi, the model of the ultrasonic ranging module is HC-SRO4, and the configuration module 1 further comprises a body temperature sensor which is an MLX90615 infrared sensor;

in the invention, the remote control end comprises an APP and a computer terminal, the output end of the raspberry group and the input ends of the APP and the computer terminal are in bidirectional connection, the output end of the APP and the input end of the computer terminal are in bidirectional connection, the communication module and the input ends of the raspberry group and the APP are in bidirectional connection, the communication module is a GSM Shield communication module, and the computer terminal is a Baidu intelligent cloud open platform and a database.

The invention discloses a configuration method of an intelligent blind assisting head band based on multi-section type air bag interactive navigation, which comprises the following steps:

step 1: the pressure set test is carried out, when the navigation function is used for the first time, theair bag 2 applies different pressures to different parts of the head of a user, when the gyroscope judges that the head turns to a specified angle, a signal is sent to the main controller, and the main controller records the current pressing data of theair bag 2 as turning reference data;

step 2: GPS navigation, namely uploading real-time position data of a user to a Baidu map, and inputting a navigation destination into a Baidu map platform through voice input to obtain a planned path of the Baidu map platform;

and step 3: theair bag 2 is pressed and turned by intelligently analyzing the surrounding environment of the user through the camera, and themulti-section air bag 2 is used for pressing the left forehead and the right forehead according to the recorded reference turning data so as to automatically turn the head of the user to prompt the user to turn, optimize the prompting function of navigation on the premise of not influencing walking, and provide voice-assisted prompt for interactive navigation of the user.

In the invention, when a user uses the head band air bag for the first time, the head band voice navigation can apply pressure to different positions of the forehead of the user, the pressure application size is gradually increased, and the pressure application positions are sequentially changed, so that accurate judgment can be made on different positions and different angles in daily navigation. The gyroscope uploads the steering angle data of the head of a user to the main controller, and when the head of the user turns to 15 degrees, 30 degrees, 45 degrees, 60 degrees and 75 degrees from the right front left or right, the serial number of the pressing air bags and the pressing size of each air bag are recorded to serve as personal data for guiding the head of the user to steer. When a user wears the head band, the current position of the user is used as the origin of coordinates, the image in the front is the positive direction of the y axis, and a plane rectangular coordinate system is established according to the right-hand rule. The positive direction of the x-axis is set to be 0 degree, and the negative direction of the x-axis is set to be 180 degrees. The set of angles Θ is defined as (0, 15 °, 30 °, …, 180 °), where θ ∈ Θ.

In the multi-section airbag, an airbag state matrix S is defined as [ F1, F2, F3, F4, F5, F6]. For each angle theta, the state matrix is sequentially increased according to the pressing sequence and the force progression. Namely, F1 to F3 indicate the magnitude of the pressure from left to right in the left direction, and F4 to F6 indicate the magnitude of the pressure from left to right in the right direction. When the test module is executed, the test is carried out in a left-right direction in a grading way. The face of the tester is defined as the X axis, and the pressure stage number is defined as N. For the left turn test example, the left airbag matrices F1 through F3 are generally orders of magnitude lower than F4 through F6. Starting from the central axis X, F3 increases from 1 to N₃(N₃e.Z), F2 and F1 are increased from 1 to N sequentially in the same order₁,N₂(ii) a And sequentially decreasing F1, F2 and F3 to 0, and the same applies to the right. In the process of F change, when the current steering angle theta belongs to theta, the head band records the current air bag state matrix:

wherein

Denotes the i-th (i e [1,2, …, 6) from left to right of theta when the head turns angle]) The pressure exerted by each air bag on the head is large. The right turn test is consistent with this procedure.

In the invention, the GPS module transmits the position data of a user to the raspberry group, the raspberry group transmits the position data to the Baidu map open platform, the Baidu map open platform carries out path planning according to instructions and requirements and transmits the planned path back to the raspberry group, the raspberry group carries out voice broadcasting according to the planned path, reads the position of the user in real time and judges whether the user needs to turn and turn to the direction at the current position, and accordingly, the left side or the right side of the head hoop is inflated to exert pressure corresponding to the left side or the right side of the air bag.

In the invention, a GPS module acquires real-time position data G in a navigation execution module_tWhere B denotes the current position longitude, L denotes the current position latitude, H denotes the current position altitude, and t denotes the current time. After the position data are uploaded to a Baidu map platform, the following steps are performed:

D_t＝R(G_t,P) (2)

wherein D is_tThe steering angle D is required for the position of time G_tE.g. theta, R is the path planning function, P is the destination location information, and P ═ B_P,Lp,H_p). According to D_tThe method for acquiring the airbag state matrix of the current required steering angle comprises the following steps:

last master call

The air bag is controlled to apply pressure to the head to complete steering.

In the invention, simultaneously, a camera shoots a real scene of a user's journey, a shot area is divided into six sub-areas which are respectively numbered as L-1, L-2, L-3, R-2 and R-1 from left to right, and six small airbags which are correspondingly numbered as L-1, L-2, L-3, R-2 and R-1 are arranged on the left forehead and the right forehead. Judging the area code of the identified obstacle and determining the number of the pressurizing air bag; and judging the distance of the obstacles in the corresponding sub-area, determining the inflation degree of the small airbag with the corresponding number to change the pressure application size, and finally changing the head rotation angle of the user. Finally, the whole system realizes the comprehensive navigation function of combining path planning and real-time turning obstacle avoidance.

In the execution navigation module, the current image has a cell state matrix

Wherein s is₁Denotes the size of the obstacle in the unit subregion 1, d₁Representing obstacles and users in the cell sub-area 1The distance between, there are:

A_t＝E(C,t) (5)

wherein A is_tAnd E is an obstacle avoidance function, and t is the current moment. Obtaining an airbag state matrix of the current required steering angle according to Dt, wherein the state matrix comprises:

master call

The air bag is controlled to apply pressure to the head to complete obstacle avoidance steering.

In the present invention, it should be particularly noted that, when the navigation module and the obstacle avoidance module are triggered simultaneously, the obstacle avoidance module parameter a is set_tPriority over navigation module parameter D_tThe master controller should first execute an obstacle avoidance procedure to ensure the safety of the user when going out.

The overall algorithm is as follows:

1: test part: pressing the blind according to different angles to form an air bag state matrix set S and an angle pressing matrix set N

2: the blind can navigate to the designated position P according to the path planning algorithm

3: initializing data: obtaining real-time position data G_tDestination location information P

4: uploading the position data to a Baidu map platform to obtain an angle D required to be steered_t

5: finding out saved data of corresponding angles from matrix sets S and N

6: executing the partition navigation module C, updating the navigation angle after returning the obstacle debugging

7: completing the steering

8: t +1, go to step 3

In the invention, the intelligent home Internet of things comprises: through the internet of things technology, a user controls various home devices by using a head band, connection between objects and people is realized, meanwhile, connection between the objects and the objects can also be realized, various home devices (such as audio and video devices, a lighting system, curtain control, air conditioner control, a security system, a digital cinema system, an audio and video server, a video cabinet system, network household appliances and the like) are connected together through the internet of things technology, and multiple functions and means such as household appliance control, lighting control, telephone remote control, indoor and outdoor remote control, heating and ventilation control, infrared forwarding, programmable timing control and the like are provided.

In the invention, character recognition and voice output are as follows: before a user approaches to the characters to be read, the camera takes pictures of the scene in front and then performs image processing and character recognition, and finally the pictures are converted into voice to be read to the user through the ear bone earphone.

In the invention, the voice prompts the old friend to identify and the new friend to record: the design of the portable face recognition and memory device for deep learning utilizes the camera to recognize the face, strange faces can be stored in the device, and voice is used when the stored faces meet, so that a user is prompted, and the user is helped to complete social activities. When the face needs to be recognized, the equipment scans and judges the periphery. If the stored human face appears, the equipment gives a prompt. The portability of the head band is maximized while the smooth itinerant of the program is ensured. When the user encounters faces that need to be recorded, new faces may be stored in the device, and the user may then number those faces. The camera carries out face recognition again, and social contact of the blind is achieved.

In the invention, a GSM telephone: the main controller communicates with the GSM module through a serial port, an SIM card is inserted into the GSM module, and the function of making a voice call is realized through an instruction.

In the invention, safety and health monitoring: through being associated with cell-phone APP, provide automatic alarm under the emergency, go out the whereabouts to the user and fix a position in real time, monitor user health and detect functions such as automatic alarm when user's health is uncomfortable. The user realizes interconnection and information sharing behind head band and the terminal configuration APP input information. The following functions are preset in the APP:

emergency alarm: when the user is head-worn, emergency situations can be alarmed (or emergency contacts are called) by using voice control alarm or manual emergency key;

and (3) outgoing positioning monitoring: the head band user is positioned in real time by utilizing the GPS positioning function, and walking routes formed by the real-time positions can be displayed in the APP;

health condition monitoring: the device has the functions of monitoring body temperature and heart rate, can be checked in the APP, and can be broadcasted to a wearer by selecting voice;

and (3) alarming for health conditions: when the head hoop automatically detects that various health indexes of the wearer are abnormal, an alarm short message is sent to the emergency contact person, and the emergency contact person makes a call. Meanwhile, the APP can display the real-time position and health index readings of the wearer and feed back health alarms.

In the invention, the payment function is as follows: recognizing the two-dimensional code by using a camera through a third-party API payment window to realize payment interface recognition; and fingerprint payment is realized by using a fingerprint sensor.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (9)

1. The intelligent blind-aiding head band based on multi-section type air bag interactive navigation comprises a user side and a remote control end, and is characterized in that the output end of the user side is connected with the input end of the remote control end, the user side comprises a head band body 3, a configuration module 1 and a positioning module, and the configuration module 1 and the positioning module are both arranged inside the head band body 3;

the inner wall of the head hoop body 3 is fixedly connected with a multi-section type air bag 2, the outer wall of the head hoop body 3 is fixedly connected with a power switch 5, a fingerprint identification module 4 and a camera, the configuration module 1 comprises a communication module, a raspberry pi, a gyroscope, a pulse sensor, a sound sensor, an A/D conversion module and an ear bone earphone, the output ends of the pulse sensor and the sound sensor are connected with the input end of the A/D conversion module, the output ends of the power switch 5, the fingerprint identification module 4, the camera, a positioning module and the A/D conversion module are connected with the input end of the raspberry pi, the output end of the raspberry pi is connected with the input end of the ear bone earphone, and the output ends of the gyroscope and the multi-section type air bag 2 are in bidirectional connection with the input end of the raspberry pi;

the remote control end includes APP and computer terminal, the output of raspberry group and the input of APP and computer terminal are both way junction, the output of APP and the input of computer terminal are both way junction, communication module and raspberry group and the input of APP are both way junction.

2. The intelligent blind-aiding head band based on multi-section type airbag interactive navigation of claim 1, wherein the input ends of the user end and the remote control end are connected through a server.

3. The intelligent blind-aiding head band based on multi-segment air bag interactive navigation of claim 1, wherein the positioning module is an ATGM332D positioning module.

4. The intelligent blind-aiding head band based on multi-section type airbag interactive navigation of claim 1, wherein the communication module is a GSM Shield communication module.

5. The intelligent blind-aiding head band based on multi-segment type air bag interactive navigation of claim 1, wherein the configuration module 1 further comprises an ultrasonic ranging module, an output end of the ultrasonic ranging module is connected with an input end of a raspberry pie, and the model of the ultrasonic ranging module is HC-SRO 4.

6. The intelligent blind-aiding head band based on multi-section type air bag interactive navigation of claim 1, wherein the configuration module 1 further comprises a body temperature sensor, and the body temperature sensor is an MLX90615 infrared sensor.

7. The intelligent blind-aiding head band based on multi-segment type airbag interactive navigation of claim 1, wherein the computer terminal is a Baidu intelligent cloud open platform and a database.

8. The intelligent blind-aiding head band configuration method based on multi-section type air bag interactive navigation is characterized by comprising the following steps:

step 1: the pressure set test is carried out, when the navigation function is used for the first time, the air bag 2 applies different pressures to different parts of the head of a user, when the gyroscope judges that the head turns to a specified angle, a signal is sent to the main controller, and the main controller records the current pressing data of the air bag 2 as turning reference data;

step 2: GPS navigation, namely uploading real-time position data of a user to a Baidu map, and inputting a navigation destination into a Baidu map platform through voice input to obtain a planned path of the Baidu map platform;

and step 3: the air bag 2 is pressed and turned by intelligently analyzing the surrounding environment of the user through the camera, and the multi-section air bag 2 is used for pressing the left forehead and the right forehead according to the recorded reference turning data so as to automatically turn the head of the user to prompt the user to turn, thereby optimizing the prompting function of navigation on the premise of not influencing walking.

9. The method as claimed in claim 8, wherein step 3 provides voice-assisted guidance for the user.

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