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WO2018161251A1 - 一种智能导盲系统及方法、具有智能导盲功能的服装 - Google Patents

一种智能导盲系统及方法、具有智能导盲功能的服装 Download PDF

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Publication number
WO2018161251A1
WO2018161251A1 PCT/CN2017/075873 CN2017075873W WO2018161251A1 WO 2018161251 A1 WO2018161251 A1 WO 2018161251A1 CN 2017075873 W CN2017075873 W CN 2017075873W WO 2018161251 A1 WO2018161251 A1 WO 2018161251A1
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WO
WIPO (PCT)
Prior art keywords
intelligent
blind
global positioning
distance
route
Prior art date
Application number
PCT/CN2017/075873
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English (en)
French (fr)
Inventor
韩连强
Original Assignee
深圳市欸阿技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市欸阿技术有限公司 filed Critical 深圳市欸阿技术有限公司
Priority to CN201780001057.5A priority Critical patent/CN107995859A/zh
Priority to PCT/CN2017/075873 priority patent/WO2018161251A1/zh
Publication of WO2018161251A1 publication Critical patent/WO2018161251A1/zh

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Classifications

    • 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
    • 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
    • A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception

Definitions

  • the invention relates to the field of guiding blind technology, in particular to an intelligent guiding blind system and method, and a garment with intelligent guiding function.
  • the intelligent guide blind system in the prior art can be worn on a blind person, and the distance between the obstacles is detected by ultrasonic waves, and the travel of the blind person is measured by the pedometer.
  • the alarm sends an alarm signal to remind the blind person, on the one hand, to liberate the blind person during the walking process.
  • the intelligent guide blind system is only suitable for blind people to walk in a familiar environment to cope with the flow in the familiar environment.
  • the main object of the present invention is to solve the technical problem that the blind person cannot walk freely in an unfamiliar environment in the prior art.
  • the present invention provides an intelligent guide blind system for guiding an active body wearing the intelligent guide blind system, which includes a global positioning system,
  • a voice system and at least one intelligent guide device a voice system and at least one intelligent guide device
  • the voice system is connected to the global positioning system, and is used for collecting voice instruction information of the active body and guiding the target body to obtain the target according to the global positioning system.
  • the global positioning system is configured to acquire a target route according to the voice instruction information
  • Each of the intelligent guide blind devices is configured to respectively detect a distance between each detection point and an obstacle in an environment in which the movable body is located, and guide the active body repair according to the measured distance.
  • the intelligent guide blind device comprises a distance measuring device, a processor and a vibrator; the distance measuring device is connected to the processor for detecting the detection point and the surrounding environment
  • the distance between the obstacles in the middle and the measured distance is sent to the processor; the processor controls the opening and closing of the vibrator according to the measured distance
  • the global positioning system is further configured to determine whether a motion trajectory of the active body matches the target route; the smart guide device and the global positioning
  • the system connection is further configured to guide the active body correcting action when it is determined that the motion track of the active body does not match the target route.
  • the intelligent guide blind device comprises a distance measuring device, a processor and a vibrator; the distance measuring device is connected to the processor for detecting the detection point and the surrounding environment
  • the processor is coupled to the global positioning system for receiving the global setting
  • the result information of the bit system is determined, and the vibrator is turned on and off according to the received judgment result information or the measured distance.
  • the intelligent guide blind device further comprises a switch for controlling the smart guide device to open and close.
  • the invention also provides an intelligent guiding method, which comprises the following steps:
  • the intelligent guiding method further comprises the following steps:
  • the moving body correction action is directed.
  • the step of acquiring the target route according to the instruction information is: planning a route with the shortest route and a traffic intersection passing according to the instruction information.
  • a route with a traffic light at a junction or a route that does not pass a traffic intersection is used as a target route.
  • the invention also provides a garment with intelligent blind guiding function, which comprises the intelligent guiding blind system according to any one of the above technical solutions.
  • each of the intelligent guiding device is disposed on the head, shoulder, elbow, wrist, chest, abdomen, hip, knee or ankle of the garment with intelligent guiding function.
  • One or more locations in the location are One or more locations in the location.
  • the intelligent guide blind system disclosed by the invention collects voice instruction information of an active body through a voice system, and the global positioning system plans a target route according to the voice instruction information.
  • the activity body is guided to follow the target route, and when the intelligent guide device detects that the flow obstacle is located at the target route to be walked by the active body
  • the present invention enables the movable body to walk unfamiliarly by setting a global positioning system and a voice system.
  • the environment through the intelligent guide blind device, allows the movable body to walk freely in an unfamiliar environment.
  • the present invention provides a feedback system (smart guide device)
  • the guidance system Global Positioning System and voice system
  • it has the characteristics of high real-time performance and high reliability, and can avoid the dilemma of blind people surrounded by obstacles.
  • FIG. 1 is a structural block diagram of a preferred embodiment of the intelligent guide blind system of the present invention
  • FIG. 2 is a schematic flow chart of a preferred embodiment of a smart guide blind method according to the present invention.
  • FIG. 3 is a schematic flow chart of another preferred embodiment of the smart guide blind method of the present invention.
  • FIG. 4 is a schematic view of the garment with intelligent guiding function of the present invention being worn on a human body.
  • the present invention is used to define the present invention, and the features of the embodiments and the embodiments of the present invention may be combined with each other without conflict.
  • the invention provides an intelligent guiding blind system for leading the active body wearing the intelligent guiding blind system, the active body may be a blind person or may be in a dark ring
  • the eye-catching person in the environment or in the blindfold can also be other adaptable animals or robots.
  • the following is an example of using a moving body as a blind person.
  • the intelligent guide blind system of the present invention includes a global positioning system 1 and a voice.
  • Designing a master switch 4 can be turned off when the smart guide blind system is not used, and opening when using the smart guide blind system makes the blind user's operation simple and convenient.
  • the power source 5 and the global positioning system 1 can be placed in a backpack shape over the shoulders of the blind person.
  • the global positioning system 1 is connected to the voice system 2, and several intelligences are
  • the guiding device 3 is connected to the global positioning system 1 through a main switch 4, which includes an earphone worn in the ear of the blind and a microphone located at the mouth of the blind for collecting
  • the voice instruction information of the blind person is guided and the blind person is guided to move according to the target route acquired by the global positioning system 1; the global positioning system 2 is used to obtain the information according to the voice instruction information.
  • each intelligent guiding device 3 is used for respectively detecting the distance between each detecting point and the obstacle in the environment where the blind person is located, and guiding the blind according to the measured distance
  • the blind person needs to go to a certain place, he only needs to wear the intelligent guide blind system on his body, turn on the main switch 4, and say the destination to be reached (voice command information).
  • the voice system 2 collects the destination of the blind input to the intelligent guide blind system; after acquiring the destination, the global positioning system 1 plans a plurality of routes, and the plurality of route packages
  • the shortest route, the passing traffic intersection are all routes with traffic lights and the routes that do not pass through the traffic intersection; the voice system 2 is aware of global positioning.
  • the route is planned well, please select the route with the shortest route or the traffic intersection that passes through the route with traffic lights or
  • Routes that do not pass through traffic intersections are routes with traffic lights at the intersection (recommended, because traffic intersections have traffic signals)
  • GPS 1 will get the traffic signal at the same time, and broadcast it through the voice system 2, so that the blind can also stop according to the red light, the green light
  • the route of the intersection of the signal light is taken as the target route; the traffic intersections collected by the voice system 2 are the routes of the intersection with the traffic signal; the global positioning system acquires
  • the blind route is guided according to the target route;
  • the voice system 2 guides the blind movement according to the navigation of the global positioning system;
  • each intelligent guiding device 3 detects the distance between each detecting point and an obstacle in the environment where the blind person is located, and if the measured distance is less than the preset distance, the blind is guided.
  • the person corrects the action, such as guiding the blind person to move to the right front or the left front.
  • the current route is straight, when the blind person's orientation is biased to the left or to the right, the corresponding intelligent guide blinds
  • Setting 3 will remind the blind person that the left or right deviation occurs in the walking, so that the blind person can correct it in time; when the current route needs to turn, the blind person's turning angle is too large or too small, correspondingly
  • the intelligent guide blind device 3 will remind the blind person that the turning angle is too large or too small, so that the blind person can correct it in time. This blind person will not fall into the dilemma of obstacles, can be free
  • the intelligent guide blind system disclosed by the invention collects voice instruction information of an active body through a voice system, and the global positioning system plans a target route according to the voice instruction information.
  • the activity body is guided to follow the target route, and when the intelligent guide device detects that the flow obstacle is located at the target route to be walked by the active body
  • the present invention enables the movable body to walk unfamiliarly by setting a global positioning system and a voice system.
  • the environment through the intelligent guide blind device, allows the movable body to walk freely in an unfamiliar environment.
  • the present invention provides a feedback system (smart guide device)
  • the guidance system Global Positioning System and voice system
  • it has the characteristics of high real-time performance and high reliability, and can avoid the dilemma of blind people surrounded by obstacles.
  • the speech system 2 includes an earphone that is worn in the ear of a blind person, and the earphone is a single ear earphone that allows blind hearing without being excessively restricted and does not disturb
  • the intelligent guide blind device 3 in the above embodiment specifically includes a distance measuring device 31, a processor 32 and a vibrator 33; wherein the distance measuring device 31 is connected to the processor 32 for detecting
  • the processor 32 controls the opening of the vibrator 33 based on the measured distance
  • the distance measuring device 31 may specifically be an infrared distance measuring device or an ultrasonic distance measuring device, etc., to detect the distance information of the surrounding environmental obstacles at the moment when it is turned on, in order to
  • the distance between the detection point and the obstacle can be accurately detected, and the resource is not wasted.
  • the distance measuring device 31 of the present invention is a PSD infrared distance measuring sensor, and the infrared distance measuring is performed.
  • the effective distance is about 2m.
  • the vibrator 33 vibrates the preset
  • the time (e.g., 1 s) is stopped, and the distance measuring device 31 continues the detection.
  • the intelligent guide blind device 3 is used as a module, that is, the distance measuring device 31, the processor 32 and the vibrator 33 are made into a single ligand, and the intelligent guide blind device 3 can be passed through.
  • the glueless Velcro fastening structure is bound to various parts of the body, such as fixing the smart guide device 3 to the head, shoulder, elbow, wrist, chest, abdomen, hip,
  • Knee or ankle It can avoid collision between blind people and obstacles in all directions and ensure the safety of blind people.
  • the global positioning system 1 is further configured to determine whether the motion track of the blind person matches the target route; the intelligent guide blind device 3 is connected to the global positioning system 1 and
  • the blind person In the event of an obstacle, the blind person is required to correct his movements, and when the blind person does not follow the target route, the blind person is required to correct the movement.
  • the Global Positioning System Specifically, the Global Positioning System
  • the system 1 obtains the orientation of the blind person and determines whether the orientation of the blind person is consistent with the direction of the target route. If the orientation of the blind person is consistent with the direction of the target route, the blind person continues to be acquired.
  • the intelligent guide device 3 directs the blind person to correct its movement. If the current route is straight, the direction of the blind
  • the corresponding intelligent guide device 3 When the left or right is biased, the corresponding intelligent guide device 3 will remind the blind person that the left or right deviation of the walking occurs, so that the blind person can correct it in time;
  • the corresponding intelligent guide device 3 will remind the blind person that the turning angle is too large or too small, so that the blind person can correct it in time, that is, the hair is guaranteed.
  • Ming intelligent guide system has high real-time performance and high accuracy.
  • the intelligent guide blind device 3 in the above embodiment specifically includes a distance measuring device 31, a processor 32 and a vibrator 33; wherein the distance measuring device 31 is connected to the processor 32 for detecting
  • the processor 32 Measuring the distance between the point and the obstacle in the surrounding environment, and transmitting the measured distance to the processor 32; the processor 32 is connected to the global positioning system 1 for receiving the global
  • the judgment result information of the positioning system 1 is located, and the opening and closing of the vibrator 33 is controlled based on the received judgment result information or the measured distance.
  • the distance measuring device 31 may specifically be an infrared distance measuring device or an ultrasonic distance measuring device, etc., to detect the distance information of the surrounding environmental obstacles at the moment when it is turned on, in order to
  • the distance between the detection point and the obstacle can be accurately detected, and the resource is not wasted.
  • the distance measuring device 31 of the present invention is a PSD infrared distance measuring sensor, and the infrared distance measuring is performed.
  • the effective distance is about 2m.
  • the vibrator 33 vibrates the preset
  • the time (e.g., 1 s) is stopped, and the distance measuring device 31 continues the detection.
  • the processor 32 also obtains the judgment result information of the global positioning system 1 (the movement track and the target of the blind person)
  • the track is matched or not matched, when the track of the blind person is matched with the target route, the information of the judgment result is continuously obtained, and the motion track of the blind person is obtained.
  • the vibrator 33 is activated to remind the blind person to correct the action, and the vibrator 33 is stopped after the preset time (eg, 1 s), and the processor 32 continues to obtain the judgment.
  • the preset time eg, 1 s
  • each intelligent guiding device further includes a branch switch 6 for controlling the opening and closing of the intelligent guiding device, and by designing each branch switch 6, the
  • the intelligent guide device that uses or causes misjudgment in special activities is temporarily turned off, increasing user experience.
  • the invention also provides a smart guiding method
  • FIG. 2 is a schematic flowchart of a preferred embodiment of a smart guide blind method according to the present invention.
  • the smart guide blind method includes the following steps:
  • Step S10 collecting voice instruction information of the active body
  • Step S20 acquiring a target route according to the voice instruction information
  • Step S30 guiding the moving body to move according to the target route
  • Step S40 when the moving body moves according to the target route, respectively detecting the distance of the obstacle in the environment where each detecting point is located from each detecting point, and according to the measured
  • the distance guides the body correction action.
  • the active body can be blind, or a bright-eyed person in the dark or blindfold, or other adaptable animal or robot.
  • the present invention is explained, and the following is an example in which the moving body is a blind person.
  • blind people need to go to a certain place, blind people say the destination they need to reach (voice command information); intelligent blind guide system to achieve this intelligent guide blind method to collect blind people lose
  • a number of routes are planned for the blind to select, to obtain the target route selected by the blind; and then to guide the blind according to the target route
  • Human movement in the process of blind movement, detecting the distance between each detection point and the obstacle in the environment where the blind person is located, if the measured distance is less than the preset distance (such as 2 meters)
  • the intelligent guide blind method disclosed by the invention first collects the voice instruction information of the blind person, and plans a target route according to the voice instruction information, and then guides the blind person according to the target
  • the standard route is walking, and at the same time, detecting the distance of the obstacles in the environment where each detection point is located from each detection point, and guiding the moving body correction action according to the measured distance to hide
  • the present invention can enable a blind person to walk freely in an unfamiliar environment, and at the same time, the present invention sets a feedback step (detecting a barrier in the environment where each detection point is located)
  • the person walks in accordance with the target route, and has the characteristics of high real-time performance and high reliability, and can avoid the predicament that the blind person is surrounded by obstacles.
  • FIG. 3 is a schematic flowchart diagram of another preferred embodiment of the smart guide blind method according to the present invention.
  • the smart guide blind method of the present invention is in the above embodiment.
  • Step S50 determining whether the motion track of the moving body matches the target route
  • Step S60 if the motion track of the moving body does not match the target route, the moving body correction action is directed.
  • the blind person In the event of an obstacle, the blind person is required to correct his movements, and when the blind person does not follow the target route, the blind person is required to correct the movement. Specifically, first obtain blindness
  • the orientation of the person determines whether the orientation of the blind person is consistent with the direction of the target route. If the orientation of the blind person is consistent with the direction of the target route, the orientation of the blind person continues to be obtained.
  • the orientation of the blind is inconsistent with the direction of the target route, guiding the blind to correct its movements. If the current route is straight, when the blind person’s orientation is biased to the left or to the right,
  • a blind person has a left or right deviation in his walking, so that the blind person can correct it in time; if the current route is a need to turn, the blind person’s turning angle is too large or too small, then the blind is reminded.
  • the person's turning angle is too large or too small, so that the blind can be corrected in time. In this way, the blind person will not fall into the dilemma of obstacles, and can walk freely in an unfamiliar environment without
  • the step S20 is: according to the instruction information
  • the specific step of acquiring the target route is: planning the route with the shortest route according to the instruction information, and passing
  • Traffic intersections are routes with traffic lights and routes that do not pass traffic intersections; obtain the shortest route or traffic that is selected by the activity body
  • intersections are all routes with intersections with traffic lights or routes that do not pass traffic intersections.
  • blind people need to go to a certain place, blind people say the destination they need to reach (voice command information); intelligent blind guide system to achieve this intelligent guide blind method to collect blind people lose
  • the destination then, based on the destination, a number of routes are planned for the blind, including the shortest route and the passing traffic
  • the route of the mouth and the route that does not pass through the traffic intersection are selected as the target route, and are collected to the intelligent guide blind system that implements the intelligent guide blind method, and then
  • the default target route is executed, and the default target route is
  • the passing traffic intersections are all routes with intersections with traffic lights.
  • the invention also provides a garment with intelligent guiding function, the garment with intelligent guiding function includes the intelligent guiding system in the above embodiment, that is, the intelligent
  • the garment with the guiding function has all the beneficial effects of the intelligent guiding system in the above embodiment, and details are not described herein again. At the same time, because the intelligent guide system is installed in the clothing
  • FIG. 4 is a schematic view of the garment with intelligent blind guiding function worn on the human body.
  • each intelligent guide device is disposed in the smart

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Abstract

一种智能导盲系统，用于为穿戴该智能导盲系统的活动体进行领路，其包括全球定位系统(1)、语音系统(2)及至少一个智能导盲装置(3)；语音系统(2)，与全球定位系统(1)连接，用于采集活动体的语音指令信息以及指引活动体按照全球定位系统(1)获取的目标路线运动；全球定位系统(1)，用于根据语音指令信息，获取目标路线；各智能导盲装置(3)，用于分别检测各检测点与活动体所处环境中的障碍物之间的距离，并根据所测得的距离指引活动体修正动作。一种智能导盲方法及具有智能导盲功能的服装，集反馈系统与引导系统于一身，能使盲人自如的行走于陌生的环境中，具有实时性高、可靠性强等特点，还能避免盲人处于障碍物环绕的困境。

Description

一种智能导盲系统及方法、具有智能导盲功能的服装
技术领域
本发明涉及导盲技术领域，尤其涉及一种智能导盲系统及方法、具有智能导盲功能的服装。
背景技术
现有技术中的智能导盲系统，可以穿戴在盲人身上，都是通过超声波检测距离障碍物的距离，通过计步器测量盲人的行程，
结合超声波检测到的距离障碍物的距离以及计步器测量到的盲人的行程，计算出盲人以当前速度行走时碰到障碍物的时间，
当该计算出来的碰到障碍物的时间小于预置时间时，报警器发出报警信号以提醒盲人，一方面可以解放行走过程中的盲人的
双手，另一方面可保证行走中的盲人的安全。但该智能导盲系统仅适合盲人行走在熟悉的环境中，以应对熟悉环境中流动的
障碍物，当盲人行走于陌生环境中时，还是需要明眼人的领路，所以如何能够使盲人在陌生环境中自如的行走而不依靠明眼
人成为急需解决的问题。
发明内容
本发明的主要目的在于解决现有技术中盲人无法自如的行走在陌生环境中的技术问题。
为实现上述目的，本发明提供的一种智能导盲系统，用于为穿戴该智能导盲系统的活动体进行领路，其包括全球定位系统、
语音系统及至少一个智能导盲装置；
所述语音系统，与所述全球定位系统连接，用于采集活动体的语音指令信息以及指引活动体按照所述全球定位系统获取的目
标路线运动；
所述全球定位系统，用于根据所述语音指令信息，获取目标路线；
各所述智能导盲装置，用于分别检测各检测点与活动体所处环境中的障碍物之间的距离，并根据所测得的距离指引活动体修
正动作。
优选地，所述智能导盲装置包括测距装置、处理器及震动器；所述测距装置与所述处理器连接，用于检测检测点与周围环境
中的障碍物之间的距离，并将所测得的距离发送至所述处理器；所述处理器根据所测得的距离控制所述震动器的开启与关闭
。
优选地，所述全球定位系统还用于判断所述活动体的运动轨迹是否与所述目标路线匹配；所述智能导盲装置与所述全球定位
系统连接，还用于在判断出所述活动体的运动轨迹与所述目标路线不匹配时，指引活动体修正动作。
优选地，所述智能导盲装置包括测距装置、处理器及震动器；所述测距装置与所述处理器连接，用于检测检测点与周围环境
中的障碍物之间的距离，并将所测得的距离发送至所述处理器；所述处理器与所述全球定位系统连接，用于接收所述全球定
位系统的判断结果信息，并根据所接收到的判断结果信息或所测得的距离控制所述震动器的开启与关闭。
优选地，所述智能导盲装置还包括控制该智能导盲装置开启和关闭的开关。
本发明还提供了一种智能导盲方法，其包括如下步骤：
采集活动体的语音指令信息；
根据所述语音指令信息，获取目标路线；
指引活动体按照所述目标路线运动；
在活动体按照所述目标路线运动时，分别检测各检测点所处环境中的障碍物与各检测点之间的距离，并根据所测得的距离指
引活动体修正动作。
优选地，该智能导盲方法还包括如下步骤：
判断活动体的运动轨迹是否与所述目标路线匹配；
若所述活动体的运动轨迹与所述目标路线不匹配时，指引活动体修正动作。
优选地，所述根据所述指令信息，获取目标路线的具体步骤为：根据所述指令信息规划出行程最短的路线、通过的交通路口
均为具有交通信号灯的路口的路线及不通过交通路口的路线；获取活动体所选择的行程最短的路线或通过的交通路口均为具
有交通信号灯的路口的路线或不通过交通路口的路线作为目标路线。
本发明还提供了一种具有智能导盲功能的服装，该具有智能导盲功能的服装包括上述技术方案中任一所述智能导盲系统。
优选地，各所述智能导盲装置设置在该具有智能导盲功能的服装的头部、肩部、肘部、腕部、胸部、腹部、髋部、膝盖或踝
部位置中的一个或多个位置。
本发明所公开的智能导盲系统通过语音系统采集活动体的语音指令信息，全球定位系统根据该语音指令信息规划出目标路线
，再通过语音系统指导活动体按照该目标路线行走，当智能导盲装置检测到有流动的障碍物位于活动体所要行走的目标路线
上时，将指导活动体修正动作以躲避该障碍物。即本发明通过设置全球定位系统和语音系统，可使得活动体能够行走于陌生
的环境，又通过智能导盲装置，可使得活动体能够自如的行走于陌生的环境中。同时，本发明集反馈系统（智能导盲装置）
与引导系统（全球定位系统和语音系统）于一身，具有实时性高、可靠性强等特点，还能避免盲人处于障碍物环绕的困境。
附图说明
图1为本发明智能导盲系统优选实施例的结构框图；
图2为本发明智能导盲方法优选实施例的流程示意图；
图3为本发明智能导盲方法另一优选实施例的流程示意图；
图4为本发明具有智能导盲功能的服装穿于人体上的示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
以下结合说明书附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不
用于限定本发明，并且在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
本发明提供一种智能导盲系统，用于为穿戴该智能导盲系统的活动体进行领路，该活动体可以是盲人，也可以是处于黑暗环
境中或蒙眼中的明眼人，也可以是其他可适应的动物或机器人。为了描述方便且利于理解本发明，后续以活动体为盲人为例
进行说明。
参照图1，图1为本发明智能导盲系统优选实施例的结构框图，在该实施例中，本发明智能导盲系统包括全球定位系统1、语音
系统2、若干智能导盲装置3、控制该智能导盲系统整个开启和关闭的总开关4及为整个智能导盲系统提供能量的电源5，通过
设计一个总开关4可在不使用该智能导盲系统时关闭，使用该智能导盲系统时开启使得盲人用户操作简单、方便。在具体实施
例中，该电源5和全球定位系统1可设置成背包状背于盲人的双肩之上。其中，该全球定位系统1与语音系统2连接，若干智能
导盲装置3通过总开关4与全球定位系统1连接，语音系统2包括佩戴在盲人耳朵中的耳机以及位于盲人嘴边的麦克风，用于采
集盲人的语音指令信息以及指引盲人按照全球定位系统1获取的目标路线运动；全球定位系统2，用于根据语音指令信息，获
取目标路线；各智能导盲装置3，用于分别检测各检测点与盲人所处环境中的障碍物之间的距离，并根据所测得的距离指引盲
人修正动作。
如，盲人需要到某个地方，只需要将该智能导盲系统穿戴在身上，将总开关4开启，说出需要达到的目的地（语音指令信息）
；语音系统2采集盲人输入的目的地至该智能导盲系统；全球定位系统1获取到该目的地后，规划出多条路线，该多条路线包
括行程最短的路线、通过的交通路口均为具有交通信号灯的路口的路线及不通过交通路口的路线；语音系统2在知晓全球定位
系统规划出路线后，播报如路线规划好，请选择行程最短的路线或者通过的交通路口均为具有交通信号灯的路口的路线或者
不通过交通路口的路线；如盲人选择通过的交通路口均为具有交通信号灯的路口的路线（建议，因为交通路口具有交通信号
灯，则全球定位系统1会同时获取该交通信号灯的情况，并通过语音系统2播报出来，这样盲人也能按照红灯停、绿灯行的交
通规则行走了，可保证盲人也能遵守交通法规，进一步保障安全），若盲人未响应选择，则将通过的交通路口均为具有交通
信号灯的路口的路线作为目标路线；语音系统2采集到通过的交通路口均为具有交通信号灯的路口的路线；全球定位系统获取
到盲人所选择的目标路线后，按照目标路线为盲人导航；语音系统2根据全球定位系统的导航，指导盲人运动；在盲人运动过
程中，各智能导盲装置3分别检测各检测点与盲人所处环境中的障碍物之间的距离，若所测得的距离小于预设距离，则指导盲
人修正动作，如指导盲人往右前方或左前方运动。当当前路线为直行时，盲人的朝向向左偏或向右偏时，相应的智能导盲装
置3将提醒盲人其行走发生了左偏或右偏，使盲人及时修正；当当前路线为需要转弯时，盲人的转弯角度过大或过小时，相应
的智能导盲装置3将提醒盲人其转弯角度过大或过小，使盲人及时修正。这样盲人就不会陷入障碍物环绕的困境，可以自如的
行走于陌生环境中，而无需依靠明眼人的领路，当然也能自如的行走于熟悉的环境中。
本发明所公开的智能导盲系统通过语音系统采集活动体的语音指令信息，全球定位系统根据该语音指令信息规划出目标路线
，再通过语音系统指导活动体按照该目标路线行走，当智能导盲装置检测到有流动的障碍物位于活动体所要行走的目标路线
上时，将指导活动体修正动作以躲避该障碍物。即本发明通过设置全球定位系统和语音系统，可使得活动体能够行走于陌生
的环境，又通过智能导盲装置，可使得活动体能够自如的行走于陌生的环境中。同时，本发明集反馈系统（智能导盲装置）
与引导系统（全球定位系统和语音系统）于一身，具有实时性高、可靠性强等特点，还能避免盲人处于障碍物环绕的困境。
在优选实施例中，语音系统2包括佩戴在盲人耳朵中的耳机，且该耳机为单耳耳机，可使盲人听力不受过多限制，并且不打扰
他人。
上述实施例中的智能导盲装置3具体包括测距装置31、处理器32及震动器33；其中，测距装置31与处理器32连接，用于检测检
测点与周围环境中的障碍物之间的距离，并将所测得的距离发送至处理器32；处理器32根据所测得的距离控制震动器33的开
启与关闭。
测距装置31具体的可以是红外测距装置或超声波测距装置等，以在其开启的状态时刻检测周围环境障碍物的距离信息，为了
能够精确地检测出检测点与障碍物之间的距离，又能不资源浪费，本发明的测距装置31为PSD红外测距传感器，红外线测距的
有效距离选用2m左右。处理器32获取到了测距装置31所测得的检测点与障碍物之间的距离后，判断该距离是否大于2m，若该
距离大于2m，则为安全，继续检测；若该距离小于2m，则为危险，启动震动器33，以提醒盲人修正动作，震动器33震动预设
时间（如1s）后停止，且测距装置31继续检测。
在该实施例中，将智能导盲装置3作为一个模块，即将测距装置31、处理器32及震动器33制成单个配体，智能导盲装置3可通
过无胶魔术贴粘扣结构绑定于身体各部位，如将智能导盲装置3固定于盲人的头部、肩部、肘部、腕部、胸部、腹部、髋部、
膝盖或踝部。可全方位的避免盲人与障碍物的碰撞，保证盲人的安全。
在优选实施例中，全球定位系统1还用于判断盲人的运动轨迹是否与目标路线匹配；智能导盲装置3与全球定位系统1连接，还
用于在判断出盲人的运动轨迹与目标路线不匹配时，指引活动体修正动作。
在遇到障碍物时，需要盲人修正其动作，同时在盲人未按照目标路线行走时，也需要盲人修正其动作。具体地，全球定位系
统1获取盲人的朝向，并判断盲人的朝向与目标路线的方向是否一致，若盲人的朝向与目标路线的方向一致，则继续获取盲人
的朝向，若盲人的朝向与目标路线的方向不一致，则智能导盲装置3指引盲人修正其动作。如当前路线为直行时，盲人的朝向
向左偏或向右偏时，相应的智能导盲装置3将提醒盲人其行走发生了左偏或右偏，使盲人及时修正；再如当前路线为需要转弯
时，盲人的转弯角度过大或过小时，相应的智能导盲装置3将提醒盲人其转弯角度过大或过小，使盲人及时修正，即保证本发
明智能导盲系统的实时性高及准确性强。
上述实施例中的智能导盲装置3具体包括测距装置31、处理器32及震动器33；其中，测距装置31与处理器32连接，用于检测检
测点与周围环境中的障碍物之间的距离，并将所测得的距离发送至处理器32；处理器32与全球定位系统1连接，用于接收全球
定位系统1的判断结果信息，并根据所接收到的判断结果信息或所测得的距离控制震动器33的开启与关闭。
测距装置31具体的可以是红外测距装置或超声波测距装置等，以在其开启的状态时刻检测周围环境障碍物的距离信息，为了
能够精确地检测出检测点与障碍物之间的距离，又能不资源浪费，本发明的测距装置31为PSD红外测距传感器，红外线测距的
有效距离选用2m左右。处理器32获取到了测距装置31所测得的检测点与障碍物之间的距离后，判断该距离是否大于2m，若该
距离大于2m，则为安全，继续检测；若该距离小于2m，则为危险，启动震动器33，以提醒盲人修正动作，震动器33震动预设
时间（如1s）后停止，且测距装置31继续检测。同时，处理器32还获取全球定位系统1的判断结果信息（盲人的运动轨迹与目
标路线匹配或不匹配），在获取到盲人的运动轨迹与目标路线匹配时，继续获取判断结果信息，在获取到盲人的运动轨迹与
目标路线不匹配时，启动震动器33，以提醒盲人修正动作，震动器33震动预设时间（如1s）后停止，且处理器32继续获取判
断结果信息。
在优选实施例中，各智能导盲装置均还包括控制自身智能导盲装置开启和关闭的支路开关6，通过设计各支路开关6，可将不
用或在特殊活动中造成误判的智能导盲装置暂时关闭，增加用户体验度。
本发明还提供一种智能导盲方法，
如图2所示，图2为本发明智能导盲方法优选实施例的流程示意图，该智能导盲方法包括如下步骤：
步骤S10，采集活动体的语音指令信息；
步骤S20，根据所述语音指令信息，获取目标路线；
步骤S30，指引活动体按照所述目标路线运动；
步骤S40，在活动体按照所述目标路线运动时，分别检测各检测点所处环境中的障碍物距离各检测点的距离，并根据所测得的
距离指引活动体修正动作。
该活动体可以是盲人，也可以是处于黑暗或蒙眼中的明眼人，也可以是其他可适应的动物或机器人。为了描述方便且利于理
解本发明，后续以活动体为盲人为例进行说明。
如，盲人需要到某个地方，盲人说出需要达到的目的地（语音指令信息）；实现本智能导盲方法的智能导盲系统采集盲人输
入的目的地；然后根据该目的地，规划出多条路线供盲人选择，获取盲人所选择的目标路线；接着就根据该目标路线指引盲
人运动，在盲人运动的过程中，检测各检测点与盲人所处环境中的障碍物之间的距离，若所测得的距离小于预设距离（如2米
），则指导盲人修正动作，如指导盲人往右前方或左前方运动。
本发明所公开的智能导盲方法首先采集盲人的语音指令信息，并根据该语音指令信息规划出目标路线，再指导盲人按照该目
标路线行走，同时，检测各检测点所处环境中的障碍物距离各检测点的距离，并根据所测得的距离指引活动体修正动作以躲
避该障碍物。即本发明可使得盲人能够自如的行走于陌生的环境，同时，本发明集反馈步骤（检测各检测点所处环境中的障
碍物距离各检测点的距离，并根据所测得的距离指引活动体修正动作以躲避该障碍物）与引导步骤（规划目标路线并指导盲
人按照该目标路线行走）于一身，具有实时性高、可靠性强等特点，还能避免盲人处于障碍物环绕的困境。
如图3所示，图3为本发明智能导盲方法另一优选实施例的流程示意图，在优选实施例中，本发明智能导盲方法在上述实施例
的基础上还包括如下步骤：
步骤S50，判断活动体的运动轨迹是否与所述目标路线匹配；
步骤S60，若所述活动体的运动轨迹与所述目标路线不匹配时，指引活动体修正动作。
在遇到障碍物时，需要盲人修正其动作，同时在盲人未按照目标路线行走时，也需要盲人修正其动作。具体地，首先获取盲
人的朝向，判断盲人的朝向与目标路线的方向是否一致，若盲人的朝向与目标路线的方向一致，则继续获取盲人的朝向，若
盲人的朝向与目标路线的方向不一致，则指引盲人修正其动作。如当前路线为直行时，盲人的朝向向左偏或向右偏时，则提
醒盲人其行走发生了左偏或右偏，使盲人及时修正；再如当前路线为需要转弯时，盲人的转弯角度过大或过小时，则提醒盲
人其转弯角度过大或过小，使盲人及时修正。这样盲人就不会陷入障碍物环绕的困境，可以自如的行走于陌生环境中，而无
需依靠明眼人的领路，当然也能自如的行走于熟悉的环境中。
在具体实施例中，步骤S20根据所述指令信息，获取目标路线的具体步骤为：根据所述指令信息规划出行程最短的路线、通过
的交通路口均为具有交通信号灯的路口的路线及不通过交通路口的路线；获取活动体所选择的行程最短的路线或通过的交通
路口均为具有交通信号灯的路口的路线或不通过交通路口的路线作为目标路线。
如，盲人需要到某个地方，盲人说出需要达到的目的地（语音指令信息）；实现本智能导盲方法的智能导盲系统采集盲人输
入的目的地；然后根据该目的地，规划出多条路线供盲人选择，其中该多条路线包括行程最短的路线、通过的交通路口均为
具有交通信号灯的路口的路线及不通过交通路口的路线。盲人从行程最短的路线、通过的交通路口均为具有交通信号灯的路
口的路线及不通过交通路口的路线中选择出一条作为目标路线，并被采集至实现本智能导盲方法的智能导盲系统，然后就可
以获取盲人所选择的目标路线。若活动体在预设时间内未响应选择目标路线，则执行默认的目标路线，该默认的目标路线为
通过的交通路口均为具有交通信号灯的路口的路线。
本发明还提供一种具有智能导盲功能的服装，该具有智能导盲功能的服装包括上述实施例中的智能导盲系统，即该具有智能
导盲功能的服装具有上述实施例中的智能导盲系统的所有有益效果，在此不再赘述。同时，由于智能导盲系统被安装到服装
上，其还与服装结合具有结合后的有益效果，如穿戴简单，容易收藏的有益效果。
如图4所示，图4为本发明具有智能导盲功能的服装穿于人体上的示意图。在优选实施例中，各智能导盲装置设置在该具有智
能导盲功能的服装的头部、肩部、肘部、腕部、胸部、腹部、髋部、膝盖或踝部位置中的一个或多个位置。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效
流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种智能导盲系统，用于为穿戴该智能导盲系统的活动体进行领路，其特征在于，该智能导盲系统包括全球定位系统、语
    音系统及至少一个智能导盲装置；
    所述语音系统，与所述全球定位系统连接，用于采集活动体的语音指令信息以及指引活动体按照所述全球定位系统获取的目
    标路线运动；
    所述全球定位系统，用于根据所述语音指令信息，获取目标路线；
    各所述智能导盲装置，用于分别检测各检测点与活动体所处环境中的障碍物之间的距离，并根据所测得的距离指引活动体修
    正动作。
  2. 如权利要求1所述的智能导盲系统，其特征在于，所述智能导盲装置包括测距装置、处理器及震动器；所述测距装置与所
    述处理器连接，用于检测检测点与周围环境中的障碍物之间的距离，并将所测得的距离发送至所述处理器；所述处理器根据
    所测得的距离控制所述震动器的开启与关闭。
  3. 如权利要求1所述的智能导盲系统，其特征在于，所述全球定位系统还用于判断所述活动体的运动轨迹是否与所述目标路
    线匹配；所述智能导盲装置与所述全球定位系统连接，还用于在判断出所述活动体的运动轨迹与所述目标路线不匹配时，指
    引活动体修正动作。
  4. 如权利要求3所述的智能导盲系统，其特征在于，所述智能导盲装置包括测距装置、处理器及震动器；所述测距装置与所
    述处理器连接，用于检测检测点与周围环境中的障碍物之间的距离，并将所测得的距离发送至所述处理器；所述处理器与所
    述全球定位系统连接，用于接收所述全球定位系统的判断结果信息，并根据所接收到的判断结果信息或所测得的距离控制所
    述震动器的开启与关闭。
  5. 如权利要求2或4所述的智能导盲系统，其特征在于，所述智能导盲装置还包括控制该智能导盲装置开启和关闭的开关。
  6. 一种智能导盲方法，其特征在于，包括如下步骤：
    采集活动体的语音指令信息；
    根据所述语音指令信息，获取目标路线；
    指引活动体按照所述目标路线运动；
    在活动体按照所述目标路线运动时，分别检测各检测点所处环境中的障碍物与各检测点之间的距离，并根据所测得的距离指
    引活动体修正动作。
  7. 如权利要求6所述的智能导盲方法，其特征在于，还包括如下步骤：
    判断活动体的运动轨迹是否与所述目标路线匹配；
    若所述活动体的运动轨迹与所述目标路线不匹配时，指引活动体修正动作。
  8. 如权利要求6或7所述的智能导盲方法，其特征在于，所述根据所述指令信息，获取目标路线的具体步骤为：根据所述指令
    信息规划出行程最短的路线、通过的交通路口均为具有交通信号灯的路口的路线及不通过交通路口的路线；获取活动体所选
    择的行程最短的路线或通过的交通路口均为具有交通信号灯的路口的路线或不通过交通路口的路线作为目标路线。
  9. 一种具有智能导盲功能的服装，其特征在于，该具有智能导盲功能的服装包括权利要求1至5任一项所述的智能导盲系统。
  10. 如权利要求9所述的具有智能导盲功能的服装，其特征在于，各所述智能导盲装置设置在该具有智能导盲功能的服装的头
    部、肩部、肘部、腕部、胸部、腹部、髋部、膝盖或踝部位置中的一个或多个位置。
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