CN119779301A - Intelligent indoor navigation and fall alarm system for blind person based on ultra-wideband positioning and gesture detection - Google Patents
Intelligent indoor navigation and fall alarm system for blind person based on ultra-wideband positioning and gesture detection Download PDFInfo
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Abstract
The invention discloses an intelligent indoor navigation and fall alarm system for a blind person based on ultra-wideband positioning and gesture detection, which comprises an ultra-wideband positioning module, a wireless communication module and an alarm module, wherein position information of the blind person is accurately tracked and positioned through ultra-wideband equipment deployed on clothes of the blind person, a blind person stick and an indoor environment. By utilizing a built-in forward path danger judging mechanism of the blind stick, the system can provide immediate and visual warning for the blind according to the danger level, thereby effectively realizing intelligent navigation assistance of the indoor environment. Meanwhile, an attitude detection algorithm is used, the attitude of the blind person is monitored through triaxial acceleration and gyroscope data, and the blind person is ensured to send out a warning once the blind person falls down by the system and the family members are notified. Compared with the prior art, the method and the device effectively solve the problems of high cost, insufficient precision, huge volume, potential privacy leakage and the like commonly existing in the prior art.
Description
Technical Field
The invention relates to the technical field of ultra-wideband positioning, in particular to an intelligent indoor navigation and fall alarm system for blind people based on ultra-wideband positioning and gesture detection.
Background
At present, china is the country with the largest number of blind persons in the world, but the blind guiding auxiliary tool has quite a lot of problems. Firstly, the blind guiding auxiliary tool has high price and uneven quality, or the blind guiding auxiliary tool has high culture cost and rare quantity like a blind guiding dog, and is difficult to obtain by common people. Secondly, most of the blind guiding auxiliary tools at present need users to rely on sound or vibration generated by equipment to sense surrounding environment, detection space is limited, and the problems of uncomfortable wearing, large volume and the like of part of the blind guiding auxiliary tools exist, so that daily use experience of the users is greatly influenced. In addition, the traditional cameras can violate privacy in bedrooms, bathrooms and other scenes, but accidents are most likely to happen to the places for the blind.
Ultra Wide Band (UWB) is an emerging communication technology which uses nanosecond-level pulses as wireless communication signals, has the advantages of high transmission rate, low power consumption, strong anti-interference performance, high positioning accuracy and the like, can realize real-time positioning of moving objects or personnel, and is an ideal positioning scheme.
Therefore, it is necessary to provide an intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection, so as to solve the technical problems.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides an intelligent indoor navigation and falling alarm system for the blind based on ultra-wideband positioning and gesture detection.
In order to achieve the aim, the intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection comprises an ultra-wideband positioning module, a wireless communication module and an alarm module;
The ultra-wideband positioning module is used for positioning the position of the blind person and detecting the posture of the blind person and comprises a plurality of base stations arranged at all positions in a room and labels arranged on clothes and a blind crutch, wherein the base stations and the labels comprise:
The ultra-wideband unit is used for transmitting and receiving ultra-wideband signals, acquiring the distance between the base station and the tag, determining the relative position between the base station and the tag, and further outputting the position information of the blind person;
The gesture detection unit is integrated with the three-axis gyroscope and the three-axis accelerometer and is used for outputting three-axis acceleration and three-axis gyroscope data, carrying out gesture calculation to detect the gesture of the blind person and further outputting gesture information of the blind person;
The control unit is used for controlling the ultra wideband unit to emit ultra wideband signals, receiving and storing the blind position information and the blind posture information output by the ultra wideband unit and the posture detection unit, and sending the blind position information and the blind posture information to the wireless communication module and the alarm module;
the wireless communication module is used for sending the blind position information and the blind posture information from the control unit to the terminal;
and the alarm module is used for sending out warning sounds and prompting positions according to the blind position information and the blind posture information from the control unit.
In a preferred embodiment of the invention, a plurality of said base stations are arranged on the walls, floors and furniture of the room.
In a preferred embodiment of the present invention, the ultra-wideband unit calculates the distance between the tag and the base station through TWR algorithm based on the round trip flight time of the ultra-wideband signal between the tag and the base station, and calculates the relative position between the tag and the base station using trilateration algorithm.
In a preferred embodiment of the present invention, the terminal includes a cloud server and a smart phone.
In a preferred embodiment of the present invention, the method for performing gesture calculation by the gesture detection unit includes the following steps:
Step 1, calculating a total acceleration vector containing dynamic and static acceleration components according to the output triaxial acceleration and triaxial gyroscope data Wherein, A x、Ay and A z are accelerations in x, y and z axes respectively;
Step 2, calculating a total acceleration vector containing dynamic and static angular velocity components according to the output triaxial acceleration and triaxial gyroscope data Wherein x, y and z are acceleration in x, y and z axes respectively;
Step 3, setting acceleration threshold values (1 g and 1.8 g), and dividing blind person activities into three groups, namely a standing group, a normal activity group and a high-density activity group;
And 4, comparing the data with the threshold value in the step 3 by using a threshold value method, and identifying the current blind gesture information according to the comparison result.
In a preferred embodiment of the present invention, the normal activity group classifies a plurality of normal activities based on an angular velocity threshold, including walking, sitting, standing, lying down and sitting up;
The high density activity set includes stepping, running, and falling, the stepping and running being distinguished based on an average peak acceleration threshold (2.1 g), and the falling condition being set to an average peak angular velocity greater than 200 °.
In a preferred embodiment of the present invention, the alarm module includes a sound system and a vibration system;
The sound system comprises a buzzer and a loudspeaker;
The buzzer is used for starting work when the posture information of the blind person reaches a falling condition;
The loudspeaker is used for sending out warning information and broadcasting the position and the distance between the barrier when the distance between the tag and the barrier reaches a preset condition based on the position information of the blind;
the vibration system comprises a miniature motor rotor motor arranged on the blind crutch, and the blind crutch is driven to vibrate based on the position information of the blind person.
In a preferred embodiment of the present invention, the ultra-wideband unit is further provided with a forward direction risk judging mechanism, wherein the more obstacles are in the forward direction, the larger the up-down fluctuation is, the more tortuous the route is, the higher the risk is, the fewer the obstacles are, the smaller the up-down fluctuation is, the straighter the route is, the lower the risk is, the path risk level is set, and the control unit controls the vibration frequency of the miniature motor rotor motor to gradually increase according to the increase of the path risk level.
In a preferred embodiment of the present invention, a voice switch is disposed at the handle position of the crutch, and the voice switch is used for controlling the voice broadcasting function of the speaker.
The invention solves the defects existing in the background technology, and has the following beneficial effects:
(1) The invention provides an intelligent indoor navigation and fall alarm system for a blind person based on ultra-wideband positioning and gesture detection, which accurately tracks and positions the position information of the blind person through ultra-wideband equipment deployed on clothes of the blind person, a blind crutch and an indoor environment. By utilizing a built-in forward path danger judging mechanism of the blind stick, the system can provide immediate and visual warning for the blind according to the danger level, thereby effectively realizing intelligent navigation assistance of the indoor environment. Meanwhile, an attitude detection algorithm is used, the attitude of the blind person is monitored through triaxial acceleration and gyroscope data, and the blind person is ensured to send out a warning once the blind person falls down by the system and the family members are notified. Compared with the prior art, the method and the device effectively solve the problems of high cost, insufficient precision, huge volume, potential privacy leakage and the like commonly existing in the prior art.
(2) The invention sets the ultra-wideband positioning module, realizes the positioning of the indoor environment and the position of the blind person through a plurality of base stations and the labels deployed on the clothes of the blind person, and constructs the forward path danger judging mechanism which integrates the environment sensing algorithm and the path planning logic, and can analyze the current position, the movement trend and the potential risk factors in the surrounding environment of the blind person in real time. Based on this mechanism, the system is able to intelligently assess the level of danger on the blind's forward path, including but not limited to, potential threats of obstacles, edge zones, elevation changes, and the like.
(3) Aiming at the dangerous assessment results of different grades, the invention designs a differentiated vibration reminding strategy. Specifically, the system can automatically adjust the vibration motor arranged in the blind crutch to output vibration signals with different frequencies, directions and intensities according to the path planning and the dangerous level, and the vibration motor is used as an effective means for transmitting safety warning to the blind person. The multi-level vibration reminding mode is visual and easy to understand, and can be flexibly adjusted according to different situations, so that the blind can quickly perceive and cope with potential danger.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art;
FIG. 1 is a schematic diagram of a blind intelligent indoor navigation and fall alarm system based on ultra-wideband positioning and gesture detection in accordance with a preferred embodiment of the present invention;
FIG. 2 is a workflow diagram of an ultra-wideband positioning and gesture detection based intelligent indoor navigation and fall alarm system for the blind in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic illustration of the on-garment label deployment of a preferred embodiment of the present invention;
FIG. 4 is a schematic view of the tag and micro-machine rotor motor of the preferred embodiment of the present invention deployed on a cane;
fig. 5 is a schematic view of a base station deployment in indoor space according to a preferred embodiment of the present invention;
FIG. 6 is a schematic diagram of a gesture detection algorithm of a preferred embodiment of the present invention;
in the figure, 1, a label, 2, clothes, 3, a base station, 4, a blind crutch and 5, a miniature motor rotor motor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
In the description of the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediate medium, or in communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art in a specific case.
As shown in fig. 1 and 2, the invention provides an intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection, which is suitable for intelligent indoor navigation for the blind and comprises an ultra-wideband positioning module, a wireless communication module and an alarm module.
As shown in fig. 3 to 5, the ultra-wideband positioning module for positioning the blind person and detecting the posture of the blind person comprises a plurality of base stations arranged at various positions in a room and labels arranged on clothes and a blind crutch, wherein the base stations and the labels comprise:
The ultra-wideband unit preferably uses a DW1000 chip as a receiving and transmitting medium for transmitting and receiving ultra-wideband signals, acquires the distance between the base station and the tag, determines the relative position between the base station and the tag, and further outputs the position information of the blind person.
The base stations are arranged on the walls, floors and furniture of the room, i.e. on objects present as obstacles in the room. Further, at the position set by the base station, an ID is set for the base station, which indicates the name of the object where the base station is located, and the ID can be used for constructing indoor space modeling.
And the ultra-wideband unit is used for calculating the distance between the tag and the base station through a TWR algorithm based on the ultra-wideband signal round trip flight time between the tag and the base station and calculating the relative position between the tag and the base station through a trilateral positioning algorithm.
The control unit preferably uses an STM32F103C8T6 chip, and is used for controlling the ultra wideband unit to emit ultra wideband signals, receiving and storing the blind position information and the blind posture information output by the ultra wideband unit and the posture detection unit, and sending the blind position information and the blind posture information to the wireless communication module and the alarm module.
Furthermore, the ultra-wideband positioning module further comprises an ultra-wideband transmitting antenna, the frequency band of which is the same as that of the ultra-wideband antenna, and the ultra-wideband positioning module is an ultra-wideband frequency band.
As shown in fig. 6, the gesture detection unit preferably uses an IMU chip ICM42605, integrates a tri-axis gyroscope and a tri-axis accelerometer, and is used for outputting tri-axis acceleration and tri-axis gyroscope data, and performing gesture calculation to detect the gesture of the blind person, so as to output gesture information of the blind person.
Furthermore, the falling process is divided into three states of unbalance, impact and static, and according to circumstances, the falling process can be divided into the situations of falling from a support such as a bed and a chair, falling, sliding, tripping and the like when going up and down stairs. In either case, the acceleration and rotational angular velocity of the human body and the relative positions of the human body with respect to the wall surface and the ground change drastically. Further, the method for performing gesture calculation by the gesture detection unit comprises the following steps:
Step 1, calculating a total acceleration vector containing dynamic and static acceleration components according to the output triaxial acceleration and triaxial gyroscope data Wherein a x、Ay and a z are accelerations in x, y, and z axes, respectively.
Step 2, calculating a total acceleration vector containing dynamic and static angular velocity components according to the output triaxial acceleration and triaxial gyroscope dataWherein x, y and z are accelerations in the x, y and z axes, respectively.
And 3, setting acceleration threshold values (1 g and 1.8 g), and dividing the blind person activities into three groups, namely a standing group, a normal activity group and a high-density activity group.
Further, normal activity groups are classified based on angular velocity threshold (50 °,130 °) for multiple normal activities, including walking, sitting, standing, lying down, and sitting up.
The high density activity set includes stepping, running, and falling, the stepping and running being distinguished based on an average peak acceleration threshold (2.1 g), and the falling condition being set to an average peak angular velocity greater than 200 °.
And 4, comparing the data with the threshold value in the step 3 by using a threshold value method, and identifying the current blind gesture information according to the comparison result.
Furthermore, once the distance between the head, the hands and the like of the blind person and the ground or the wall is rapidly reduced, the result of combining the gesture detection can also be judged as a falling process. Therefore, whether the user falls quickly, slowly or from the bed, or falls in different postures such as the back, the side, the prone position and the like, the user can monitor and send out an alarm in real time, and meanwhile, the user can be informed of the falling position and the posture.
It is worth to say that ultra wide band positioning module still includes shell and PCB board, control unit, ultra wide band unit and gesture detection unit are all integrated on the PCB board to set up inside the shell, the PCB version is connected with the shell, uses glue adhesion or screw fixation, uses as basic station and label respectively.
The wireless communication module is preferably composed of an ESP8266WiFi module and is used for sending the blind position information and the blind posture information from the control unit to the terminal, and the terminal comprises a cloud server and a smart phone. The data signals sent by the ultra-wideband positioning module can be received by other systems except the ultra-wideband positioning module, the position information and the gesture information of the blind person are sent to the wireless communication module through the data storage and the processing of the control unit, and once the blind person falls down, the position information and the gesture information of the blind person are immediately sent to the home mobile phone through WiFi.
And the alarm module is used for sending out warning sounds and prompting positions according to the position information and the posture information of the blind person from the control unit.
Further, the alarm module comprises a sound system and a vibration system.
The sound system comprises a buzzer and a loudspeaker.
And the buzzer is used for starting work when the posture information of the blind person reaches a falling condition.
And the loudspeaker is used for sending out warning information and broadcasting the position where the warning information is located and the distance between the warning information and the obstacle when the distance between the tag and the obstacle reaches a preset condition based on the position information of the blind person.
The vibration system comprises a miniature motor rotor motor arranged on the blind crutch, and drives the blind crutch to vibrate based on the position information of the blind person.
Further, the control unit is connected with the rotor motor of the micro motor through the GPIO pin and then connected with the blind crutch, and the control unit controls the rotor motor of the micro motor through the PWM signal, so that the blind crutch can send out vibration with different frequencies.
The ultra-wideband unit is also provided with a forward path danger judging mechanism, wherein the more obstacles are in the forward direction, the larger the up-down fluctuation is, the more the route is bent, the higher the danger is, the fewer the obstacles are, the smaller the up-down fluctuation is, the straighter the route is, the lower the danger is, the path danger level is set, and the control unit controls the vibration frequency of the rotor motor of the miniature motor to be gradually increased according to the improvement of the path danger level. Under the condition of safety, the blind crutch cannot vibrate, and the vibration frequency is gradually increased along with the increase of the dangerous level, and is gradually reduced in the opposite way. When the distance between the speaker and the wall and the obstacle is short, the speaker can send out warning information to inform the blind of the position of the speaker and the distance between the speaker and the obstacle, so as to remind the blind of paying attention to safety.
Further, a voice switch is arranged at the handle position of the blind crutch, and the voice switch is used for controlling a voice broadcasting function of the loudspeaker.
In summary, the invention provides an intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection, which accurately tracks and positions the position information of the blind through ultra-wideband equipment deployed on clothes of the blind, a blind crutch and an indoor environment. By utilizing a built-in forward path danger judging mechanism of the blind stick, the system can provide immediate and visual warning for the blind according to the danger level, thereby effectively realizing intelligent navigation assistance of the indoor environment. Meanwhile, an attitude detection algorithm is used, the attitude of the blind person is monitored through triaxial acceleration and gyroscope data, and the blind person is ensured to send out a warning once the blind person falls down by the system and the family members are notified. Compared with the prior art, the method and the device effectively solve the problems of high cost, insufficient precision, huge volume, potential privacy leakage and the like commonly existing in the prior art.
The above-described preferred embodiments according to the present invention are intended to suggest that, from the above description, various changes and modifications can be made by the person skilled in the art without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (9)
1. The intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection comprises an ultra-wideband positioning module, a wireless communication module and an alarm module, and is characterized in that:
The ultra-wideband positioning module is used for positioning the position of the blind person and detecting the posture of the blind person and comprises a plurality of base stations arranged at all positions in a room and labels arranged on clothes and a blind crutch, wherein the base stations and the labels comprise:
The ultra-wideband unit is used for transmitting and receiving ultra-wideband signals, acquiring the distance between the base station and the tag, determining the relative position between the base station and the tag, and further outputting the position information of the blind person;
The gesture detection unit is integrated with the three-axis gyroscope and the three-axis accelerometer and is used for outputting three-axis acceleration and three-axis gyroscope data, carrying out gesture calculation to detect the gesture of the blind person and further outputting gesture information of the blind person;
The control unit is used for controlling the ultra wideband unit to emit ultra wideband signals, receiving and storing the blind position information and the blind posture information output by the ultra wideband unit and the posture detection unit, and sending the blind position information and the blind posture information to the wireless communication module and the alarm module;
the wireless communication module is used for sending the blind position information and the blind posture information from the control unit to the terminal;
and the alarm module is used for sending out warning sounds and prompting positions according to the blind position information and the blind posture information from the control unit.
2. The intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection of claim 1 is characterized in that a plurality of base stations are arranged on walls, floors and furniture of a room.
3. The intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection of claim 1, wherein the ultra-wideband unit calculates the distance between the tag and the base station through a TWR algorithm based on ultra-wideband signal round trip flight time between the tag and the base station, and calculates the relative position between the tag and the base station through a trilateral positioning algorithm.
4. The intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection of claim 1 is characterized in that the terminal comprises a cloud server and a smart phone.
5. The intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection of claim 1, wherein the gesture detection unit performs gesture calculation method, and the method comprises the following steps:
Step 1, calculating a total acceleration vector containing dynamic and static acceleration components according to the output triaxial acceleration and triaxial gyroscope data Wherein, A x、Ay and A z are accelerations in x, y and z axes respectively;
Step 2, calculating a total acceleration vector containing dynamic and static angular velocity components according to the output triaxial acceleration and triaxial gyroscope data Wherein x, y and z are acceleration in x, y and z axes respectively;
Step 3, setting an acceleration threshold value, and dividing the blind person activities into three groups, namely a standing group, a normal activity group and a high-density activity group;
And 4, comparing the data with the threshold value in the step 3 by using a threshold value method, and identifying the current blind gesture information according to the comparison result.
6. The intelligent indoor navigation and fall alarm system for blind people based on ultra-wideband positioning and gesture detection of claim 5, wherein the normal activity group classifies based on angular velocity threshold for more normal activities, including walking, sitting, standing, lying down and sitting up;
The high density activity set includes stepping, running, and falling, the stepping and running being distinguished based on an average peak acceleration threshold, and the falling condition being set to an average peak angular velocity greater than 200 °.
7. The intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection of claim 6, wherein the alarm module comprises a sound system and a vibration system;
The sound system comprises a buzzer and a loudspeaker;
The buzzer is used for starting work when the posture information of the blind person reaches a falling condition;
The loudspeaker is used for sending out warning information and broadcasting the position and the distance between the barrier when the distance between the tag and the barrier reaches a preset condition based on the position information of the blind;
the vibration system comprises a miniature motor rotor motor arranged on the blind crutch, and the blind crutch is driven to vibrate based on the position information of the blind person.
8. The intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection of claim 7, wherein the ultra-wideband unit is further provided with a forward path danger judging mechanism, the more obstacles are in the forward direction, the larger the up-down fluctuation is, the more tortuous the route is, the higher the danger is represented, the fewer the obstacles are, the smaller the up-down fluctuation is, the straighter the route is, the lower the danger is represented, the path danger level is set, and the control unit controls the vibration frequency of the rotor motor of the miniature motor to be gradually increased according to the improvement of the path danger level.
9. The intelligent indoor navigation and fall alarm system for the blind based on ultra-wideband positioning and gesture detection of claim 7 is characterized in that a voice switch is arranged at the position of a handle of the blind crutch, and the voice switch is used for controlling a voice broadcasting function of the loudspeaker.
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