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CN105640748A - Vibration blind-guiding clothing - Google Patents

Vibration blind-guiding clothing Download PDF

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Publication number
CN105640748A
CN105640748A CN201610150110.5A CN201610150110A CN105640748A CN 105640748 A CN105640748 A CN 105640748A CN 201610150110 A CN201610150110 A CN 201610150110A CN 105640748 A CN105640748 A CN 105640748A
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CN
China
Prior art keywords
module
vibration
sidewalk
voice signal
visually impaired
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
CN201610150110.5A
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Chinese (zh)
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CN105640748B (en
Inventor
林上岳
孙商艳
方浩平
肖丽娟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yongchun County Product Quality Inspection Institute Fujian fragrance product quality inspection center, national incense burning product quality supervision and Inspection Center (Fujian)
Original Assignee
Ningbo Jiangdong Jingcheng Automation Equipment Co Ltd
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Priority to CN201610150110.5A priority Critical patent/CN105640748B/en
Publication of CN105640748A publication Critical patent/CN105640748A/en
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Publication of CN105640748B publication Critical patent/CN105640748B/en
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    • 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
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0165—Damping, vibration related features
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • A61H2201/5012—Control means thereof computer controlled connected to external computer devices or networks using the internet

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses vibration blind-guiding clothing. A central processing module is placed inside the vibration blind-guiding clothing; a vibration module, a Bluetooth earphone module, an intelligent bus module and an intelligent city module are mounted in a position of a cuff. The vibration blind-guiding clothing exchanges traffic information with a user in real time through the vibration module, the Bluetooth earphone module and the central processing module, and can recognize user voice and formulate relevant walking routes through a voice recognition module, and effectively recognize blind sidewalk and bus information through an image recognition module, thereby assisting the blind in safe and independent travel.

Description

A kind of vibration guide clothes
Technical field
The invention belongs to guide apparatus field, particularly relate to a kind of vibration guide clothes.
Background technology
Now for the mode of blind man navigation generally adopts guide bar or other external subsidiaries, thus reach the object of assisting blind walking. Dead angle, many spaces is there is due in the process that conventional mode is walked blind person; such as health right on can not get safely effective protection; and conventional mode also brings blind person certain additional barrier to a certain extent while auxiliary walking; the quickening that cannot meet rhythm of life is walked requirement easily; thus limit blindman scope, and then greatly have impact on the quality of life of blind person.
Summary of the invention
It is an object of the invention to provide a kind of vibration guide clothes, it is intended to solve existing guide equipment use inconvenient, bring the problem of blind person's additional barrier to a certain extent.
The present invention realizes like this, and a kind of vibration guide clothes is built-in with central processing module, is provided with vibration module, bluetooth earphone module, intelligent bus module, intelligent city's module in cuff position;
In the front portion of described vibration guide clothes, radar ranging module, GPS locating module, LED illumination module, picture recognition module, bar code recognition module, cloud data memory module are installed;
Described vibration module, bluetooth earphone module, radar ranging module, GPS locating module, LED illumination module, picture recognition module, bar code recognition module, cloud data memory module, intelligent bus module, intelligent city's module are connected with described central processing module;
Described vibration module comprises microprocessor, vibration class storer, time of vibration storer and motor, described microprocessor respectively with vibration class storer, time of vibration storer, central processing module, radar ranging model calling, for obtaining basic vibration class and basic time of vibration from central processing module, and vibrate according to above-mentioned vibration class and time according to time of vibration and vibration intensity combination control motor;
Described intelligent bus module comprises intelligent blind-guiding control device, public transport information station, high in the clouds public transport information database, high in the clouds voice information database and ground, the high in the clouds chart database with described intelligent city model calling;
Described intelligent blind-guiding control device is including as the embedded minimum system of control core, and connected Infrared Wireless Communication module, 3G/GPRS network communication module, satellite positioning navigation module, ultrasonic ranging circuit, speech input output device, key circuit;
Described intelligent city's module comprises:
Thing networking digital applications module and data processing module;
Described digital applications module comprises sensing layer and network layer;
Described sensing layer is made up of various sensor and sensor network, for collecting the geography information in city, transport information, humane information, government and enterprises' distribution and resource distribution;
Described network layer comprises the network insertion of the city digital deployment of broadband network, the internet construction of country between backbone network construction, Government departments, public organization and public institution's networking, enterprise and family, and the database corresponded, network application platform and network supervision and management;
Described bluetooth earphone module comprises audio processing chip, the audio emission module that Bluetooth chip is connected with this Bluetooth chip, described Bluetooth chip is provided with Micro-processor MCV, and the input and output PIO interface able to programme being connected with this MCU, I2C interface, described audio processing chip is provided with digital-to-analogue D/A conversion module, modulus AD conversion module, audio frequency gain adjusting unit and I2C interface;
Described GPS locating module comprises intelligent blind guiding call center, high-precision GPS location receiver, high precision urban road space database and intelligent blind-guiding instrument; This intelligent blind guiding call center internally sets up the connection between high precision urban road space database, externally sets up the connection with intelligent blind-guiding instrument; This high-precision GPS location receiver is responsible for receiving gps satellite signal and resolving high precision longitude and latitude position data, is set up the connection between intelligent blind-guiding instrument by Bluetooth communication; This intelligent blind-guiding instrument sets up the connection between intelligent blind guiding call center by cdma communication mode; This intelligent blind guiding call center can receive intelligent blind-guiding instrument and call out wirelessly and answer;
Described vibration module is built-in with speech recognition module, described picture recognition module and described speech recognition module and bar code recognition model calling, this picture recognition module comprises sidewalk for visually impaired people image capture module, sidewalk for visually impaired people contours extract module, image result output module;
The described built-in frequency analysis unit of speech recognition module, phase curve calculate unit, error calculation unit, voice signal recognition unit;
Described frequency analysis unit, analyzes the frequency signal of voice signal;
Described phase curve calculates unit, and the time variations of the phase place of calculating and described frequency signal carries out the phase curve being similar to;
Described error calculation unit, calculates the error between described phase curve and the phase place of described frequency signal;
Described voice signal recognition unit, the signal being whether periodic sound to described voice signal based on described error identifies;
Each frame voice signal in described voice signal, for each road voice signal, is carried out noise tracking, obtains noise spectrum N (w, n) of each frame voice signal by described speech recognition module according to the following equation:
N ( w , n ) = ( 1 - &alpha; u ) | X ( w , n ) | + &alpha; u N ( w , n - 1 ) , | X ( w , n ) | &GreaterEqual; N ( w , n - 1 ) ( 1 - &alpha; d ) | X ( w , n ) | + &alpha; d N ( w , n - 1 ) , | X ( w , n ) | < N ( w , n - 1 ) ;
Wherein, X (w, n) represents the Short Time Fourier Transform of described voice signal; ��u����dFor predetermined coefficient and 0 < ��d<��u< 1; W represents the frequency sequence number on frequency domain; N represents the frame sequence number in time domain;
According to the following equation the Short Time Fourier Transform of each frame voice signal is carried out binary conversion treatment and obtains two-value spectrum Xb (w, n):
X b ( w , n ) = 1 , | X ( w , n ) | - N ( w , n ) > T b 0 , | X ( w , n ) | - N ( w , n ) &le; T b
TbFor preset first threshold value;
Coherency's coupling between Kb corresponding with another road voice signal for Ka corresponding for wherein road voice signal two-value spectrum two-value spectrum being carried out between two obtains described first matching result, described first matching result comprises matched position corresponding to one group of the highest two-value spectrum of matching degree and matching degree, and Ka, Kb are positive integer;
For each road voice signal, calculate power spectrum P (w, n) of each frame voice signal in described voice signal according to the following equation:
P (w, n)=apP (w, n-1)+(1-��p) | X (w, n) |2
Wherein, X (w, n) represents the Short Time Fourier Transform of described voice signal;
��pFor predetermined coefficient and 0 < ��p< 1; W represents the frequency sequence number on frequency domain; N represents the frame sequence number in time domain;
Calculate Spectral correlation DP (w, n) of the power spectrum of each frame voice signal according to the following equation:
DP (w, n)=| P (w+1, n)-P (w, n) |
According to the following equation described Spectral correlation DP (w, n) is carried out noise tracking, obtains Spectral correlation NDP (w, n) of the noise power spectrum of each frame voice signal:
N D P ( w , n ) = ( 1 - &beta; u ) D P ( w , n ) + &beta; u N D P ( w , n - 1 ) , D P ( w , n ) &GreaterEqual; N D P ( w , n - 1 ) ( 1 - &beta; d ) D P ( w , n ) + &beta; d N D P ( w , n - 1 ) , D P ( w , n ) < N D P ( w , n - 1 )
Wherein, ��u����dFor predetermined coefficient and 0 < ��d< ��u< 1.
Further, described embedded minimum system is built-in with voice and key command collection; Described embedded minimum system is set up and the connection of public transport information station, high in the clouds public transport information database and high in the clouds voice information database, NAVSTAR by Infrared Wireless Communication module, 3G/GPRS network communication module, satellite positioning navigation module respectively, simultaneously by speech input output device and key circuit receiving and transmitting voice and receive the operation setting that key command carries out guiding function, and by ultrasonic ranging circuit realiration to the detection of the range finding of public transit vehicle and obstacle.
Further, the sidewalk for visually impaired people image gathered is carried out pre-treatment by described sidewalk for visually impaired people image capture module, is strengthened by image gray-level correction, denoising, sharpening and edge, removes interference, noise and difference, it is to increase the brightness value of sidewalk for visually impaired people part in image;
Described sidewalk for visually impaired people contours extract module, in conjunction with sidewalk for visually impaired people priori, identifies sidewalk for visually impaired people shape, color and edge, extracts the edge profile of sidewalk for visually impaired people and the region, sidewalk for visually impaired people extracted is carried out Iamge Segmentation from surrounding environment, prompting icon in detection prompting sidewalk for visually impaired people;
Described image result output module and described vibration module and bluetooth earphone model calling, for in conjunction with the sidewalk for visually impaired people priori stored in microprocessor, sidewalk for visually impaired people after Iamge Segmentation is carried out classification judgement, judge sidewalk for visually impaired people has accessible, identify that prompting icon in sidewalk for visually impaired people also exports its corresponding information.
Further, described bar code recognition module is connected with described cloud data memory module, this bar code recognition module comprises shooting unit, bar code recognition unit, coded query unit, database, video processing unit, display unit, the barcode of target surface attachment, shooting unit is responsible for obtaining target image, bar code recognition unit is responsible for identifying the coding of target bar, coded query unit is responsible for encoding corresponding mark and information in searching database to encode, video processing unit is responsible for the video insertion of mark and information, display unit is responsible for showing the video image comprising target mark and information.
Described central processing module module comprises Multi-Function Display, solar panels, fault alarm structure, master switch button, control chip, blind person identifies regulating key and input terminus, and described master switch button is arranged on, by being electrically connected, the upper left-hand that blind person identifies regulating key, described alarm structure is arranged on, by being electrically connected, the right side that blind person identifies regulating key, and described input terminus is arranged on the right positions that blind person identifies regulating key.
Described Multi-Function Display is arranged on, by being electrically connected, the top that blind person identifies regulating key, and described Multi-Function Display specifically adopts liquid crystal LED display.
Described solar panels are arranged on the top of Multi-Function Display by being electrically connected, and described solar panels specifically adopt solar panel, and storage electricity electricity consumption is convenient, energy-conserving and environment-protective.
Described control chip is arranged on, by being electrically connected, the left side that blind person identifies regulating key, it is to increase the life requirement of blind person.
Described fault alarm structure comprises vibrations sheet, warning flicker lamp and alarm voice loudspeaker, the left side that described warning flicker lamp is arranged on alarm voice loudspeaker by being electrically connected, described alarm voice loudspeaker are arranged on the right side of flicker lamp of reporting to the police by being electrically connected.
Described vibrations sheet being arranged on the top of flicker lamp of reporting to the police by being electrically connected, and described vibrations sheet specifically adopts the vibrations sheet that elastomeric material makes, vibration reminding blind person, it may also be useful to flexibly.
Described alarm voice loudspeaker being arranged on the right side of flicker lamp of reporting to the police by being electrically connected, and described alarm voice loudspeaker specifically adopt small-sized expansion sound warning loudspeaker, safe and reliable, it is to increase the safety independently trip property of blind person.
The vibration guide of the present invention passes through vibration module, road information is exchanged in real time with user by bluetooth earphone module with central processing module, and by the voice of speech recognition Module recognition user and formulate relevant track route, sidewalk for visually impaired people and public transport information is effectively identified by picture recognition module, assist the trip of blind safety independence, utilize control chip can improve the life requirement of blind person, utilize vibrations sheet can remind the consciousness of blind person, use flexibly, identify the cooperation of regulating key and fault alarm structure blind person under safe and reliable, improve the security that blind person independently goes on a journey.
Accompanying drawing explanation
Fig. 1 is the inside system diagram of the vibration guide clothes that the embodiment of the present invention provides;
Fig. 2 is the inside system diagram of the central processing module that the embodiment of the present invention provides;
In figure: 1, vibration module; 1-1, microprocessor; 1-2, vibration class storer; 1-3, time of vibration storer; 1-4, motor; 1-5, speech recognition module; 2, bluetooth earphone module; 2-1, Bluetooth chip; 2-2, audio processing chip; 2-3, audio emission module; 3, intelligent bus module; 3-1, intelligent blind-guiding control device; 3-2, public transport information station; 3-3, high in the clouds public transport information database; 3-4, high in the clouds voice information database; 3-5, ground, high in the clouds chart database; 4, intelligent city's module; 4-1, thing networking digital applications module; 4-2, data processing module; 5, radar ranging module; 6, GPS locating module; 7, LED illumination module; 8, picture recognition module; 9, bar code recognition module; 10, cloud data memory module; 11, central processing module; 11-1, Multi-Function Display; 11-2, solar panels; 11-3, barrier alarm structure; 11-3-1, vibrations sheet; 11-3-2, flicker lamp of reporting to the police; 11-3-3, alarm voice loudspeaker; 11-4, master switch button; 11-5, control chip; 11-6, blind person identify regulating key; 11-7, input terminus.
Embodiment
For summary of the invention, the Characteristic of the present invention can be understood further, hereby enumerate following examples, and coordinate accompanying drawing to be described in detail as follows.
As depicted in figs. 1 and 2, the present invention realizes like this, and a kind of vibration guide clothes is built-in with central processing module 11, is provided with vibration module 1, bluetooth earphone module, intelligent bus module 3, intelligent city's module 4 in cuff position;
In the front portion of described vibration guide clothes, radar ranging module 5, GPS locating module 6, LED illumination module 7, picture recognition module 8, bar code recognition module 9, cloud data memory module 10 are installed;
Described vibration module 1, bluetooth earphone module 2, radar ranging module 3, GPS locating module 6, LED illumination module 7, picture recognition module 8, bar code recognition module 9, cloud data memory module 10, intelligent bus module 3, intelligent city's module 4 are connected with described central processing module 11;
Described vibration module 1 comprises microprocessor 1-1, vibration class storer 1-2, time of vibration storer 1-3 and motor 1-4, described microprocessor 1-1 is connected with vibration class storer 1-2, time of vibration storer 1-3, central processing module 11, radar ranging mould 3 pieces respectively, for obtaining basic vibration class and basic time of vibration from central processing module 11, and vibrate according to above-mentioned vibration class and time according to time of vibration and vibration intensity combination control motor 1-4;
Described vibration class storer 1-2 and microprocessor connect 1-1 and connect, and arrange foundation vibration grade by microprocessor 1-1 correspondence, and are stored in vibration class and store in 1-2 device; Described time of vibration storer 1-3 is connected with microprocessor 1-1, arranges the foundation vibration time by microprocessor 1-1 correspondence, and is stored in time of vibration storer 1-3; Described microprocessor 1-1 is connected with motor 1-4 by vibration module, for the vibration class of generation and time of vibration signal correspondence are sent to vibration module, controls motor vibrations by vibration module; Described vibration class is determined according to the range finding result of radar ranging module, and the more near vibration class of the obstacle distance recorded is more high;
Ground, the high in the clouds chart database 3-5 that described intelligent bus module 3 comprises intelligent blind-guiding control device 3-1, public transport information station 3-2, high in the clouds public transport information database 3-3, high in the clouds voice information database 3-4 and is connected with described intelligent city module 4;
Described intelligent blind-guiding control device 3-1 is including as the embedded minimum system of control core, and connected Infrared Wireless Communication module, 3G/GPRS network communication module, satellite positioning navigation module, ultrasonic ranging circuit, speech input output device, key circuit;
Described intelligent city's module 4 comprises:
Thing networking digital applications module 4-1 and data processing module 4-2;
Described digital applications module 4-1 comprises sensing layer and network layer;
Described sensing layer is made up of various sensor and sensor network, for collecting the geography information in city, transport information, humane information, government and enterprises' distribution and resource distribution;
Described network layer comprises the network insertion of the city digital deployment of broadband network, the internet construction of country between backbone network construction, Government departments, public organization and public institution's networking, enterprise and family, and the database corresponded, network application platform and network supervision and management;
Described bluetooth earphone module 2 comprises audio processing chip 2-2, the audio emission module 2-3 that Bluetooth chip 2-1 is connected with this Bluetooth chip 2-1, described Bluetooth chip 2-1 is provided with Micro-processor MCV, and the input and output PIO interface able to programme being connected with this MCU, I2C interface, described audio processing chip is provided with digital-to-analogue D/A conversion module, modulus AD conversion module, audio frequency gain adjusting unit and I2C interface;
Described GPS locating module 6 comprises intelligent blind guiding call center, high-precision GPS location receiver, high precision urban road space database and intelligent blind-guiding instrument; This intelligent blind guiding call center internally sets up the connection between high precision urban road space database, externally sets up the connection with intelligent blind-guiding instrument; This high-precision GPS location receiver is responsible for receiving gps satellite signal and resolving high precision longitude and latitude position data, is set up the connection between intelligent blind-guiding instrument by Bluetooth communication; This intelligent blind-guiding instrument sets up the connection between intelligent blind guiding call center by cdma communication mode; This intelligent blind guiding call center can receive intelligent blind-guiding instrument and call out wirelessly and answer;
Described vibration module 1 is built-in with speech recognition module, described picture recognition module and described speech recognition module and bar code recognition model calling, this picture recognition module comprises sidewalk for visually impaired people image capture module, sidewalk for visually impaired people contours extract module, image result output module;
The described built-in frequency analysis unit of speech recognition module, phase curve calculate unit, error calculation unit, voice signal recognition unit;
Described frequency analysis unit, analyzes the frequency signal of voice signal;
Described phase curve calculates unit, and the time variations of the phase place of calculating and described frequency signal carries out the phase curve being similar to;
Described error calculation unit, calculates the error between described phase curve and the phase place of described frequency signal;
Described voice signal recognition unit, the signal being whether periodic sound to described voice signal based on described error identifies;
This speech recognition module comprises character library matching module, voice acquisition module, voice output module; Blind person is inputted voice and gathers by described voice acquisition module, and input voice is carried out pre-treatment, and described pre-treatment comprises speech signal samples, antialiasing bandpass filtering, removes individual pronunciation difference, the influence of noise that eliminating equipment, environment cause; Described character library matching module and described picture recognition module and bar code recognition model calling;
Described character library matching module is for mating with each place name of the storage in character library matching module according to picture recognition module and the recognition result of bar code recognition module, and the result after coupling is carried and mates to bluetooth earphone module with according to the similarity between the collection result of voice acquisition module and the sound pattern storehouse storing various places noun, judge the point of destination that blind person inputs;
Each frame voice signal in described voice signal, for each road voice signal, is carried out noise tracking, obtains noise spectrum N (w, n) of each frame voice signal by described speech recognition module according to the following equation:
N ( w , n ) = ( 1 - &alpha; u ) | X ( w , n ) | + &alpha; u N ( w , n - 1 ) , | X ( w , n ) | &GreaterEqual; N ( w , n - 1 ) ( 1 - &alpha; d ) | X ( w , n ) | + &alpha; d N ( w , n - 1 ) , | X ( w , n ) | < N ( w , n - 1 ) ;
Wherein, X (w, n) represents the Short Time Fourier Transform of described voice signal; ��u����dFor predetermined coefficient and 0 < ��d<��u< 1; W represents the frequency sequence number on frequency domain; N represents the frame sequence number in time domain;
According to the following equation the Short Time Fourier Transform of each frame voice signal is carried out binary conversion treatment and obtains two-value spectrum Xb (w, n):
X b ( w , n ) = 1 , | X ( w , n ) | - N ( w , n ) > T b 0 , | X ( w , n ) | - N ( w , n ) &le; T b
TbFor preset first threshold value;
Coherency's coupling between Kb corresponding with another road voice signal for Ka corresponding for wherein road voice signal two-value spectrum two-value spectrum being carried out between two obtains described first matching result, described first matching result comprises matched position corresponding to one group of the highest two-value spectrum of matching degree and matching degree, and Ka, Kb are positive integer;
For each road voice signal, calculate power spectrum P (w, n) of each frame voice signal in described voice signal according to the following equation:
P (w, n)=��pP(w,n-1)+(1-��p)|X(w,n)|2
Wherein, X (w, n) represents the Short Time Fourier Transform of described voice signal;
��pFor predetermined coefficient and 0 < ��p< 1; W represents the frequency sequence number on frequency domain; N represents the frame sequence number in time domain;
Calculate Spectral correlation DP (w, n) of the power spectrum of each frame voice signal according to the following equation:
DP (w, n)=| P (w+1, n)-P (w, n) |
According to the following equation described Spectral correlation DP (w, n) is carried out noise tracking, obtains Spectral correlation NDP (w, n) of the noise power spectrum of each frame voice signal:
N D P ( w , n ) = ( 1 - &beta; u ) D P ( w , n ) + &beta; u N D P ( w , n - 1 ) , D P ( w , n ) &GreaterEqual; N D P ( w , n - 1 ) ( 1 - &beta; d ) D P ( w , n ) + &beta; d N D P ( w , n - 1 ) , D P ( w , n ) < N D P ( w , n - 1 )
Wherein, �� u, ��dFor predetermined coefficient and 0 < ��d< ��u< 1.
Further, described embedded minimum system is built-in with voice and key command collection; Described embedded minimum system is set up and the connection of public transport information station, high in the clouds public transport information database and high in the clouds voice information database, NAVSTAR by Infrared Wireless Communication module, 3G/GPRS network communication module, satellite positioning navigation module respectively, simultaneously by speech input output device and key circuit receiving and transmitting voice and receive the operation setting that key command carries out guiding function, and by ultrasonic ranging circuit realiration to the detection of the range finding of public transit vehicle and obstacle.
Further, the sidewalk for visually impaired people image gathered is carried out pre-treatment by described sidewalk for visually impaired people image capture module, is strengthened by image gray-level correction, denoising, sharpening and edge, removes interference, noise and difference, it is to increase the brightness value of sidewalk for visually impaired people part in image;
Described sidewalk for visually impaired people contours extract module, in conjunction with sidewalk for visually impaired people priori, identifies sidewalk for visually impaired people shape, color and edge, extracts the edge profile of sidewalk for visually impaired people and the region, sidewalk for visually impaired people extracted is carried out Iamge Segmentation from surrounding environment, prompting icon in detection prompting sidewalk for visually impaired people;
Described image result output module and described vibration module and bluetooth earphone model calling, for in conjunction with the sidewalk for visually impaired people priori stored in microprocessor, sidewalk for visually impaired people after Iamge Segmentation is carried out classification judgement, judge sidewalk for visually impaired people has accessible, identify that prompting icon in sidewalk for visually impaired people also exports its corresponding information.
Further, described bar code recognition module 9 is connected with described cloud data memory module, this bar code recognition module comprises shooting unit, bar code recognition unit, coded query unit, database, video processing unit, display unit, the barcode of target surface attachment, shooting unit is responsible for obtaining target image, bar code recognition unit is responsible for identifying the coding of target bar, coded query unit is responsible for encoding corresponding mark and information in searching database to encode, video processing unit is responsible for the video insertion of mark and information, display unit is responsible for showing the video image comprising target mark and information.
Described central processing module module 11 comprises Multi-Function Display 11-1, solar panels 11-2, fault alarm structure 11-3, master switch button 11-4, control chip 11-5, blind person identifies regulating key 11-6 and input terminus 11-7, described master switch button 11-4 is arranged on, by being electrically connected, the upper left-hand that blind person identifies regulating key 11-6, described alarm structure 11-3 is arranged on, by being electrically connected, the right side that blind person identifies regulating key 11-6, and described input terminus 11-7 is arranged on the right positions that blind person identifies regulating key 11-6.
Described Multi-Function Display 11-1 is arranged on, by being electrically connected, the top that blind person identifies regulating key 11-6, and described Multi-Function Display 11-1 specifically adopts liquid crystal LED display, it may also be useful to convenient.
Described solar panels 11-2 is arranged on the top of Multi-Function Display 11-1 by being electrically connected, and described solar panels 11-2 specifically adopts solar panel, and storage electricity electricity consumption is convenient, energy-conserving and environment-protective.
Described control chip 11-5 is arranged on, by being electrically connected, the left side that blind person identifies regulating key 11-6, and described control chip 11-5 specifically adopts 440BX chipset, easy to control.
Described fault alarm structure 11-3 comprises vibrations sheet 11-3-1, and report to the police flicker lamp 11-3-2 and alarm voice loudspeaker 11-3-3, the left side that described warning flicker lamp 11-3-2 is arranged on alarm voice loudspeaker 11-3-3 by being electrically connected. Described alarm voice loudspeaker 11-3-3 is arranged on the right side of the flicker lamp 11-3-2 that reports to the police by being electrically connected.
Described vibrations sheet 11-3-1 being arranged on the top of the flicker lamp 11-3-2 that reports to the police by being electrically connected, and described vibrations sheet 11-3-1 specifically adopts the vibrations sheet that elastomeric material makes, vibration reminding blind person, it may also be useful to flexibly.
Described alarm voice loudspeaker 11-3-3 is arranged on the right side of the flicker lamp 11-3-2 that reports to the police by being electrically connected, and described alarm voice loudspeaker 11-3-3 specifically adopts small-sized expansion sound warning loudspeaker, safe and reliable.
When in use, first opening master switch button, blind-guiding stick is started working, and performs the module initialize to each parts of system. Open navigation keys, human-machine interaction subsystem identification starting point and point of destination, it is determined that point of destination. Starting point A can be determined by GPS location, and the point of destination language information that terminal B is inputted by speech recognition Module recognition blind person is determined. Navigation subsystem receives starting point and the destination information of speech recognition module, Design Navigation route;
Navigation way by speech recognition module and bluetooth earphone module feedback to blind person, blind person by determining, cancel button select further, draw final navigation way, blind person is guided to advance along navigation way by bluetooth earphone module, actions such as performing walking, take bus, call a taxi, blind person is guided to arrive point of destination smoothly, the wiring diagram of whole navigation procedure and roadblock are recorded in cloud data memory module, when same routes of going further next time, directly can locate track route by GPS navigation.
The vibration guide of the present invention passes through vibration module, road information is exchanged in real time with user by bluetooth earphone module with central processing module, and by the voice of speech recognition Module recognition user and formulate relevant track route, effectively identified sidewalk for visually impaired people and public transport information by picture recognition module, assist the trip of blind safety independence.
The above is only the better embodiment to the present invention, not the present invention is done any restriction in form, every technical spirit according to the present invention is to any simple modification made for any of the above embodiments, and equivalent variations and modification, all belong in the scope of technical solution of the present invention.

Claims (6)

1. a vibration guide clothes, it is characterised in that, described vibration guide clothes is built-in with central processing module, is provided with vibration module, bluetooth earphone module, intelligent bus module, intelligent city's module in cuff position;
In the front portion of described vibration guide clothes, radar ranging module, GPS locating module, LED illumination module, picture recognition module, bar code recognition module, cloud data memory module are installed;
Described vibration module, bluetooth earphone module, radar ranging module, GPS locating module, LED illumination module, picture recognition module, bar code recognition module, cloud data memory module, intelligent bus module, intelligent city's module are connected with described central processing module;
Described vibration module comprises microprocessor, vibration class storer, time of vibration storer and motor, described microprocessor respectively with vibration class storer, time of vibration storer, central processing module, radar ranging model calling, for obtaining basic vibration class and basic time of vibration from central processing module, and vibrate according to above-mentioned vibration class and time according to time of vibration and vibration intensity combination control motor;
Described intelligent bus module comprises intelligent blind-guiding control device, public transport information station, high in the clouds public transport information database, high in the clouds voice information database and ground, the high in the clouds chart database with described intelligent city model calling;
Described intelligent blind-guiding control device is including as the embedded minimum system of control core, and connected Infrared Wireless Communication module, 3G/GPRS network communication module, satellite positioning navigation module, ultrasonic ranging circuit, speech input output device, key circuit;
Described intelligent city's module comprises:
Thing networking digital applications module and data processing module;
Described digital applications module comprises sensing layer and network layer;
Described sensing layer is made up of various sensor and sensor network, for collecting the geography information in city, transport information, humane information, government and enterprises' distribution and resource distribution;
Described network layer comprises the network insertion of the city digital deployment of broadband network, the internet construction of country between backbone network construction, Government departments, public organization and public institution's networking, enterprise and family, and the database corresponded, network application platform and network supervision and management;
Described bluetooth earphone module comprises audio processing chip, the audio emission module that Bluetooth chip is connected with this Bluetooth chip, described Bluetooth chip is provided with Micro-processor MCV, and the input and output PIO interface able to programme being connected with this MCU, I2C interface, described audio processing chip is provided with digital-to-analogue D/A conversion module, modulus AD conversion module, audio frequency gain adjusting unit and I2C interface;
Described GPS locating module comprises intelligent blind guiding call center, high-precision GPS location receiver, high precision urban road space database and intelligent blind-guiding instrument; This intelligent blind guiding call center internally sets up the connection between high precision urban road space database, externally sets up the connection with intelligent blind-guiding instrument; This high-precision GPS location receiver is responsible for receiving gps satellite signal and resolving high precision longitude and latitude position data, is set up the connection between intelligent blind-guiding instrument by Bluetooth communication; This intelligent blind-guiding instrument sets up the connection between intelligent blind guiding call center by cdma communication mode; This intelligent blind guiding call center can receive intelligent blind-guiding instrument and call out wirelessly and answer;
Described vibration module is built-in with speech recognition module, described picture recognition module and described speech recognition module and bar code recognition model calling, this picture recognition module comprises sidewalk for visually impaired people image capture module, sidewalk for visually impaired people contours extract module, image result output module;
The described built-in frequency analysis unit of speech recognition module, phase curve calculate unit, error calculation unit, voice signal recognition unit;
Described frequency analysis unit, analyzes the frequency signal of voice signal;
Described phase curve calculates unit, and the time variations of the phase place of calculating and described frequency signal carries out the phase curve being similar to;
Described error calculation unit, calculates the error between described phase curve and the phase place of described frequency signal;
Described voice signal recognition unit, the signal being whether periodic sound to described voice signal based on described error identifies;
Each frame voice signal in described voice signal, for each road voice signal, is carried out noise tracking, obtains noise spectrum N (w, n) of each frame voice signal by described speech recognition module according to the following equation:
N ( w , n ) = ( 1 - &alpha; u ) | X ( w , n ) | + &alpha; u N ( w , n - 1 ) , | X ( w , n ) | &GreaterEqual; N ( w , n - 1 ) ( 1 - &alpha; d ) | X ( w , n ) | + &alpha; d N ( w , n - 1 ) , | X ( w , n ) | < N ( w , n - 1 ) ;
Wherein, X (w, n) represents the Short Time Fourier Transform of described voice signal; ��u����dFor predetermined coefficient and 0 < ��d<��u< 1; W represents the frequency sequence number on frequency domain; N represents the frame sequence number in time domain;
According to the following equation the Short Time Fourier Transform of each frame voice signal is carried out binary conversion treatment and obtains two-value spectrum Xb (w, n):
X b ( w , n ) = 1 , | X ( w , n ) | - N ( w , n ) > T b 0 , | X ( w , n ) | - N ( w , n ) &le; T b
TbFor preset first threshold value;
Coherency's coupling between Kb corresponding with another road voice signal for Ka corresponding for wherein road voice signal two-value spectrum two-value spectrum being carried out between two obtains described first matching result, described first matching result comprises matched position corresponding to one group of the highest two-value spectrum of matching degree and matching degree, and Ka, Kb are positive integer;
For each road voice signal, calculate power spectrum P (w, n) of each frame voice signal in described voice signal according to the following equation:
P (w, n)=��pP(w,n-1)+(1-��p)|X(w,n)|2
Wherein, X (w, n) represents the Short Time Fourier Transform of described voice signal;
��pFor predetermined coefficient and 0 < ��p< 1; W represents the frequency sequence number on frequency domain; N represents the frame sequence number in time domain;
Calculate Spectral correlation DP (w, n) of the power spectrum of each frame voice signal according to the following equation:
DP (w, n)=| P (w+1, n)-P (w, n) |
According to the following equation described Spectral correlation DP (w, n) is carried out noise tracking, obtains Spectral correlation NDP (w, n) of the noise power spectrum of each frame voice signal:
N D P ( w , n ) = ( 1 - &beta; u ) D P ( w , n ) + &beta; u N D P ( w , n - 1 ) , D P ( w , n ) &GreaterEqual; N D P ( w , n - 1 ) ( 1 - &beta; d ) D P ( w , n ) + &beta; d N D P ( w , n - 1 ) , D P ( w , n ) < N D P ( w , n - 1 )
Wherein, ��u����dFor predetermined coefficient and 0 < ��d< ��u< 1.
2. vibration guide clothes as claimed in claim 1, it is characterised in that, described embedded minimum system is built-in with voice and key command collection; Described embedded minimum system is set up and the connection of public transport information station, high in the clouds public transport information database and high in the clouds voice information database, NAVSTAR by Infrared Wireless Communication module, 3G/GPRS network communication module, satellite positioning navigation module respectively, simultaneously by speech input output device and key circuit receiving and transmitting voice and receive the operation setting that key command carries out guiding function, and by ultrasonic ranging circuit realiration to the detection of the range finding of public transit vehicle and obstacle.
3. vibration guide clothes as claimed in claim 1, it is characterized in that, the sidewalk for visually impaired people image gathered is carried out pre-treatment by described sidewalk for visually impaired people image capture module, strengthened by image gray-level correction, denoising, sharpening and edge, remove interference, noise and difference, it is to increase the brightness value of sidewalk for visually impaired people part in image;
Described sidewalk for visually impaired people contours extract module, in conjunction with sidewalk for visually impaired people priori, identifies sidewalk for visually impaired people shape, color and edge, extracts the edge profile of sidewalk for visually impaired people and the region, sidewalk for visually impaired people extracted is carried out Iamge Segmentation from surrounding environment, prompting icon in detection prompting sidewalk for visually impaired people;
Described image result output module and described vibration module and bluetooth earphone model calling, for in conjunction with the sidewalk for visually impaired people priori stored in microprocessor, sidewalk for visually impaired people after Iamge Segmentation is carried out classification judgement, judge sidewalk for visually impaired people has accessible, identify that prompting icon in sidewalk for visually impaired people also exports its corresponding information.
4. vibration guide clothes as claimed in claim 1, it is characterized in that, described bar code recognition module is connected with described cloud data memory module, this bar code recognition module comprises shooting unit, bar code recognition unit, coded query unit, database, video processing unit, display unit, the barcode of target surface attachment, shooting unit is responsible for obtaining target image, bar code recognition unit is responsible for identifying the coding of target bar, coded query unit is responsible for encoding corresponding mark and information in searching database to encode, video processing unit is responsible for the video insertion of mark and information, display unit is responsible for showing the video image comprising target mark and information.
5. vibration guide clothes as claimed in claim 1, it is characterized in that, described central processing module module comprises Multi-Function Display, solar panels, fault alarm structure, master switch button, control chip, blind person identifies regulating key and input terminus, described master switch button is arranged on, by being electrically connected, the upper left-hand that blind person identifies regulating key, described alarm structure is arranged on, by being electrically connected, the right side that blind person identifies regulating key, and described input terminus is arranged on the right positions that blind person identifies regulating key.
6. vibration guide clothes as claimed in claim 5, it is characterised in that, described Multi-Function Display is arranged on, by being electrically connected, the top that blind person identifies regulating key; Described solar panels are arranged on the top of Multi-Function Display by being electrically connected; Described control chip is arranged on, by being electrically connected, the left side that blind person identifies regulating key; Described fault alarm structure comprises vibrations sheet, warning flicker lamp and alarm voice loudspeaker, the left side that described warning flicker lamp is arranged on alarm voice loudspeaker by being electrically connected, described alarm voice loudspeaker are arranged on the right side of flicker lamp of reporting to the police by being electrically connected; Described vibrations sheet is arranged on the top of flicker lamp of reporting to the police by being electrically connected; Described alarm voice loudspeaker are arranged on the right side of flicker lamp of reporting to the police by being electrically connected.
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CN107647489A (en) * 2017-05-12 2018-02-02 安徽多力服装有限责任公司 A kind of blind man navigation multipurpose garment
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CN108743266A (en) * 2018-06-29 2018-11-06 合肥思博特软件开发有限公司 A kind of blindmen intelligent navigation avoidance trip householder method and system
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CN110464610A (en) * 2019-07-29 2019-11-19 北京服装学院 A kind of avoidance based on ultrasound clothes and barrier-avoiding method
CN110559127A (en) * 2019-08-27 2019-12-13 上海交通大学 intelligent blind assisting system and method based on auditory sense and tactile sense guide

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