Backward walking assisting system and method

Abstract

The backward walking assisting system comprises a hair band worn on the head of a user, a radar data acquisition module, an image acquisition module, a data processing controller and a mobile terminal display device, the radar data acquisition module and the image acquisition module are both connected with the input end of the data processing controller, and the output end of the data processing controller is connected with the mobile terminal display device; the radar data acquisition module and the image acquisition module are arranged on the hair band. The backward walking auxiliary system can comprehensively utilize data acquired by the radar data acquisition module and the image acquisition module, adopts an ultrasonic wave and visual fusion technology to realize accurate detection and positioning of obstacles, and has the advantages of low missing report rate and low false alarm rate.

Description

Technical Field

[0001] The present invention relates to the technical field of backward walking assistance systems, and in particular to a backward walking assistance system and method. Background Art

[0002] Walking backwards is an unconventional way of walking that has become quite popular among fitness enthusiasts in recent years. It helps relieve muscle tension in the waist and neck. For people who choose to walk backwards as a way of exercise, they usually look back frequently to observe the road conditions behind them. In this process, due to the inability to observe the road conditions in time and avoid obstacles in time, people may fall and other dangers during the backward walking process. Therefore, how to ensure that people have a clear field of vision and avoid obstacles without looking back during the backward walking exercise is an urgent problem to be solved. In order to solve this problem, there is also a way of using rearview mirrors when walking backwards, but if a rearview mirror is used, the observation range is limited, and it is impossible to provide an accurate and comprehensive rear scene. Summary of the invention

[0003] One of the purposes of the present invention is to provide a backward walking assistance system to solve the problems of limited observation range and unstable accuracy in existing backward walking assistance methods.

[0004] A second object of the present invention is to provide a backward walking assistance method to solve the problems of limited observation range and unstable accuracy in existing backward walking assistance methods.

[0005] To solve the above problems, one of the purposes of the present invention is achieved as follows:

[0006] A backward walking assistance system of the present invention comprises: a headband for wearing on the user's head, a radar data acquisition module, an image acquisition module, a data processing controller, and a mobile terminal display device;

[0007] The radar data acquisition module and the image acquisition module are both connected to the input end of the data processing controller, and the output end of the data processing controller is connected to the mobile terminal display device;

[0008] The radar data acquisition module and the image acquisition module are both arranged on the hairband.

[0009] Wherein, the radar data acquisition module and the image acquisition module are both arranged on the rear side of the headband.

[0010] Wherein, the radar data acquisition module includes a first ultrasonic probe, a second ultrasonic probe, and a third ultrasonic probe, and the image acquisition module includes a camera.

[0011] The camera is arranged in the middle of the rear side of the headband, the first ultrasonic probe is located above or below the camera, and the second ultrasonic probe and the third ultrasonic probe are respectively located on both sides of the first ultrasonic probe.

[0012] Wherein, the data processing controller adopts a DSP processor.

[0013] Wherein, the mobile terminal display device is a mobile phone or a tablet computer.

[0014] The second object of the present invention is achieved in this way:

[0015] A backward walking assist method of the present invention adopts the above-mentioned backward walking assist system and comprises the following steps:

[0016] a. The user wears the headband on his head, and the radar data acquisition module and the image acquisition module face the rear of the user;

[0017] b. The obstacle data collected by the radar data collection module and the image data collected by the image collection module are transmitted to the data processing controller, and the data processing controller fuses the received data and displays the image with obstacle information on the mobile terminal display device through the display system software.

[0018] The method for the data processing controller to process the obstacle data sent by the radar data acquisition module is as follows: any two of the first ultrasonic probe, the second ultrasonic probe, and the third ultrasonic probe are combined into a probe combination, with a total of 3 probe combinations. In each probe combination, the three sides of a triangle are formed by the installation spacing of the two ultrasonic probes and the distance values ​​detected by the two ultrasonic probes, and the height of the triangle is calculated based on the known three sides of the triangle, and the height of the triangle is the obstacle distance of the probe combination;

[0019] The final obstacle distance is obtained by calculating the average value of the obstacle distances of the three groups of probes.

[0020] The data processing controller combines the final obstacle distance with the image data collected by the image collection module and outputs the combined data to the display system software.

[0021] The display system software is connected to a speaker of the mobile terminal display device, and is used to control the speaker to give a voice reminder of obstacle information according to a request of the data processing controller.

[0022] The beneficial effects of the present invention are:

[0023] The backward walking assistance system of the present invention can comprehensively utilize the data collected by the radar data acquisition module and the image acquisition module, and adopt the ultrasonic and visual fusion technology to realize accurate detection and positioning of obstacles, and has the advantages of low missed alarm rate and false alarm rate. The backward walking assistance system of the present invention is based on a system composed of a single camera, multiple ultrasonic probes, and a controller. The cost is relatively low, and it is convenient for application and popularization. In addition, the present invention displays the obstacle position after fusion through the data processing controller, making it more intuitive and convenient for obstacle avoidance. The mobile terminal display device is equipped with display system software, and the display system software 5 is presented in the form of adapting to a variety of electronic devices, and the application equipment covers a wide range. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0025] Figure 1 It is a schematic diagram of the structure of the present invention;

[0026] Figure 2 This is the outline diagram of the headband.

[0027] Description of Reference Numerals

[0028] 1. Headband; 11. Wearable body; Elastic band 12; 21. First ultrasonic probe; 22. Second ultrasonic probe; 23. Third ultrasonic probe; 3. Data processing controller; 4. Mobile terminal display device; 5. Display system software; 6. Camera. DETAILED DESCRIPTION

[0029] The technical scheme in the embodiment of the present invention is described clearly and completely below in conjunction with the accompanying drawings in the embodiment of the present invention. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0030] Embodiment 1:

[0031] like Figure 1 , Figure 2 As shown, a backward walking assistance system of the present invention includes: a headband 1 for wearing on the user's head, a radar data acquisition module, an image acquisition module, a data processing controller 3, and a mobile terminal display device 4.

[0032] The radar data acquisition module and the image acquisition module are both connected to the input end of the data processing controller 3 , and the output end of the data processing controller 3 is connected to the mobile terminal display device 4 .

[0033] The radar data acquisition module and the image acquisition module are both arranged on the headband 1 .

[0034] The backward walking assistance system of the present invention can comprehensively utilize the data collected by the radar data acquisition module and the image acquisition module, and adopt the ultrasonic and visual fusion technology to realize accurate detection and positioning of obstacles, and has the advantages of low missed alarm rate and false alarm rate. The backward walking assistance system of the present invention is based on a system composed of a single camera 6, multiple ultrasonic probes, and a controller. The cost is relatively low, and it is convenient for application and popularization. Moreover, the present invention displays the obstacle position after fusion through the data processing controller, making it more intuitive and convenient for obstacle avoidance. The mobile terminal display device 4 is equipped with a display system software 5, and the display system software 5 is presented in a form that can be adapted to a variety of electronic devices, and the application equipment covers a wide range.

[0035] The present invention provides more accurate, reliable and easy-to-view backward walking image data through the fusion of image and radar data, thereby improving the user experience. During the backward exercise, the user can not only see the image data but also clearly understand the distance and speed of each obstacle in the image. The user can be warned of the obstacle information behind through image display and speaker reminder without turning his head to observe the rear. While improving the convenience of the backward walking exercise process, it also greatly improves the safety factor of the person's walking.

[0036] like Figure 2 As shown, the radar data acquisition module and the image acquisition module are both arranged on the rear side of the headband 1. The radar data acquisition module includes a first ultrasonic probe 21, a second ultrasonic probe 22, and a third ultrasonic probe 23. Multiple ultrasonic probes can ensure the accuracy of measurement and eliminate interference from many aspects. The image acquisition module includes a camera 6. Among them, the camera 6 is arranged in the middle of the rear side of the headband 1, and a wide-angle lens can provide a maximum viewing angle of 240°. The first ultrasonic probe 21 is located above or below the camera 6, and the second ultrasonic probe 22 and the third ultrasonic probe 23 are respectively located on both sides of the first ultrasonic probe 21 along the circumferential direction. The ultrasonic probes in the radar data acquisition module are arranged in a three-point manner to provide accurate distance vector data. In this embodiment, the first ultrasonic probe 21 is located above the camera 6, so that the three ultrasonic probes can be at the same height, making the appearance more beautiful. In this embodiment, the first ultrasonic probe 21, the second ultrasonic probe 22, the third ultrasonic probe 23, and the camera 6 can be centrally arranged on a wearable body 11, and the wearable body 11 can be made of plastic material. The side of the wearable body 11 that fits the human body can be fitted with a non-slip silicone layer, which can improve the user's comfort and further prevent the wearable body 11 from falling off. Both ends of the wearable body 11 are connected to elastic bands 12 with adjustable lengths for easy wearing by users.

[0037] In this embodiment, the data processing controller 3 uses a DSP processor. The mobile terminal display device 4 uses a mobile phone or a tablet computer.

[0038] Embodiment 2

[0039] like Figure 1 , Figure 2 As shown, a backward walking assistance method of the present invention adopts a backward walking assistance system of embodiment 1, comprising the following steps:

[0040] a. The user wears the headband 1 on the head, with the radar data acquisition module and the image acquisition module facing the rear of the user.

[0041] b. The obstacle data collected by the radar data collection module and the image data collected by the image collection module are transmitted to the data processing controller 3. The data processing controller 3 performs fusion processing on the received data and displays the image with obstacle information on the mobile terminal display device 4 through the display system software 5. The display system software 5 is installed on the mobile terminal display device 4. The radar data collection module is used to collect the distance and movement rate of obstacles within 5m of the wearer's radar. The image collection module is used to collect real-time video behind the user and video recording within 30 minutes.

[0042] Among them, the method for the data processing controller 3 to process the obstacle data sent by the radar data acquisition module is: any two probes among the first ultrasonic probe 21, the second ultrasonic probe 22, and the third ultrasonic probe 23 are combined into a probe combination, with a total of 3 probe combinations. In each probe combination, the three sides of a triangle are formed by the installation spacing of the two ultrasonic probes and the distance values ​​detected by the two ultrasonic probes, and the height is calculated based on the known three sides of the triangle. The height of the triangle is the obstacle distance of the probe combination; the average value of the obstacle distances of the three probe groups is calculated to obtain the final obstacle distance.

[0043] In this embodiment, in order to further ensure the reliability of the early warning, the method by which the data processing controller 3 processes the obstacle data sent by the radar data acquisition module also includes processing the movement rate of the obstacle relative to the radar, and selecting the maximum value of the rate detected by the first ultrasonic probe 21, the second ultrasonic probe 22, and the third ultrasonic probe 23 and inputting it into the display system software 5 of the mobile terminal display device 4.

[0044] The data processing controller 3 combines the final obstacle distance with the image data collected by the image acquisition module and outputs it to the display system software 5. The display system software 5 is connected to the speaker of the mobile terminal display device 4, and is used to control the speaker to give a voice reminder of the obstacle information according to the request of the data processing controller 3. The data processing controller 3 also sets a safety distance. For example, after the distance and direction of the detected obstacle are displayed on the mobile terminal display device 4 through an image, when the distance is less than the set safety distance, the mobile terminal display device 4 displays the display screen and can drive the alarm of the speaker according to the request of the data processing controller 3 to further remind the personnel. The mobile terminal display device 4 adopts a mobile phone or a tablet computer, and can also adopt devices such as smart glasses. In this embodiment, the data processing controller 3 can fuse the ultrasonic ranging information with the image information, comprehensively analyze the detection results, obtain a high confidence result, and output a backward walking image with obstacle information.

[0045] The backward walking auxiliary image fusion method designed for backward walking people in the present invention integrates a radar data acquisition module, an image acquisition module, a data processing controller 3, a mobile terminal display device 4, and a display system software 5 into a complete set of equipment, ensuring that people can take into account the front and rear fields of view without having to look back to observe the rear, thereby greatly improving the convenience and safety of backward walking people.

[0046] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A backward walking assistance system, characterized in that: include: A headband for wearing on the user's head, a radar data acquisition module, an image acquisition module, a data processing controller, and a mobile terminal display device; The radar data acquisition module and the image acquisition module are both connected to the input end of the data processing controller, and the output end of the data processing controller is connected to the mobile terminal display device; The radar data acquisition module and the image acquisition module are both arranged on the hairband.

2. A backward walking assistance system as claimed in claim 1, characterized in that: The radar data acquisition module and the image acquisition module are both arranged on the rear side of the hairband.

3. A backward walking assistance system as claimed in claim 2, characterized in that: The radar data acquisition module includes a first ultrasonic probe, a second ultrasonic probe, and a third ultrasonic probe, and the image acquisition module includes a camera.

4. A backward walking assistance system as claimed in claim 3, characterized in that: The camera is arranged in the middle of the rear side of the headband, the first ultrasonic probe is located above or below the camera, and the second ultrasonic probe and the third ultrasonic probe are respectively located on both sides of the first ultrasonic probe.

5. A backward walking assistance system as claimed in claim 1, characterized in that: The data processing controller adopts a DSP processor.

6. A backward walking assistance system as claimed in claim 1, characterized in that: The mobile terminal display device is a mobile phone or a tablet computer.

7. A backward walking assist method, characterized in that: A backward walking assistance system according to any one of claims 1 to 6, comprising the following steps: a. The user wears the headband on his head, and the radar data acquisition module and the image acquisition module face the rear of the user; b. The obstacle data collected by the radar data collection module and the image data collected by the image collection module are transmitted to the data processing controller, and the data processing controller fuses the received data and displays the image with obstacle information on the mobile terminal display device through the display system software.

8. A backward walking assist method according to claim 7, characterized in that: The method for the data processing controller to process the obstacle data sent by the radar data acquisition module is as follows: any two of the first ultrasonic probe, the second ultrasonic probe, and the third ultrasonic probe are combined into a probe combination, and there are 3 probe combinations in total. In each probe combination, the three sides of a triangle are formed by the installation spacing of the two ultrasonic probes and the distance values ​​detected by the two ultrasonic probes, and the height of the triangle is calculated based on the known three sides of the triangle, and the height of the triangle is the obstacle distance of the probe combination; The final obstacle distance is obtained by calculating the average value of the obstacle distances of the three groups of probes.

9. A backward walking assist method according to claim 8, characterized in that: The data processing controller combines the final obstacle distance with the image data collected by the image acquisition module and outputs it to the display system software.

10. The backward walking assist method according to claim 7, characterized in that: The display system software is connected to the speaker of the mobile terminal display device, and is used to control the speaker to give a voice reminder of obstacle information according to the request of the data processing controller.

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