Design Of Blind-assisted Navigation System In Indoor Environment

Visual impairment brings many inconveniences to people's work and life.In daily life,visually impaired patients usually use guide dogs or blind sticks to help them travel.Although these guide devices have been used for hundreds of years,blind people face major challenges when using them.In recent years,domestic and foreign scholars have developed a variety of blind navigation devices,but they pay more attention to the detection of obstacles.These devices have a simple function,and lack comprehensive cognition of the environment,which are difficult to meet the needs of blind users.To solve these problems,on the basis of fully understanding the needs of the blind people in their daily life,this thesis proposes a set of full-featured blind assist system,which includes the following functional modules:1.Positioning and collision avoidance navigation module:Inspired by the working principle of mobile robots,when the robot performs navigation tasks,it not only needs to have a map of the working environment,but also needs to obtain real-time position information and avoid surrounding obstacles.In this thesis,we replaces the wheel odometry with the visual odometry.The visual odometry is introduced into the SLAM system,and coordinated with related navigation toolkits to realize positioning and navigation functions.2.Common indoor objects and signs perception module:In indoor environment,tables,chairs,and people are more common objects.In addition,some common indoor signs(male and female toilet signs,EXIT signs,staircase signs,etc.)can often provide people with important information.By collecting and sorting the images of the above objects,and using YOLO v3 network training for object detection,the perception ability of blind users to the surrounding environment is improved to a certain extent.3.Voice and tactile interaction module:Voice and tactile are the two main ways for the blind to interact with the outside world.In the use process of visually impaired users,they can use voice commands to input the target point.The system guides users to perceive the surrounding environment and avoid obstacles in the process of moving through the form of voice and tactile,so that they can reach the target point smoothly.The system designed in this thesis takes the blind as the center to participate in the loop of the navigation system.Experimental results show that it can meet the basic needs of blind users in the process of moving,and effectively assist the blind to walk safely indoors.