CN103126862A - Outdoor blind guiding robot based on global position system (GPS), general packet radio service (GPRS) and radio frequency identification devices (RFID) and navigational positioning method - Google Patents
Outdoor blind guiding robot based on global position system (GPS), general packet radio service (GPRS) and radio frequency identification devices (RFID) and navigational positioning method Download PDFInfo
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Abstract
The invention discloses an outdoor blind guiding robot based on a global position system (GPS), general packet radio service (GPRS) and a radio frequency identification devices (RFID) and a navigational positioning method. The outdoor blind guiding robot comprises an outdoor blind guiding robot body and a remote service platform, wherein the outdoor blind guiding robot body comprises a vehicle body and a navigation handle, and the vehicle body is sequentially divided into four layers from bottom to top. The navigational positioning method includes that the GPS and an RFID module are adopted to position blind persons and broadcast position navigation information through voices; a GPRS module is adopted to achieve two-way transmission of data between the blind guiding robot and family members or the remote service platform, and the blind persons are monitored and are remotely guided to advance; when the blind persons have accidents, voice help calling can be performed by the GPRS module to the remote service platform; and the image recognition technology is adopted to recognize manual navigation road signs and friendly tracks on the roads so as to ensure accuracy and safety of routes. The outdoor blind guiding robot and the navigational positioning method solve the outdoor traveling problem of the blind persons.
Description
Technical field
The present invention relates to a kind of blind-guide device, be specifically related to that a kind of cost performance is high, practical, applied range, safe and reliable, be suitable for outdoor blind-guidance robot and navigation locating method based on GPS, GPRS and RFID that the blind person uses.
Background technology
Visual disorder is a kind of on the very serious disease of human life quality's impact.Whole world people with visual impairment approximately has 1.4 hundred million people, average every 5 second the world blind person that just can be born.Approximately there are nearly 1,500 ten thousand people of visual disorder patient in China, and also increase progressively with 450,000 newborn blind persons' quantity every year.Visually impaired person can only with 60% feel to obtain experience, they can not be as we normal person environmental information around perception, thereby can be movable freely, development along with current technology, research and development electronics guide equipment becomes the another selection of orthobiosis of auxiliary visual disorder this huge colony, and comes assisting blind good one of approach just with blind-guidance robot.
Find through the retrieval to prior art, most of patents of announcing in the past all are based on the outdoor guide walking that blind guiding stick is realized the blind person, but this blind guiding stick function singleness, safety are not high, and unpowered traction needs the blind person to utilize all the time walking stick that the place ahead barrier is surveyed.Although the announcement of some outdoor guide vehicle patents is also arranged in the recent period, as patent CN1883430, a kind of intelligent guide vehicle is proposed, realize identification to barrier and sidewalk for visually impaired people by ultrasound wave and probe, but this method has certain limitation under outdoor complex environment, and can't be to the identification of some traffic signal.
in sum, the existing patent of announcing does not all solve following several respects content preferably: blind person outdoor accurate location, real-time broadcasting current geographic position information and traffic information, abundant Voice Navigation information is provided, especially in the navigation scheme of right-angled intersection, lack the remote monitoring service platform, can't monitor the blind person in real time, and communicate with the blind person, also but remote online is controlled in case of necessity, lack detailed path planning function, and point out the blind person concrete walking scheme with voice in real time in the key point in path, make the blind person accurately arrive destination according to the path of predetermined planning, trip purpose is larger, can farthest complete the guide task for the blind person under practical situation.
Summary of the invention
Goal of the invention: the weak points such as the strong and man-machine interaction of, real-time inconvenient, dangerous for guidance mode in traditional guide equipment is poor, the present invention will provide that a kind of guidance mode is convenient, security performance is higher, real-time is strong, man-machine interaction is more convenient, is fit to outdoor blind-guidance robot and navigation locating method based on GPS, GPRS and RFID that common blind person uses.The designed intelligent blind-guiding robot of the present invention possesses the sense organ in audition and sense of touch simultaneously, by speech identifying function, robot is moved according to the instruction that the blind person says.Simultaneously, camera module and RFID module are installed on blind-guidance robot, can grasp environment and object information in certain limit, so that the navigation of blind-guidance robot; GPS module and GPRS module also are installed on blind-guidance robot, can realize accurately the real-time positioning of blind-guidance robot, and can send on remote service platform or household's mobile phone by GPRS module walk and positional information that blind-guidance robot is current, but realization is to blind person's Real Time Monitoring and moving ahead of remote guide blind person, in addition, the blind person also can carry out voice call function to household or remote service platform by the GPRS module, avoided blind person's in case of emergency safety problem outside.
technical scheme: for achieving the above object, the present invention includes outdoor blind-guidance robot body and remote service platform, outdoor blind-guidance robot body comprises vehicle body and navigation handle, and vehicle body is divided into four layers from the bottom to top successively: bottom is provided with driving wheel, universal wheel, motor, motor driver and power transfer module, the second layer is provided with photographic head, ultrasonic sensor, slave computer controller and main power source, the 3rd layer is provided with navigation handle, sound identification module, GPRS module and hand lever The Cloud Terrace, top layer is provided with the host computer master controller, GPS module and RFID module, the navigation handle is connected with the hand lever The Cloud Terrace by expansion hand lever, the host computer master controller is connected with photographic head by USB interface, the host computer master controller by USB RS 232 serial ports respectively with the RFID module, the GPS module, the GPRS module, sound identification module and slave computer controller communicate, the slave computer controller communicates with navigation handle and ultrasonic sensor, slave computer controller output drive signal is to motor driver simultaneously, thereby the motor driver drive motors drives driving wheel, main power source is given respectively above-mentioned modules power supply by power transfer module, outdoor blind-guidance robot body carries out bidirectional data communication by GPRS module and remote service platform.
Described host computer master controller is a PC.
Described slave computer controller is a singlechip microcontroller.
Described RFID module is again radio frequency identification module, is a kind of wireless communication module.
Described navigation handle comprises Braille keyboard and danger button.
Described remote service platform is a computer based on the remote control of VB that is connected with the GPRS module and is embedded with Google Earth software.
Navigation locating method based on the outdoor blind-guidance robot of GPS, GPRS and RFID comprises the steps:
(1) adopt the walk latitude and longitude information in place of GPS module and Google Earth software collection blind person;
(2) the walk latitude and longitude information in place of the blind person who step (1) is gathered is made into the navigation speech audio file, and the walk latitude and longitude information in place of the blind person of navigation speech audio file and collection is mated one by one to form and completed the navigation speech data base, and the navigation speech data base is imported in the host computer master controller;
(3) simultaneously can be by related personnel or household on the road that the blind person often advances and above city important symbol building take up the intersection manual guidance road sign and RFID label be set, comprise geographical location information and path navigation scheme in label;
When (4) blind person goes out, the blind person sends phonetic order and by sound identification module, trip information is transferred in the host computer main controller, by the GPRS module, starting point and the destination of current trip is passed to the remote service platform again after the instruction of host computer master controller processed voice;
(5) after the remote service platform receives the information that the host computer master controller on blind-guidance robot sends, the trip purpose that receives ground is imported to start point information cook up a walking path in Google Earth software, after planning is completed, the remote service platform sends to corresponding walking path on blind-guidance robot by the GPRS module, and blind-guidance robot can be according to the walking path autonomous after receiving walking path;
When (6) blind-guidance robot is walked, constantly obtain road surface navigation information and sidewalk for visually impaired people information by photographic head, and detect in real time position relationship between blind-guidance robot and sidewalk for visually impaired people, if blind-guidance robot has departed from the sidewalk for visually impaired people in the process of walking, can automatically point out the blind person by voice module, after the blind person hears this voice suggestion, by the current walk of navigation handle correction;
(7) when blind-guidance robot is walked along the sidewalk for visually impaired people, if when having barrier to stop on the sidewalk for visually impaired people, when the ultrasonic sensor that is arranged on blind-guidance robot the place ahead detected the place ahead barrier is arranged, blind-guidance robot will be taked to keep away accordingly the barrier strategy and keep away barrier;
When (8) blind-guidance robot is walked, the GPS module constantly receives satellite positioning information, and compare in real time with the walk latitude and longitude information in place of blind person in the navigation speech data base of leaving in the host computer master controller, if identical or in certain matching threshold scope in both latitude and longitude information, will be by voice broadcast current positional information and corresponding navigation scheme; In robot enters into the scope that the RFID label sets, be arranged on RFID module read write line on blind-guidance robot and will read information in this RFID label, thereby trigger geographical location information and corresponding navigation scheme in this label of voice broadcast;
(9) blind-guidance robot in the process of walking, can the geographical location information that the GPS module receives constantly be sent to the remote service platform by the GPRS module, make the other household of remote service platform or third party personnel can be real-time but the blind person is monitored and the moving ahead of remote guide blind person, when running into fortuitous event, the blind person controls the GPRS module by danger button or phonetic function blind person household or remote service platform is called for help, simultaneously the corresponding GPS locating information of blind person is sent on household's mobile phone or remote service platform, thereby take appropriate measures, finally complete the navigation of blind-guidance robot.
When some place during due to sidewalk for visually impaired people information dropout, the RFID label that can take full advantage of the roadside setting helps the blind person to carry out assisting navigation, when sidewalk for visually impaired people information is recovered, photographic head by blind-guidance robot the place ahead detects identification, guiding blind-guidance robot to get back on the sidewalk for visually impaired people walks on, when the blind person need to go across the road, traffic lights situation by the photographic head identification crossing that is arranged on blind-guidance robot the place ahead, thereby after identifying, relevant information to the sidewalk for visually impaired people, instructs the blind person to go across the road by voice broadcast.
Beneficial effect: (1) the present invention adopts the interactive mode of voice dialogue, fully made up the deficiency of visual disorder crowd in visual aspects, make mutual more convenient and host computer master controller between user and system that the function of amusement aspect is provided, as play music, phonetic accessing internet chats etc. more are rich in hommization.
(2) the present invention adopts the structure that outdoor blind-guidance robot and remote service platform intercom mutually, conveniently effectively solved the outdoor trip scheme of blind person and to blind person's Real Time Monitoring, and but remote online controls or instructs the action of blind-guidance robot, guarantees accuracy and safety that the blind person goes on a journey.
(3) the present invention takes full advantage of mobile communication technology GPRS and location technology GPS, has effectively solved blind person's communication and orientation problem, and any mobile terminal and smart machine all can use this device, and promotion potential is huge.
(4) the present invention has adopted GPS and RFID co-located, has effectively made up the position error of GPS and the problem that GPS lost efficacy in some cases, has guaranteed real-time and the accuracy of blind person location.
(5) the present invention adopts machine vision technique that manual guidance sign and sidewalk for visually impaired people are identified and navigated, then the RFID technology is carried out assisting navigation in addition, has guaranteed accuracy and the safety of blind person's course.
(6) the outdoor blind-guidance robot vehicle body that the present invention is based on GPS, GPRS and RFID adopts hierarchy, all comparatively reasonably arranged corresponding functional module in each sheaf space, on the basis that takes full advantage of blind-guidance robot vehicle body space, the interference problem of having brought when having avoided modules work.If need to add later on expanded function on blind-guidance robot, can directly add a sheaf space on original vehicle body, simple and convenient, can't produce any interference to the equipment of former installation.
Description of drawings
Fig. 1 is blind-guidance robot structural representation of the present invention;
Fig. 2 is blind-guidance robot system architecture diagram of the present invention;
Fig. 3 is blind-guidance robot navigation workflow diagram of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, further set forth the present invention.
The present invention relates to a kind of outdoor blind-guidance robot based on GPS, GPRS and RFID, this blind-guidance robot comprises vehicle body and each functional module that is arranged on vehicle body, during blind-guidance robot work, its current residing geographical position is sent to the remote service platform with the destination that will arrive, after the remote service platform receives this information, automatically cook up track route and navigation scheme, and communicate by GPRS module and blind-guidance robot, instruct blind person's trip.Robot is in the guide process, obtain in real time sidewalk for visually impaired people, ground information and manual guidance sign by the photographic head that is arranged on robot the place ahead, guarantee blind person walk accuracy and the safety of road, adopt the GPS module to receive satellite location data information, locate for the blind person in real time and pass through the current geographical location information of voice broadcast and navigation scheme.In addition, near the RFID label that also can reach by the related personnel intersection setting on the key road of blind person's walking and the important symbol building of city carries out the auxiliary positioning navigation, when blind-guidance robot is walked this highway section, the RFID tag read-write equipment that is arranged on this blind-guidance robot will be read geographical position and the navigation information that is stored in the RFID label automatically, thereby instructs moving ahead of blind person.By the use in conjunction to GPS and RFID, the precision in the time of not only can effectively improving GPS and locate separately can also solve because of GPS in some problem of locate failure in particular cases.Adopt the GPRS module to realize the intercommunication mutually of blind-guidance robot and household or remote service platform, can monitor in real time the blind person, and remote controlled with instruct moving ahead of blind person.Utilize the voice call function of GPRS module not only can make the blind person carry out exchanging on voice with extraneous, when the blind person ran into accident, the voice that pass through that can be real-time asked for help to the external world in addition, had guaranteed the safety issue of blind person's trip.
Profile of the present invention as shown in Figure 1, comprise vehicle body and the navigation handle: vehicle body is divided into four layers: bottom is provided with driving wheel, universal wheel 9, motor 10, motor driver 11, power transfer module; The second layer is provided with photographic head 6, ultrasonic sensor 7, slave computer controller 8 and main power source 12; The 3rd layer is provided with sound identification module 5, GPRS module 1 and hand lever The Cloud Terrace 13; Top layer is provided with host computer master controller 2, GPS module 4 and RFID module 3, and the navigation handle is connected with hand lever The Cloud Terrace 13 by expansion hand lever 14, and the navigation handle comprises Braille keyboard 15 and urgent button 16.Vehicle body adopts hierarchy, has all comparatively reasonably arranged corresponding functional module in each sheaf space, on the basis that takes full advantage of blind-guidance robot vehicle body space, and the interference problem of having brought when having avoided modules work.Differential structure is adopted on the chassis, turns to flexibly, is convenient to control.The utilization of expansion hand lever 15 can be adjusted hand lever length according to operator's height, has embodied the design concept of hommization.
The present invention mainly comprises host computer master controller, motion-control module, navigation positioning module and remote service platform, wherein, annexation between each module as shown in Figure 2, navigation positioning module comprises photographic head 6, GPS module 4, RFID module 3 and GPRS module 1, and motion-control module comprises slave computer controller 8, motor driver 11, motor 10, navigation handle 16, Braille keyboard 15 and ultrasonic sensor 7.The host computer master controller is connected with navigation positioning module by USB interface, and the host computer master controller is connected with motion-control module by USB RS 232 interface.The present invention is by sidewalk for visually impaired people, finger prosthesis on photographic head 6 identification road surface lead the way mark and ambient condition information, guarantees that the blind person can move ahead along road accurately, avoids in real time barrier on the road surface by ultrasonic sensor 7; GPS module 4 receives the locating information from satellite in real time, and the latitude and longitude information in the latitude and longitude information that receives and pre-stored key point place in the host computer master controller is compared, if both latitude and longitude information are identical or in certain matching threshold scope, will trigger the host computer master controller by the geographical location information of this point of speech play and next step navigation scheme; When the RFID module 3 on being arranged on blind-guidance robot reads the RFID label that is arranged on relevant place simultaneously, also can by the host computer master controller trigger speech play should geographical location information and next step navigation scheme, simultaneously according to the accurate geographic position information in the RFID label, can proofread and correct in real time the locating information of GPS, significantly improve the positioning accuracy of gps data; Voice module 5 is connected with host computer master controller 2, realizes blind-guidance robot and blind person's interactive voice, and the blind person can send instruction to blind-guidance robot by voice, and blind-guidance robot also can pass through the voice prompt blind relevant information; GPRS module 1 is connected with host computer master controller 2, realize the bidirectional data transfers of blind-guidance robot and household or remote service platform, thereby and guide the blind person to move ahead to blind person's monitoring, when the blind person runs into accident, can call for help remote service platform or household by the GPRS voice call function; Host computer master controller 2 is connected with slave computer controller 8, slave computer controller 8 is connected with motor driver 11 with navigation handle, Braille keyboard 15, ultrasonic sensor 7 again, motor driver 11 is connected with motor 10 again, host computer master controller 2 can send dependent instruction to slave computer controller 8, slave computer controller 8 comes drive motors 10 to rotate by motor driver 11, slave computer controller 8 also can receive the information of auto-navigation handle, Braille keyboard 15 simultaneously, thereby comes drive motors 10 to rotate by motor driver 11.The present invention is divided into each submodule with integral body, and clear thinking is controlled effect remarkable, each submodule function is independent mutually, adopt standard interface between module and module, whole communication process is stable, orderliness is clear, favorable expandability, and has kept good interactivity between the blind person.
As shown in Figure 3, navigation locating method process of the present invention is as follows:
(1) at first adopt GPS locating module and Google Earth software that often walk local significant place and the longitude and latitude positional information of city important symbol building and intersection of blind person gathered, especially to blind person's route frequently of going on a journey, can carry out comparatively intensive at length collection to the latitude and longitude information of this route, and the latitude and longitude information that will gather stores.
(2) make navigation and the position speech audio file in the above significant place that gathers, and the latitude and longitude information of the significant position of the voice document after completing and collection is mated one by one, complete at last navigation speech data base's making, and import in the host computer master controller.
(3) simultaneously can be by related personnel or household on the road that the blind person often advances and above city important symbol building take up the intersection manual guidance road sign and RFID label be set, comprise accurate geographic position information and path navigation scheme in label, thereby complete blind-guidance robot preparation before travel.
(4) open the blind-guidance robot power supply, starting each module starts working, when the blind person prepares to go out, at first send phonetic order by the blind person and by sound identification module, trip information is transferred in the host computer main controller, by the GPRS module, starting point and the destination information of going on a journey passed to remote service platform other household or third party personnel after then processing through the host computer master controller.
(5) after the remote service platform receives the information that the master controller on blind-guidance robot sends, the trip purpose ground and the start point information that receive are imported in Google Earth software, this software will automatically be cooked up a better walking path and point out concrete walking scheme in relevant place, after planning is completed, the remote service platform sends to navigation scheme corresponding to corresponding walking path and crucial place on blind-guidance robot by the GPRS module, blind-guidance robot can carry out autonomous according to this path and navigation scheme after receiving, but and remote service platform real time remote On-line Control and instruct moving ahead of blind person in case of necessity.
when (6) blind-guidance robot is walked, constantly obtain road surface navigation information and sidewalk for visually impaired people information by photographic head, specific operation process is as follows: at first by the sidewalk for visually impaired people information on the camera collection road surface, be saved in the host computer master controller, then read the view data in the host computer master controller, because the sidewalk for visually impaired people has obvious color distortion, so the sidewalk for visually impaired people view data that collects is transformed into the Lab color space from rgb color space, the b in the Lab color space divides spirogram can reflect preferably the colouring information of sidewalk for visually impaired people, image after then converting carries out Threshold segmentation, its dividing method is based on the ostu Threshold segmentation, sidewalk for visually impaired people image after segmenting is carried out rim detection, adopt the canny edge detection operator at this, can obtain desirable effect, last on the basis of extracting the edge, sidewalk for visually impaired people, adopting the Hough conversion to carry out straight line searches, find two edges of sidewalk for visually impaired people, blind-guidance robot in the process of walking, take two edges of sidewalk for visually impaired people as benchmark, constantly detect the position relationship between blind-guidance robot and sidewalk for visually impaired people, if blind-guidance robot has departed from the sidewalk for visually impaired people in the process of walking, can automatically point out the blind person by voice module, after the blind person hears this voice suggestion, can be by the current walk of navigation handle correction, guarantee accuracy and the safety of blind-guidance robot track route.
(7) in addition, when blind-guidance robot was walked along the sidewalk for visually impaired people, if when having barrier to stop on the sidewalk for visually impaired people, when the ultrasonic sensor that is arranged on blind-guidance robot the place ahead detected the place ahead barrier is arranged, blind-guidance robot will be taked to keep away accordingly the barrier strategy and keep away barrier.When some place during due to sidewalk for visually impaired people information dropout, the RFID label that can take full advantage of the roadside setting helps the blind person to carry out assisting navigation, when sidewalk for visually impaired people information is recovered, photographic head by blind-guidance robot the place ahead detects identification, finally get back on the sidewalk for visually impaired people and walk, when the blind person need to go across the road, by the traffic lights situation at the photographic head identification crossing that is arranged on blind-guidance robot the place ahead, thereby after identifying, relevant information to the sidewalk for visually impaired people, instructs the blind person to go across the road by voice broadcast.
When (8) blind-guidance robot is walked, GPS constantly receives satellite positioning information, and compare in real time with the gps data information that leaves the crucial navigation spots in the host computer master controller in, if identical or in certain matching threshold scope in both latitude and longitude information, will be by positional information and the corresponding navigation scheme of this key point of voice broadcast.In robot enters into the scope that the RFID label sets, be arranged on RFID module read write line on blind-guidance robot and will read information in this RFID label, thereby trigger geographical location information and corresponding navigation scheme in this label of voice broadcast.Simultaneously, by the precise position information in the RFID label can real time correction GPS locating information, significantly improved the precision of GPS locator data.
(9) blind-guidance robot in the process of walking, can the geographical location information that the GPS module receives constantly be sent to the remote service platform by the GPRS module, make household on the remote service platform can the be real-time blind person is monitored, when running into fortuitous event, also can control the GPRS module by danger button or phonetic function calls for help blind person household or remote service platform, simultaneously the corresponding GPS locating information of blind person is sent on household's mobile phone or remote service platform, thereby take appropriate measures, finally complete the navigation of blind-guidance robot.
Claims (7)
1. outdoor blind-guidance robot based on GPS, GPRS and RFID, it is characterized in that: comprise outdoor blind-guidance robot body and remote service platform, outdoor blind-guidance robot body comprises vehicle body and navigation handle, and vehicle body is divided into four layers from the bottom to top successively: bottom is provided with driving wheel, universal wheel (9), motor (10), motor driver (11) and power transfer module, the second layer is provided with photographic head (6), ultrasonic sensor (7), slave computer controller (8) and main power source (12), the 3rd layer is provided with navigation handle, sound identification module (5), GPRS module (1) and hand lever The Cloud Terrace (13), top layer is provided with host computer master controller (2), GPS module (4) and RFID module (3), the navigation handle is connected with hand lever The Cloud Terrace (13) by expansion hand lever (14), host computer master controller (2) is connected with photographic head (6) by USB interface, host computer master controller (2) by USB RS 232 serial ports respectively with RFID module (3), GPS module (4), GPRS module (1), sound identification module (5) and slave computer controller (8) communicate, slave computer controller (8) communicates with navigation handle and ultrasonic sensor (7), slave computer controller (8) output drive signal is to motor driver (11) simultaneously, motor driver (11) drive motors (10) thus drive driving wheel (9), main power source (12) is given respectively above-mentioned modules power supply by power transfer module, outdoor blind-guidance robot body carries out bidirectional data communication by GPRS module and remote service platform.
2. the outdoor blind-guidance robot based on GPS, GPRS and RFID according to claim 1, it is characterized in that: described host computer master controller (2) is a PC.
3. the outdoor blind-guidance robot based on GPS, GPRS and RFID according to claim 1, it is characterized in that: described slave computer controller (8) is a singlechip microcontroller.
4. the outdoor blind-guidance robot based on GPS, GPRS and RFID according to claim 1, it is characterized in that: described navigation handle comprises Braille keyboard (15) and danger button (16).
5. the outdoor blind-guidance robot based on GPS, GPRS and RFID according to claim 1 is characterized in that: described remote service platform is a computer based on the remote control of VB that is connected with the GPRS module and is embedded with Google Earth software.
6. the navigation locating method of the outdoor blind-guidance robot based on GPS, GPRS and RFID as claimed in claim 1, is characterized in that described method comprises the steps:
(1) adopt the walk latitude and longitude information in place of GPS module and Google Earth software collection blind person;
(2) the walk latitude and longitude information in place of the blind person who step (1) is gathered is made into the navigation speech audio file, and the walk latitude and longitude information in place of the blind person of navigation speech audio file and collection is mated one by one to form and completed the navigation speech data base, and the navigation speech data base is imported in the host computer master controller;
(3) simultaneously can be by related personnel or household on the road that the blind person often advances and above city important symbol building take up the intersection manual guidance road sign and RFID label be set, comprise geographical location information and path navigation scheme in label;
When (4) blind person goes out, the blind person sends phonetic order and by sound identification module, trip information is transferred in the host computer main controller, by the GPRS module, starting point and the destination of current trip is passed to the remote service platform again after the instruction of host computer master controller processed voice;
(5) after the remote service platform receives the information that the host computer master controller on blind-guidance robot sends, the trip purpose that receives ground is imported to start point information cook up a walking path in Google Earth software, after planning is completed, the remote service platform sends to corresponding walking path on blind-guidance robot by the GPRS module, and blind-guidance robot can be according to the walking path autonomous after receiving walking path;
When (6) blind-guidance robot is walked, constantly obtain road surface navigation information and sidewalk for visually impaired people information by photographic head, and detect in real time position relationship between blind-guidance robot and sidewalk for visually impaired people, if blind-guidance robot has departed from the sidewalk for visually impaired people in the process of walking, can automatically point out the blind person by voice module, after the blind person hears this voice suggestion, by the current walk of navigation handle correction;
(7) when blind-guidance robot is walked along the sidewalk for visually impaired people, if when having barrier to stop on the sidewalk for visually impaired people, when the ultrasonic sensor that is arranged on blind-guidance robot the place ahead detected the place ahead barrier is arranged, blind-guidance robot will be taked to keep away accordingly the barrier strategy and keep away barrier;
When (8) blind-guidance robot is walked, the GPS module constantly receives satellite positioning information, and compare in real time with the walk latitude and longitude information in place of blind person in the navigation speech data base of leaving in the host computer master controller, if identical or in certain matching threshold scope in both latitude and longitude information, will be by voice broadcast current positional information and corresponding navigation scheme; In robot enters into the scope that the RFID label sets, be arranged on RFID module read write line on blind-guidance robot and will read information in this RFID label, thereby trigger geographical location information and corresponding navigation scheme in this label of voice broadcast;
(9) blind-guidance robot in the process of walking, can the geographical location information that the GPS module receives constantly be sent to the remote service platform by the GPRS module, make the other household of remote service platform or third party personnel can be real-time but the blind person is monitored and the moving ahead of remote guide blind person, when running into fortuitous event, the blind person controls the GPRS module by danger button or phonetic function blind person household or remote service platform is called for help, simultaneously the corresponding GPS locating information of blind person is sent on household's mobile phone or remote service platform, thereby take appropriate measures, finally complete the navigation of blind-guidance robot.
7. according to claim 6 based on GPS, the navigation locating method of the outdoor blind-guidance robot of GPRS and RFID, it is characterized in that when some place during due to sidewalk for visually impaired people information dropout, the RFID label that can take full advantage of the roadside setting helps the blind person to carry out assisting navigation, when sidewalk for visually impaired people information is recovered, photographic head by blind-guidance robot the place ahead detects identification, guiding blind-guidance robot to get back on the sidewalk for visually impaired people walks on, when the blind person need to go across the road, traffic lights situation by the photographic head identification crossing that is arranged on blind-guidance robot the place ahead, thereby will identify after relevant information by voice broadcast to the sidewalk for visually impaired people, instruct the blind person to go across the road.
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| CN103622798A (en) * | 2013-11-22 | 2014-03-12 | 青岛海尔软件有限公司 | Blind guiding rod |
| CN103759734A (en) * | 2014-01-24 | 2014-04-30 | 成都万先自动化科技有限责任公司 | Service robot assisting crossing of street |
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