CN106344357B - A kind of electronics Shallow for guiding blind person and blind-guiding method - Google Patents
A kind of electronics Shallow for guiding blind person and blind-guiding method Download PDFInfo
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- CN106344357B CN106344357B CN201610920996.7A CN201610920996A CN106344357B CN 106344357 B CN106344357 B CN 106344357B CN 201610920996 A CN201610920996 A CN 201610920996A CN 106344357 B CN106344357 B CN 106344357B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/12—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor characterised by three-wheeled construction
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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
- A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2206/00—Adjustable or convertible hand-propelled vehicles or sledges
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Abstract
The invention discloses a kind of electronics Shallow for guiding blind person and blind-guiding method, electronics Shallow for guiding blind person includes: trolley, range unit and camera；The trolley includes car body, and the lower end of car body is provided with wheel, and height-adjustable upright bar is provided on car body, and the upper end of upright bar is provided with probe cassette and handle；The range unit includes multiple range finding probes, and range finding probe is divided into probe, lower probe and ground probe；Upper probe is arranged on probe cassette；Lower probe and ground probe are arranged in car body front end；The camera is arranged in probe cassette front end, and camera is electrically connected with car body；Two loudspeaker are installed in the car body pedestal rear two sides respectively, and two loudspeaker are installed in probe cassette rear two sides respectively, and four tubaeform to arrange at surround sound.Electrotape by conjunction with trolley, being made the distance, road conditions and the bumps on ground of blind person's disturbance of perception object by the present invention, to guide blind person to walk, to be really achieved practical.
Description
[technical field]
The present invention relates to a kind of guide equipment, especially a kind of electronics Shallow for guiding blind person.
[background technique]
Traditional blind-guiding method only has blind man's stick and seeing-eye dog, can be realized safety there are no one kind in the world so far and draws
The practical electronics guide equipment that guide people walks.
2005, forehead apparatus for guiding blind was invented by Japanese a company, using information in front of micro- camera shooting blind person, clapped
The image information taken the photograph is sent in micro computer.Then micro computer turns these data first by image contour lines digitization
It is changed to electronic pulse signal, pulse signal can export from hundreds of electrodes that user's forehead position loads.User passes through
These output signals of the tactilely-perceptible of forehead, and then the cognition to contour of object lines is formed in the brain.In fact, it is invented
Person also confesses freely the limitation of this equipment.The camera that it is carried will can just capture image in bright and clear place, because
This is not available on not bright enough the road in the very dark room of light or night street lamp.In the weather of summer sweltering heat, forehead goes out
When sweat, the stimulation of pulse signal can die down, even without only drying sweat could use.Therefore, forehead apparatus for guiding blind is not
It is suitble to need the blind person of strenuous exercise.Moreover, most of all, the barrier and bumps in forehead apparatus for guiding blind impalpably face
Injustice, thus cannot practicably guide.
The tongue apparatus for guiding blind that foreign countries have put into production is shot by a miniature webcam being mounted on sunglasses
The image of user at the moment, image information are transmitted on a personal control, these information are first changed into low picture by controller
The black-white-gray picture of element, is reconverted into corresponding electronic pulse signal.At this point, the pulse signal of " reconstruction picture " is passed by electrode
Sensor stimulates tongue, and pulse strength is determined according to image black-and-white two color --- and white has strong impulses signal, and black does not have then
Pulse signal.Electrode sensor is there are about 400 contacts, and pulse signal stimulates tongue and by neurotransmission to brain, brain
" visual zone " can help to go back the profile of image in original picture.In this way, blindness personage can feel different by tongue
Electric pulse stimulation, " seeing " arrive something.But, it can play the role of to tongue apparatus for guiding blind, there is expert to query and say, if used
Person may will affect the perceptional function of tongue tactile when walking about, therefore still be difficult to apply in daily life.And it is same
The impalpably barrier in face and uneven, thus can not practicably guide.
There are many guide equipment patents for utilizing electrotape both at home and abroad at present, but is to follow wearable device mostly
Thinking, none is that range unit is mounted on trolley, pavement behavior cannot be found out, do not have practicability, institute
So far without a kind of electronics guide equipment that blind person can be guided to walk safely to come into operation.
[summary of the invention]
To solve the problems, such as that wearable guide product design not can effectively solve perceiving ground situation in the prior art, this
Invention provides a kind of electronics Shallow for guiding blind person and blind-guiding method, is by the way that electrotape in conjunction with trolley, is made blind person
Distance, road conditions and the bumps on ground of disturbance of perception object, to guide blind person to walk, to be really achieved practical.
Object of the present invention is to what is be achieved through the following technical solutions:
A kind of electronics Shallow for guiding blind person, comprising: trolley, range unit and camera；
The trolley includes car body, and there are three wheel, three wheel finished product word arrangements, front trucks for the lower end setting of car body
Wheel is universal wheel；Height-adjustable upright bar is provided on car body, the upper end of upright bar is provided with probe cassette and handle；Wheel includes
The roller and tire of coaxial arrangement, the middle part of roller is arranged in tire, and the diameter of tire is greater than the diameter of roller；
The range unit includes multiple range finding probes, and range finding probe is divided into probe, lower probe and ground probe；On
The barrier detected in front of blind person's upper part of the body on probe cassette is arranged in probe；Lower probe and ground probe are arranged before car body
Car body front obstacle and depression in the land surface are detected in end respectively；
The camera is arranged in probe cassette front end；
The suggestion device for reminding blind, suggestion device and range unit, camera are provided on the trolley
Electrical connection.
The suggestion device is loudspeaker, and two loudspeaker install car body pedestal rear two sides, and two loudspeaker are mounted on probe
Box rear two sides, four tubaeform to arrange at surround sound；Range unit detects obstacle distance, after camera shoots image
By image recognition obstacle identity, type, orientation and the distance of loudspeaker voice broadcast barrier and depression in the land surface.
The suggestion device is electronic needle-shaped array apparatus, and electronic needle-shaped array apparatus is mounted on handle, with difference
Needle, different degrees of flexible stimulation blind person skin of palm of hand to express to blind person different direction barrier distance.
The range unit is ultrasonic distance measurement probe, electromagnetic distance measurement probe or laser ranging probe；Use ultrasound
When wave range finding probe, every layer of probe is arranged five；When using electromagnetic wave or laser ranging probe, every layer of rotating detector is continuous
Scanning.
The detection angle of coverage of upper probe is the fan-shaped surface in 180 ° of front；The detection angle of coverage of lower probe is 180 ° of front
Fan-shaped surface；The detection angle of coverage of ground probe is the fan-shaped surface of 180 ° of obliquely downward.
There are two exposed electrodes for the car body bottom surface front setting, and two electrodes connect warning circuit, when two electricity
When pole is connected, warning circuit is alarmed by loudspeaker.
The probe cassette top is equipped with revolving light；It is provided with crossbeam right above upright bar, mentions vehicle convenient for blind person；
Handle is U-typed, forms " mouth " font structure with crossbeam；Handle has rubber antiskid set；Two rear-wheels are provided with brake gear,
It is provided with parking brake matched with brake gear on hand；It is provided with electron equipment in the car body, the battery of electric energy is provided,
Battery is charged by charging interface or drives generator voluntarily to charge a battery by wheel.
The handle can be folded to the back lower place, and upright bar being capable of forward upward folding.
A kind of blind-guiding method of electronics Shallow for guiding blind person, comprising the following steps:
Range unit detects trolley front obstacle distance, specifically: the barrier in upper probe detection blind person upper part of the body front
Hinder object distance, lower probe detects car body front obstacle, depression in the land surface in front of the probe detection car body of ground；
Camera shoots cognitive disorders species type after trolley forward image；
Type, orientation and the distance that loudspeaker broadcast barrier simultaneously by voice and the ground caved in；Inform detection orientation
Method are as follows: upper probe, lower probe and ground probe are by different loudspeaker and different tone colors is broadcasted, and upper distance of probe value is by upper loudspeaker
Pronunciation, ground distance of probe value are pronounced by lower loudspeaker, and lower probe distance measurement value is issued stereo by upper and lower loudspeaker；Corresponding three
The distance measurement value of probe, front-left to distance measurement value pronounced by corresponding left horn, front-right to distance measurement value by corresponding right loudspeaker
Pronunciation, just before, left front, right front to distance measurement value its angle is reflected by the time difference that corresponding left and right loudspeaker pronounce；
Or electronic needle-shaped array apparatus is installed on handle and passes through different needles, different degrees of flexible stimulation blind person palm
Skin expresses the distance of the barrier of different direction to blind person.
Further, when probe detection car body front obstacle is remote up and down, corresponding loudspeaker are primary at interval of 2s pronunciation,
Pronouncing frequency is higher when distance is closer, pronounces at interval of 0.5s when short distance primary；Become continuant when minimum distance；It visits on ground
Not sounding when within head detection the ground caved in 5cm, the ground caved in uses different tones for 6-10cm, 11-15cm, 16-20cm respectively,
Sharp warning buzz is issued when the ground caved in more than 20cm or more and is reported with sharp voice.
Compared with the existing technology, the invention has the following advantages that
Electronics Shallow for guiding blind person of the present invention mainly by the way that electrotape and camera are mounted on special trolley,
The ranging information of the probe sensor acquisition of range unit is converted to voice or buzz or other stimulus to the sense organ by controller
Distance measurement value is informed blind person by signal；Electrotape can perceive distance and the road surface of the barrier in blind person's body front, side
Concave-convex situation, voice or buzz or other stimulus to the sense organ signals are converted to by controller, distance measurement value are informed into blind person.It takes the photograph
As after head shooting image by image recognition obstacle identity, finally by loudspeaker voice broadcast barrier and depression in the land surface
Type, orientation and distance, to help blind person to know the distance, road conditions and the bumps on ground of barrier, so that blind person be guided to walk
Road.It is the guide object that the third can guide blind person to walk after blind man's stick, seeing-eye dog, and one kind can put into practical electricity
Sub- guide equipment.
Further, roller is cylindrical body, and cylinder waist is the bigger tire of diameter, when there is small convex-concave in ground, blind person
The perception of jolting of roller and tire can be passed through.
Further, multiple probe sensors are uniformly distributed, and can be covered all orientation in detection front, be will test error
Accomplish minimum.
Further, by the way that the electrode connecting with warning circuit is arranged, whether there can be pools zone with real-time detection ground, in time
Remind user.
Further, handle and upright bar can fold, convenient carrying when not in use.Cart handle and upright bar height are adjustable,
The adult and children of different heights are available.
Blind-guiding method of the invention detects trolley front obstacle distance by range unit, and camera shoots trolley
Cognitive disorders species type after forward image；Loudspeaker by voice broadcast barrier simultaneously and the type that the ground caved in, orientation and away from
From；Blind person can be made to know the distance, road conditions and the bumps on ground of barrier, so that blind person be guided to walk.Pass through four orientation
Loudspeaker constitute it is stereo, carry out the casting of different direction, judgement of the reminding blind to barrier orientation.It can also be in handle
(4) electronic needle-shaped array apparatus is installed, with different needles, different degrees of flexible stimulation blind person skin of palm of hand come to touch watch on
Up to the distance of the barrier of different direction.
[Detailed description of the invention]
Fig. 1 is the main view (people's standing direction) of electronics Shallow for guiding blind person of the present invention；
Fig. 2 is the rearview (front of trolley) of electronics Shallow for guiding blind person of the present invention；
Fig. 3 is the right view of electronics Shallow for guiding blind person of the present invention；
Fig. 4 is the top view of electronics Shallow for guiding blind person of the present invention；
Fig. 5 is the bottom view of electronics Shallow for guiding blind person of the present invention；
Wherein: 1, wheel, 2, car body, 3, upright bar, 4, handle, 5, probe cassette, 6, tire, 7, roller.
[specific embodiment]
With reference to the accompanying drawing, a specific embodiment of the invention is described in detail, but the present invention is not limited to the implementations
Example.In order to make the public have thorough understanding to the present invention, is preferably applied in following present invention and concrete details is described in detail in example.
As shown in Fig. 1 to 5, a kind of electronics Shallow for guiding blind person of the present invention, product of the present invention design be mainly range unit with
Camera is mounted on trolley, range unit detection obstacle distance, by image recognition software after camera shooting image
Cognitive disorders species type, with the type, orientation, distance of the big recess of voice broadcast barrier and ground.Trolley wheel 1 perceives
The small convex-concave generation in ground, which is jolted, carries out early warning to blind person.Ultrasonic distance measurement, electromagnetic distance measurement, laser can be used in range unit
Any one of ranging can be realized requirement.
Specifically, product of the present invention monnolithic case is a buggy, wide about 30cm, a front-wheel is universal wheel.
Three 1 shapes of wheel, sizes are consistent.Each wheel 1 consists of two parts: roller 7 and tire 6.The shape of single wheel is circle
The roller 7 of cylinder, 7 waist of roller have the rubber ring-type tire 6 of protrusion, and roller 7 is cylindrical body, and material is that frosting covers rubber
Glue, diameter about 11cm, pillar height about 15cm, cylinder waist are the bigger tire 6 of diameter, 6 diameter of tire about 15cm, wide about 3cm.Wheel
Tire 6 is rubber material, and damping, mute, wearability is preferable.Rear track (two drum inside distances) about 15cm.Three rollers 7
The arrangement of product word, can cover blind person's step forwarding route about 45cm width altogether.When small convex-concave occurs in ground, blind person can pass through roller
7 and tire 6 perception of jolting.Only tire 6 contacts ground when Land leveling, can reduce the area that contacts to earth, to reduce resistance.?
Under the premise of guaranteeing that vehicle body is stablized, the wheelbase of front and back wheel is not too big.Two rear wheels 1 have brake gear, and parking brake is mounted on handle
On hand 4.4 adjustable, the most rise ground about 120cm of height of cart handle.Adult and children are available.
The car body 2 of trolley of the present invention has charging interface, chargeable, is equipped with 220V charger.It can also be driven by wheel 1
Generator voluntarily charges a battery, and power of motor is slightly larger than product power consumption.Power supply provides electricity for the electronic equipment on trolley
Source.
The prompt that there is ponding on ground is encountered for solution, there are two exposed electrodes far from ground 2cm for 2 bottom surface front of car body, such as
When the fruit ground depth of water is more than 2cm, water connects circuit, and loudspeaker can issue dedicated alarm sound: " there is water on ground ".
As shown in Fig. 3, Fig. 4 and Fig. 5, range unit includes multiple range finding probes, and range finding probe is divided into three layers: upper layer, under
Layer, ground floor.Ranging distance is about 1-400cm, and range error is not more than 10cm.Face forward covers 180 degree sector altogether.
If using ultrasonic distance measurement: every layer of 5 probe.Each probe detection angle is about 45 °, and 5 probes are visited respectively
Before surveying just, it is 45 ° left front, right before 45 °, positive left, front-right to distance.
If using electromagnetic wave or laser ranging: every layer of rotating detector carries out 180 ° of fan-shaped continuous scannings.
Two layers of probe is installed on 2 pedestal of car body, detects the big recess of lower layer's front obstacle and ground respectively.Obstacle physical prospecting
Head detection angle lower edge is parallel to the ground, the obstacle of the detectable about 5cm that is above the ground level.Ground is popped one's head in obliquely downward, and ground is recessed
Fall into about 5cm or more alarm.
Upper probe is mounted on the probe cassette 5 of human body waist height, the barrier in detectable blind person's upper part of the body front, vertically
Direction connects substantially with bottom probe detection range, can above cover the height of 190cm.
Two loudspeaker are installed at 2 pedestal rear of car body towards blind person, and two loudspeaker are installed towards blind person in 5 rear of probe cassette,
Four loudspeaker inform the distance in some direction of blind person with binaural cue sound.Three layers totally 15 probe reported distance sound not
Together, while with stereo informing up and down orientation is detected.The specific method for informing detection orientation: front-left to ranging
Value is pronounced by left horn, front-right to distance measurement value pronounced by right horn, just before, left front, right front to distance measurement value by left and right
The time difference (i.e. stereo) of loudspeaker pronunciation reflects its angle.Top distance measurement value is pronounced by upper loudspeaker, the ground caved in distance measurement value by
Lower loudspeaker pronunciation, lower section distance measurement value are issued stereo by upper and lower loudspeaker.Horn volume is adjustable, and volume knob is also rangefinder switch
Button.The max volume of loudspeaker can should not heard in a noisy environment.Range unit, camera, loudspeaker are electrically connected with host；
Host is arranged on probe cassette 5 or car body 2.
Electronic needle-shaped array apparatus can also be installed on handle, with different needles, different degrees of flexible stimulation blind person
Skin of palm of hand expresses the distance of the barrier of different direction to blind person.
In addition, mountable one of 5 top of probe cassette is similar to the small revolving light of warning lamp, for reminding pedestrian and vehicle to keep away
It allows, warning lamp has switch.
There is crossbeam right above upright bar 3, mentions vehicle convenient for blind person.Handle 4 is U-typed, forms about 30*45cm with crossbeam
" mouth " font.(blind person's body encounters back wheels of vehicle, and the reflection of wheel 1 ground in vehicle rear a distance, to avoid foot when walking
After the small bumps in face, blind person makes movement adjustment and needs regular hour lead).Handle 4 has rubber antiskid set.Handle 4 can
It is folded to the back lower place.The upright bar 3 of vehicle body can forward upward folding.
Upper probe height follows 3 height adjustment of handle 4 and upright bar.A storage bag can be put among 3 upper and lower level of upright bar.It is vertical
A shrinkable blind man's stick is fixed on bar 3 in parallel.Car body 2 is plastics or metal shell.Vehicle cross bar, upright bar 3 are metal material.Probe
A handset audio input interface and an audio output interface is arranged in box 5.
Several embodiments are specifically given below, and the present invention will be further described:
Embodiment 1
Supersonic range finder is mounted on trolley, by controller by distance measurement value be converted to voice or buzz or
The flexible stimulation blind person skin of palm of hand of electronic needle-shaped array expresses the distance of the barrier of different direction to blind person.By special
The bumps of wheel perceiving ground.
Embodiment 2
Laser ranging system is mounted on trolley, distance measurement value is converted to by voice or buzz or electricity by controller
The flexible stimulation blind person skin of palm of hand for moving needle-shaped array carrys out the distance of the barrier to blind person's expression different direction.Pass through custom car
Take turns the bumps of perceiving ground.
Embodiment 3
Electromagnetic distance measurement device is mounted on trolley, by controller by distance measurement value be converted to voice or buzz or
The flexible stimulation blind person skin of palm of hand of electronic needle-shaped array expresses the distance of the barrier of different direction to blind person.By special
The bumps of wheel perceiving ground.
There is a ranging prompt tone selection switch on the left of probe cassette 5, there are 3 kinds of modes optional: voice, buzz or both are same
Shi Fayin.Casting mode are as follows: barrier+orientation+distance.
1. voice: 5 directions, 5 different voice (tone color).Pronunciation design should reduce number of words to the greatest extent.
Lower probe: every about 2s pronunciation is primary when remote, and pronouncing frequency is higher when distance is closer, when short distance about every 0.5s
Pronunciation is primary.Pronunciation report distance measurement value is as unit of decimetre, and such as " one " indicates 0.1 meter, and " two or three " indicate 2.3 meters.4 meters or more are not no
Pronunciation.
Upper probe: tone color is different from lower probe, and adds "upper" word, such as " upper one, " upper two or three " before reporting distance measurement value number.
Ground probe: tone color and upper and lower probe are different, and report that ranging cm number is preceding and add " ground " word, as " one ", " two
Three ".Not sounding when within the ground caved in 5cm, be recessed 20cm or more when issue sharp warning buzz and with sharp people
Sound report, such as: " dangerous！Ground two ".
Image recognition: cover front 180 degree, within 4 meters with Types Below, and with voice broadcast: adult, child, dog,
Cat, animal；Cart, trolley, tricycle, two wheeler；Road, corridor, level land, meadow, the water surface；Tree, grass, lamp stand, pillar, wall；On
Road edge, lower road edge, upper one layer of step, upper multilayer steps, next layer of step, lower multilayer steps, elevator, upper escalator, assistant
Help elevator；Well, hole, ditch.Other available " barriers " that cannot be identified are summarized.
The image identified should be combined with its distance when voice broadcast and be broadcasted simultaneously, such as " adult two or three ", " wall 1 ".
2. buzz: three layers of probe, 3 different tone colors, 5 directions, 5 different tones.
Probe up and down: every about 2s pronunciation is primary when remote, and pronouncing frequency is higher when distance is closer, and when minimum distance becomes
Continuant.
Ground probe: sounding, 6-10cm, 11-15cm, 16-20cm do not use not unisonance respectively when within the ground caved in 5cm
Adjust, be recessed 20cm or more when issue sharp warning buzz and reported with sharp voice, such as: " danger！Ground two ".
Sound feedback speed should meet normal leg speed requirement.
Booting carries out self-test every time, warning of pronouncing if finding some tip damage: " it is faulty, it please check."
Have a sound switch of seeking help, the repeatable voice that issues when opening: " hello, can help me? " default men and women is old
Few a variety of tone colors are optional.When blind person needs to go across the road or when other fortuitous events, it can be used for seeking help to other people.
The common ground of electronic range measurement guide vehicle (not considering image recognition) and obstacle species and its judgment method are as follows:
Upper track edge or level-one step: when close, upper distance of probe value is constant, and lower probe distance measurement value is gradually reduced.Distance measurement value
When being several centimetres, blind person forces down handlebar and lifts front-wheel, and lower probe distance measurement value is greater than 400, and ground probe reports normal distance measurement value,
It knows to be edge.Front-wheel is ridden over to being pushed forward on, then lifts rear-wheel and rides over along upper, upper track edge of taking a step.If lifted
Front-wheel, ground probe report distance measurement value is very big, then road is dell below the other side.Apparatus for guiding blind can sound an alarm.
Lower road edge or level-one step: when reaching edge, ground probe starts to report normal distance measurement value, it is known that is edge.It is blind
People pushes away Chinese herbaceous peony, and by front-wheel sinking ground, lower probe and ground probe report normal distance measurement value, it is known that front ground safety.
By rear-wheel sinking ground, distance measurement value is normal, it is known that front ground safety.It takes a step lower road edge.
Upper multi-stage stairs: when close, upper and lower distance of probe value, which synchronizes, to be gradually reduced.When distance measurement value is several centimetres, blind person's pressure
Low handlebar lifts front-wheel, and ground probe reports normal distance measurement value, increases front-wheel and lifts angle, lower probe distance measurement value gradually increases
Greatly, it is known that be multi-stage stairs.Front-wheel is ridden over to being pushed forward on step, then lifts rear-wheel and costs step, repeatedly, before can using
Rear-wheel and probe know forward step situation, top bar of taking a step.
Lower multi-stage stairs: when reaching edge, ground probe starts to report normal distance measurement value, it is known that is step.Successively repeatedly
It by front and back wheel sinking, takes a step to get out of a predicament or an embarrassing situation, can know forward step situation with front and back wheel and probe.
Upper abrupt slope: when close, probe is quoted different but digital close distance measurement value and is gradually reduced simultaneously up and down.It goes up a slope
When, probe detection numerical value is identical as level land.
Lower abrupt slope: when arriving slope edge, ground probe reports normal distance measurement value.When descending, probe detection numerical value and level land phase
Together.
Small protrusion: brick, stone within height 5cm etc., probe may not be able to be found out, and front-wheel or rear-wheel roll protrusion
When be elevated, blind person by the vibration of vehicle body and the hypsokinesis of handle learn protrusion Position Approximate, avoided when taking a step protrusion or it is small
The heart visits step and moves ahead.Protrusion within height 2cm will not generate big influence to step.
Small recess: the pitting within depth 5cm, probe may not be able to be found out, and front-wheel or rear-wheel can settle, and blind person passes through
The vibration of vehicle body and leaning forward for handle learn the Position Approximate of recess, and recess is avoided when taking a step or careful step of visiting moves ahead.
The well of uncovered: lower probe distance measurement value is more than that 20cm can issue sharp warning buzz and with sharp people suddenly
Sound report, such as: " dangerous！Ground 102 ".Blind person halts, and listens alerted orientation, then rotates left and right vehicle body, then listens lower probe
Distance measurement value, it is known that home.It drops back two steps, turns to security standpoint and pass through.
Hollow place or irrigation canals and ditches: ground distance of probe value is more than that 20cm can issue sharp warning buzz and with sharply suddenly
Voice report, such as: " dangerous！Ground 102 ".Blind person halts, and listens alerted orientation, then rotates left and right vehicle body, then under listening
The distance measurement value of probe, if the distance measurement value of front 180 degree or so all reported hazards, left and right turn 90 degrees walking and far from hollow place or
The edge of irrigation canals and ditches.
Be parallel to the edge walking of recess: such as road edge, step, irrigation canals and ditches edge, the ground of side, which is popped one's head in, can quote survey
Away from value, and when distance measurement value is greater than 20, will call the police, and blind person turns to other side walking in time, far from edge.
Pavement needs to turn to crossing: when blind person is gone to crossing on pavement, edge is found out on ground, and vehicle is turned to
90 degree, finding out front is level land, continues to walk along pavement.
Go across the road: blind person not cross the road of vehicle at non-crossing.It must be turned on sound of seeking help when crossing will go across the road
Switch: " hello, can help me? " other people are solicited to assist going across the road.
Pavement is occupied or the road of row is mixed without pavement, people's vehicle: roadside is road edge, wall, greening-tree, is parked in roadside
Vehicle etc., keeping probe distance measurement value under right side is 10cm or so, can keep walking along roadside straight line, avoids going to experience among road
It is dangerous.If being flat meadow or soil on the outside of road, blind person can know its landforms by wheel 1 and feel, and adjustment angle is walked
Return road.
Interval flagstone path on landscape meadow: since wheel 1 is relatively large in diameter, majority can pass through, if front-wheel is stumbled,
Front-wheel is lifted, cart moves ahead.
Meadow: cart resistance increases, and is meadow known to foot.
The soil of out-of-flatness: vehicle body can jolt, and somewhere protrusion may stumble front-wheel, and it is feasible to lift front-wheel.
Muddy ground, sand ground, stone: resistance will increase.Some ground may not be able to cart move ahead, should detour.
Marsh and drift sand: it may cause blind person and get deeply stuck in, can not extricate oneself.Kith and kin should ensure that blind person will not enter into it is this jeopardously
Shape.
Elevator: by door-opened elevator known to the distance measurement value variation of the sound and probe of elevator door, pass through the distance measurement value of probe
Known to whether someone or someone come out in elevator.Front can enter elevator when accessible.
Escalator: when reaching near lift port, can know armrest positions by probe, thus just by vehicle alignment lift port
In, wheel 1 is pulled to forward by elevator, and step follows.When reaching outlet, body gesture flattens, and resistance increases, and cart moves ahead.
Subway: in-track platform, unlatching are sought help sound: " hello, can help me? " it solicits other people and assists subway up and down.
Corridor: both walls identity distance is perceived from holding straight line walking, when side is visited away from increasing, it is known that arrival turn by probe
Crook.
Pillar, electric pole: unidirectional distance of probe up and down is almost the same, and left-right rotation vehicle body passes through different spies
Pillar diameter and bypass route known to head report distance measurement value.
Anti- parking ground pile: iron stake, the stone pier, plastic barrel stake etc..Upper probe is not found out, and 3 probes of lower layer report obstacle, and conjecture can
It can be ground pile, cart is close to 10-20cm, and the gap of ground pile can be found by rotating left and right vehicle body, and gap can when being greater than body width
Pass through.
The tree that branch hangs low: when close, probe and multiple upper probes report barrier under one, and conjecture may be tree.Rotation
It changes trains or buses road conditions known to body, selection bows by or detours.
The crowded stream of people: there is the stream of people by surrounding known to ambient sound.Distance measurement value high frequency changes, it is known that pedestrian is close or remote
From.Issuing sound flash alarm system by apparatus for guiding blind, other people avoid, and slowly move ahead, when there is an obstacle in front adjustment vehicle body move ahead angle around
Row.
More than, only presently preferred embodiments of the present invention is not limited only to practical range of the invention, all according to the invention patent
The equivalence changes and modification that the content of range is done all should be technology scope of the invention.
Claims (8)
1. a kind of electronics Shallow for guiding blind person characterized by comprising trolley, range unit and camera；
The trolley includes car body (2), and there are three wheel (1), three wheel (1) finished product word arrangements are preceding for car body (2) setting
Wheel is universal wheel；It is provided on car body (2) height-adjustable upright bar (3), the upper end of upright bar (3) is provided with probe cassette (5)
With handle (4)；Wheel (1) includes the roller (7) and tire (6) of coaxial arrangement, and tire (6) is arranged at the middle part of roller (7), and
The diameter of tire (6) is greater than the diameter of roller (7)；It is provided with crossbeam right above upright bar (3), mentions vehicle convenient for blind person；?
Hand (4) is U-typed, forms " mouth " font structure with crossbeam；
The range unit includes multiple range finding probes, and range finding probe is divided into probe, lower probe and ground probe；Upper probe
It is arranged on probe cassette (5) to detect the barrier in blind person's upper part of the body front；Lower probe and ground probe are arranged before car body (2)
Car body (2) front obstacle and depression in the land surface are detected in end respectively；
The camera is arranged in probe cassette (5) front end；
The suggestion device for reminding blind is provided on the trolley, suggestion device is electrically connected with range unit, camera
It connects；
The suggestion device is loudspeaker, and two loudspeaker install car body (2) pedestal rear two sides, and two loudspeaker are mounted on probe cassette
(5) rear two sides, four tubaeform to arrange at surround sound；Range unit detects obstacle distance, and camera shoots image
Afterwards by image recognition obstacle identity, type, orientation and the distance of loudspeaker voice broadcast barrier and depression in the land surface；
There are two exposed electrodes for car body (2) the bottom surface front setting, and two electrodes connect warning circuit, when two electrodes
When conducting, warning circuit is alarmed by loudspeaker.
2. a kind of electronics Shallow for guiding blind person according to claim 1, which is characterized in that the suggestion device is electronic needle-shaped
Array apparatus, electronic needle-shaped array apparatus are mounted on handle (4), with different needles, different degrees of flexible stimulation blind person hand
Slap the distance that skin expresses the barrier of different direction to blind person.
3. a kind of electronics Shallow for guiding blind person according to claim 1, which is characterized in that the range unit is ultrasound
Away from probe, electromagnetic distance measurement probe or laser ranging probe；When being popped one's head in using ultrasonic distance measurement, every layer of probe is arranged five；Make
When with electromagnetic wave or laser ranging probe, every layer of rotating detector continuous scanning.
4. a kind of electronics Shallow for guiding blind person according to claim 1, which is characterized in that before the detection angle of coverage above popped one's head in is
The fan-shaped surface of 180 ° of side；The detection angle of coverage of lower probe is the fan-shaped surface in 180 ° of front；The detection angle of coverage of ground probe
For 180 ° of the fan-shaped surface in obliquely downward.
5. a kind of electronics Shallow for guiding blind person according to claim 1, which is characterized in that probe cassette (5) the top installation
There is revolving light；Handle (4) has rubber antiskid set；Two rear-wheels are provided with brake gear, are provided on handle (4) and brake gear
Matched parking brake；It is provided with electron equipment in the car body (2), the battery of electric energy is provided, battery passes through charging interface
Charging drives generator voluntarily to charge a battery by wheel (1).
6. a kind of electronics Shallow for guiding blind person according to claim 1, which is characterized in that the handle (4) can backward under
Side folds, and upright bar (3) being capable of forward upward folding.
7. a kind of blind-guiding method based on electronics Shallow for guiding blind person described in claim 1, which comprises the following steps:
Range unit detects trolley front obstacle distance, specifically: the barrier in upper probe detection blind person upper part of the body front
Distance, lower probe detect car body front obstacle, depression in the land surface in front of the probe detection car body of ground；
Camera shoots cognitive disorders species type after trolley forward image；
Type, orientation and the distance that loudspeaker broadcast barrier simultaneously by voice and the ground caved in；The method for informing detection orientation
Are as follows: upper probe, lower probe and ground probe are by different loudspeaker and different tone colors is broadcasted, and upper distance of probe value is sent out by upper loudspeaker
Sound, ground distance of probe value are pronounced by lower loudspeaker, and lower probe distance measurement value is issued stereo by upper and lower loudspeaker；Corresponding three probes
Distance measurement value, front-left to distance measurement value pronounced by corresponding left horn, front-right to distance measurement value sent out by corresponding right horn
Sound, just before, left front, right front to distance measurement value its angle is reflected by the time difference that corresponding left and right loudspeaker pronounce；
Or electronic needle-shaped array apparatus is installed on handle and passes through different needles, different degrees of flexible stimulation blind person skin of palm of hand
To express the distance of the barrier of different direction to blind person.
8. the blind-guiding method of electronics Shallow for guiding blind person according to claim 7, which is characterized in that up and down before probe detection car body
When square barrier is remote, corresponding loudspeaker pronounce primary at interval of 2s, and pronouncing frequency is higher when distance is closer, every when short distance
It is primary every 0.5s pronunciation；Become continuant when minimum distance；Not sounding when within ground probe detection the ground caved in 5cm, ground
Recess is that 6-10cm, 11-15cm, 16-20cm use different tones respectively, and sharp police is issued when the ground caved in more than 20cm or more
It accuses buzz and is reported with sharp voice.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610920996.7A CN106344357B (en) | 2016-10-21 | 2016-10-21 | A kind of electronics Shallow for guiding blind person and blind-guiding method |
| PCT/CN2017/106760 WO2018072719A1 (en) | 2016-10-21 | 2017-10-18 | Electronic walking aid trolley for blind and walking aid method for blind |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610920996.7A CN106344357B (en) | 2016-10-21 | 2016-10-21 | A kind of electronics Shallow for guiding blind person and blind-guiding method |
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| CN106344357A CN106344357A (en) | 2017-01-25 |
| CN106344357B true CN106344357B (en) | 2019-01-18 |
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| Country | Link |
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| WO (1) | WO2018072719A1 (en) |
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| CN106344357B (en) * | 2016-10-21 | 2019-01-18 | 张磊 | A kind of electronics Shallow for guiding blind person and blind-guiding method |
| CN106730780B (en) * | 2017-02-15 | 2017-11-14 | 福建思安智能科技开发有限公司 | IMAQ and processing unit |
| CN106951862A (en) * | 2017-03-20 | 2017-07-14 | 广东工业大学 | A kind of road barrier recognition methods and system |
| CN107137209B (en) * | 2017-06-07 | 2019-10-22 | 中国计量大学 | A kind of guide vehicle |
| JP6967444B2 (en) * | 2017-12-22 | 2021-11-17 | パナソニック株式会社 | Mobile vehicle |
| CN108225433B (en) * | 2018-01-19 | 2020-08-04 | 张曦月 | Watch for road crossing indication |
| CN108785029B (en) * | 2018-04-04 | 2020-11-06 | 厦门大学嘉庚学院 | Intelligent interconnection type blind guiding vehicle |
| CN109009908A (en) * | 2018-09-27 | 2018-12-18 | 田家炜 | A kind of electronic guide dog and its guide rope and its application method |
| CN111796290B (en) * | 2019-04-08 | 2023-10-10 | 速感科技（北京）有限公司 | Ground detection method, ground detector and autonomous mobile device |
| US11670144B2 (en) * | 2020-09-14 | 2023-06-06 | Apple Inc. | User interfaces for indicating distance |
| CN113697004A (en) * | 2021-08-30 | 2021-11-26 | 郑思志 | Auxiliary trolley for outgoing of audio-visual handicapped patient based on AI |
| CN113908023B (en) * | 2021-09-30 | 2022-07-08 | 北京理工大学 | Blind-guiding vehicle and man-vehicle cooperative blind-guiding vehicle control method |
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| CN106344357A (en) | 2017-01-25 |
| WO2018072719A1 (en) | 2018-04-26 |
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