CN106890067B - Indoor blind man navigation robot - Google Patents
Indoor blind man navigation robot Download PDFInfo
- Publication number
- CN106890067B CN106890067B CN201710010450.2A CN201710010450A CN106890067B CN 106890067 B CN106890067 B CN 106890067B CN 201710010450 A CN201710010450 A CN 201710010450A CN 106890067 B CN106890067 B CN 106890067B
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- wireless communication
- navigating
- mobile terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
Abstract
The invention discloses indoor blind man navigation robots, including navigating robot and wearable mobile terminal two parts.Wherein, navigating robot includes camara module, walking module, central control unit, human-computer interaction module, reminding module, wireless communication module；Wearable mobile terminal includes voice module, acceleration transducer, wireless communication module.Navigating robot module and wearable communication of mobile terminal by wireless communication, three-dimensional environment map is obtained using camara module, current location is obtained with indoor three-dimensional scenic map match, realize robot in navigation to the detection of barrier, evacuation and monitoring blind person user position, adjust walking module motion state, make it without departing from navigation routine, destination can be obtained by voice module or human-computer interaction module and carries out route planning, real-time reminding blind change progress direction and barrier.With the features such as easy to use, positioning accuracy is high, and obstacle avoidance ability is strong, and application prospect is wide.
Description
Technical field
The present invention relates to automation and robot field more particularly to blind man navigation fields.
Background technique
There is a blind person 4,000 ten thousand to 4,500 ten thousand in World Health Organization's estimation whole world, and low visual acuity is 3 times of blind person, and about 1.4 hundred million
People, in life, there are many trips of inconvenience, especially blind person to be greatly limited relative to ordinary person by blind person, though
It so goes on a journey to build for blind person and has certain infrastructure, such as blind way, however, in walking, still can not for blind person
It avoids that obstacle can be encountered.Usual blind person judges by the sound that crutch beats sending, but this is for blind person, especially
Judge in noisy environment very difficult, and when blind person carries out a wide range of activity, is easy to get lost, limits the work of blind person
It is dynamic.It would therefore be desirable to have corresponding service type navigating robots to help blind person's preferably carry out activity.
With being constantly progressive for robot technology, robot can semi-autonomous or complete automatically complete independently work in every,
Robot either in daily life, or in industry, all more and more important role of performer in Agricultural Activities, especially
It is that the development of service humanoid robot maintains faster growth rate, and people, in order to improve the quality of living, people are more next
More favor service humanoid robot, therefore service humanoid robot has extensive market.
Summary of the invention
It is an object of that present invention to provide it is a kind of it is easy to maintain, structure is simple, can by three-dimensional camera and sensor
Realize positioning, navigation and the indoor blind man navigation robot to detection of obstacles and evacuation.
To reach above-mentioned purpose, the technical solution adopted in the present invention is as follows:
Indoor blind man navigation robot, including navigating robot and wearable mobile terminal two parts.
Navigating robot include camara module, walking module, central control unit, human-computer interaction module, reminding module,
Wireless communication module.Central control unit, which is obtained, to be inputted destination information by human-computer interaction module and shoots to camara module
Partial 3 d environment photo handled, obtain current location and plan route automatically, in navigation procedure if desired steering or
There is barrier, control reminding module reminds blind person, and travel speed and directional information are sent to walking module, controls
Navigating robot travel speed processed and direction.
Further, three-dimensional camera has two groups, is separately mounted to the forward and backward side of robot, and shooting partial 3 d environment shines
Piece is realized for generating three-dimensional local environment map to the detection of barrier, evacuation and real-time monitoring blind person user position
It sets, robot autonomous adjusting travel condition.
Further, the light sensor uses E3F3-D16 type, is installed on around camera, for detecting surrounding ring
Border light intensity.
Further, lighting apparatus is installed on around each camera, is started when environment bright intensity effect image quality
Work.
Walking module carries robot body part, as robot chassis, including microcontroller, walking mechanism.
Further, walking mechanism is trigonometric expression Athey wheel, and front-wheel liftable certain altitude.
Microcontroller is placed in the shell among two Athey wheel of walking mechanism, for control walking mechanism direction of travel,
Speed, and front-wheel lifting is adjusted according to barrier.
Central control unit is placed in navigating robot body interior, shines for handling the three-dimensional environment of three-dimensional camera acquisition
Piece carries out matching positioning, detection of obstacles and evacuation with three-dimensional indoor scene map and monitors the position of blind person user, and
Judge to detour for barrier robot and pass through；Receive the destination of human-computer interaction module and voice module input, and certainly
Dynamic programme path navigates；Receive the data of light sensor acquisition；Control reminding module, control wireless communication module.
Further, the wireless communication module use LCX24A wireless communication module, for robot with it is wearable
Mobile terminal establishes communication connection.
Further, the human-computer interaction module is installed on robot rear handrail, is set exclusively for blind person user
The manual input device of meter, to improve the accuracy of input.
Further, the reminding module is mounted on the handrail of navigating robot rear and around its main body, robot
It is installed on handrail there are four the vibrating reed being pointed in different directions, barrier occur in vibrating alert user steering or front, and LED exists
Show that corresponding text reminds pedestrian to pay attention to avoiding when navigating robot use.
Wearable mobile terminal is dressed independently of navigating robot by blind person, including voice module, acceleration sensing
Device, wireless communication module, using headphone as carrier, acceleration transducer, wireless communication module are installed in earphone cavity.
Further, the wireless communication module establishes communication link for wearable mobile terminal and navigating robot
It connects.
Further, the voice module includes osteoacusis formula microphone and earphone, for inputting destination information and connecing
The prompting messages such as the barrier issued by robot and steering.
Further, the acceleration transducer be XL403D type, real-time monitoring blind person user's travel speed, and will letter
Breath is sent to central control unit, controls navigating robot travel speed.
Beneficial effect
Of the invention integrates positioning, navigation, avoidance, human-computer interaction for indoor blind man navigation robot, indoors
Place provides service for blind person.Establish local environment map by robot two groups of three-dimensional cameras of forward and backward side, realize positioning,
Avoidance and monitoring user's status of action；Can by human-computer interaction module on wearable mobile terminal or robot handrail with
User interacts, and improves blind person user and obtains the accuracy of information and the safety of traveling；Crawler-type traveling machine
Structure enhances robot passability；Wearable mobile terminal has acceleration transducer, and robot can be made to adjust travel speed,
Make blind person user without departing from navigation routine；Osteoacusis formula microphone and earphone in voice module, improve in noisy environment
The accuracy of lower voice input and voice reminder；It is mounted on the LED screen of robot surrounding, pedestrian can be reminded to pay attention to avoiding.
Detailed description of the invention
Fig. 1 is the system block diagram of blind man navigation robotic embodiment of the present invention.
Fig. 2 is blind man navigation robotic embodiment simple diagram of the present invention.
Specific embodiment
In order to better understand the technical content of the present invention, special to lift specific embodiment and institute's accompanying drawings is cooperated to be described as follows.
As shown in Figure 1, preferred embodiment according to the present invention, indoor blind man navigation robot, including navigating robot and
Wearable 201 two parts of mobile terminal.Wherein, navigating robot includes camara module 104, walking module 102, center control
Unit 101 processed, human-computer interaction module 105, reminding module 106, wireless communication module 103；Wearable mobile terminal 201 includes
Voice module 202, acceleration transducer 203, wireless communication module 204.
Camara module 104 acquires the 3-d photographs of local environment, is sent to central control unit 104, builds after processing
Vertical local environment map, obtains robot current location, and detects barrier and monitoring blind person user position.
Walking module 102 detects the travel condition of blind person and the position of blind person and robot according to acceleration transducer 203
Set control robot travel speed and direction, it is ensured that blind person user does not depart from navigation routine.
The three-dimensional environment photo that the processing of central control unit 104 is acquired by camara module 104, generates part after processing
Three-dimensional environment map and three-dimensional indoor scene map carry out matching positioning, detection of obstacles and evacuation and monitoring blind person user
Position, and judge to detour for barrier robot and pass through, it is such as impassable, then plan route again；Receiving comes from
The destination information that human-computer interaction module 105 and voice module 202 input, automatic programme path navigate；Control mentions simultaneously
Awake module 106, wireless communication module 103 remind blind person.
Alarm set 106 include be mounted on the handrail of navigating robot rear four vibrating reeds being pointed in different directions and
LED display around robot body, vibrating reed reminding blind turn to and occur barrier, and LED display shows corresponding text
Word reminds surrounding pedestrian to pay attention to avoiding.
Wireless communication module 108 is by establishing communication link with the wireless communication module 204 of wearable mobile terminal 201
It connects, realizes that voice input and Voice Navigation, barrier are reminded.
Human-computer interaction module 105 is installed on robot rear handrail, is exclusively for the manual defeated of blind person's user design
Enter device, destination information can be inputted, central control unit 104 plans that route is led according to the destination of input automatically
Boat.
Wearable mobile terminal 201 is dressed independently of navigating robot by blind person, including voice module 202, acceleration
Sensor 203, wireless communication module 204, using bone conduction earphone as carrier, acceleration transducer 203, wireless communication module 204
It is installed in earphone cavity, module 204 is communicated with navigating robot foundation by wireless communication, transmits information.
Voice module 202 includes osteoacusis formula microphone and earphone, for voice input destination information and receives machine
The prompting messages such as the barrier that human hair goes out and steering.
Acceleration transducer 205 surveys blind person user's travel speed for picking up in real time, is controlled by central control unit 101
Robot travel speed.
The indoor blind man navigation robot that the present embodiment proposes, easy to use, positioning accuracy is high, and obstacle avoidance ability is strong, information
Acquisition, processing speed are fast, and accuracy of judgement is practical.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (5)
1. Shi Nei blind man navigation robot, which is characterized in that including navigating robot and wearable mobile terminal；Wherein:
Navigating robot includes camara module, walking module, central control unit, human-computer interaction module, reminding module, wireless
Communication module；
Camara module includes two groups of three-dimensional cameras, light sensor, lighting apparatus；Three-dimensional camera has two groups, pacifies respectively
Mounted in the forward and backward side of robot, partial 3 d environment photo is shot, for generating three-dimensional local environment map, is realized to barrier
Detection, evacuation and real-time monitoring blind person user position, robot autonomous adjusting travel condition；
Light sensor is installed on around camera, for detecting ambient enviroment light intensity；Lighting apparatus is installed on each camera shooting
Around head, start to work when environment bright intensity effect image quality；
Walking module carries robot body part, as robot chassis, including microcontroller, walking mechanism；Microcontroller
It is placed in the shell among two Athey wheel of walking mechanism, for controlling direction of travel, the speed of walking mechanism, and according to obstacle
Object adjusts front-wheel lifting；
Central control unit handles the three-dimensional environment photo of three-dimensional camera acquisition, with generating partial 3 d environment after processing
Figure, central control unit realize obstacle quality testing by making three-dimensional environment map and three-dimensional indoor scene map carry out matching positioning
It surveys and avoids, and monitor the function of the position of blind person user, can central control unit judges for barrier robot
Detour passes through, and also receives the destination of human-computer interaction module and voice module input, and automatic programme path navigates, together
When central control unit receive light sensor acquisition data, and control reminding module, control wireless communication module；
The human-computer interaction module is installed on robot rear handrail；
Wireless communication module is established for wearable mobile terminal and navigating robot and is communicated to connect；
Reminding module is mounted on the handrail of navigating robot rear and around its main body, and there are four refer to for installation on robot handrail
To the vibrating reed of different directions, vibrating alert user is turned to or barrier occurs in front, and LED is aobvious when navigating robot uses
Show that corresponding text reminds pedestrian to pay attention to avoiding；
Wearable mobile terminal is dressed independently of navigating robot by blind person, including voice module, acceleration transducer, nothing
Line communication module, using bone conduction earphone as carrier, acceleration transducer, wireless communication module are installed in earphone cavity, are passed through
Wireless communication module is communicated with navigating robot foundation, transmits information；
Acceleration transducer real-time monitoring blind person user's travel speed, and central control unit is sent information to, control is led
Boat robot travel speed；
Voice module includes osteoacusis formula microphone and earphone in the wearable mobile terminal, and osteoacusis formula microphone is used for
Destination information is inputted, earphone is used to receive the barrier that machine human hair goes out and turns to prompting message.
2. robot as described in claim 1, which is characterized in that
Acceleration transducer is XL403D type in the wearable mobile terminal.
3. robot as described in claim 1, which is characterized in that
Light sensor uses E3F3-D16 type in the navigating robot.
4. robot as described in claim 1, which is characterized in that
Walking mechanism is trigonometric expression Athey wheel in the navigating robot, and front-wheel can go up and down certain altitude.
5. robot as described in claim 1, which is characterized in that
Wireless communication module uses LCX24A wireless communication module in the navigating robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710010450.2A CN106890067B (en) | 2017-01-06 | 2017-01-06 | Indoor blind man navigation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710010450.2A CN106890067B (en) | 2017-01-06 | 2017-01-06 | Indoor blind man navigation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106890067A CN106890067A (en) | 2017-06-27 |
| CN106890067B true CN106890067B (en) | 2019-05-31 |
Family
ID=59197829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710010450.2A Active CN106890067B (en) | 2017-01-06 | 2017-01-06 | Indoor blind man navigation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106890067B (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107485545A (en) * | 2017-09-11 | 2017-12-19 | 太仓博轩信息科技有限公司 | A kind of shared blind-guidance robot and its method of work based on unmanned plane |
| CN107390703A (en) * | 2017-09-12 | 2017-11-24 | 北京创享高科科技有限公司 | A kind of intelligent blind-guidance robot and its blind-guiding method |
| CN107728614B (en) * | 2017-09-21 | 2023-02-21 | 南京中高知识产权股份有限公司 | Guide robot for blind people and working method thereof |
| CN107789166A (en) * | 2017-10-19 | 2018-03-13 | 南京中高知识产权股份有限公司 | Blind person is with guiding system and its method of work |
| CN107877493B (en) * | 2017-11-10 | 2020-04-03 | 南京师范大学 | Old people indoor activity supporting robot system and application method thereof |
| CN108319265A (en) * | 2017-12-21 | 2018-07-24 | 山西迪迈沃科光电工业有限公司 | The control system and method for a kind of ground running robot for electric power computer room inspection |
| CN108078747A (en) * | 2018-01-02 | 2018-05-29 | 成都觅瑞科技有限公司 | For the instruction system of eye disease patient use at home |
| CN108555922A (en) * | 2018-03-29 | 2018-09-21 | 上海理工大学 | A kind of airport service for blind readers robot |
| CN108527379A (en) * | 2018-03-29 | 2018-09-14 | 上海理工大学 | A kind of station service for blind readers robot |
| CN109144057A (en) * | 2018-08-07 | 2019-01-04 | 上海大学 | A kind of guide vehicle based on real time environment modeling and autonomous path planning |
| CN109101022A (en) * | 2018-08-09 | 2018-12-28 | 北京智行者科技有限公司 | A kind of working path update method |
| 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 |
| CN109998873A (en) * | 2019-04-12 | 2019-07-12 | 赖振龙 | A kind of wearable blindmen intelligent positioning and blind guiding system |
| CN111035543A (en) * | 2019-12-31 | 2020-04-21 | 北京新能源汽车技术创新中心有限公司 | Intelligent blind guiding robot |
| CN111486839B (en) * | 2020-04-20 | 2022-04-22 | 珠海格力电器股份有限公司 | Indoor safety prompting method and terminal |
| CN113679576A (en) * | 2021-08-16 | 2021-11-23 | 深圳华昭科技有限公司 | Bracelet obstacle avoidance navigation system and method for assisting blind person in going out |
| CN113576855B (en) * | 2021-09-29 | 2021-12-28 | 上海豪承信息技术有限公司 | Blind guiding device and blind guiding method |
| CN114287830B (en) * | 2021-12-13 | 2023-07-07 | 珠海一微半导体股份有限公司 | Cleaning robot system for blind person and control method thereof |
| CN114714371A (en) * | 2022-03-31 | 2022-07-08 | 河南云迹智能技术有限公司 | Robot guiding method, device, equipment and medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102048612A (en) * | 2011-01-07 | 2011-05-11 | 东华大学 | Blind-guidance robot based on machine vision |
| CN102614068A (en) * | 2012-03-12 | 2012-08-01 | 东南大学 | Accompanying robot system for assisting visually impaired person in walking |
| CN103312899A (en) * | 2013-06-20 | 2013-09-18 | 张家港保税区润桐电子技术研发有限公司 | Smart phone with blind guide function |
| GB2500214A (en) * | 2012-03-13 | 2013-09-18 | Thomas Ladyman | Robot vision apparatus and control method and corresponding land robot |
| CN105796289A (en) * | 2016-06-03 | 2016-07-27 | 京东方科技集团股份有限公司 | Blind guide robot |
| CN105816303A (en) * | 2016-04-27 | 2016-08-03 | 绍兴文理学院 | GPS and visual navigation-based blind guiding system and method thereof |
-
2017
- 2017-01-06 CN CN201710010450.2A patent/CN106890067B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102048612A (en) * | 2011-01-07 | 2011-05-11 | 东华大学 | Blind-guidance robot based on machine vision |
| CN102614068A (en) * | 2012-03-12 | 2012-08-01 | 东南大学 | Accompanying robot system for assisting visually impaired person in walking |
| GB2500214A (en) * | 2012-03-13 | 2013-09-18 | Thomas Ladyman | Robot vision apparatus and control method and corresponding land robot |
| CN103312899A (en) * | 2013-06-20 | 2013-09-18 | 张家港保税区润桐电子技术研发有限公司 | Smart phone with blind guide function |
| CN105816303A (en) * | 2016-04-27 | 2016-08-03 | 绍兴文理学院 | GPS and visual navigation-based blind guiding system and method thereof |
| CN105796289A (en) * | 2016-06-03 | 2016-07-27 | 京东方科技集团股份有限公司 | Blind guide robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106890067A (en) | 2017-06-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106890067B (en) | Indoor blind man navigation robot | |
| US10715963B2 (en) | Navigation method and device | |
| CN107168320B (en) | Tour guide service robot | |
| CN105547318B (en) | A kind of control method of intelligence helmet and intelligent helmet | |
| US10202189B2 (en) | Unmanned aerial vehicle, wearable apparatus including unmanned aerial vehicle, wristwatch including wearable apparatus, method of operating unmanned aerial vehicle, and apparatus for operating unmanned aerial vehicle | |
| CN106455523B (en) | System and method for walking pets | |
| US10258534B1 (en) | Methods and systems for providing feedback based on information received from an aerial vehicle | |
| US8352072B2 (en) | System for extending the observation, surveillance, and navigational capabilities of a robot | |
| US20160378112A1 (en) | Autonomous vehicle safety systems and methods | |
| CN105232295A (en) | Intelligent guiding system for obstacle avoidance | |
| TW201603791A (en) | Blind-guide mobile device positioning system and operation method thereof | |
| JP2016094093A (en) | Antenna for satellite navigation system | |
| JP5946428B2 (en) | Mobile robot system | |
| CN209405201U (en) | A kind of intelligent apparatus of assisting blind navigation | |
| CN109925171B (en) | Multifunctional navigation equipment | |
| US20190250615A1 (en) | Autonomous Skateboard | |
| CN109223346A (en) | A kind of the blind person's wheelchair and its control method of voice control navigation | |
| CN108464915A (en) | Walking auxiliary robot and walking auxiliary system | |
| US20200319472A1 (en) | Information processing apparatus, information processing method, and program | |
| CN107525520A (en) | Voice guide equipment | |
| TW201900134A (en) | Obstacle avoidance device | |
| CN109646257A (en) | A kind of intelligent crutch and navigation system and method based on intelligent crutch | |
| CN115223698A (en) | First-aid system, control method, and computer-readable storage medium | |
| US9984540B2 (en) | Fan-driven force device | |
| CN210078040U (en) | Intelligent blind guiding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200603 Address after: 710000 25 / F, block D, Tsinghua Science Park, Keji 2nd Road, Zhangba Street office, hi tech Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an Huinao Intelligent Technology Co.,Ltd. Address before: 210023 Jiangsu city of Nanjing province Ya Dong new Yuen Road No. 9 Patentee before: NANJING University OF POSTS AND TELECOMMUNICATIONS |
|
| TR01 | Transfer of patent right |