CN107157718A - A kind of portable multi-function apparatus for guiding blind - Google Patents
A kind of portable multi-function apparatus for guiding blind Download PDFInfo
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- CN107157718A CN107157718A CN201710439308.XA CN201710439308A CN107157718A CN 107157718 A CN107157718 A CN 107157718A CN 201710439308 A CN201710439308 A CN 201710439308A CN 107157718 A CN107157718 A CN 107157718A
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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
-
- 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
- A61H3/068—Sticks for blind persons
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- 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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- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Veterinary Medicine (AREA)
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Public Health (AREA)
- Physics & Mathematics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of portable multi-function apparatus for guiding blind.It is made up of blind man's stick and remote control, blind man's stick includes light sensor, temperature sensor, warning at night stroboscopic lamp, temperature and time and reports button, GSM antenna, emergency button, power switch, orientation report button, gps antenna, telescopic bar, three ultrasonic sensors, roller, handhold box, battery case, battery, master controller, gsm module, GPS module, vibrating circuit, wireless receiving module, sound buzz circuit, electronic compass；The present invention is to be based on STM32 chips for platform, is integrated with electronic compass, GSM, GPS, voice broadcast, ranging, vibration module, the time is reported, lamplight pointing, remote control seeks cane with locking the intelligence system that the functions such as cane are integrated, with functions such as multiple functional, easy to use and human oriented designs.
Description
Technical field
The invention belongs to intelligence instrument technical field, more particularly to one kind aims at blind person's trip and provides convenient portable
Multifunctional blind person guiding instrument.
Background technology
Blind person is a disadvantaged group in society all the time, and they lose the window exchanged with the external world, it is impossible to body
The visual experience of normal person is tested, therefore blind person has very big difficulty when walking, the method for guiding blind person walking is main at present
There are three kinds：(1) traditional walking stick guiding；(2) sidewalk for visually impaired people is guided；(3) seeing-eye dog guides.
Blind person's guide equipment of now in the market is also very few and function is single, backward in technique.Walking stick is guided
When blind person determine whether front is feasible route, but can not inform the spatial distribution of blind person's peripheral obstacle by tapping ground
And distance；Sidewalk for visually impaired people guiding has some limitations；And the training cycle of seeing-eye dog is long, and cost is very high.These all can not
From being truly that the living trip of blind person is brought convenience, therefore research and develop a intelligent blind-guiding equipment and become improvement this is weak
The task of top priority of gesture colony safe ready trip.
The content of the invention
In order to solve the above problems, it is an object of the invention to provide a kind of portable multi-function apparatus for guiding blind.
In order to achieve the above object, the portable multi-function apparatus for guiding blind that the present invention is provided is made up of blind man's stick and remote control, its
Middle blind man's stick include light sensor, temperature sensor, warning at night stroboscopic lamp, temperature and time report button, it is GSM antenna, tight
Anxious button, power switch, orientation report button, gps antenna, telescopic bar, three ultrasonic sensors, roller, handhold box,
Battery case, battery, master controller, gsm module, GPS module, vibrating circuit, wireless receiving module, sound buzz circuit, electronics
Compass；Described handhold box is cuboid structure, is horizontally disposed with；The bottom of telescopic bar turns forward setting, and upper end is solid
In the middle part of the bottom surface for being scheduled on handhold box；Roller is rotatably mounted to telescopic bar lower end；Three ultrasonic sensors
It is separately mounted in the front end face of handhold box, the middle part of telescopic bar and lower external face；Light sensor, TEMP
Device, warning at night stroboscopic lamp, temperature and time are reported button, emergency button, orientation report button and are installed in before handhold box
On rear end face or side；Master controller, gsm module, GPS module, vibrating circuit, wireless receiving module, sound buzz circuit, electricity
Sub- compass is arranged inside handhold box；Battery case is arranged on the bottom surface of handhold box, and inside is equipped with the battery as power supply, and
And battery case surfaces are provided with the power switch for being used for switching on or off power supply；Battery is 9V rechargeable batteries, the chargeable electricity of 9V
Pond is exported through circuit of three-terminal voltage-stabilizing integrated LM78M05 voltage stabilizings for 5V power supplys, and 5V power supplys switch to 3.3V by LM1117-33 chips again
Power supply, wherein 9V batteries are powered for gsm module, and 3.3V power supplys are ultrasonic sensor, electronic compass, light sensor, temperature
Sensor, sound buzz circuit, master controller and warning at night stroboscopic lamp are powered, and 5V power supplys are GPS module, vibrating circuit and nothing
Line receiving module is powered；Master controller respectively with light sensor, temperature sensor, warning at night stroboscopic lamp, supersonic sensing
Device, gsm module, GPS module, vibrating circuit, wireless receiving module, sound buzz circuit, electronic compass electrical connection；Temperature is timely
Between report button, emergency button and orientation and report button and be connected to produce respective interrupt signals with master controller；In GPS module
It is additionally provided with gps antenna；Gsm module is connected with the GSM antenna being arranged on handhold box side simultaneously；Remote control is by blind person's hand
Hold, and which is provided with wireless transmitter module.
Described master controller uses STM32F103CBT6 chips.
The model Sim900A of described gsm module.
The quantity of described light sensor is 2, composition and door.
Described warning at night stroboscopic lamp is made up of the LED light of four different colours.
Battery charging port is additionally provided with described battery case.
Earphone jack is additionally provided with the rear end face of described handhold box.
The portable multi-function apparatus for guiding blind that the present invention is provided be based on STM32 chips be platform, be integrated with electronic compass,
GSM, GPS, voice broadcast, ranging, vibration module, the time are reported, lamplight pointing, and remote control seeks what cane was integrated with locking the functions such as cane
Intelligence system.The system carries out collaboration ranging by multiple ultrasonic sensors and worked, and the direction and front walked to blind person hinder
Hinder in thing ranging, tactile using the distance of barrier and the difference of oscillation intensity come the distance letter of reminding blind front obstacle
Breath, so that reminding blind avoidance effect is reached, secondly, in the voice broadcast module for acoustically having used GSM to carry, progress side
To, barrier and the voice broadcast function of position, make the information of transmission more directly perceived, accurate.If running into emergency,
Blind person only needs to press respective keys, the position where oneself can be just sent on the mobile phone of programmed emergency, prevent blind person
Wander away.In addition, in order to prevent blind person from seeking cane difficulty before going out, adding remote control by acoustic information come reminding blind blind man's stick
Position, simultaneously, moreover it is possible to blind man's stick is locked and closed by remote control mode, prevents other people mistake from using.
Brief description of the drawings
The portable multi-function apparatus for guiding blind external structure schematic diagram that Fig. 1 provides for the present invention.
Circuit part structured flowchart is controlled in the portable multi-function apparatus for guiding blind that Fig. 2 provides for the present invention.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the portable multi-function apparatus for guiding blind that the present invention is provided is made up of blind man's stick and remote control 16, wherein
Blind man's stick include light sensor 1, temperature sensor 2, warning at night stroboscopic lamp 3, temperature and time report button 4, GSM antenna 5,
Emergency button 7, power switch 8, orientation report button 10, gps antenna 11, telescopic bar 12, three ultrasonic sensors 13,
Roller 14, handhold box 15, battery case 17, battery 18, master controller 19, gsm module 20, GPS module 21, vibrating circuit 22, nothing
Line receiving module 23, sound buzz circuit 24, electronic compass 25；Described handhold box 15 is cuboid structure, is horizontally disposed with；
The bottom of telescopic bar 12 is turned forward setting, and upper end is fixed in the middle part of the bottom surface of handhold box 15；Roller 14 is with rotatable
Mode is arranged on the lower end of telescopic bar 12；Three ultrasonic sensors 13 are separately mounted to the front end face of handhold box 15, can stretched
On the middle part of contracting pull bar 12 and lower external face；Light sensor 1, temperature sensor 2, warning at night stroboscopic lamp 3, temperature are timely
Between report button 4, emergency button 7, orientation report button 10 be installed on the front/rear end of handhold box 15 or side；Main control
Device 19, gsm module 20, GPS module 21, vibrating circuit 22, wireless receiving module 23, sound buzz circuit 24, electronic compass 25
It is arranged inside handhold box 15；Battery case 17 is arranged on the bottom surface of handhold box 15, and inside is equipped with the battery 18 as power supply,
And the surface of battery case 17 is provided with the power switch 8 for being used for switching on or off power supply；Battery 18 is 9V rechargeable batteries, and 9V can
Rechargeable battery is exported through circuit of three-terminal voltage-stabilizing integrated LM78M05 voltage stabilizings for 5V power supplys, and 5V power supplys turn by LM1117-33 chips again
For 3.3V power supplys, wherein 9V batteries are that gsm module 20 is powered, and 3.3V power supplys are ultrasonic sensor 13, electronic compass 25, photosensitive
Sensor 1, temperature sensor 2, sound buzz circuit 24, master controller 19 and warning at night stroboscopic lamp 3 are powered, and 5V power supplys are
GPS module 21, vibrating circuit 22 and wireless receiving module 23 are powered；Master controller 19 respectively with light sensor 1, TEMP
Device 2, warning at night stroboscopic lamp 3, ultrasonic sensor 13, gsm module 20, GPS module 21, vibrating circuit 22, wireless receiving mould
Block 23, sound buzz circuit 24, electronic compass 25 are electrically connected；Temperature and time is reported button 4, emergency button 7 and orientation and reported
Button 10 is connected to produce respective interrupt signals with master controller 19；Gps antenna 11 is additionally provided with GPS module 21；Gsm module
20 are connected with the GSM antenna 5 being arranged on the side of handhold box 15 simultaneously；Remote control 16 is hand-held by blind person, and which is provided with
Wireless transmitter module.
Described master controller 19 is using the STM32F103CBT6 chips of ST companies production, and the chip is 32 chips, main
Frequency reaches as high as 72MHZ, and 3.3V powers, and substantial amounts of internal resource is carried in chip, such as：IIC, USART, SPI, DMA, ADC etc.
Deng.The minimum system of chip composition is provided by 8MHZ crystal oscillators also includes reset circuit in clock, circuit design and JTAG is downloaded and connect
Mouthful.
There is the model Sim900A of described gsm module 20, the module short message sending, voice broadcast and time to report
Function.
The quantity of described light sensor 1 is 2, composition and door, to prevent artificial interference by mistake.
Described warning at night stroboscopic lamp 3 is made up of the LED light of four different colours.
Battery charging port 9 is additionally provided with described battery case 17, for being charged for battery 18.
Earphone jack 6 is additionally provided with the rear end face of described handhold box 15.
The portable multi-function apparatus for guiding blind application method that now present invention is provided is described below：
Before use, being applied to this portable multi-function apparatus for guiding blind using the method for the regulation length of telescopic bar 12
Blind person with different heights, and be convenient for carrying and use.Under normal circumstances, blind person only need to be with hand steered firmly handhold box 15 simultaneously
Before push away, at this moment whole portable multi-function apparatus for guiding blind can on the ground be moved forward by means of roller 14, convenient and laborsaving.
In the process of walking, under the control of master controller 19, three ultrasonic sensors 13 are in real time in front of detection blind person
Master controller 19 is sent to the presence or absence of barrier, and by detection signal, when only installed in the super of the bottom of telescopic bar 12
When sonic sensor 13 is blocked by barrier, master controller 19 will control gsm module 20 and report out obstacle using the mode of voice
The distance of thing, while reporting out obstacle identity to may span across barrier；When be only arranged on the middle part of telescopic bar 12 and under
When the ultrasonic sensor 13 in portion is blocked by barrier, master controller 19 will control gsm module 20 to be reported using the mode of voice
Go out the distance of barrier, while it is compared with high obstacle thing to report out obstacle identity；When three ultrasonic sensors 13 are all hindered
When hindering the thing to block, master controller 19 reports the distance for controlling gsm module 20 to report out barrier using the mode of voice simultaneously
Go out obstacle identity for high obstacle thing；When any one ultrasound installed in the middle part or bottom of handhold box 15 and telescopic bar 12
When wave sensor 13 is blocked by barrier, master controller 19 will control gsm module 20 and report out barrier using the mode of voice
Distance, while reporting out obstacle identity for hanging barrier.
In addition, in the process of walking, as this portable multi-function blind-guiding stick is nearer from barrier, master controller 19 is exported
The pwm signal of different duty, at this moment the vibration of vibrating circuit 22 is also stronger in handhold box 15, otherwise vibration it is weaker, when away from
During from more than 1.5 meters, vibration is closed, so the perception in tactile can be brought to blind person.
When blind person, which presses orientation, reports button 10, master controller 19 will obtain direction and by GSM from electronic compass 25
Module 20 is reported.
When blind person, which presses temperature and time, reports button 4, master controller 19 will control side of the gsm module 20 using voice
Formula reports out the current time obtained by gsm module 20 and the temperature detected by temperature sensor 2 automatically, is blind person provider
Just.
When blind person presses emergency button 7, the control gsm module 20 of master controller 19 determines the GPS obtained by GPS module 21
Position information and help information are sent to the programmed emergency specified, and programmed emergency is handled dangerous situation in time.
When blind person presses above-mentioned button, under the control of master controller 19, sound buzz circuit 24 can send " ticking " sound,
Prompting blind person's button has been pressed；When blind person accidentally falls blind man's stick, blind person need to only press the respective keys on remote control 16 and
Instruction is sent, then the wireless receiving module 23 that the instruction will be sent on blind man's stick by wireless transmitter module sends master to again
Controller 19, under the control of master controller 19, sound buzz circuit 24 can send lasting 20s buzzer, and at this moment blind person can
To recover blind man's stick by buzzer.
When the night fell, to perceive day subduing for light sensor 1, a certain photosensitive in order to prevent from artificially sheltering from by mistake
Sensor 1, is constituted and door using two light sensors 1, and sends detection signal to master controller 19, when two photosensitive biographies
When sensor 1 is detected simultaneously by dim, master controller 19 is just determined as darkness, then controls warning at night stroboscopic lamp 3 to send
The light of four kinds of different colours, points out surrounding pedestrian to note avoiding blind person.
In addition, be additionally provided with lock cane button in order to prevent other people from using or children's maloperation, on remote control 16, blind person can be with
Blind man's stick is pinned in the way of remote control using the button, could be used after pressing lock cane button when using again.
In addition, blind person can be also inserted an earphone into earphone jack 6, it so can clearly hear that gsm module 20 is broadcast
The content of report.
Claims (7)
1. a kind of portable multi-function apparatus for guiding blind, it is characterised in that：Described portable multi-function apparatus for guiding blind is by blind man's stick and remote control
Device (16) is constituted, and wherein blind man's stick is timely including light sensor (1), temperature sensor (2), warning at night stroboscopic lamp (3), temperature
Between report button (4), GSM antenna (5), emergency button (7), power switch (8), orientation report button (10), gps antenna
(11), telescopic bar (12), three ultrasonic sensors (13), roller (14), handhold box (15), battery case (17), batteries
(18), master controller (19), gsm module (20), GPS module (21), vibrating circuit (22), wireless receiving module (23), sound
Buzz circuit (24), electronic compass (25)；Described handhold box (15) is cuboid structure, is horizontally disposed with；Telescopic bar
(12) bottom is turned forward setting, and upper end is fixed in the middle part of the bottom surface of handhold box (15)；Roller (14) is pivotally
Installed in telescopic bar (12) lower end；Three ultrasonic sensors (13) be separately mounted to handhold box (15) front end face, can
On the middle part of telescopic lever (12) and lower external face；Light sensor (1), temperature sensor (2), warning at night stroboscopic lamp
(3), temperature and time is reported button (4), emergency button (7), orientation report button (10) and is installed in before handhold box (15)
On rear end face or side；Master controller (19), gsm module (20), GPS module (21), vibrating circuit (22), wireless receiving module
(23), sound buzz circuit (24), electronic compass (25) are arranged at handhold box (15) inside；Battery case (17) is arranged on hand-held
On the bottom surface of box (15), inside be equipped with as power supply battery (18), and battery case (17) surface be provided with for connect or
The power switch (8) cut off the electricity supply；Battery (18) is 9V rechargeable batteries, and 9V rechargeable batteries are through circuit of three-terminal voltage-stabilizing integrated
LM78M05 voltage stabilizings export for 5V power supplys, and 5V power supplys switch to 3.3V power supplys by LM1117-33 chips again, and wherein 9V batteries are GSM
Module (20) is powered, and 3.3V power supplys are ultrasonic sensor (13), electronic compass (25), light sensor (1), temperature sensor
(2), sound buzz circuit (24), master controller (19) and warning at night stroboscopic lamp (3) power supply, 5V power supplys be GPS module (21),
Vibrating circuit (22) and wireless receiving module (23) power supply；Master controller (19) respectively with light sensor (1), temperature sensor
(2), warning at night stroboscopic lamp (3), ultrasonic sensor (13), gsm module (20), GPS module (21), vibrating circuit (22),
Wireless receiving module (23), sound buzz circuit (24), electronic compass (25) electrical connection；Temperature and time reports button (4), tight
Anxious button (7) and orientation report button (10) and are connected to produce respective interrupt signals with master controller (19)；GPS module (21)
On be additionally provided with gps antenna (11)；Gsm module (20) with the GSM antenna (5) being arranged on handhold box (15) side while be connected
Connect；Remote control (16) is hand-held by blind person, and which is provided with wireless transmitter module.
2. portable multi-function apparatus for guiding blind according to claim 1, it is characterised in that：Described master controller (19) is used
STM32F103CBT6 chips.
3. portable multi-function apparatus for guiding blind according to claim 1, it is characterised in that：The type of described gsm module (20)
Number be Sim900A.
4. portable multi-function apparatus for guiding blind according to claim 1, it is characterised in that：Described light sensor (1)
Quantity is 2, composition and door.
5. portable multi-function apparatus for guiding blind according to claim 1, it is characterised in that：Described warning at night stroboscopic lamp
(3) it is made up of the LED light of four different colours.
6. portable multi-function apparatus for guiding blind according to claim 1, it is characterised in that：Also set on described battery case (17)
There is battery charging port (9).
7. portable multi-function apparatus for guiding blind according to claim 1, it is characterised in that：The rear end of described handhold box (15)
Earphone jack (6) is additionally provided with face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710439308.XA CN107157718A (en) | 2017-06-12 | 2017-06-12 | A kind of portable multi-function apparatus for guiding blind |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710439308.XA CN107157718A (en) | 2017-06-12 | 2017-06-12 | A kind of portable multi-function apparatus for guiding blind |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107157718A true CN107157718A (en) | 2017-09-15 |
Family
ID=59825265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710439308.XA Pending CN107157718A (en) | 2017-06-12 | 2017-06-12 | A kind of portable multi-function apparatus for guiding blind |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107669453A (en) * | 2017-11-22 | 2018-02-09 | 佛山市海科云筹信息技术有限公司 | A kind of blind man's stick |
| CN107898608A (en) * | 2017-12-28 | 2018-04-13 | 南京工程学院 | A kind of non-touching formula infrared induction guide-stick for blind people |
| CN108078746A (en) * | 2017-12-29 | 2018-05-29 | 上海电力学院 | A kind of intelligent blind-guiding crutch |
| CN109646257A (en) * | 2018-12-28 | 2019-04-19 | 东莞市纽格力信息技术有限公司 | A kind of intelligent crutch and navigation system and method based on intelligent crutch |
| CN109925169A (en) * | 2019-04-08 | 2019-06-25 | 浙江师范大学 | A kind of novel intelligent blind-guiding wearable system |
| CN112493641A (en) * | 2020-12-11 | 2021-03-16 | 中国民航大学 | Multifunctional portable intelligent walking stick based on satellite positioning system |
| CN113842300A (en) * | 2021-08-19 | 2021-12-28 | 南京工业大学 | Intelligent blind stick and blind guiding control method |
| CN115471963A (en) * | 2022-10-31 | 2022-12-13 | 叶锦波 | Blind person's auxiliary device that goes out |
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| CN107898608A (en) * | 2017-12-28 | 2018-04-13 | 南京工程学院 | A kind of non-touching formula infrared induction guide-stick for blind people |
| CN108078746A (en) * | 2017-12-29 | 2018-05-29 | 上海电力学院 | A kind of intelligent blind-guiding crutch |
| CN109646257A (en) * | 2018-12-28 | 2019-04-19 | 东莞市纽格力信息技术有限公司 | A kind of intelligent crutch and navigation system and method based on intelligent crutch |
| CN109925169A (en) * | 2019-04-08 | 2019-06-25 | 浙江师范大学 | A kind of novel intelligent blind-guiding wearable system |
| CN112493641A (en) * | 2020-12-11 | 2021-03-16 | 中国民航大学 | Multifunctional portable intelligent walking stick based on satellite positioning system |
| CN113842300A (en) * | 2021-08-19 | 2021-12-28 | 南京工业大学 | Intelligent blind stick and blind guiding control method |
| CN115471963A (en) * | 2022-10-31 | 2022-12-13 | 叶锦波 | Blind person's auxiliary device that goes out |
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Application publication date: 20170915 |