CN107374923A - A kind of intelligent blind-guiding alarming method for power and its system based on robot - Google Patents
A kind of intelligent blind-guiding alarming method for power and its system based on robot Download PDFInfo
- Publication number
- CN107374923A CN107374923A CN201710760362.4A CN201710760362A CN107374923A CN 107374923 A CN107374923 A CN 107374923A CN 201710760362 A CN201710760362 A CN 201710760362A CN 107374923 A CN107374923 A CN 107374923A
- Authority
- CN
- China
- Prior art keywords
- robot
- processing unit
- real time
- module
- loudspeaker
- 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.)
- Pending
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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/53—Recognition of crowd images, e.g. recognition of crowd congestion
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/005—Traffic control systems for road vehicles including pedestrian guidance indicator
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Multimedia (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Signal Processing (AREA)
- Emergency Management (AREA)
- Business, Economics & Management (AREA)
- Theoretical Computer Science (AREA)
- Alarm Systems (AREA)
- Traffic Control Systems (AREA)
- Manipulator (AREA)
Abstract
A kind of intelligent blind-guiding alarming method for power based on robot, the described method comprises the following steps：Whether processing unit detection robot has is connected by attachment means with walking stick；Control machine people is walked according to pre-set velocity and whether has running car using the environmental images analysis front in front of camera real time shooting if having；If having camera real time shooting vehicle imaging and according to its analyze automobile whether can be collided with blind person；If can if processing unit to automobile middle control send connection request and detected whether connection complete；Processing unit control internal loudspeaker sends warning information and controls the image of camera intake automobile side and analyze whether automobile side has other running cars according to it if having；Processing unit control machine people is at the uniform velocity stretched and detected whether the pulling force that robot is stretched is less than default pulling force to side predetermined angle if not having；If less than if processing unit send using loudspeaker the alarm song of the first default decibel.
Description
Technical field
The present invention relates to guide field, more particularly to a kind of intelligent blind-guiding alarming method for power and its system based on robot.
Background technology
Blind person is a special life colony, inconvenient to watch because eyesight is limited, and the life to blind person brings more
Puzzlement.In life, blind person often walks by crutch, examines the barrier on crutch identification road, but existing crutch only has
There is conventional crutch and function, not intelligence.Blind person also by the guide instrument guide such as seeing-eye dog, but seeing-eye dog need through
Strict training is crossed, trained seeing-eye dog still deposits kind of a numerous uncertain factors.Robot technology is growing, how sharp
With robot technology for the trip of blind person provide facility it is significant.
The content of the invention
Goal of the invention：The shortcomings that in order to overcome in background technology, the embodiments of the invention provide a kind of based on robot
Intelligent blind-guiding alarming method for power and its system, it can effectively solve the problem that the problem of being related in above-mentioned background technology.
Technical scheme：A kind of intelligent blind-guiding alarming method for power based on robot, the described method comprises the following steps：
Whether processing unit detects robot and have in real time is attached by attachment means and walking stick；
The processing unit controls the robot to be walked and utilized according to pre-set velocity and is installed on the machine if having
Whether the environmental images analysis front in front of the camera real time shooting of head part has running car；
The processing unit utilizes and is installed on vehicle imaging described in the camera real time shooting of the robot head simultaneously if having
Analyze whether the automobile can collide with blind person according to it；
If can if the processing unit send connection request to the automobile middle control using wireless device and detected whether connection
Complete；
The processing unit sends warning information using internal loudspeaker by the automobile middle control and utilizes the machine if having
The image of automobile side described in camera real time shooting on device people simultaneously analyzes whether the automobile side has other vapour according to it
Car travels；
The processing unit controls the robot at the uniform velocity to be stretched to side predetermined angle and detect the robot if not having
Whether the pulling force stretched is less than default pulling force；
The first default decibel is sent if the loudspeaker that the processing unit utilization is installed on the robot trunk position less than if
Alarm song.
As a kind of preferred embodiment of the present invention, the camera being installed in the robot is utilized in the processing unit
During environmental images in front of real time shooting, methods described is further comprising the steps of：
The processing unit detects whether front has traffic lights in real time according to the environmental images of the intake；
The processing unit utilizes and is installed on traffic lights described in the camera real time shooting of the robot head if having
Image simultaneously analyzes described traffic lights state that whether is that no through traffic according to it；
If then the processing unit controls the robot to be stopped and utilized to be installed on the robot trunk position
Loudspeaker sends voice message.
As a kind of preferred embodiment of the present invention, detected in real time according to the environmental images of the intake in the processing unit
After having traffic lights to front, methods described is further comprising the steps of：
The processing unit utilizes the image for being installed on traffic lights described in the camera real time shooting of the robot head
And analyze whether the traffic lights are amber light according to it；
If then the processing unit is according to the amber light image of the camera real time shooting of the robot head and according to its inspection
Survey whether the yellow time exceedes preset time；
To row information before bluetooth equipment transmission and controlled if the processing unit if exceeding using wireless device in the robot
Loudspeaker send the alarm song of the second default decibel.
As a kind of preferred embodiment of the present invention, the robot is controlled to be carried out according to pre-set velocity in the processing unit
During walking, methods described is further comprising the steps of：
The processing unit detects whether the blind person by the bluetooth equipment sends help information in real time；
If having the processing unit will receive help information using be installed on the loudspeaker of the robot trunk position to
Surrounding sends voice help.
As a kind of preferred embodiment of the present invention, the robot is controlled to be carried out according to pre-set velocity in the processing unit
During walking, methods described is further comprising the steps of：
The processing unit is using the camera real time shooting blind person image for being installed on the robot head and according to its analysis
Whether the blind person, which has, occurs accident；
If having the processing unit using positioner positioning current location information and using wireless device to alarm center with
And first-aid centre sends accident information and positional information.
A kind of intelligent blind-guiding caution system based on robot, including robot, walking stick, bluetooth equipment, attachment means with
And processing unit, the robot include camera, loudspeaker, connection lock and pulling force inductor, the camera and set
In the robot head position, for the environmental images around absorbing, the loudspeaker is arranged at the robot trunk position
Put, for carrying out voice message, the connection lock is arranged at the robot hand position, for being connected with attachment means,
The pulling force inductor is arranged at the connection catch surface position, during for detecting the robot ambulation between connecting rope
Pulling force, the bluetooth equipment is arranged at blind person Er Nei, and for playing and receiving voice, the attachment means include connecting rope
And buckle, the connecting rope be used for respectively with buckle and be connected lock connection, the buckle for and the robot
The connection lock in portion is attached, and the processing unit is arranged at the robot interior, and the processing unit includes：
Connection detection module, for whether detecting the robot in real time using the pulling force inductor for being installed on connection catch surface
Have and be attached by attachment means and walking stick；
Travelling control module, for controlling the robot to be walked according to pre-set velocity；
Image acquisition module, for absorbing image using the camera for being installed on the robot head；
Environmental analysis module, whether there is running car for the front environmental images analysis front according to intake；
Crash analysis module, for analyzing whether automobile can collide with blind person according to the vehicle imaging of intake；
Wireless device, for connecting automobile middle control, bluetooth equipment, alarm center and first-aid centre.
Request sending module, for sending connection request to automobile middle control using wireless device；
Request detection module, completion whether is connected with automobile middle control for detection process device；
Alarm sending module, for sending warning information using internal loudspeaker by automobile middle control；
Side detection module, whether there are other garages for automobile side described in the automobile side image analysing computer according to intake
Sail；
Side prompting module, at the uniform velocity stretch reminding blind to side predetermined angle for control machine people and avoided to side；
Whether pull force calculation module, the pulling force for being stretched using pulling force inductor detection robot are less than default pulling force；
First alarm modules, for sending the police of the first default decibel using the loudspeaker for being installed on the robot trunk position
Report sound.
As a kind of preferred embodiment of the present invention, the processing unit also includes：
Vehicle Detection module, for detecting whether front has traffic lights in real time according to the environmental images of intake；
Forbid analysis module, whether be that no through traffic for traffic lights described in the traffic lights image analysing computer according to intake
State；
Stopping modular, for controlling the robot to stop specified location；
Voice cue module, for sending voice message using the loudspeaker for being installed on robot trunk position.
As a kind of preferred embodiment of the present invention, the processing unit also includes：
Amber light analysis module, whether it is amber light for traffic lights described in the traffic lights image analysing computer according to intake；
Time detecting module, for amber light described in the amber light Image detection according to the camera real time shooting of the robot head
Whether the time exceedes preset time；
Move ahead sending module, for row information before being sent using wireless device to bluetooth equipment；
Second alarm modules, the loudspeaker for control machine people's trunk position send the alarm song of the second default decibel.
As a kind of preferred embodiment of the present invention, the processing unit also includes：
Seek help detection module, for detecting whether blind person by bluetooth equipment sends help information in real time；
Seek help receiving module, the help information sent for receiving blind person by bluetooth equipment；
Seek help sounding module, for sending voice of seeking help using the loudspeaker for being installed on robot trunk position.
As a kind of preferred embodiment of the present invention, the processing unit also includes：
Crash analysis module, accident occurs for whether blind person described in blind person's image analysing computer according to intake to have；
Positioner, the positional information current for positioning robot；
Module occurs for accident, for sending accident information and position letter to alarm center and first-aid centre using wireless device
Breath.
The present invention realizes following beneficial effect：Connected 1. being established using robot with walking stick, the robot utilizes shooting
Environmental images in front of during head detection blind person walking in real time, control auto loud hailer to send if automobile is found by automobile middle control
Alarm song simultaneously analyses whether to detect whether the automobile side has other vapour if colliding with the car collision
Car travels, and the robot at the uniform velocity stretches reminding blind to corresponding to the side predetermined angle of no running car if not having
Side is avoided.
2. the blind person is when walking, the robot detects whether front has traffic lights using camera in real time,
Analysis traffic lights states that whether is that no through traffic if some, if then the robot stops and utilizes loudspeaker
Voice message is sent to blind person, avoids blind person from violating the traffic regulations and causes the accident.
3. detect whether yellow time exceedes in advance if the robot detects that the traffic lights are amber light state
If time, if more than if robot the information walked forward and control are sent to blind person Er Nei bluetooth equipment by wireless device
Loudspeaker processed sounds the alarm.
4. the robot detects whether itself pulling force between walking stick disappears in real time by the pulling force inductor of lower section,
The robot is sought using whether camera real time shooting blind person's image analysing computer blind person has to send by bluetooth equipment if disappearing
Help voice is sought, the robot sends voice using loudspeaker and sought help to pedestrian around if having.
5. whether the robot is sent out using blind person described in camera intake blind person's image analysing computer in real time when blind person walks
Make trouble therefore, if having the robot using positioner positioning current location information and using wireless device to alarm center with
And first-aid centre sends accident information and positional information.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.
Fig. 1 is the schematic diagram for the intelligent blind-guiding caution system based on robot that the one of example of the present invention provides；Fig. 2
The flow chart of the intelligent blind-guiding alarming method for power based on robot provided for the one of example of the present invention；
Fig. 3 is the flow chart for the detection traffic lights method that the one of example of the present invention provides；
Fig. 4 is the flow chart for the detection traffic lights amber light method that the one of example of the present invention provides；
Fig. 5 is the flow chart for detection blind person's recourse method that the one of example of the present invention provides；
Fig. 6 is the flow chart that the detection blind person that the one of example of the present invention provides sends accident method；
Fig. 7 is the Organization Chart for the intelligent blind-guiding caution system based on robot that the one of example of the present invention provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment one
With reference to shown in figure 2, Fig. 2 is the stream for the intelligent blind-guiding alarming method for power based on robot that the one of example of the present invention provides
Cheng Tu.
Specifically, the present embodiment provides a kind of intelligent blind-guiding alarming method for power based on robot 1, methods described includes following
Step：
Whether S1, processing unit 5 detect robot 1 and have in real time is attached by attachment means 4 and walking stick 2；
S2, if having the processing unit 5 control the robot 1 to be walked according to pre-set velocity and utilize be installed on it is described
Whether the environmental images analysis front in front of the real time shooting of camera 10 on the head of robot 1 has running car；
S3, the processing unit 5 utilizes and is installed on automobile described in the real time shooting of camera 10 on the head of robot 1 if having
Image simultaneously analyzes whether the automobile can collide with blind person according to it；
S4, if can if the processing unit 5 sent and connection request and detect whether to the automobile middle control using wireless device 55
There is connection to complete；
S5, the processing unit 5 sends warning information using internal loudspeaker by the automobile middle control and utilizes institute if having
State the image of automobile side described in the real time shooting of camera 10 on the head of robot 1 and whether the automobile side is analyzed according to it
There are other running cars；
S6, the processing unit 5 controls the robot 1 at the uniform velocity to be stretched to side predetermined angle and detects the machine if not having
Whether the pulling force that device people 1 is stretched is less than default pulling force；
S7, if using the loudspeaker 11 for being installed on the trunk position of robot 1 to send first pre- for the processing unit 5 less than if
If the alarm song of decibel.
Wherein, it is described that the connection lock 12 for referring to the lower section of robot 1 is attached by attachment means 4 and walking stick 2
It is attached with the buckle 41 of attachment means 4, the buckle 41 is connected with connecting rope 40, the connecting rope 40 and the top of walking stick 2
It is attached；Blind person's speed of travel that the pre-set velocity obtains in real time for shooting, processing unit 5 are taken the photograph in real time using camera 10
Take blind person's image and analyze its speed of travel, then the processing unit 5 controls the robot 1 to enter according to blind person's speed of travel
Every trade is walked；The predetermined angle is 0-180 °, in the present embodiment preferably 45 °；The default pulling force is 0-200N, in this reality
Apply in example is preferably 50N；Described first default decibel is 0-150 decibels, preferably 100 decibels in the present embodiment.
In S1, whether specially described processing unit 5 detects the connection lock 12 of the lower section of robot 1 with connecting in real time
The buckle 41 of connection device 4 is attached, and the buckle 41 is connected with connecting rope 40, and the connecting rope 40 is carried out with the top of walking stick 2
Connection, detect whether robot 1 is connected with walking stick 2 in real time, so that the robot 1 carries out guide.
In S2, specifically after the completion of detecting that the robot 1 is connected with walking stick 2, the processing unit 5 controls described
The speed that robot 1 walks according to blind person is walked and utilized the real time shooting of camera 10 being installed in the robot 1
The environmental images in front, whether running car is then had according to the environmental images of intake analysis front, the robot 1 is in walking stick
Walked in 2 fronts.
In S3, when specifically having running car in front of analyzing, the processing unit 5 utilizes and is installed on the robot
Vehicle imaging described in the real time shooting of camera 10 on 1 simultaneously analyzes whether the direction of the running car can be sent out with blind person according to it
Raw collision.
In S4, specifically when analyzing the automobile and can be collided with blind person, the processing unit 5 is using without traditional thread binding
Put 55 to send connection request to the automobile middle control and detected whether that connection is completed, if not returning to connection more than 10 seconds completes letter
Breath then analyzes the automobile using the image of automobile side described in the real time shooting of camera 10 in the robot 1 and according to it
Whether side has other running cars.
In S5, specifically when detecting that connection is completed, the processing unit 5 is raised by the automobile middle control using in-car
Sound device, which is sent in front of audio warning prompting driver, to be had blind person to walk and utilizes the real time shooting of camera 10 in the robot 1
The image of the automobile side simultaneously analyzes whether the automobile side has other running cars according to it.
In S6, specifically when detecting that there is not running car automobile side, the processing unit 5 controls the robot
1 carries out at the uniform velocity stretching reminding blind to 45 ° of the side direction for not having running car is avoided and is examined to the side for not having automobile
Survey whether the pulling force that the robot 1 is stretched is less than 50N, prevent that it is blind to cross ambassador for pulling force when the robot 1 from being stretched
People falls down, and causes the accident.
In S7, specifically when detecting that the pulling force is less than 50N, the processing unit 5 utilizes and is installed on the machine
The alarm song that loudspeaker 11 on people 1 sends 100 decibels is warned, and the robot is controlled about 1 if pulling force is higher than 50N
The pulling force of walking weakens until being less than 50N.
Embodiment two
With reference to shown in figure 3, Fig. 3 is the flow chart for the detection traffic lights method that the one of example of the present invention provides.
Specifically, the present embodiment and embodiment one are substantially consistent, difference part is, in the present embodiment, at the place
When reason device 5 is using the environmental images being installed in front of the real time shooting of camera 10 on the head of robot 1, methods described is also
Comprise the following steps：
S20, the processing unit 5 detect whether front has traffic lights in real time according to the environmental images of the intake；
S21, the processing unit 5 utilizes and is installed on friendship described in the real time shooting of camera 10 on the head of robot 1 if having
Ventilating signal lamp image simultaneously analyzes described traffic lights state that whether is that no through traffic according to it；
If S22, the then processing unit 5 control the robot 1 to be stopped and utilized to be installed on the trunk of robot 1
The loudspeaker 11 of position sends voice message.
It is wherein, described that no through traffic that state is red light and amber light state；The voice message is the control robot 1
On loudspeaker 11 send the voice that no through traffic, and indigo plant of the processing unit 5 by wireless device 55 to blind person Er Nei
Tooth equipment 3 sends no through traffic voice, prevents that blind person does not hear what the loudspeaker 11 of robot 1 was sent when ambient noise is larger
Voice message.
Specifically, utilize the real time shooting blind person's row of camera 10 being installed in the robot 1 in the processing unit 5
When walking the environmental images in front, the processing unit 5 detects whether front has traffic in real time according to the environmental images of the intake
Signal lamp, if after detecting that there are traffic lights in blind person's walking front, the processing unit 5 utilizes and is installed on the robot 1
On the real time shooting of camera 10 described in the image of traffic lights that detects and according to the traffic signals lamp shadow of the intake
Whether it is red light and amber light state as analyzing the traffic lights, if detecting, the traffic lights are red light or amber light
After state, the processing unit 5 controls the robot 1 to carry out stopping walking and utilize to be installed on raising in the robot 1
Sound device 11 sends the voice that no through traffic, and bluetooth equipment 3 of the processing unit 5 by wireless device 55 to blind person Er Nei
No through traffic voice is sent, prevents that blind person does not hear that the voice that the loudspeaker 11 of robot 1 is sent carries when ambient noise is larger
Show, cause the accident.
Embodiment three
With reference to shown in figure 4, Fig. 4 is the flow chart for the detection traffic lights amber light method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, in the processing unit 5
After detecting that there are traffic lights in front in real time according to the environmental images of the intake, methods described is further comprising the steps of：
S200, the processing unit 5, which utilize, is installed on traffic signals described in the real time shooting of camera 10 on the head of robot 1
The image of lamp simultaneously analyzes whether the traffic lights are amber light according to it；
If S201, the then processing unit 5 according to the amber light image of the real time shooting of camera 10 on the head of robot 1 simultaneously
Detect whether the yellow time exceedes preset time according to it；
S202, the processing unit 5 is sent described in preceding row information and control using wireless device 55 to bluetooth equipment 3 if exceeding
Loudspeaker 11 in robot 1 sends the alarm song of the second default decibel.
Wherein, the preset time is 0-10 minutes, preferably 2 minutes in the present embodiment；Described second default decibel
For 0-150 decibels, preferably 110 decibels in the present embodiment.
Specifically, detect whether front has traffic letter in real time according to the environmental images of the intake in the processing unit 5
After signal lamp, the processing unit 5 utilizes traffic lights described in the real time shooting of camera 10 being installed in the robot 1
Image and whether traffic lights are amber light according to the traffic lights image analysing computer of the intake, if analyzing the friendship
When ventilating signal lamp is amber light, the processing unit 5 amber light image according to the real time shooting of camera 10 in the robot 1
And according to the amber light Image detection of the intake yellow time whether more than 2 minutes, if detecting the amber light more than 2 points
Zhong Hou, it is alarming singal lights to illustrate the amber light, the lookout of note meaning, the processing unit during for prompting vehicle and walk
5, which utilize wireless device 55 to send Current traffic signal lamp to blind person Er Nei bluetooth equipment 3, is alarming singal lights, continues forward
Information, and the alarm song for controlling the loudspeaker 11 in the robot 1 to send 110 decibels, to remind surrounding pedestrian and vehicle
Pay attention to, the generation to try to forestall traffic accidents.
Example IV
With reference to shown in figure 5, Fig. 5 is the flow chart for detection blind person's recourse method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, in the processing unit 5
When controlling the robot 1 to be walked according to pre-set velocity and preset height, methods described is further comprising the steps of：
S23, the processing unit 5 detect whether the blind person by the bluetooth equipment 3 sends help information in real time；
S24, the processing unit 5 will receive help information using being installed on raising for the trunk position of robot 1 if having
Sound device 11 sends voice help to surrounding.
Wherein, it is described help information is sent by bluetooth equipment 3 to refer to that blind person sends voice help to bluetooth equipment 3, so
The bluetooth equipment 3 sends the voice help information to processing unit 5 afterwards.
Specifically, when the speed that the processing unit 5 controls the robot 1 to be walked according to blind person is walked, institute
State processing unit 5 and detect the blind person in real time and whether have to bluetooth equipment 3 and send voice help, then the bluetooth equipment 3 will
The voice help information is sent to processing unit 5, if having detected, the bluetooth equipment 3 sends out the voice help information
After delivering to processing unit 5, the voice help Information Pull received is installed in the robot 1 by the processing unit 5
Loudspeaker 11 sends voice help to surrounding, and the volume of voice help is 85 decibels.
Embodiment five
With reference to shown in figure 6, Fig. 6 is the flow chart that the detection blind person that the one of example of the present invention provides sends accident method.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, in the processing unit 5
When controlling the robot 1 to be walked according to pre-set velocity, methods described is further comprising the steps of：
S25, the processing unit 5 utilize the real time shooting blind person image of camera 10 and root for being installed on the head of robot 1
Accident occurs according to whether its analysis blind person has；
S26, the processing unit 5 positions current location information using positioner 75 and utilizes wireless device 55 to report if having
Alert center and first-aid centre send accident information and positional information.
Specifically, when the speed that the processing unit 5 controls the robot 1 to be walked according to blind person is walked, institute
Processing unit 5 is stated using the real time shooting blind person image of camera 10 being installed in the robot 1 and according to the intake
Whether blind person has transmission accident described in blind person's image analysing computer, for example, fall down, motor vehicle knocks down and non-motor vehicle knocks down, if point
After being precipitated with accident generation, the processing unit 5 positions current location information using positioner 75 and utilizes wireless device 55
Sent to alarm center and first-aid centre and the information of accident specifically occurs and the positional information of accident occurs, avoid blind person from sending out
Make trouble thus after not in time rescue cause injures and deaths.
Embodiment six
With reference to shown in figure 1, Fig. 7, Fig. 1 is the intelligent blind-guiding caution system based on robot that the one of example of the present invention provides
Schematic diagram；Fig. 7 is the Organization Chart for the intelligent blind-guiding caution system based on robot that the one of example of the present invention provides.
Specifically, the present embodiment provides a kind of intelligent blind-guiding caution system based on robot 1, including robot 1, walking stick
2nd, bluetooth equipment 3, attachment means 4 and processing unit 5, the robot 1 include camera 10, loudspeaker 11, connection lock
12 and pulling force inductor 13, the camera 10 be arranged at the head position of robot 1, for absorb around environment shadow
Picture, the loudspeaker 11 are arranged at the trunk position of robot 1, and for carrying out voice message, the connection lock 12 is set
In the hand position of robot 1, for being connected with attachment means 4, the pulling force inductor 13 is arranged at the connection lock
12 surface locations, for detecting the pulling force when robot 1 walks between connecting rope 40, the bluetooth equipment 3 is arranged at
Blind person Er Nei, for playing and receiving voice, the attachment means 4 include connecting rope 40 and buckle 41, the connecting rope
40 are used for respectively with buckle 41 and be connected the connection of lock 12, and the buckle 41 is used to enter with the lock below the robot 1
Row connection, the processing unit 5 are arranged inside the robot 1, and the processing unit 5 includes：
Connection detection module 50, for detecting the machine in real time using the pulling force inductor 13 for being installed on 12 surfaces of connection lock
Whether people 1 has is attached by attachment means 4 and walking stick 2；
Travelling control module 51, for controlling the robot 1 to be walked according to pre-set velocity and preset height；
Image acquisition module 52, for absorbing image using the camera 10 being installed in the robot 1；
Environmental analysis module 53, whether there is running car for the front environmental images analysis front according to intake；
Crash analysis module 54, for analyzing whether automobile can collide with blind person according to the vehicle imaging of intake；
Wireless device 55, for connecting automobile middle control, bluetooth equipment 3, alarm center and first-aid centre.
Request sending module 56, for sending connection request to automobile middle control using wireless device 55；
Request detection module 57, completion whether is connected with automobile middle control for detection process device 5；
Alarm sending module 58, for sending warning information using internal loudspeaker by automobile middle control；
Side detection module 59, whether there are other garages for automobile side described in the automobile side image analysing computer according to intake
Sail；
Side prompting module 60, at the uniform velocity stretch reminding blind to side predetermined angle for control machine people 1 and avoided to side；
Pull force calculation module 61, it is default whether the pulling force for being stretched using the detection of pulling force inductor 13 robot 1 is less than
Pulling force；
First alarm modules 62, for sending the police of the first default decibel using the loudspeaker 11 being installed in the robot 1
Report sound.
As a kind of preferred embodiment of the present invention, the processing unit 5 also includes：
Vehicle Detection module 63, for detecting whether front has traffic lights in real time according to the environmental images of intake；
Forbid analysis module 64, whether be to forbid leading to for traffic lights described in the traffic lights image analysing computer according to intake
Row state；
Stopping modular 65, for controlling the robot 1 to stop specified location；
Voice cue module 66, for sending voice message using the loudspeaker 11 for being installed on the trunk position of robot 1.
As a kind of preferred embodiment of the present invention, the processing unit 5 also includes：
Amber light analysis module 67, whether it is amber light for traffic lights described in the traffic lights image analysing computer according to intake；
Time detecting module 68, the amber light Image detection institute for the real time shooting of camera 10 according to the head of robot 1
State whether yellow time exceedes preset time；
Move ahead sending module 69, for sending preceding row information to bluetooth equipment 3 using wireless device 55；
Second alarm modules 70, the loudspeaker 11 for the trunk position of control machine people 1 send the alarm song of the second default decibel.
As a kind of preferred embodiment of the present invention, the processing unit 5 also includes：
Seek help detection module 71, for detecting whether blind person is set by bluetooth in real time by bluetooth equipment 3 using wireless device 55
Standby 3 send help information；
Seek help receiving module 72, the help information sent for receiving blind person by bluetooth equipment 3；
Seek help sounding module 73, for sending voice of seeking help using the loudspeaker 11 for being installed on the trunk position of robot 1.
As a kind of preferred embodiment of the present invention, the processing unit 5 also includes：
Crash analysis module 74, accident occurs for whether blind person described in blind person's image analysing computer according to intake to have；
Positioner 75, the positional information current for positioning robot 1；
Module 76 occurs for accident, for sending accident information and position to alarm center and first-aid centre using wireless device 55
Confidence ceases.
It should be understood that in embodiment six, the specific implementation process of above-mentioned modules (can be implemented with above method embodiment
Example one is to embodiment five) description it is corresponding, be not described in detail herein.
The system that above-described embodiment six is provided, only carried out with the division of above-mentioned each functional module for example, actual should
In, it can will appeal function distribution as needed and be completed by different functional modules, i.e., divide the internal structure of system
Into different functional modules, to complete all or part of function described above.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, it should all be included within the scope of the present invention.
Claims (10)
1. a kind of intelligent blind-guiding alarming method for power based on robot, it is characterised in that the described method comprises the following steps：
Whether processing unit detects robot and have in real time is attached by attachment means and walking stick；
The processing unit controls the robot to be walked and utilized according to pre-set velocity and is installed on the machine if having
Whether the environmental images analysis front in front of the camera real time shooting of head part has running car；
The processing unit utilizes and is installed on vehicle imaging described in the camera real time shooting of the robot head simultaneously if having
Analyze whether the automobile can collide with blind person according to it；
If can if the processing unit send connection request to the automobile middle control using wireless device and detected whether connection
Complete；
The processing unit sends warning information using internal loudspeaker by the automobile middle control and utilizes the machine if having
The image of automobile side described in camera real time shooting on device people simultaneously analyzes whether the automobile side has other vapour according to it
Car travels；
The processing unit controls the robot at the uniform velocity to be stretched to side predetermined angle and detect the robot if not having
Whether the pulling force stretched is less than default pulling force；
The first default decibel is sent if the loudspeaker that the processing unit utilization is installed on the robot trunk position less than if
Alarm song.
2. a kind of intelligent blind-guiding alarming method for power based on robot according to claim 1, it is characterised in that at the place
When reason device is using environmental images in front of the camera real time shooting in the robot are installed on, methods described also include with
Lower step：
The processing unit detects whether front has traffic lights in real time according to the environmental images of the intake；
The processing unit utilizes and is installed on traffic lights described in the camera real time shooting of the robot head if having
Image simultaneously analyzes described traffic lights state that whether is that no through traffic according to it；
If then the processing unit controls the robot to be stopped and utilized to be installed on the robot trunk position
Loudspeaker sends voice message.
3. a kind of intelligent blind-guiding alarming method for power based on robot according to claim 2, it is characterised in that at the place
After reason device detects that there are traffic lights in front in real time according to the environmental images of the intake, methods described also includes following step
Suddenly：
The processing unit utilizes the image for being installed on traffic lights described in the camera real time shooting of the robot head
And analyze whether the traffic lights are amber light according to it；
If then the processing unit is according to the amber light image of the camera real time shooting of the robot head and according to its inspection
Survey whether the yellow time exceedes preset time；
To row information before bluetooth equipment transmission and controlled if the processing unit if exceeding using wireless device in the robot
Loudspeaker send the alarm song of the second default decibel.
4. a kind of intelligent blind-guiding alarming method for power based on robot according to claim 1, it is characterised in that at the place
When the reason device control robot is walked according to pre-set velocity, methods described is further comprising the steps of：
The processing unit detects whether the blind person by the bluetooth equipment sends help information in real time；
If having the processing unit will receive help information using be installed on the loudspeaker of the robot trunk position to
Surrounding sends voice help.
5. a kind of intelligent blind-guiding alarming method for power based on robot according to claim 1, it is characterised in that at the place
When the reason device control robot is walked according to pre-set velocity, methods described is further comprising the steps of：
The processing unit is using the camera real time shooting blind person image for being installed on the robot head and according to its analysis
Whether the blind person, which has, occurs accident；
If having the processing unit using positioner positioning current location information and using wireless device to alarm center with
And first-aid centre sends accident information and positional information.
6. a kind of intelligent blind-guiding caution system based on robot, including robot, walking stick, bluetooth equipment, attachment means and
Processing unit, the robot include camera, loudspeaker, connection lock and pulling force inductor, the camera and are arranged at
The robot head position, for the environmental images around absorbing, the loudspeaker is arranged at the robot trunk position,
For carrying out voice message, the connection lock is arranged at the robot hand position, described for being connected with attachment means
Pulling force inductor is arranged at the connection catch surface position, drawing during for detecting the robot ambulation between connecting rope
Power, the bluetooth equipment are arranged at blind person Er Nei, for playing and receiving voice, the attachment means include connecting rope and
Buckle, the connecting rope be used for respectively with buckle and be connected lock connection, the buckle for and the robot hand
Connection lock is attached, and the processing unit is arranged at the robot interior, it is characterised in that the processing unit bag
Include：
Connection detection module, for whether detecting the robot in real time using the pulling force inductor for being installed on connection catch surface
Have and be attached by attachment means and walking stick；
Travelling control module, for controlling the robot to be walked according to pre-set velocity；
Image acquisition module, for absorbing image using the camera for being installed on the robot head；
Environmental analysis module, whether there is running car for the front environmental images analysis front according to intake；
Crash analysis module, for analyzing whether automobile can collide with blind person according to the vehicle imaging of intake；
Wireless device, for connecting automobile middle control, bluetooth equipment, alarm center and first-aid centre；
Request sending module, for sending connection request to automobile middle control using wireless device；
Request detection module, completion whether is connected with automobile middle control for detection process device；
Alarm sending module, for sending warning information using internal loudspeaker by automobile middle control；
Side detection module, whether there are other garages for automobile side described in the automobile side image analysing computer according to intake
Sail；
Side prompting module, at the uniform velocity stretch reminding blind to side predetermined angle for control machine people and avoided to side；
Whether pull force calculation module, the pulling force for being stretched using pulling force inductor detection robot are less than default pulling force；
First alarm modules, for sending the police of the first default decibel using the loudspeaker for being installed on the robot trunk position
Report sound.
A kind of 7. intelligent blind-guiding caution system based on robot according to claim 6, it is characterised in that the processing
Device also includes：
Vehicle Detection module, for detecting whether front has traffic lights in real time according to the environmental images of intake；
Forbid analysis module, whether be that no through traffic for traffic lights described in the traffic lights image analysing computer according to intake
State；
Stopping modular, for controlling the robot to stop specified location；
Voice cue module, for sending voice message using the loudspeaker for being installed on robot trunk position.
A kind of 8. intelligent blind-guiding caution system based on robot according to claim 7, it is characterised in that the processing
Device also includes：
Amber light analysis module, whether it is amber light for traffic lights described in the traffic lights image analysing computer according to intake；
Time detecting module, for amber light described in the amber light Image detection according to the camera real time shooting of the robot head
Whether the time exceedes preset time；
Move ahead sending module, for row information before being sent using wireless device to bluetooth equipment；
Second alarm modules, the loudspeaker for control machine people's trunk position send the alarm song of the second default decibel.
A kind of 9. intelligent blind-guiding caution system based on robot according to claim 6, it is characterised in that the processing
Device also includes：
Seek help detection module, for detecting whether blind person by bluetooth equipment sends help information in real time；
Seek help receiving module, the help information sent for receiving blind person by bluetooth equipment；
Seek help sounding module, for sending voice of seeking help using the loudspeaker for being installed on robot trunk position.
A kind of 10. intelligent blind-guiding caution system based on robot according to claim 6, it is characterised in that the place
Reason device also includes：
Crash analysis module, accident occurs for whether blind person described in blind person's image analysing computer according to intake to have；
Positioner, the positional information current for positioning robot；
Module occurs for accident, for sending accident information and position letter to alarm center and first-aid centre using wireless device
Breath.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760362.4A CN107374923A (en) | 2017-08-30 | 2017-08-30 | A kind of intelligent blind-guiding alarming method for power and its system based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760362.4A CN107374923A (en) | 2017-08-30 | 2017-08-30 | A kind of intelligent blind-guiding alarming method for power and its system based on robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107374923A true CN107374923A (en) | 2017-11-24 |
Family
ID=60346425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710760362.4A Pending CN107374923A (en) | 2017-08-30 | 2017-08-30 | A kind of intelligent blind-guiding alarming method for power and its system based on robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107374923A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108186296A (en) * | 2017-12-27 | 2018-06-22 | 重庆柚瓣家科技有限公司 | Open air is from the auxiliary running gear of walking robot |
| CN108189041A (en) * | 2017-12-27 | 2018-06-22 | 重庆柚瓣家科技有限公司 | Outdoor leading type walking robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049719A (en) * | 2017-06-12 | 2017-08-18 | 苏州寅初信息科技有限公司 | A kind of intelligent blind-guiding alarming method for power and its system based on unmanned plane |
-
2017
- 2017-08-30 CN CN201710760362.4A patent/CN107374923A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049719A (en) * | 2017-06-12 | 2017-08-18 | 苏州寅初信息科技有限公司 | A kind of intelligent blind-guiding alarming method for power and its system based on unmanned plane |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108186296A (en) * | 2017-12-27 | 2018-06-22 | 重庆柚瓣家科技有限公司 | Open air is from the auxiliary running gear of walking robot |
| CN108189041A (en) * | 2017-12-27 | 2018-06-22 | 重庆柚瓣家科技有限公司 | Outdoor leading type walking robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107049719B (en) | A kind of intelligent blind-guiding alarming method for power and its system based on unmanned plane | |
| US10048076B2 (en) | On-board vehicular monitoring system | |
| CN108883725B (en) | Driving vehicle alarm system and method | |
| US11890987B2 (en) | Advanced pedestrian and/or driver alert and/or collision avoidance system | |
| CN106530782B (en) | A kind of road vehicle traffic alert method | |
| US20180356828A1 (en) | Vehicle control apparatus | |
| CN103832434B (en) | A kind of traffic safety controls system and method | |
| CN107134160A (en) | Urgency signal is detected and responded | |
| CN106652461A (en) | Traffic-management-based information processing method and device, and traffic management system | |
| KR20200009840A (en) | Connection system of emergency vehicle and traffic signal | |
| JP6772428B2 (en) | Programs for self-driving cars and self-driving cars | |
| CN106683413A (en) | Rapid rescue system based on emergency lane | |
| CN110356313A (en) | A kind of method and system promoting vehicle security drive | |
| CN107374923A (en) | A kind of intelligent blind-guiding alarming method for power and its system based on robot | |
| CN207068237U (en) | A kind of Quick rescue system based on Emergency Vehicle Lane | |
| JP2002245588A6 (en) | Emergency vehicle priority passage support system | |
| JP2002245588A (en) | Emergency vehicle priority passage support system | |
| CN107472131A (en) | Automobile door opening source of early warning, automobile door opening early warning system, automobile door opening method for early warning | |
| CN111098864B (en) | Prompt method, device, automatic driving vehicle and storage medium | |
| CN111746389A (en) | Vehicle control system | |
| WO2017070010A1 (en) | Vehicular navigation system updating based on object presence | |
| CN207241570U (en) | Intelligent back vision mirror and automobile with three road recording functions | |
| KR102555076B1 (en) | Intelligent Traffic Control System Capable of Coping with Pedestrian Emergencies and Traffic Control Method thereof | |
| CN115662187A (en) | Traffic blind area early warning system based on internet | |
| CN108944676A (en) | It is a kind of that vehicle door open prompting apparatus and based reminding method are fallen based on image procossing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171124 |
|
| RJ01 | Rejection of invention patent application after publication |