CN108089489A - A kind of Multifunctional blind person guiding equipment - Google Patents
A kind of Multifunctional blind person guiding equipment Download PDFInfo
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- CN108089489A CN108089489A CN201711135071.2A CN201711135071A CN108089489A CN 108089489 A CN108089489 A CN 108089489A CN 201711135071 A CN201711135071 A CN 201711135071A CN 108089489 A CN108089489 A CN 108089489A
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
The invention discloses a kind of Multifunctional blind person guiding equipment, including detection device and Foldable stick, the detection device is used to hang or be worn on the front of user, power supply, control unit, photodetector module, ultrasonic ranging group, temperature detecting module, GPS positioning module, height and safe float to be provided with apart from setup module, buzzer, vibration module, LCD display, voice module and electric light in the detection device.The present invention hides obstacle when blind person being helped to go on a journey alone, can accomplish to remind in time when dangerous.In time family members can be helped to find user by positioning when lost.
Description
Technical field
The present invention relates to a kind of Multifunctional blind person guiding equipment, belong to guide equipment technical field.
Background technology
There is National People's Congress of vision disorder in the whole world there are about 1.5 hundred million people, wherein blind person about 45,000,000 according to statistics, only in China just
Have more than 900 ten thousand.They walk and can be explored the way by walking stick.But the scope on walking stick detection ground is limited, and is judged
It is inaccurate.It is intended to so they on the way walk when danger.Because blind Man's Demands.Many guide products come into being.
Although there is guide road in a lot of places.But most of occasion blind person trip needs auxiliary equipment.Such as
Seeing-eye dog, blind person's electronic glasses, ultrasound waveguide crutch for blind person, guide trolley etc..Prices are rather stiff for guide dog training, common family
Front yard can't afford at all.The guide product of existing many is not only expensive, but also many functions are simple, and blind person is helped not
It is especially big.Than if any product can only detect front horizontal direction barrier, miss barrier on ground and aerial
Obstacle, this is quite dangerous for blind person.It is likely to be tripped or fallen into inside gully, it is also possible to encounter
Head.
The content of the invention
Above-mentioned in order to solve the problems, such as, the invention discloses a kind of Multifunctional blind person guiding equipment, specific technical solutions
It is as follows：
A kind of Multifunctional blind person guiding equipment, including detection device and Foldable stick, the detection device is used to hang or wear
Be worn over the front of user, be provided in the detection device power supply, control unit, photodetector module, ultrasonic ranging group,
Temperature detecting module, GPS positioning module, height and safe float are shown apart from setup module, buzzer, vibration module, LCD
Screen, voice module and electric light.
Described control unit is provided with system switching, and the power supply is to control unit, photodetector module, ultrasonic ranging
Group, temperature detecting module, GPS positioning module, height and safe float are shown apart from setup module, buzzer, vibration module, LCD
Display screen, voice module and electric light provide working power, and the system switching is arranged between power supply and control unit, for connecting
Or the power supply of cut-out control unit；
The photodetector module is connected with control unit, for detecting current light intensity, when detecting intensity of illumination
During less than preset value, control unit automatically turns on electric light；
The ultrasonic ranging group is connected with control unit, sends ultrasonic wave, before judging user just according to echo information
Whether there is barrier in front of side, head front upper place and underfooting, when there is barrier, detection information is transmitted to control unit and is divided
Analysis, then makes vibration module, buzzer and voice module make corresponding action according to analysis result；
The temperature detecting module is connected with control unit, and temperature detecting module is used to detect ambient temperature, according to
The temperature measured asks for ultrasonic propagation velocity, and temperature-compensating is carried out to ultrasonic wave module；
The GPS positioning module is connected with control unit, for positioning the location of user；
The height and safe float are used for the height for the person of being set using apart from setup module, so that control unit is pressed
According to the safe distance that ultrasonic ranging group is obtained after the algorithm calculating of setting；
The buzzer is connected with control unit, and the buzzer of different frequency is sent according to obstacle distance distance；
The vibration module, vibrates when an obstruction is present, coordinates voice module, and buzzer plays warning and makees jointly
With；
The LCD display is used for the height for the person of being set using；
The voice module is connected with control unit, for doing alarm, is set when carrying out height with floating safe distance
When putting, voice can be sent, blind person is facilitated to be configured；
The Foldable stick holds use, detection front surface state for user.
The ultrasonic ranging group includes seven ultrasonic distance measuring modules, three groups of seven ultrasonic distance measuring modules point, and first
Group is there are two ultrasonic distance measuring module, ultrasonic distance measuring module there are two second group, ultrasonic distance measuring module there are three the 3rd group,
The vertical range of first group of ultrasonic distance measuring module and the 3rd group of ultrasonic distance measuring module is h0, first group of ultrasonic distance measuring module
Positioned at the top, the 3rd group of ultrasonic distance measuring module is located at bottom, and second group of ultrasonic distance measuring module is located at first group of ultrasound
Between ripple range finder module and the 3rd group of ultrasonic distance measuring module；
Two ultrasonic distance measuring modules in first group are inclined upwardly, two in second group ultrasonic distance measuring module water
Flat to set, the ultrasonic distance measuring module of the left and right sides in the 3rd group tilts down, the ultrasonic ranging of the centre in the 3rd group
Module is straight down.
Two ultrasonic distance measuring modules in described first group are inclined upwardly the left and right sides in 40 degree~50 degree, the 3rd group
Ultrasonic distance measuring module tilt down 40 degree~50 degree.
The height and safe float are as follows apart from setup module specific works method：
If height is H, safe float distance is respectively d1、d2, it is right that the ultrasonic distance measuring module among the 3rd group measures its
The distance on ground is h1, two ultrasonic distance measuring modules in first group are inclined upwardly angle as α, the left and right sides in the 3rd group
Ultrasonic distance measuring module tilts down angle as β, the safety detection of the ultrasonic distance measuring module of the left and right sides in the 3rd group away from
From beingThe safe detection range H of two ultrasonic distance measuring modules in first group2=h1/sinα。
The ultrasonic ranging group takes the mode that works one by one of cycle, the ultrasonic distance measuring module of the centre in the 3rd group
Measure its height h away from ground1, certain floating safe distance is then set according to height and floating safe distance setup module
d1, in the case of normal ground even, the H that is calculated according to height etc.2-d1It is a definite value,
When the distance that the ultrasonic distance measuring module of the left and right sides in the 3rd group measures is less than H2-d1Value when, explanation
There is the barrier of protrusion on ground, buzzer starts to pipe, and with accelerating close to the barrier frequency that pipes, vibration module shakes
Dynamic, there is protrusion barrier on voice module prompting front ground,
When the distance measured is more than H2+d1Value when, illustrate that there is recess in front, buzzer starts to pipe, and with connecing
Nearly barrier pipes frequency quickening, vibration module vibration, and voice module prompting road surface ahead has recess；
The floating distance for setting two ultrasonic distance measuring modules in first group is d2, when the distance measured is less than H1+d2's
When, illustrate to have barrier on front in vain, buzzer call, vibration module vibration, voice module prompting has obstacle in vain on front
Object；
Whether two ultrasonic distance measuring modules detection front in second group has barrier, when there is barrier, buzzing
Device pipes, vibration module vibration, and there is barrier in voice module prompting front.
The beneficial effects of the invention are as follows：
The present invention hides obstacle when blind person being helped to go on a journey alone, can accomplish to remind in time when dangerous.The energy when lost
It is enough in time family members to be helped to find user by positioning.
Foldable stick cooperation front ultrasonic sensor uses, and makes walking safer, can accept when not needed,
Easily.
Different previous ultrasound waveguide crutch for blind person of the invention can only detect the barrier of horizontal direction.Front ground protrusion and
Recess can detect, and aerial barrier can also detect.So that detection information is more accurate.
The device of the invention is easier to carry.As long as front is fixed in main equipment wearing, lost without worry.
Folding assisted walking stick can be accepted put portable bag into when not in use.It will not be so not square as common blind guiding stick
Portable belt.
The present invention also carries positioner simultaneously, and when accidentally getting lost, family members can faster be looked for by it
To user.
The other vibration module of the present invention, buzzer, voice module collective effect can prevent because certain special status is wrong
Prompting is crossed, unnecessary danger occurs.
Description of the drawings
Fig. 1 is the module frame chart of detection device,
Fig. 2 is the distribution schematic diagram in ultrasonic ranging group,
Fig. 3 is each ultrasonic distance measuring module operation principle schematic diagram.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is furture elucidated.It should be understood that following specific embodiments are only
For illustrating the present invention rather than limiting the scope of the invention.
Fig. 1 is the module frame chart of detection device, and Fig. 2 is the distribution schematic diagram in ultrasonic ranging group, the circle expression in figure
Ultrasonic distance measuring module is followed successively by first group of ultrasonic distance measuring module, second group of ultrasonic distance measuring module and the 3rd from top to bottom
Group ultrasonic distance measuring module；Fig. 3 is each ultrasonic distance measuring module operation principle schematic diagram.
With reference to attached drawing as it can be seen that this Multifunctional blind person guiding equipment, including detection device and Foldable stick, the detection device is used
In being provided with power supply, control unit, photodetector module, super in the front for hanging or being worn on user, the detection device
Sound ranging group, temperature detecting module, GPS positioning module, height and safe float are apart from setup module, buzzer, vibration mould
Block, LCD display, voice module and electric light.
Described control unit is provided with system switching, and the power supply is to control unit, photodetector module, ultrasonic ranging
Group, temperature detecting module, GPS positioning module, height and safe float are shown apart from setup module, buzzer, vibration module, LCD
Display screen, voice module and electric light provide working power, and the system switching is arranged between power supply and control unit, for connecting
Or the power supply of cut-out control unit.
The photodetector module is connected with control unit, for detecting current light intensity, when detecting intensity of illumination
During less than preset value, control unit automatically turns on electric light.
The ultrasonic ranging group is connected with control unit, sends ultrasonic wave, before judging user just according to echo information
Whether there is barrier in front of side, head front upper place and underfooting, when there is barrier, detection information is transmitted to control unit and is divided
Analysis, then makes vibration module, buzzer and voice module make corresponding action according to analysis result.
The temperature detecting module is connected with control unit, and temperature detecting module is used to detect ambient temperature, according to
The temperature measured asks for ultrasonic propagation velocity, and temperature-compensating is carried out to ultrasonic wave module.
The GPS positioning module is connected with control unit, for positioning the location of user.
The height and safe float are used for the height for the person of being set using apart from setup module, so that control unit is pressed
According to the safe distance that ultrasonic ranging group is obtained after the algorithm calculating of setting.
The buzzer is connected with control unit, and the buzzer of different frequency is sent according to obstacle distance distance.It is described
Vibration module vibrates when an obstruction is present, coordinates voice module, and buzzer plays a warning role jointly.
The LCD display is used for the height for the person of being set using.
The voice module is connected with control unit, for doing alarm, is set when carrying out height with floating safe distance
When putting, voice can be sent, blind person is facilitated to be configured.
The Foldable stick holds use, detection front surface state for user.Foldable stick is coordinated to use,
User more haves a sense of security.
The ultrasonic ranging group includes seven ultrasonic distance measuring modules, three groups of seven ultrasonic distance measuring modules point, and first
Group is there are two ultrasonic distance measuring module, ultrasonic distance measuring module there are two second group, ultrasonic distance measuring module there are three the 3rd group,
The vertical range of first group of ultrasonic distance measuring module and the 3rd group of ultrasonic distance measuring module is h0, first group of ultrasonic distance measuring module
Positioned at the top, the 3rd group of ultrasonic distance measuring module is located at bottom, and second group of ultrasonic distance measuring module is located at first group of ultrasound
Between ripple range finder module and the 3rd group of ultrasonic distance measuring module.Seven ultrasonic distance measuring modules are towards different directions, convenient for energy
Front, the positions such as front top, front lower section of enough comprehensive monitoring users.
Two ultrasonic distance measuring modules in described first group are inclined upwardly 40 degree~50 degree, for monitoring user head
Whether top has barrier.
Two ultrasonic distance measuring modules in second group are horizontally disposed with, for monitoring the situation immediately ahead of user.
The ultrasonic distance measuring module of the left and right sides in 3rd group tilts down 40 degree~50 degree, for monitoring user's foot
Whether inferoanterior has barrier.
The ultrasonic distance measuring module of centre in 3rd group straight down, for monitoring user underfooting situation.
The height and safe float are as follows apart from setup module specific works method：
If height is H, safe float distance is respectively d1、d2, it is right that the ultrasonic distance measuring module among the 3rd group measures its
The distance on ground is h1, two ultrasonic distance measuring modules in first group are inclined upwardly angle as α, the left and right sides in the 3rd group
Ultrasonic distance measuring module tilts down angle as β, the safety detection of the ultrasonic distance measuring module of the left and right sides in the 3rd group away from
From beingThe safe detection range H of two ultrasonic distance measuring modules in first group2=h1/sinα。
A specific embodiment as the present invention：α and β selects 45 °, can also set 40 according to the height of user
Any angle in~50 degree of degree.
The ultrasonic ranging group takes the mode that works one by one of cycle, the ultrasonic distance measuring module of the centre in the 3rd group
Measure its height h away from ground1, certain floating safe distance is then set according to height and floating safe distance setup module
d1, in the case of normal ground even, the H that is calculated according to height etc.2-d1It is a definite value.
When the distance that the ultrasonic distance measuring module of the left and right sides in the 3rd group measures is less than H2-d1Value when, explanation
There is the barrier of protrusion on ground, buzzer starts to pipe, and with accelerating close to the barrier frequency that pipes, vibration module shakes
Dynamic, there is protrusion barrier on voice module prompting front ground.
When the distance measured is more than H2+d1Value when, illustrate that there is recess in front, buzzer starts to pipe, and with connecing
Nearly barrier pipes frequency quickening, vibration module vibration, and voice module prompting road surface ahead has recess.
The floating distance for setting two ultrasonic distance measuring modules in first group is d2, when the distance measured is less than H1+d2's
When, illustrate to have barrier on front in vain, buzzer call, vibration module vibration, voice module prompting has obstacle in vain on front
Object.
Whether two ultrasonic distance measuring modules detection front in second group has barrier, when there is barrier, buzzing
Device pipes, vibration module vibration, and there is barrier in voice module prompting front.
The control unit course of work is as follows：Modules inside control ultrasonic wave module group perform in sequence,
Ultrasonic wave module transmitting ultrasonic wave runs into barrier and reflects, and the transmission time t of sound wave is drawn according to the signal reflected.
Pass throughDistance is obtained.Then the relation between controller analysis distance and default safe distance, so as to decide whether to drive
Buzzer, the work such as vibration module, voice module.Such iterative cycles perform.
According to the prompting of the modules such as voice, user does further detection with the use of designed walking stick, it is ensured that can
Safer traveling.
The selection model of the modules of a specific embodiment as the present invention is given below, control unit is selected
STM32F103 microcontrollers, ultrasonic wave module select HC-SR04, in order to save controller I/O port, pass through a 8 road signal multiplexings
Chip 74HC151, timesharing gate 7 ultrasonic sensors.Vibration module selects LX0834L vibrating motors, STM32 series
Microcontroller is built-in with temperature sensor mostly, but measurement temperature is generally higher compared with environment temperature, so still being selected in periphery
Ds18b20 gathers environment temperature, and speech chip selects ISD4004, photodetector photo resistance, and GPS positioning is selected
SIM808 modules.
The course of work is as follows：Initial setting up is carried out by button according to user's height first, after system energization, ultrasound
Ripple module emits ultrasonic wave, temperature-measuring module measuring environment temperature, and controller obtains ultrasonic propagation according to the temperature of measurement
Then speed calculates each sensor to obstacle distance according to the echo time, the distance measured is compared with preset value
Compared with then controller control buzzer, vibration module, voice module make corresponding action.When it is subduing, control
Device controls the unlatching of electric light according to the information of photodetector module.When user gets lost, GPS positioning mould can be started
Block, SIM808 modules can be passed to the location information of user on default phone number by way of short message, user family
People can find the position of user according to cellphone information by Google earth.
The technical means disclosed in the embodiments of the present invention is not limited to the technical means disclosed in the above technical means, and is further included
Formed technical solution is combined by more than technical characteristic.
Using above-mentioned desirable embodiment according to the invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determine its technical scope according to right.
Claims (5)
1. a kind of Multifunctional blind person guiding equipment, it is characterised in that including detection device and Foldable stick, the detection device is used for
The front of user is hung or be worn on, power supply, control unit, photodetector module, ultrasound are provided in the detection device
Ripple ranging group, temperature detecting module, GPS positioning module, height and safe float apart from setup module, buzzer, vibration module,
LCD display, voice module and electric light,
Described control unit is provided with system switching, the power supply to control unit, photodetector module, ultrasonic ranging group,
Temperature detecting module, GPS positioning module, height and safe float are shown apart from setup module, buzzer, vibration module, LCD
Screen, voice module and electric light provide working power, and the system switching is arranged between power supply and control unit, for connecting or
Person cuts off the power supply of control unit；
The photodetector module is connected with control unit, for detecting current light intensity, is less than when detecting intensity of illumination
During preset value, control unit automatically turns on electric light；
The ultrasonic ranging group is connected with control unit, sends ultrasonic wave, is judged according to echo information immediately ahead of user, head
Whether there is barrier in front of portion front upper place and underfooting, when there is barrier, detection information is transmitted to control unit and is analyzed, so
According to analysis result vibration module, buzzer and voice module is made to make corresponding action afterwards；
The temperature detecting module is connected with control unit, and temperature detecting module is for detecting ambient temperature, according to measuring
Temperature ask for ultrasonic propagation velocity, give ultrasonic wave module carry out temperature-compensating；
The GPS positioning module is connected with control unit, for positioning the location of user；
The height and safe float are used for the height for the person of being set using apart from setup module, so that control unit is according to setting
Fixed algorithm obtains the safe distance of ultrasonic ranging group after calculating；
The buzzer is connected with control unit, and the buzzer of different frequency is sent according to obstacle distance distance；
The vibration module, vibrates when an obstruction is present, coordinates voice module, and buzzer plays a warning role jointly；
The LCD display is used for the height for the person of being set using；
The voice module is connected with control unit, for doing alarm, when carrying out height with the setting of floating safe distance,
Voice can be sent, blind person is facilitated to be configured；
The Foldable stick holds use, detection front surface state for user.
2. a kind of Multifunctional blind person guiding equipment according to claim 1, it is characterised in that the ultrasonic ranging group includes seven
A ultrasonic distance measuring module, three groups of seven ultrasonic distance measuring modules point, first group there are two ultrasonic distance measuring module, second group has
Two ultrasonic distance measuring modules, the 3rd group there are three ultrasonic distance measuring module, first group of ultrasonic distance measuring module and the 3rd group surpass
The vertical range of sound ranging module is h0, first group of ultrasonic distance measuring module be located at the top, the 3rd group of ultrasonic ranging mould
Block is located at bottom, and second group of ultrasonic distance measuring module is located at first group of ultrasonic distance measuring module and the 3rd group of ultrasonic ranging mould
Between block；
Two ultrasonic distance measuring modules in first group are inclined upwardly, and two in second group ultrasonic distance measuring module level is set
It puts, the ultrasonic distance measuring module of the left and right sides in the 3rd group tilts down, the ultrasonic distance measuring module of the centre in the 3rd group
Straight down.
A kind of 3. Multifunctional blind person guiding equipment according to claim 2, it is characterised in that two ultrasounds in described first group
The ultrasonic distance measuring module for the left and right sides that ripple range finder module is inclined upwardly in 40 degree~50 degree, the 3rd group tilt down 40 degree~
50 degree.
4. a kind of Multifunctional blind person guiding equipment according to claim 3, it is characterised in that the height and safe float distance
Setup module specific works method is as follows：
If height is H, safe float distance is respectively d1、d2, ultrasonic distance measuring module among the 3rd group measures it over the ground
Distance is h1, two ultrasonic distance measuring modules in first group are inclined upwardly angle as α, the ultrasound of the left and right sides in the 3rd group
Ripple range finder module tilts down angle as β, and the safe detection range of the ultrasonic distance measuring module of the left and right sides in the 3rd group isThe safe detection range H of two ultrasonic distance measuring modules in first group2=h1/sinα。
5. a kind of Multifunctional blind person guiding equipment according to claim 4, it is characterised in that the ultrasonic ranging group, which is taken, to be followed
The mode that ring works one by one, the ultrasonic distance measuring module of the centre in the 3rd group measure its height h away from ground1, then basis
Height and floating safe distance setup module set certain floating safe distance d1, in the case of normal ground even, according to
The H that height etc. calculates2-d1It is a definite value,
When the distance that the ultrasonic distance measuring module of the left and right sides in the 3rd group measures is less than H2-d1Value when, illustrate ground
On have the barrier of protrusion, buzzer starts to pipe, and with accelerating close to the barrier frequency that pipes, vibration module vibration, language
There is protrusion barrier on ground in front of sound module prompts,
When the distance measured is more than H2+d1Value when, illustrate front have recess, buzzer starts to pipe, and with close to barrier
Hinder object pipe frequency quickening, vibration module vibration, voice module prompting road surface ahead have recess；
The floating distance for setting two ultrasonic distance measuring modules in first group is d2, when the distance measured is less than H1+d2When
It waits, illustrates to have barrier on front in vain, buzzer call, vibration module vibration, voice module prompting has barrier in vain on front；
Whether two ultrasonic distance measuring modules detection front in second group has barrier, when there is barrier, buzzer ring
It cries, vibration module vibration, there is barrier in voice module prompting front.
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| CN201711135071.2A CN108089489A (en) | 2017-11-16 | 2017-11-16 | A kind of Multifunctional blind person guiding equipment |
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| CN110833481A (en) * | 2018-08-17 | 2020-02-25 | 上海炳旭工业产品设计有限公司 | Intelligent vision-impaired vision rehabilitation instrument and application thereof |
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| CN114415680A (en) * | 2022-01-06 | 2022-04-29 | 杭州申昊科技股份有限公司 | Track inspection robot avoiding device and method |
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