CN109925170A - A kind of blind person and amblyopia group navigation equipment - Google Patents
A kind of blind person and amblyopia group navigation equipment Download PDFInfo
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- CN109925170A CN109925170A CN201910312474.2A CN201910312474A CN109925170A CN 109925170 A CN109925170 A CN 109925170A CN 201910312474 A CN201910312474 A CN 201910312474A CN 109925170 A CN109925170 A CN 109925170A
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Abstract
The invention discloses a kind of blind person and amblyopia group navigation equipments comprising server, walking stick, knapsack and RFID active tag；The first battery, the first control module, the first wireless communication module, the first gyroscope, RFID identification device, the first loudspeaker, binocular camera, supersonic detector, headlamp, light sensor, physical feedback module and the first microphone are provided on walking stick；The second control module, second microphone, GPS module, the second battery, the second wireless communication module, third wireless communication module, the second gyroscope, the second loudspeaker, memory, wired charger and warning lamp are provided in knapsack.The present invention can carry out indoor navigation and outdoor navigation, and be monitored to the environment in navigation procedure, can not only carry out barrier early warning, it can also shift to an earlier date to user and predict information of road surface, exploring the way the time for user is reduced, and alleviates the load of user on hand, is suitable for blind person and amblyopia group.
Description
Technical field
The present invention relates to trip ancillary equipment fields, and in particular to a kind of blind person and amblyopia group navigation equipment.
Background technique
Blind person is a special group, they will lose visual function, daily life due to the congenital or day after tomorrow
Especially trip living is by very big restriction.There is blind person 4,000 ten thousand to 4,500 ten thousand in World Health Organization's estimation whole world, and China has
Patient nearly 13,000,000 with visual disabilities, wherein blind person about 5,500,000, low visual acuity about 7,500,000.In actual life, most blind person is
It is to assist walking by common bamboo and wood cane or common blind man's stick, this blind man's stick is only a common stock, it can only lead to
Obstacle, road pavement and the aerial dangerous obstacles for crossing detection part can only be limited in the range that blind man's stick can touch, even if at present
Common blind man's stick improves passive discerning ability by night vision luminous paint etc., but blind person can not actively know whether by other people
Effectively identification.
Existing walking stick does not have active seeking function, and user once forgets its position, it may be difficult to find.It is existing
The walking stick with navigation feature usually electronic equipment is concentrated on walking stick entirely, and the volume capacity of walking stick itself is limited, meeting
So that cells capacity is small, cause cruising ability poor, and the excessive integrated electronics on walking stick, aggravates the weight of walking stick
Amount, increases the load of user's hand, will greatly affect the normal use of user.In addition, existing band navigation feature
Walking stick all rely on GPS and navigate, its essence is common navigation equipment loaded in walking stick, not can solve interior
The short-range navigation demand of navigation needs and fixed-site, so that user still remains inconvenience when in use.
Summary of the invention
For above-mentioned deficiency in the prior art, a kind of blind person provided by the invention and amblyopia group are solved with navigation equipment
Existing guiding stick problem inconvenient for use.
In order to achieve the above object of the invention, the technical solution adopted by the present invention are as follows:
There is provided a kind of blind person and amblyopia group navigation equipment comprising server, walking stick, knapsack and RFID are actively marked
Label；Walking stick includes wand body and handle；The first battery, the first control module, the first wireless communication module, first are provided in wand body
Gyroscope, RFID identification device and the first loudspeaker, the front end of wand body be provided with binocular camera, supersonic detector, headlamp and
Light sensor；Physical feedback module and the first microphone are provided on handle；First control module respectively with the first battery, object
Manage feedback module, the first wireless communication module, the first loudspeaker, binocular camera, supersonic detector, headlamp, light level
Device, the first gyroscope are connected with RFID identification device；
Knapsack includes control box, controls and is provided with the second control module, second microphone, GPS module, the second electricity in box
Pond, the second wireless communication module, third wireless communication module, the second gyroscope, the second loudspeaker, memory and wired charging
Device；The rear end of control box is provided with warning lamp；Second control module respectively with the second battery, second microphone, GPS module,
Two wireless communication modules, third wireless communication module, the second gyroscope, the second loudspeaker, memory, warning lamp and wired charging
Device is connected；
RFID active tag, for being demarcated to placement location；
First battery, for the electronics into walking stick；
Physical feedback module, for passing through physical contact formula to field feedback according to the signal of the first control module；
First wireless communication module makes the first control module and second for being wirelessly connected with the second wireless communication module
Control module carries out wireless communication；
RFID identification device, the information of RFID active tag for identification, and the information that will acquire is sent to the first control mould
Block；
First gyroscope, for obtaining the posture information of walking stick；
First loudspeaker, for broadcasting acoustic information according to the signal of the first control module；
Binocular camera, for obtaining solid space information and image information in front of walking stick, and by solid space information and
Image information is sent to the first control module；
Supersonic detector, for obtain with the range information of barrier, and the information that will acquire is sent to the first control
Module；
Headlamp, for being illuminated according to the signal of the first control module to the environment in front of walking stick；
Light sensor, for obtaining the light and shade information of ambient enviroment, and the information that will acquire is sent to the first control mould
Block；
First microphone for obtaining received acoustic information, and sends it to the first control module；
First control module, for parsing instruction that the information from the first microphone is included and controlling the device on walking stick
Part carries out corresponding operation, when the device that instruction is not directed on walking stick, sends it to the second control module；Come for parsing
From the information of RFID identification device, obtain at a distance from corresponding RFID active tag, and the range information is sent to the second control
Module；Acoustic information is broadcasted for controlling the first loudspeaker；For controlling physical feedback mould according to the data of the second control module
Block work；For being sent to the second control module after being pre-processed the data of the data of binocular camera and the first gyroscope；
For obtaining the data of supersonic detector, obtain at a distance from peripheral obstacle；For obtaining the data of light sensor, and
Headlamp work is controlled according to the data；For obtaining the data from the second control module and according to the data on walking stick
Device carries out corresponding operation；
Second microphone for obtaining received acoustic information, and sends it to the second control module；
GPS module for obtaining knapsack position, and sends it to the second control module；
Second battery, for providing electric energy；
Second wireless communication module makes the second control module and first for being wirelessly connected with the first wireless communication module
Control module carries out wireless communication；
Third wireless communication module, for being connected with server, and for accessing internet；
Second gyroscope for obtaining the posture information of knapsack, and sends this information to the second control module；
Second loudspeaker, for broadcasting acoustic information according to the signal of the second control module；
Memory, for storing data；
Warning lamp goes out light warning for peripherad human hair；
Wired charger, for accessing alternating current and charging to the first battery and the second battery；
Second control module for obtaining the data from the first control module, and judges the command information in the data
Whether otherwise the command information is sent to server if then carrying out corresponding operation by the electronic device that direction controls in box；
For memory will to be stored in from the data of the first control module；For data acquisition mark information, the hand according to binocular camera
The position of environment and road condition information where cane, and position correction is carried out according to the data of the first gyroscope, according to position
Revised data and road condition information carry out current early warning in real time；For according to user instructions, obtained by RFID identification device
To range information and the installation position of RFID active tag carry out the navigation programming based on RFID；The second wheat is come from for parsing
The instruction that the information of gram wind is included judges the electronic device whether instruction is directed toward in control box or walking stick, if then to this
Electronic device carries out respective operations, and the instruction is otherwise sent to server；For being carried out according to the data of GPS module to knapsack
Positioning；For obtaining the state of user according to the posture information of knapsack and the working condition of navigation equipment, and by user's
State is sent to server；Acoustic information is broadcasted for controlling the second loudspeaker；For working to memory write-in navigation equipment
When the data that generate, and read data pre-stored in the memory；For controlling warning lamp work；For according to from server
Navigation data carry out Voice Navigation；
Server plans navigation routine for the location information and destination information according to knapsack online, and by the number that navigates
According to being sent to the second control module；Instruction in online analyzing voice data, and obtain in internet and corresponding to the instruction
The audio resource is sent to the second control module and is played by the first loudspeaker and/or the second loudspeaker by audio resource.
Further, the side of knapsack is provided with the earphone storage box with wireless charging, the earphone storage box of wireless charging
Inside it is placed with wireless charging type bluetooth headset；The charging unit of earphone storage box with wireless charging is connected with the second battery；
It is additionally provided with bluetooth module in control box, bluetooth module is connected with the second control module.
Further, the side of knapsack is additionally provided with the sound channel switching switch being connected with the second control module, sound
Sound channel switching switch is for controlling audio by the first loudspeaker and/or the second loudspeaker and/or wireless charging type bluetooth headset
Output.
Further, the first wireless communication module and the second wireless communication module are WiFi module.
Further, third wireless communication module is 5G module and/or 4G module.
Further, spring wire is provided between walking stick and knapsack.
Further, the side of knapsack is additionally provided with the cutting ferrule for hanging up walking stick.
Further, the lower end of knapsack is arranged in control box, is provided with the empty room for being located at control box upper end in knapsack.
Further, the lower end for controlling box is provided with radiator.
Further, physical feedback module includes the m × n dot matrix being at least made of 9 physical feedback units, each physics
Feedback unit includes movable conduit, is movably set with permanent magnet in movable conduit；One end seal of movable conduit is equipped with elastic material
The sealing of matter, the other end are provided with iron block, and the sealing end of movable conduit is physical feedback end；It is arranged on iron block and the first control
The coil that module is connected, coil generate the magnetic field for repelling permanent magnet when being powered, so that permanent magnet is disconnected in physical feedback unit
It is moved when electric to iron block direction, permanent magnet moves to sealing when physical feedback unit is powered and impacts sealing；Wherein m and n are equal
For positive integer and it is all larger than equal to 3.
The invention has the benefit that
1, the present invention can be indoors or in short distance environment by arranging that RFID active tag marks each position
Calmly, environment position positioning is carried out by the signal strength of the label of identification RFID and label, and then realizes environment indoors
In or short distance environment under navigation.
2, the present invention can obtain the phonetic order of user by the first microphone and second microphone, can voice control
The open and close of headlamp and warning lamp, can voice control obtain internet in audio data, pass through internet radio reception, solution
Certainly unhappy problem.Also navigation data can be obtained by speech polling destination information.In addition, user can also pass through voice
Walking stick or knapsack are waken up, user is helped substantially to position walking stick or knapsack by the response of the first loudspeaker or the second loudspeaker
Position, help to find walking stick or knapsack.
3, the present invention reduces the data processing device in walking stick, reduces volume occupancy, can provide for the first battery
Bigger space, and then the cruising ability of walking stick is effectively improved, mitigate the weight of walking stick, reduces the load of user.The present invention
The biggish electronic device of power consumption is arranged in knapsack, the self weight that navigation equipment is reduced by way of back went on a journey to user
Burden in journey on hand.
4, the present invention, which can correct binocular camera by the data of the first gyroscope and shake in walking stick use process, makes
At image fluctuation, the image for obtaining binocular camera maintains normally after calibration, and then the image data for passing through binocular camera
Three-dimensional modeling is carried out to environment where walking stick, the spatial data in threedimensional model is broadcasted in the form of speech, prompting makes
Surface conditions in front of user, and navigation route broadcasts specific direction of travel to user.
5, the present invention can detect the bright-dark degree of environment automatically, when bright-dark degree is lower than threshold value, automatically turn on headlamp
Light filling is carried out, supersonic detector also can detect the distance of walking stick front obstacle, the detection of binocular camera is assisted to provide avoidance
It reminds.
6, knapsack can be indicated during the motion since the second gyroscope generates the signal persistently changed, i.e., it is believed that making
User is walking with knapsack, therefore warning lamp of the invention can detect that the generation of the second gyroscope continues in the second control module
It is lighted when the signal of variation, user rear personnel is reminded to pay attention to avoiding, guarantee user and the safety of other pedestrians.
7, the sound channel switching switch that the present invention is arranged can manually select the way of output, and user is avoided not wear
Wireless charging type bluetooth headset, but when wireless charging type bluetooth headset is connect with bluetooth module, actively cuts off the first loudspeaker
And/or second loudspeaker audio output caused by audio break source, guarantee the sustainable output audio number of the selected way of output
According to.
8, the first wireless communication module and the second wireless communication module are WiFi module, can make the nothing of knapsack and walking stick
Line connection distance reaches tens of rice, and satisfaction knapsack and walking stick in average family are placed on different places and still data are kept to connect
It connects, convenient for searching the Position Approximate of walking stick or knapsack by phonetic order.
9, walking stick and knapsack can be attached by spring wire, and walking stick is lost when user being avoided to stop outdoors；And it sets
Walking stick can also be hung up by setting the cutting ferrule in knapsack side, avoid user that from can not decontroling the embarrassment of walking stick when stopping.
10, the empty room that control box upper end is arranged in knapsack can also store other articles, and radiator helps to control box
Internal dissipation from electronic devices.
11, physical feedback module is rushed by controlling the conduction time of each physical feedback unit to control iron block to sealing
It hits, when manpower is held at physical feedback module, impact sense can be experienced.The present invention is by way of dot matrix when different
Between point control different physical feedback cell operation, can be formed with directive feedback path, according to the direction of advance in navigation
Instruction control physical feedback module can transmit direction of advance to user by phy-aware form, can reduce environmental noise pair
The interference of voice broadcast.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is circuit block diagram of the invention；
Fig. 3 is the structural schematic diagram of physical feedback unit.
Wherein: 1, wand body；2, handle；3, binocular camera；4, light sensor；5, supersonic detector；6, headlamp；7,
RFID identification device；8, the first loudspeaker；9, physical feedback module；10, the first microphone；11, sound channel switching switch；12,
Second loudspeaker；13, cutting ferrule；14, warning lamp；15, box is controlled；16, empty room；17, with the earphone storage box of wireless charging；18,
Movable conduit；19, permanent magnet；20, it seals；21, iron block；22, coil；23, spring wire.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
As depicted in figs. 1 and 2, the blind person and amblyopia group navigation equipment include server, walking stick, knapsack and RFID master
Dynamic label；Walking stick includes wand body 1 and handle 2；The first battery, the first control module, the first radio communication mold are provided in wand body 1
Block, the first gyroscope, RFID identification device 7 and the first loudspeaker 8, the front end of wand body 1 are provided with binocular camera 3, ultrasound examination
Device 5, headlamp 6 and light sensor 4；Physical feedback module 9 and the first microphone 10 are provided on handle 2；First control mould
Block respectively with the first battery, physical feedback module 9, the first wireless communication module, the first loudspeaker 8, binocular camera 3, ultrasonic wave
Detector 5, headlamp 6, light sensor 4, the first gyroscope are connected with RFID identification device 7；
Knapsack includes control box 15, controls in box 15 and is provided with the second control module, second microphone, GPS module, second
Battery, the second wireless communication module, third wireless communication module, the second gyroscope, the second loudspeaker 12, memory and there is line charge
Electric appliance；The rear end of control box 15 is provided with warning lamp 14；Second control module respectively with the second battery, second microphone, GPS mould
Block, the second wireless communication module, third wireless communication module, the second gyroscope, the second loudspeaker 12, memory, warning lamp 14
It is connected with wired charger；
RFID active tag is used for the customized placement of user, and then demarcates to placement location；
First battery, for the electronics into walking stick；
Physical feedback module 9, for passing through physical contact formula to field feedback according to the signal of the first control module；
First wireless communication module makes the first control module and second for being wirelessly connected with the second wireless communication module
Control module carries out wireless communication；
RFID identification device 7, the information of RFID active tag for identification, and the information that will acquire is sent to the first control mould
Block；
First gyroscope, for obtaining the posture information of walking stick；
First loudspeaker 8, for broadcasting acoustic information according to the signal of the first control module；
Binocular camera 3, for obtaining solid space information and image information in front of walking stick, and by solid space information and
Image information is sent to the first control module；
Supersonic detector 5, for obtain with the range information of barrier, and the information that will acquire is sent to the first control
Module；
Headlamp 6, for being illuminated according to the signal of the first control module to the environment in front of walking stick；
Light sensor 4, for obtaining the light and shade information of ambient enviroment, and the information that will acquire is sent to the first control mould
Block；
First microphone 10 for obtaining received acoustic information, and sends it to the first control module；
First control module, for parsing instruction that the information from the first microphone 10 is included and controlling on walking stick
Device carries out corresponding operation, when the device that instruction is not directed on walking stick, sends it to the second control module；For parsing
Information from RFID identification device 7 obtains at a distance from corresponding RFID active tag, and the range information is sent to the second control
Molding block；Acoustic information is broadcasted for controlling the first loudspeaker 8；For controlling physical feedback according to the data of the second control module
Module 9 works；For being sent to the second control mould after being pre-processed the data of the data of binocular camera 3 and the first gyroscope
Block；For obtaining the data of supersonic detector 5, obtain at a distance from peripheral obstacle；For obtaining the number of light sensor 4
According to, and control headlamp 6 according to the data and work；For obtaining the data from the second control module and according to data opponent
Device on cane carries out corresponding operation；
Second microphone for obtaining received acoustic information, and sends it to the second control module；
GPS module for obtaining knapsack position, and sends it to the second control module；
Second battery, for providing electric energy；
Second wireless communication module makes the second control module and first for being wirelessly connected with the first wireless communication module
Control module carries out wireless communication；
Third wireless communication module, for being connected with server, and for accessing internet；
Second gyroscope for obtaining the posture information of knapsack, and sends this information to the second control module；
Second loudspeaker 12, for broadcasting acoustic information according to the signal of the second control module；
Memory, for storing data；
Warning lamp 14 goes out light warning for peripherad human hair；
Wired charger, for accessing alternating current and charging to the first battery and the second battery；
Second control module for obtaining the data from the first control module, and judges the command information in the data
Whether otherwise the command information is sent to service if then carrying out corresponding operation by the electronic device that direction controls in box 15
Device；For memory will to be stored in from the data of the first control module；For being believed according to the data acquisition road sign of binocular camera 3
The position of environment and road condition information where breath, walking stick, and position correction is carried out according to the data of the first gyroscope, according to
Data and road condition information after position correction carry out current early warning in real time；For according to user instructions, pass through RFID identification
The installation position of range information and RFID active tag that device 7 obtains carries out the navigation programming based on RFID；It is come from for parsing
The instruction that the information of second microphone is included judges the electronic device whether instruction is directed toward in control box 15 or walking stick, if
It is that respective operations then are carried out to the electronic device, the instruction is otherwise sent to server；For the data pair according to GPS module
Knapsack is positioned；For obtaining the state of user according to the posture information of knapsack and the working condition of navigation equipment, and will
The state of user is sent to server；Acoustic information is broadcasted for controlling the second loudspeaker 12；For being led to memory write-in
The data generated when boat equipment work, and read data pre-stored in the memory；It works for controlling warning lamp 14；For root
Voice Navigation is carried out according to the navigation data from server；
Server plans navigation routine for the location information and destination information according to knapsack online, and by the number that navigates
According to being sent to the second control module；Instruction in online analyzing voice data, and obtain in internet and corresponding to the instruction
The audio resource is sent to the second control module and is broadcast by the first loudspeaker 8 and/or the second loudspeaker 12 by audio resource
It puts.
The side of knapsack is provided with the earphone storage box 17 with wireless charging, puts in the earphone storage box 17 with wireless charging
It is equipped with wireless charging type bluetooth headset；The charging unit of earphone storage box 17 with wireless charging is connected with the second battery；Control
Bluetooth module is additionally provided in box 15 processed, bluetooth module is connected with the second control module.
The side of knapsack is additionally provided with the sound channel switching switch 11 being connected with the second control module, and sound channel is cut
It is defeated by the first loudspeaker 8 and/or the second loudspeaker 12 and/or wireless charging type bluetooth headset for controlling audio to change switch 11
Out.
First wireless communication module and the second wireless communication module are WiFi module.Third wireless communication module is 5G mould
Block and/or 4G module.
Detachable spring wire 23 is provided between walking stick and knapsack, the inside of spring wire 23 can be set for connecting
The conducting wire of first battery and the second battery allows the first battery and the second battery to be complementary to one another electricity.The side of knapsack is also
It is provided with the cutting ferrule 13 for hanging up walking stick.The lower end of knapsack is arranged in control box 15, is provided in knapsack and is located at control box 15
The empty room 16 of upper end.The lower end of control box 15 is provided with radiator.
As shown in figure 3, physical feedback module 9 includes the m × n dot matrix being at least made of 9 physical feedback units, each object
Managing feedback unit includes movable conduit 18, is movably set with permanent magnet 19 in movable conduit 18；One end seal of movable conduit 18
Sealing 20 equipped with elastic material, the other end are provided with iron block 21, and 20 end of sealing of movable conduit 18 is physical feedback end；Iron block
The coil 22 being connected with the first control module is arranged on 21, coil 22 generates the magnetic field for repelling permanent magnet 19 when being powered,
So that permanent magnet 19 is moved when physical feedback unit is powered off to 21 direction of iron block, permanent magnet 19 is when physical feedback unit is powered
It is moved to sealing 20 and impacts sealing 20；Wherein m and n is positive integer and is all larger than equal to 3.
In one embodiment of the invention, the main life of user can be arranged in RFID active tag by related personnel
In environment living, and different RFID active tag positions is demarcated, calibration information is stored in memory, foundation is based on
The concrete scene navigation model of RFID active tag.When user, which needs to navigate in this region, to walk, pass through phonetic order
Navigation needs are assigned, the second control module transfers the concrete scene based on RFID active tag in memory according to navigation needs
Navigation model simultaneously establishes route, and the second control module judges the number that whether may exceed walking stick and knapsack when walking stick is located at destination
According to connection critical distance, reminds user to take knapsack if then first passing through the first loudspeaker 8, be otherwise sent to navigation circuit
First control module, the first control module broadcast the side that moves ahead to user after obtaining navigation routine, through the first loudspeaker 8
To.In navigation procedure, RFID identification device 7 persistently identifies the information of RFID active tag, and basis comes from the second control module in real time
The data of RFID identification device 7 update position and the navigation routine of walking stick, until walking stick is located at destination.During the navigation process, if
When the connection signal of walking stick and knapsack is weaker than threshold value, the first control module passes through the first loudspeaker 8 and/or physical feedback module 9
It reminds user's walking stick that will disconnect with knapsack, moves ahead with caution.
When user needs to take walking stick and knapsack is outgoing, user can pass through the first microphone 10 or the second Mike
Wind assigns the phonetic order found and wake up walking stick or knapsack, when walking stick or knapsack will do it sound after receiving phonetic order and return
User's quick obtaining walking stick or knapsack are convenient in feedback.When user has obtained walking stick, but does not receive the sound feedback of knapsack,
User can send the phonetic order for searching knapsack to walking stick, and look-up command is passed through the first wireless communication by the first control module
Module and the second wireless communication module are sent to the second control module, and the second control module controls the second loudspeaker 12 and issues feedback
Sound.Otherwise walking stick can also be found by knapsack, make user's quick obtaining walking stick and knapsack.
When user needs to navigate in the environment of not setting up RFID active tag, navigation equipment passes through the first microphone
10 or second microphone obtain destination data, and navigation data is established by server, the second control module comes from acquisition
When the navigation data of server, being reminded simultaneously by the first loudspeaker 8, the second loudspeaker 12 and wireless charging type bluetooth headset makes
User switches the way of output that switch 11 selects navigating audio by sound channel, and every time using sound channel switching switch
The audio output mode chosen after 11 by selected mode voice reminder user, such as the audio that user chooses are defeated
Mode is " only wireless charging type bluetooth headset exports audio " out, then only reminds user institute by wireless charging type bluetooth headset
The audio output mode chosen is " only wireless charging type bluetooth headset exports audio ".Sound channel switching switch 11 can be more
A key respectively corresponds at least a kind of audio output mode, is also possible to single key by single depression and switches audio output side
Formula.Audio output mode includes only wireless charging type bluetooth headset output, the only output of the first loudspeaker 8, only the second loudspeaker 12
Output, the first loudspeaker 8 and the second loudspeaker 12 are common defeated jointly for output, wireless charging type bluetooth headset and the first loudspeaker 8
Out, wireless charging type bluetooth headset and the second loudspeaker 12 jointly output and wireless charging type bluetooth headset, the first loudspeaker 8 and
Second loudspeaker 12 exports seven kinds of modes jointly.
Electronics of user during navigation moves ahead, in the second control module starting control box 15 in addition to wired charger
Device work, and obtain the data of the second gyroscope in real time, the data of GPS module, the voice data from second microphone, come
From the data of server and the data from the first control module.First control module starts the electronic device work in walking stick,
And the data of the first gyroscope, the data of light sensor 4, the data of binocular camera 3, supersonic detector 5 are obtained in real time
Data, the data of RFID identification device 7, the voice data from the first microphone 10 and the data from the second control module.
The present invention corrects figure caused by binocular camera 3 shakes in walking stick use process by the data of the first gyroscope
As fluctuation, the image for obtaining binocular camera 3 maintains normally after calibration, and then passes through the image data opponent of binocular camera 3
Environment carries out three-dimensional modeling where cane, and the spatial data in threedimensional model is broadcasted in the form of speech, reminds user
The surface conditions (such as step, threshold, stone pier etc.) in front, and navigation route broadcasts specific direction of travel to user.
The impact of 21 pairs of iron block sealings 20 is controlled by controlling the conduction time of each physical feedback unit, when manpower is held
When at physical feedback module 9, impact sense can be experienced.The present invention puts control not by way of dot matrix in different times
Same physical feedback cell operation can be formed with directive feedback path, according to the direction of advance instruction control object in navigation
Direction of advance can be transmitted to user by phy-aware form by managing feedback module 9, can reduce environmental noise to voice broadcast
Interference.Such as junction ahead is straight trip, when user reaches crossing, among the dot matrix physical feedback unit of a row from
It successively works forward afterwards, the forward impact route of user's straight line is given, for indicating crossing forward；When needing to turn, from point
The rear end of battle array drives physical feedback unit to left front or right front together, is formed towards left front or the impact road of right front
Line is indicated or be turned right.Similarly, back-shaped assault route is formed on dot matrix can indicate to need to turn around to advance.
When advancing, supersonic detector 5 or second controller detect obstacle from the image that binocular camera 3 obtains on the way
When object, early warning is carried out to user by way of voice broadcast.It, can be by issuing language when user, which needs to rest, to direct oneself from boredom
The mode of sound instruction obtains the audio-frequency information in internet.Second control module can also be from the image data of binocular camera 3
It identifies mark information and bus routes information, increases the obtained information quantity of user.
When data fluctuations occurs during the navigation process in the second gyroscope exceeds the data generally walked, user can be indicated
Appearance such as is fallen at the unexpected situations, and the second control module sends to server and alerts, and by server by the warning and GPS signal
It is sent at the kith and kin of user, alarms to the kith and kin of user.When third wireless communication module can not be connected with server
When connecing, the second control module can be navigated offline according to the offline map data prestored in memory.When third channel radio
When believing that module and server keep connecting, server is preferentially taken to navigate online mode.
In conclusion the present invention can carry out indoor navigation and outdoor navigation, and the environment in navigation procedure is monitored,
Barrier early warning can be not only carried out, can also shift to an earlier date to user and predict information of road surface, reduce exploring the way the time for user, and
Alleviate the load of user on hand, is suitable for blind person and amblyopia group.
Claims (10)
1. a kind of blind person and amblyopia group navigation equipment, it is characterised in that: actively including server, walking stick, knapsack and RFID
Label；The walking stick includes wand body and handle；The first battery, the first control module, the first channel radio are provided in the wand body
Letter module, the first gyroscope, RFID identification device and the first loudspeaker, the front end of the wand body are provided with binocular camera, ultrasonic wave
Detector, headlamp and light sensor；Physical feedback module and the first microphone are provided on the handle；First control
Molding block respectively with the first battery, physical feedback module, the first wireless communication module, the first loudspeaker, binocular camera, ultrasonic wave
Detector, headlamp, light sensor, the first gyroscope are connected with RFID identification device；
The knapsack includes control box, is provided with the second control module, second microphone, GPS module, second in the control box
Battery, the second wireless communication module, third wireless communication module, the second gyroscope, the second loudspeaker, memory and wired charging
Device；The rear end of the control box is provided with warning lamp；Second control module respectively with the second battery, second microphone, GPS
Module, the second wireless communication module, third wireless communication module, the second gyroscope, the second loudspeaker, memory, warning lamp and
Wired charger is connected；
The RFID active tag, for being demarcated to placement location；
First battery, for the electronics into walking stick；
The physical feedback module, for passing through physical contact formula to field feedback according to the signal of the first control module；
First wireless communication module makes the first control module and second for being wirelessly connected with the second wireless communication module
Control module carries out wireless communication；
The RFID identification device, the information of RFID active tag for identification, and the information that will acquire is sent to the first control mould
Block；
First gyroscope, for obtaining the posture information of walking stick；
First loudspeaker, for broadcasting acoustic information according to the signal of the first control module；
The binocular camera, for obtaining solid space information and image information in front of walking stick, and by solid space information and
Image information is sent to the first control module；
The supersonic detector, for obtain with the range information of barrier, and the information that will acquire is sent to the first control
Module；
The headlamp, for being illuminated according to the signal of the first control module to the environment in front of walking stick；
The light sensor, for obtaining the light and shade information of ambient enviroment, and the information that will acquire is sent to the first control mould
Block；
First microphone for obtaining received acoustic information, and sends it to the first control module；
First control module, for parsing instruction that the information from the first microphone is included and controlling the device on walking stick
Part carries out corresponding operation, when the device that instruction is not directed on walking stick, sends it to the second control module；Come for parsing
From the information of RFID identification device, obtain at a distance from corresponding RFID active tag, and the range information is sent to the second control
Module；Acoustic information is broadcasted for controlling the first loudspeaker；For controlling physical feedback mould according to the data of the second control module
Block work；For being sent to the second control module after being pre-processed the data of the data of binocular camera and the first gyroscope；
For obtaining the data of supersonic detector, obtain at a distance from peripheral obstacle；For obtaining the data of light sensor, and
Headlamp work is controlled according to the data；For obtaining the data from the second control module and according to the data on walking stick
Device carries out corresponding operation；
The second microphone for obtaining received acoustic information, and sends it to the second control module；
The GPS module for obtaining knapsack position, and sends it to the second control module；
Second battery, for providing electric energy；
Second wireless communication module makes the second control module and first for being wirelessly connected with the first wireless communication module
Control module carries out wireless communication；
The third wireless communication module, for being connected with server, and for accessing internet；
Second gyroscope for obtaining the posture information of knapsack, and sends this information to the second control module；
Second loudspeaker, for broadcasting acoustic information according to the signal of the second control module；
The memory, for storing data；
The warning lamp goes out light warning for peripherad human hair；
The wired charger, for accessing alternating current and charging to the first battery and the second battery；
Second control module for obtaining the data from the first control module, and judges the command information in the data
Whether otherwise the command information is sent to server if then carrying out corresponding operation by the electronic device that direction controls in box；
For memory will to be stored in from the data of the first control module；For data acquisition mark information, the hand according to binocular camera
The position of environment and road condition information where cane, and position correction is carried out according to the data of the first gyroscope, according to position
Revised data and road condition information carry out current early warning in real time；For according to user instructions, obtained by RFID identification device
To range information and the installation position of RFID active tag carry out the navigation programming based on RFID；The second wheat is come from for parsing
The instruction that the information of gram wind is included judges the electronic device whether instruction is directed toward in control box or walking stick, if then to this
Electronic device carries out respective operations, and the instruction is otherwise sent to server；For being carried out according to the data of GPS module to knapsack
Positioning；For obtaining the state of user according to the posture information of knapsack and the working condition of navigation equipment, and by user's
State is sent to server；Acoustic information is broadcasted for controlling the second loudspeaker；For working to memory write-in navigation equipment
When the data that generate, and read data pre-stored in the memory；For controlling warning lamp work；For according to from server
Navigation data carry out Voice Navigation；
The server plans navigation routine for the location information and destination information according to knapsack online, and by the number that navigates
According to being sent to the second control module；Instruction in online analyzing voice data, and obtain in internet and corresponding to the instruction
The audio resource is sent to the second control module and is played by the first loudspeaker and/or the second loudspeaker by audio resource.
2. blind person according to claim 1 and amblyopia group navigation equipment, it is characterised in that: the side of the knapsack is set
It is equipped with the earphone storage box with wireless charging, wireless charging type bluetooth ear is placed in the earphone storage box of the wireless charging
Machine；The charging unit of the earphone storage box with wireless charging is connected with the second battery；It is additionally provided in the control box
Bluetooth module, the bluetooth module are connected with the second control module.
3. blind person according to claim 2 and amblyopia group navigation equipment, it is characterised in that: the side of the knapsack is also
It is provided with the sound channel switching switch being connected with the second control module, the sound channel switching switch is for controlling audio
It is exported by the first loudspeaker and/or the second loudspeaker and/or wireless charging type bluetooth headset.
4. blind person according to claim 1 and amblyopia group navigation equipment, it is characterised in that: first wireless communication
Module and the second wireless communication module are WiFi module.
5. blind person according to claim 1 and amblyopia group navigation equipment, it is characterised in that: the third wireless communication
Module is 5G module and/or 4G module.
6. blind person according to claim 1 and amblyopia group navigation equipment, it is characterised in that: the walking stick and knapsack it
Between be provided with spring wire.
7. blind person according to claim 1 and amblyopia group navigation equipment, it is characterised in that: the side of the knapsack is also
It is provided with the cutting ferrule for hanging up walking stick.
8. blind person according to claim 1 and amblyopia group navigation equipment, it is characterised in that: the control box setting exists
The lower end of knapsack is provided with the empty room for being located at control box upper end in the knapsack.
9. blind person according to claim 8 and amblyopia group navigation equipment, it is characterised in that: the lower end of the control box
It is provided with radiator.
10. blind person according to claim 1 and amblyopia group navigation equipment, it is characterised in that: the physical feedback mould
Block includes the m × n dot matrix being at least made of 9 physical feedback units, and each physical feedback unit includes movable conduit,
Permanent magnet is movably set in the activity conduit；One end seal of the activity conduit is equipped with the sealing of elastic material, the other end
It is provided with iron block, the sealing end of movable conduit is physical feedback end；It is arranged on the iron block and is connected with the first control module
Coil, the coil be powered when generate repel permanent magnet magnetic field so that permanent magnet physical feedback unit power off when to
The movement of iron block direction, permanent magnet move to sealing when physical feedback unit is powered and impact sealing；Wherein m and n is positive whole
It counts and is all larger than equal to 3.
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| CN201910312474.2A CN109925170B (en) | 2019-04-18 | 2019-04-18 | Navigation equipment for blind and amblyopia group |
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|---|---|---|---|
| CN201910312474.2A CN109925170B (en) | 2019-04-18 | 2019-04-18 | Navigation equipment for blind and amblyopia group |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110478206A (en) * | 2019-09-10 | 2019-11-22 | 李少阳 | A kind of intelligent blind guiding system and equipment |
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| CN109925170B (en) | 2020-12-22 |
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