CN110368273A - A kind of portable intelligent blind-guide device and method - Google Patents
A kind of portable intelligent blind-guide device and method Download PDFInfo
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- CN110368273A CN110368273A CN201910682750.4A CN201910682750A CN110368273A CN 110368273 A CN110368273 A CN 110368273A CN 201910682750 A CN201910682750 A CN 201910682750A CN 110368273 A CN110368273 A CN 110368273A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
-
- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/42—Simultaneous measurement of distance and other co-ordinates
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Health & Medical Sciences (AREA)
- Acoustics & Sound (AREA)
- Rehabilitation Therapy (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention provides a kind of portable intelligent blind-guide device and method, it is characterized in that, using light and handy portable raspberry pie as the control centre of device, the ultrasonic sensor that a vertical setting of types is arranged with fixed intervals is added in traditional blind guiding stick, and it is controlled by steering engine and rotates ranging, detect the spatial obstacle object information in front of blind person within the scope of 0 ° ~ 180 °；Raspberry pie simulation PWM wave controls the rotation of steering engine module by GPIO mouthfuls of output, and pwm pulse width is 0.278ms, and steering engine rotates 10 ° every time；When being greater than warning value 5cm if there is the barrier width that two neighboring ultrasonic sensor is measured, so that it may be determined as barrier, and calculate barrier shape and position according to supersonic sensing distance and steering engine rotation angle, issue voice broadcast by cell phone application；There are also a key warning functions simultaneously.Device composition is simple and has taken into account portability and intelligence, can expand applied to portable intelligent blind guiding stick.
Description
Technical field
The present invention relates to portable intelligent guide apparatus fields, it relates in particular to a kind of portable intelligent blind-guide device
And method.
Background technique
The World Health Organization's in October, 2018, the statistical data of publication was shown, in the world, was estimated to be 1,300,000,000 people
Suffer from the inpairment of vision of different form and degree, and the age of most of visual impairment personnel was more than 50 years old.In recent years, with
The development of computer software and hardware technology, all kinds of portable electronic devices come into our life, bring many conveniences and
While enjoyment, also it is more able to us and takes some changes for the life of this disadvantaged group of blind person, them is allowed personally to enjoy
By scientific and technological progress bring Gospel.Existing blind person's auxiliary tool is broadly divided into three classes by continuous development.
The first kind is can to take action to provide the blind-guidance robot for help of navigating for blind person, and its feature is to utilize a variety of sensings
Device judges the barrier around blind person, and is handled and then fed back to driving device for the information detected, then
By voice or vibration reminding blind person, to help blind person to be effectively shielded from barrier.This device usually requires that a variety of sensings
It device and needs to carry computer and completes complicated calculations, bulky complex is primarily adapted for use in indoor guide, is not suitable for blind person and goes on a journey process
In guide.
Second class is wearable guide equipment, and its feature is to install some light and handy electronics guides with blind person to set
Standby, blind person obtains the information of barrier by voice reminder or vibration, such as Massachusetts science and engineering Media Lab Sharma is set
" the Lechal tactile shoes " of meter provide positioning and orientation ancillary service by the tactile insole of shoe lining for blind person.This equipment tool
There is the features such as light and handy, intelligent, but makes relative complex and higher cost.
Third class is walking stick class guide equipment, and its feature is that device manufacturing is relatively easy, also very portable, not only can be with
So that blind person is obtained the supporting role of traditional walking poles, and and can accurately detect ambient enviroment and precise positioning, guide ability is simultaneously
It is not defeated by blind-guidance robot and wearable guide equipment.But disturbance of intelligence analyte detection, voice are realized in walking stick class guide equipment
During casting and a key are alarmed, need constantly to add embedded Control subsystem, wireless on original blind guiding stick
The modules such as ranging subsystem, road conditions recognition subsystem, navigation subsystem, increase its volume and weight, affect such equipment
Portability.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of portable intelligent blind-guide device and method, with light and handy portable
Raspberry pie be device control centre, take into account portability and intelligence, realize spatial obstacle object shape and position detection with
And voice broadcast and a key warning function.
The present invention provides a kind of portable intelligent blind-guide device, which includes:
Raspberry pie module, the control centre of device, the pwm signal for issuing control steering engine module rotation by GPIO mouthfuls and reception
The data information for handling ultrasonic distance measuring module acquisition, the shape of barrier is connect with location information by WIFI and is sent to hand
Machine APP；
Multiple ultrasonic sensors are placed on blind-guide device by ultrasonic distance measuring module with fixed intervals vertical setting of types, are realized to one
The ranging of a vertical plane；
Steering engine module is mounted on blind-guide device bottom, and entire ultrasonic distance measuring module is driven to carry out 0 ° ~ 180 ° in the horizontal plane
Rotary scanning；
Cell phone application module realizes barrier voice broadcast and a key warning function；
Power module: for raspberry pie power supply.
The barrier shape decision method of the device includes three steps:
Step 1, steering engine persistently rotates, and ultrasonic sensor continues ranging；
Step 2, barrier width calculates, and raspberry pie obtains each ultrasonic sensor institute being vertically arranged in blind-guide device in real time
In the obstacle distance information of plane, after any ultrasonic sensor detects that obstacle distance is less than safe distance 30cm,
Angle needed for recording the scanned barrier of the ultrasonic sensor calculates the ultrasonic sensor institute using trigonometric function
In the barrier width of plane, calculation formula are as follows:
H=L*sinθ
Wherein,LIndicate that any ultrasonic sensor detects obstacle distance,θIndicate the scanned obstacle of the ultrasonic sensor
Angle needed for object,HThe barrier width of plane where indicating the ultrasonic sensor；
Step 3, barrier shape decision, when being greater than warning value 5cm if there is the width that two neighboring ultrasonic sensor is measured,
It is determined that being barrier, the width of barrier utilizes triangle according to the steering engine angle that step 2 records by each sensor
The calculated place plane width of function, highly by survey width be greater than warning value highest and lowest ultrasonic sensor away from
From.
The Obstacle Position determination method of the device includes two steps:
Step 4, the position angle for calculating barrier, when ultrasonic sensor detects barrier for the first time, rudder at this time
Machine rotation angle is denoted as angle1, when ultrasonic sensor, which detects, leaves this barrier, steering engine rotation angle at this time
It is the position angle middle_angle for being denoted as barrier that degree, which is denoted as the difference of angle2, angle2 and angle1,；
Step 5, according to middle_angle it can be concluded that five kinds of situations of barrier, the first situation:
If this middle_angle is less than 40 °, show that there is barrier in right；
Second situation:
If middle_angle is greater than 40 ° and less than 80 °, showing that front is to the right has barrier；
The third situation:
If middle_angle is greater than 80 ° and less than 100 °, show that there is barrier in front；
4th kind of situation:
If intermediate angle is greater than 100 ° and less than 140 °, showing that front is to the left has barrier；
5th kind of situation:
If intermediate angle is greater than 140 ° and less than 180 °, show that there is barrier in left.
A kind of portable intelligent blind-guide device provided by the invention and method, which is characterized in that with light and handy portable raspberry
Group is the control centre of device, and the ultrasonic sensor that a vertical setting of types is arranged with fixed intervals is added in traditional blind guiding stick,
And it is controlled by steering engine and rotates ranging, detect the spatial obstacle object information in front of blind person within the scope of 0 ° ~ 180 °；Raspberry pie mould
Quasi- PWM wave controls the rotation of steering engine module, pwm pulse width 0.278ms by GPIO mouthfuls of output, and steering engine rotates every time
10°；When being greater than warning value 5cm if there is the barrier width that two neighboring ultrasonic sensor is measured, so that it may be judged to hindering
Hinder object, and barrier shape and position are calculated according to supersonic sensing distance and steering engine rotation angle, is issued by cell phone application
Voice broadcast；There are also a key warning functions simultaneously.Device composition is simple and has taken into account portability and intelligence, can expand and be applied to
Portable intelligent blind guiding stick.
Detailed description of the invention
Fig. 1 is a kind of functional block diagram of portable intelligent blind-guide device provided in an embodiment of the present invention.
Fig. 2 is the distance measuring method flow chart of ultrasonic distance measuring module provided in an embodiment of the present invention.
Fig. 3 is the scanning method flow chart of steering engine module provided in an embodiment of the present invention.
Fig. 4 is the barrier voice broadcast and One key alarming method process of cell phone application module provided in an embodiment of the present invention
Figure.
Fig. 5 is a kind of barrier shape decision method flow diagram provided in an embodiment of the present invention.
Fig. 6 is a kind of Obstacle Position determination method flow chart provided in an embodiment of the present invention.
Specific embodiment
In order to better understand the present invention, With reference to embodiment to a kind of portable intelligent guide of the invention
Device and method is described in more detail.In description below, the detailed description of the current existing prior art
Perhaps it can desalinate subject of the present invention content, these descriptions will be ignored herein.
Fig. 1 is a kind of functional block diagram of portable intelligent blind-guide device provided in an embodiment of the present invention.Guide dress
It sets including raspberry pie module 101, ultrasonic distance measuring module 102, steering engine module 103, cell phone application module 104, power module 105.
Each functional module shown in FIG. 1 will specifically be illustrated below.
Raspberry pie module 101 is the control centre of device, and the PWM for issuing control steering engine module rotation by GPIO mouthfuls believes
Number and receive the data information of processing ultrasonic distance measuring module acquisition, the shape of barrier and location information are passed through into WIFI company
Cell phone application is given in sending and receiving.
Multiple ultrasonic sensors are placed on blind guiding stick in fact by ultrasonic distance measuring module 102 with fixed intervals vertical setting of types
Now to the ranging of a vertical plane, spacing distance is 7cm in the present embodiment, and specific distance measuring method process is as shown in Figure 2:
(1) ultrasonic sensor initialization 201
Ultrasonic sensor initialization needs for the Vcc of multiple ultrasonic sensors and Gnd to be connected to raspberry pie Vcc and Gnd
It on GPIO mouth, while being also required to for Trig, Echo of each ultrasonic sensor to be connected to the different GPIO mouth of raspberry pie, pass through
GPIO mouthfuls of raspberry pie control ultrasonic sensors complete ranging；
(2) the Trig pin that raspberry tasks ultrasonic sensor sends high level signal, and ultrasonic wave issues 202；
(3) ultrasonic sensor receives return signal, is transmitted to raspberry pie 203 by Echo pin；
(4) raspberry pie obtains the time of return signal and calculates distance 204.
Steering engine module 103 is mounted on blind-guiding stick bottom, and entire range finder module is driven to carry out 0 ° -180 ° in the horizontal plane
Rotary scanning, specific scanning method process are as shown in Figure 3:
(1) steering engine initialization 301
Steering engine power supply line connects on the 5V power supply GPIO mouth of raspberry pie, and steering engine connects on the GPIO mouth of raspberry pie GND, rudder
Machine data control line connects any one GPIO of raspberry pie；
(2) raspberry pie simulation PWM wave controls the rotation 302 of steering engine by GPIO mouthfuls of output
Pwm pulse width 0.278ms, steering engine rotate 10 ° every time, just turn to 0 ° immediately when turning to 180 ° and restart to revolve
Turn, can thus be scanned ranging to the barrier in space entire in front of blind person.
Cell phone application module 104, main to complete barrier voice broadcast and audio alert, raspberry pie module controls cell phone application
Realization barrier voice broadcast and the method flow that a key is alarmed are as shown in Figure 4:
(1) cell phone application connect 401 with raspberry pie
Cell phone application is opened, the IP address and preset port numbers of raspberry pie are inputted, clicks connection button, can and be set
The connection of certain kind of berries group；
(2) barrier voice broadcast 402
Baidu's speech synthesis is added to cell phone application, when cell phone application receives the barrier shape decision result that raspberry pie transmits
Determined with Obstacle Position as a result, being broadcasted by Baidu's speech synthesis API, timely reminding blind avoids blind person
Barrier；
(3) one keys alarm 403
The positioning function of Baidu is imported into cell phone application, after cell phone application operation, the current location of blind person will be oriented, such as
Fruit blind person presses lower button, and raspberry pie will send the character string of one " SOS " to mobile phone, utilize the hair in Android studio
Send SMS function that current location is sent to emergency contact.
Power module 105, predominantly raspberry pie module for power supply.
Fig. 5 is a kind of barrier shape decision method flow diagram provided by the invention.Its step will be carried out below specific
Elaboration:
Step 1, steering engine module 103 persistently rotates, and ultrasonic sensor modules 102 continue ranging 501；
Step 2, barrier width calculates 502, and raspberry pie module 101 obtains a ultrasonic wave of ultrasonic distance measuring module more than 102 in real time
The obstacle distance 501 of plane where sensor, when any ultrasonic sensor detects that obstacle distance is less than safe distance
After 30cm, angle needed for recording the scanned barrier of the ultrasonic sensor calculates the ultrasonic wave using trigonometric function
The barrier width of plane, calculation formula where sensor are as follows:
H=L*sinθ
Wherein,LIndicate that any ultrasonic sensor detects obstacle distance,θIndicate the scanned obstacle of the ultrasonic sensor
Angle needed for object,HThe barrier width of plane where indicating the ultrasonic sensor；
Step 3, barrier shape decision 502, if there is the width that two neighboring ultrasonic sensor is measured is greater than warning value 5cm
When, so that it may it is determined as that barrier, the width of barrier utilize three according to the steering engine angle that step 2 records by each sensor
Angle function calculated place plane width, highly by survey width be greater than the highest and lowest ultrasonic sensor of warning value
Distance.
Fig. 6 is a kind of Obstacle Position determination method flow chart provided by the invention.Its step will be carried out below specific
Elaboration:
Step 1, the position angle 601 for calculating barrier, when 102 first time of ultrasonic distance measuring module detecting barrier,
The rotation angle of steering engine module 103 is denoted as angle1 at this time, leaves this barrier when ultrasonic distance measuring module 102 detects
When, it is to be denoted as the position of barrier the difference that the rotation angle of steering engine module 103 at this time is denoted as angle2, angle2 and angle1
Angle middle_angle；
Step 2, according to middle_angle it can be concluded that five kinds of situations 602 of barrier, the first situation:
If this middle_angle is less than 40 °, show that there is barrier in right；
Second situation:
If middle_angle is greater than 40 ° and less than 80 °, showing that front is to the right has barrier；
The third situation:
If middle_angle is greater than 80 ° and less than 100 °, show that there is barrier in front；
4th kind of situation:
If intermediate angle is greater than 100 ° and less than 140 °, showing that front is to the left has barrier；
5th kind of situation:
If intermediate angle is greater than 140 ° and less than 180 °, show that there is barrier in left.
A kind of portable intelligent blind-guide device provided by the invention and method, by raspberry pie module, ultrasonic distance measuring module,
Steering engine module, cell phone application module, power module composition, wherein raspberry pie module is the control centre of device, is sent out by GPIO mouthfuls
The pwm signal of control steering engine module rotation and the data information of reception processing ultrasonic distance measuring module acquisition out, by barrier
Shape connect with location information by WIFI and be sent to cell phone application；Ultrasonic distance measuring module is by multiple ultrasonic sensor groups
At being placed on blind-guide device with fixed intervals vertical setting of types, realize ranging to a vertical plane；Steering engine module is mounted on guide
Bottom of device sends simulation PWM wave to control rotation by GPIO mouthfuls of output, drives entire ultrasonic distance measuring module in level by the certain kind of berries
0 ° ~ 180 ° of rotary scanning is carried out in face；Steering engine persistently rotates, and ultrasonic sensor continues ranging, if there is two neighboring super
When the barrier width that sonic sensor is measured is greater than warning value 5cm, so that it may be determined as barrier, and according to supersonic sensing
Distance and steering engine rotation angle calculate barrier shape and position, issue voice broadcast by cell phone application, cell phone application is simultaneously
There are also a key warning functions；Power module is raspberry pie module for power supply.Device composition is simple and has taken into account portability and intelligence
Property, it can also increase in ultrasonic distance measuring module between more ultrasonic sensors and reduction adjacent ultrasonic wave sensor
Gauge is expanded from barrier shape and position detection accuracy is further increased and is applied to portable intelligent blind guiding stick.
Although the illustrative specific embodiment of the present invention is described above, but it should be clear that the present invention is unlimited
In the range of specific embodiment, for those skilled in the art, as long as various change is in appended right
It is required that these variations are it will be apparent that all utilize present inventive concept in the spirit and scope of the present invention for limiting and determining
Innovation and creation in the column of protection.
Claims (5)
1. a kind of portable intelligent blind-guide device, which is characterized in that the device includes:
Raspberry pie module, the control centre of device, the pwm signal for issuing control steering engine module rotation by GPIO mouthfuls and reception
The data information for handling ultrasonic distance measuring module acquisition, the shape of barrier is connect with location information by WIFI and is sent to hand
Machine APP；
Multiple ultrasonic sensors are placed on blind-guide device by ultrasonic distance measuring module with fixed intervals vertical setting of types, are realized to one
The ranging of a vertical plane；
Steering engine module is mounted on blind-guide device bottom, and entire ultrasonic distance measuring module is driven to carry out 0 ° ~ 180 ° in the horizontal plane
Rotary scanning；
Cell phone application module realizes barrier voice broadcast and a key warning function；
Power module is raspberry pie module for power supply.
2. a kind of portable intelligent blind-guide device according to claim 1, which is characterized in that in ultrasonic distance measuring module with
The spacing vertical setting of types of fixed intervals 7cm places multiple ultrasonic sensors, is controlled by the rotation of steering engine module, ultrasonic distance measurement mould
Block can obtain spatial obstacle object range information with the plane where fixed intervals scan each ultrasonic sensor.
3. a kind of portable intelligent blind-guide device according to claim 1, which is characterized in that steering engine module is mounted on guide
Bottom of device, ultrasonic wave module is vertically placed in steering engine module, and during realization, raspberry pie simulation PWM wave passes through GPIO mouthfuls
Output control the rotation of steering engine module, pwm pulse width 0.278ms, steering engine rotates 10 ° every time, when turning to 180 ° just
0 ° is turned to immediately to restart to rotate.
4. a kind of portable intelligent blind-guide device according to claim 1, which is characterized in that barrier shape decision method
Including three steps:
Step 1, steering engine persistently rotates, and ultrasonic sensor continues ranging；
Step 2, barrier width calculates, and raspberry pie obtains each ultrasonic sensor institute being vertically arranged in blind-guide device in real time
In the obstacle distance information of plane, after any ultrasonic sensor detects that obstacle distance is less than safe distance 30cm,
Angle needed for recording the scanned barrier of the ultrasonic sensor calculates the ultrasonic sensor institute using trigonometric function
In the barrier width of plane, calculation formula are as follows:
H=L*sinθ
Wherein,LIndicate that any ultrasonic sensor detects obstacle distance,θIndicate the scanned obstacle of the ultrasonic sensor
Angle needed for object,HThe barrier width of plane where indicating the ultrasonic sensor；
Step 3, barrier shape decision, if there is the barrier width that two neighboring ultrasonic sensor is measured is greater than warning value
When 5cm, so that it may be determined as that barrier, barrier width are utilized by each sensor according to the steering engine angle that step 2 records
The calculated place plane width of trigonometric function, highly by survey width be greater than warning value highest and lowest ultrasonic sensor
Distance.
5. a kind of portable intelligent blind-guide device according to claim 1, which is characterized in that Obstacle Position determination method
Including two steps:
Step 4, the position angle for calculating barrier, when ultrasonic sensor detects barrier for the first time, rudder at this time
Machine rotation angle is denoted as angle1, when ultrasonic sensor, which detects, leaves this barrier, steering engine rotation angle at this time
It is the position angle middle_angle for being denoted as barrier that degree, which is denoted as the difference of angle2, angle2 and angle1,；
Step 5, according to middle_angle it can be concluded that five kinds of situations of barrier, the first situation:
If this middle_angle is less than 40 °, show that there is barrier in right；
Second situation:
If middle_angle is greater than 40 ° and less than 80 °, showing that front is to the right has barrier；
The third situation:
If middle_angle is greater than 80 ° and less than 100 °, show that there is barrier in front；
4th kind of situation:
If intermediate angle is greater than 100 ° and less than 140 °, showing that front is to the left has barrier；
5th kind of situation:
If intermediate angle is greater than 140 ° and less than 180 °, show that there is barrier in left.
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| CN201910682750.4A CN110368273A (en) | 2019-07-26 | 2019-07-26 | A kind of portable intelligent blind-guide device and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110680686A (en) * | 2019-11-06 | 2020-01-14 | 青岛港湾职业技术学院 | Intelligent voice blind guiding system based on AI open platform and use method |
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| CN202471965U (en) * | 2011-12-02 | 2012-10-03 | 中国计量学院 | Guide blind device capable of detecting position of barrier |
| CN105147504A (en) * | 2015-08-12 | 2015-12-16 | 中原工学院 | Multifunctional intelligent blind guiding crutch |
| CN105943325A (en) * | 2016-06-07 | 2016-09-21 | 北京邮电大学 | Blind guiding equipment |
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| CN202471965U (en) * | 2011-12-02 | 2012-10-03 | 中国计量学院 | Guide blind device capable of detecting position of barrier |
| CN105147504A (en) * | 2015-08-12 | 2015-12-16 | 中原工学院 | Multifunctional intelligent blind guiding crutch |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110680686A (en) * | 2019-11-06 | 2020-01-14 | 青岛港湾职业技术学院 | Intelligent voice blind guiding system based on AI open platform and use method |
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Application publication date: 20191025 |