CN111443650B - Terminal for robot blind guiding dog, safety control method of terminal and electronic equipment - Google Patents
Terminal for robot blind guiding dog, safety control method of terminal and electronic equipment Download PDFInfo
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- CN111443650B CN111443650B CN202010542740.3A CN202010542740A CN111443650B CN 111443650 B CN111443650 B CN 111443650B CN 202010542740 A CN202010542740 A CN 202010542740A CN 111443650 B CN111443650 B CN 111443650B
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- 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
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- A61H3/06—Walking aids for blind persons
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Abstract
The invention provides a terminal for a robot blind guiding dog, a safety control method thereof and electronic equipment, wherein tension data between the terminal and the robot blind guiding dog is acquired; controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data; therefore, the physical connection between the terminal and the robot guide dog can be timely disconnected when the robot guide dog has an accident, and the user is prevented from being injured due to direct dragging of the user.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a terminal for a robot blind guiding dog, a safety control method of the terminal and electronic equipment.
Background
The trip of the blind is always a hot topic of social attention, and although the blind provides a lot of help for the blind in the aspect of city construction, such as setting blind roads, braille indicators and the like, the practical application effect is not ideal. Therefore, the blind person can be assisted to go out through the guide dog, and the blind person can go out more conveniently and freely.
However, the blind guiding dogs are difficult to train, have long training period and high training cost, so that the number of the blind guiding dogs which can be put into practical use is very limited, the blind guiding dogs are high in price, and the use requirements of most blind people cannot be met.
In order to solve the problem, the design concept of a robot guide dog is proposed in the industry, for example, the invention patent with the patent number of CN201910794600.2 discloses an intelligent auxiliary device for the blind for automatically finding the way and a method thereof, and the intelligent auxiliary device for the blind is arranged to help the blind go out.
In the practical use process, the robot guide dog is connected with a user (blind person) through a terminal, the terminal can be a handle part of a traction rope or a handle part of a control rod, and the user generally holds the handle part of the traction rope or the handle part of the control rod when using the robot guide dog for navigation. However, when the robot guide dog has an accident, such as being dragged by a car jam, causing a fast movement due to a program running out of business, etc., the robot guide dog directly involves the user and causes an injury to the user.
Disclosure of Invention
In view of the defects of the prior art, an object of the embodiments of the present application is to provide a terminal for a robot blind guide dog, a safety control method thereof, and an electronic device, which can timely disconnect the physical connection between the terminal and the robot blind guide dog when the robot blind guide dog is in an accident, and avoid directly dragging a user and causing injury to the user.
In a first aspect, an embodiment of the present application provides a terminal safety control method for a robot blind guiding dog, which is applied to a terminal for a robot blind guiding dog, where the terminal and the robot blind guiding dog have a physical connection therebetween, and the physical connection is disconnectable; the method comprises the following steps:
acquiring tension data between the terminal and the robot guide dog;
and controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data.
In the method for controlling the safety of the terminal for the robot blind guiding dog, after the terminal is disconnected from the physical connection with the robot blind guiding dog, the method further comprises the following steps:
sending a connection request to the robot guide dog;
acquiring distance data between a connecting part of the robot guide dog and the terminal;
and controlling the terminal to send a prompt signal according to the distance data so as to prompt a user of the change of the distance between the connecting part of the robot guide dog and the terminal.
In the method for controlling the safety of the terminal for the robot guide dog, the step of controlling the terminal to maintain or disconnect the physical connection with the robot guide dog according to the tension data comprises the following steps:
comparing the tension data with a first preset tension threshold;
and if the tension data is greater than or equal to the first preset tension threshold value, controlling the terminal to break the physical connection with the robot guide dog.
In the method for controlling the safety of the terminal for the robot guide dog, the step of controlling the terminal to maintain or disconnect the physical connection with the robot guide dog according to the tension data further comprises:
comparing the tension data with a second preset tension threshold;
if the tension data is larger than the second preset tension threshold and smaller than the first preset tension threshold, sending an inquiry signal to inquire whether physical connection needs to be disconnected;
acquiring a response signal of a user; the response signal is a determination signal or a negative signal;
and if the response signal is a determination signal, controlling the terminal to disconnect the physical connection with the robot guide dog.
In the terminal safety control method for the robot blind guiding dog, the prompt signal is a vibration signal and/or a sound signal; the step of controlling the terminal to send out a prompt signal according to the distance data so as to prompt a user of the distance change condition between the connecting part of the robot guide dog and the terminal comprises the following steps:
and controlling the change of the prompt signal according to the change of the distance data.
In some embodiments, the step of controlling the change of the cue signal according to the change of the distance data comprises:
comparing the distance data to a first preset distance threshold;
if the distance data is larger than the first preset distance threshold, sending a vibration signal, wherein the smaller the distance data is, the larger/smaller the vibration is;
and if the distance data is smaller than or equal to the first preset distance threshold, stopping vibrating and sending out the sound signal, wherein the smaller the distance data is, the larger/smaller the intensity and/or frequency of the sound signal is.
In a second aspect, embodiments of the present application provide a terminal for a robot blind guiding dog, where the terminal for a robot blind guiding dog and the robot blind guiding dog have a physical connection therebetween, and the physical connection is disconnectable; it includes:
the first acquisition module is used for acquiring tension data between the terminal and the robot guide dog;
and the first execution module is used for controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data.
The terminal for the robot blind guiding dog further comprises:
the first sending module is used for sending a connection request to the robot guide dog;
the second acquisition module is used for acquiring distance data between the connecting part of the robot guide dog and the terminal;
and the prompting module is used for controlling the terminal to send a prompting signal according to the distance data so as to prompt a user of the distance change between the connecting part of the robot guide dog and the terminal.
In the terminal for the robot blind guiding dog, the prompt signal is a vibration signal and/or a sound signal; the prompting module controls the terminal to send a prompting signal according to the distance data so as to prompt a user of the change of the distance between the connecting part of the robot guide dog and the terminal, and controls the prompting signal to change according to the change of the distance data.
An electronic device comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor is used for executing the terminal safety control method for the robot blind guiding dog by calling the computer program stored in the memory.
Has the advantages that:
according to the terminal for the robot blind guiding dog, the safety control method and the electronic equipment, tension data between the terminal and the robot blind guiding dog are acquired; controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data; therefore, the physical connection between the terminal and the robot guide dog can be timely disconnected when the robot guide dog has an accident, and the user is prevented from being injured due to direct dragging of the user.
Drawings
Fig. 1 is a flowchart of a terminal safety control method for a robot blind guiding dog according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a terminal for a robot blind guiding dog provided in an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The following disclosure provides embodiments or examples for implementing different configurations of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
Referring to fig. 1, a terminal safety control method for a robot blind guiding dog according to an embodiment of the present application is applied to a terminal for a robot blind guiding dog, where the terminal and the robot blind guiding dog have a physical connection therebetween, and the physical connection can be disconnected; the method comprises the following steps:
A1. acquiring tension data between a terminal and a robot guide dog;
A2. and controlling the terminal to maintain or break the physical connection with the robot guide dog according to the tension data.
Tension data between the terminal and the robot guide dog can be measured in real time through a sensor, and generally, the sensor can be arranged at a connection part of the terminal for connecting with the robot guide dog to measure tension.
The tension spring can also be arranged in the terminal, one end of the tension spring is fixed, the other end of the tension spring can move under the action of tension, and the tension data can be calculated by measuring the position data of the movable end of the tension spring. For example, a sliding resistance-changing device can be arranged at the movable end of the tension spring, the position of the movable end of the tension spring can be calculated by measuring the resistance of the sliding resistance-changing device, and then tension data can be calculated.
In order to realize the disconnection of physical connection, a plug pin for inserting a terminal is arranged on the connecting part of the robot guide dog, and an electric locking mechanism for locking the plug pin is arranged in the terminal; for example, a slot may be provided in the deadbolt, and the electric latch mechanism may include a deadbolt for insertion into the slot to lock the deadbolt, and a drive motor for driving the deadbolt into and out of the slot. The manner in which the physical connection disconnection is implemented is not limited thereto.
When the terminal is disconnected from the physical connection with the robot seeing-eye dog, reconnection may be required, and therefore, in some preferred embodiments, after the terminal is disconnected from the physical connection with the robot seeing-eye dog, the method further includes the following steps:
A3. sending a connection request to the robot guide dog;
A4. acquiring distance data between a connecting part of a robot guide dog and a terminal;
A5. and controlling the terminal to send a prompt signal according to the distance data so as to prompt the user of the change of the distance between the connecting part of the robot guide dog and the terminal.
The user is blind, the robot guide dog gradually approaches the user in the connection process, the sound can be sent to remind the user of reconnection in the approach process, the command can also be sent to the terminal through radio, the sound is sent by the terminal to remind the user of reconnection, and in the reconnection process, the user can be prompted for the distance data through the prompt signal because the user cannot see the position of the connection part of the robot guide dog, so that the user can adjust the position of the terminal according to the distance data, and the accurate butt joint is facilitated.
The distance data between the connecting part of the robot guide dog and the terminal can be measured by a distance measuring device (such as a vision system, a radar and the like) on the robot guide dog and sent to the terminal, and can also be measured by the distance measuring device arranged on the terminal.
In this embodiment, a2. the step of controlling the terminal to maintain or disconnect the physical connection with the robot guide dog according to the tension data includes:
comparing the tension data with a first preset tension threshold;
and if the tension data is greater than or equal to the first preset tension threshold value, the control terminal disconnects the physical connection with the robot guide dog.
When the tension data is larger than or equal to the first preset tension threshold value, the fact that the tension between the terminal and the robot guide dog is too large is indicated, the robot guide dog is probably clamped by an automobile and dragged, the program runs out of business and causes rapid movement and the like, and at the moment, the physical connection is immediately disconnected, so that the user is prevented from being directly dragged and injured.
And comparing the difference value between the tension data at the current moment and the tension data at the previous moment with a preset tension difference threshold value, and if the difference value is greater than or equal to the preset tension difference threshold value, disconnecting the physical connection between the control terminal and the robot blind-guiding dog. The fact that the difference value between the tension data at the current moment and the tension data at the previous moment is too large is also an expression form of tension abnormity, and indicates that injury may be caused to a user, so that the physical connection should be disconnected.
In some embodiments, a2. the step of controlling the terminal to maintain or break the physical connection with the robot seeing-eye dog according to the tension data further comprises:
comparing the tension data with a second preset tension threshold;
if the tension data is larger than a second preset tension threshold and smaller than a first preset tension threshold, sending an inquiry signal to inquire whether physical connection needs to be disconnected;
acquiring a response signal of a user; the response signal is a determination signal or a negative signal;
and if the response signal is the determination signal, the control terminal disconnects the physical connection with the robot guide dog.
The second predetermined tension threshold is a predetermined tension value that is less than the first predetermined tension threshold, and in some cases, when an accident occurs, the tension between the terminal and the robot guide dog is not suddenly increased to the first preset tension threshold value, but gradually increases to provide reaction time for the user, when the pulling force is higher than a second preset pulling force threshold value, the pulling force is dangerous, an inquiry signal (generally, a voice signal, or a voice signal and a vibration signal) is sent to the user to inquire whether the physical connection needs to be disconnected, the user can automatically judge whether the physical connection needs to be disconnected and respond, the response can be performed by voice (namely, the response signal is a voice signal), or by pressing a key (namely, the response signal is an electric signal triggered by the key), and if the user wants to disconnect the physical connection, the connection is immediately disconnected. Therefore, before the pulling force reaches the first preset pulling force threshold value, a user can automatically determine whether to disconnect according to specific conditions, and the safety is higher.
Further, the cue signal may be, but is not limited to, a vibration signal and/or a sound signal; thus A5, controlling the terminal to send out a prompt signal according to the distance data so as to prompt the user of the distance change situation between the connecting part of the robot guide dog and the terminal, wherein the step comprises the following steps:
and controlling the change of the prompt signal according to the change of the distance data.
For example, the cue signal is a vibration signal, the smaller the distance, the larger or smaller the vibration, and in view of the strong vibration may affect the accurate docking, the smaller the distance, the smaller the vibration is preferred;
for another example, the prompt signal is a voice signal (belonging to a sound signal), and the distance data is broadcasted through voice;
for another example, the cue signal is a buzzer signal (belonging to a sound signal), and the smaller the distance, the larger or smaller the sound/frequency;
or for example, the prompt signal comprises a vibration signal and a sound signal, the vibration signal and the sound signal can be sent out simultaneously and respectively change, and the vibration signal or the sound signal can also be sent out in a segmented mode.
In some embodiments, the step of controlling the change in the cue signal based on the change in the distance data comprises:
comparing the distance data with a first preset distance threshold;
if the distance data is larger than a first preset distance threshold, a vibration signal is sent out, and the smaller the distance data is, the larger/smaller the vibration is;
and if the distance data is less than or equal to a first preset distance threshold value, stopping vibrating and emitting the sound signal, wherein the smaller the distance data is, the greater/smaller the intensity and/or frequency of the sound signal is.
Here, when the distance data is less than or equal to the first preset distance threshold, the vibration is stopped, and the distance is prompted through the sound signal, so that the influence of the vibration on accurate docking can be effectively avoided, and before switching to the sound signal, the user can judge that the distance of the robot guide dog is still relatively far according to the fact that the prompt signal is not switched yet, the docking operation is not needed temporarily, the robot guide dog can be relaxed, and anxiety caused by the fact that the robot guide dog is in a tense state for a long time can be avoided.
According to the terminal safety control method for the robot blind guiding dog, the tension data between the terminal and the robot blind guiding dog are obtained; controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data; therefore, the physical connection between the terminal and the robot guide dog can be timely disconnected when the robot guide dog has an accident, and the user is prevented from being injured due to direct dragging of the user.
Referring to fig. 2, an embodiment of the present application further provides a terminal for a robot blind guiding dog, where the terminal for a robot blind guiding dog and the robot blind guiding dog have a physical connection therebetween, and the physical connection is disconnectable; the system comprises a first acquisition module 1 and a first execution module 2;
the first acquisition module 1 is used for acquiring tension data between the terminal and the robot guide dog;
the first execution module 2 is used for controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data.
Further, the first execution module 2 compares the tension data with a first preset tension threshold value when controlling the terminal to maintain or disconnect the physical connection with the robot guide dog according to the tension data, and controls the terminal to disconnect the physical connection with the robot guide dog when the tension data is greater than or equal to the first preset tension threshold value.
In some embodiments, the terminal for the robot blind guiding dog further comprises a first sending module, a second obtaining module and a prompting module;
the first sending module is used for sending a connection request to the robot guide dog;
the second acquisition module is used for acquiring distance data between the connecting part of the robot guide dog and the terminal;
the prompting module is used for controlling the terminal to send a prompting signal according to the distance data so as to prompt the change of the distance between the connecting part of the robot guide dog and the terminal.
Further, the prompt signal is a vibration signal and/or a sound signal; the prompting module controls the terminal to send a prompting signal according to the distance data so as to prompt a user of the change condition of the distance between the connecting part of the robot guide dog and the terminal, and the prompting module controls the change of the prompting signal according to the change of the distance data.
According to the method, the terminal for the robot blind guiding dog acquires tension data between the terminal and the robot blind guiding dog; controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data; therefore, the physical connection between the terminal and the robot guide dog can be timely disconnected when the robot guide dog has an accident, and the user is prevented from being injured due to direct dragging of the user.
Referring to fig. 3, an electronic device 100 according to an embodiment of the present application further includes a processor 101 and a memory 102, where the memory 102 stores a computer program, and the processor 101 is configured to execute the above-mentioned terminal security control method for a robot blind guiding dog by calling the computer program stored in the memory 102.
The processor 101 is electrically connected to the memory 102. The processor 101 is a control center of the electronic device 100, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or calling a computer program stored in the memory 102 and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device.
The memory 102 may be used to store computer programs and data. The memory 102 stores computer programs containing instructions executable in the processor. The computer program may constitute various functional modules. The processor 101 executes various functional applications and data processing by calling a computer program stored in the memory 102.
In this embodiment, the processor 101 in the electronic device 100 loads instructions corresponding to one or more processes of the computer program into the memory 102, and the processor 101 runs the computer program stored in the memory 102 according to the following steps, so as to implement various functions: acquiring tension data between the terminal and the robot guide dog; and controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data.
According to the above, the electronic device acquires the tension data between the terminal and the robot guide dog; controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data; therefore, the physical connection between the terminal and the robot guide dog can be timely disconnected when the robot guide dog has an accident, and the user is prevented from being injured due to direct dragging of the user.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, which are substantially the same as the present invention.
Claims (6)
1. A terminal safety control method for a robot blind guiding dog is applied to a terminal for the robot blind guiding dog, wherein the terminal and the robot blind guiding dog are in physical connection and the physical connection can be disconnected; the method is characterized by comprising the following steps:
acquiring tension data between the terminal and the robot guide dog;
controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data;
after the terminal is disconnected from the physical connection with the robot guide dog, the method further comprises the following steps:
sending a connection request to the robot guide dog;
acquiring distance data between a connecting part of the robot guide dog and the terminal;
controlling the terminal to send a prompt signal according to the distance data so as to prompt a user of the change of the distance between the connecting part of the robot guide dog and the terminal;
the step of controlling the terminal to maintain or break the physical connection with the robot guide dog according to the tension data comprises the following steps:
comparing the tension data with a first preset tension threshold;
if the tension data is greater than or equal to the first preset tension threshold value, controlling the terminal to disconnect the physical connection with the robot guide dog;
comparing the tension data with a second preset tension threshold;
if the tension data is larger than the second preset tension threshold and smaller than the first preset tension threshold, sending an inquiry signal to inquire whether physical connection needs to be disconnected;
acquiring a response signal of a user; the response signal is a determination signal or a negative signal;
and if the response signal is a determination signal, controlling the terminal to disconnect the physical connection with the robot guide dog.
2. The terminal safety control method for the robot blind guiding dog according to claim 1, wherein the prompt signal is a vibration signal and/or a sound signal; the step of controlling the terminal to send out a prompt signal according to the distance data so as to prompt a user of the distance change condition between the connecting part of the robot guide dog and the terminal comprises the following steps:
and controlling the change of the prompt signal according to the change of the distance data.
3. The terminal safety control method for the robot blind-guiding dog according to claim 2, wherein the step of controlling the change of the prompt signal according to the change of the distance data comprises:
comparing the distance data to a first preset distance threshold;
if the distance data is larger than the first preset distance threshold, sending a vibration signal, wherein the smaller the distance data is, the larger/smaller the vibration is;
and if the distance data is smaller than or equal to the first preset distance threshold, stopping vibrating and sending out the sound signal, wherein the smaller the distance data is, the larger/smaller the intensity and/or frequency of the sound signal is.
4. A terminal for a robot blind guiding dog is characterized in that the terminal for the robot blind guiding dog and the robot blind guiding dog are in physical connection, and the physical connection can be disconnected; it includes:
the first acquisition module is used for acquiring tension data between the terminal and the robot guide dog;
the first execution module is used for controlling the terminal to keep or break physical connection with the robot guide dog according to the tension data;
further comprising:
the first sending module is used for sending a connection request to the robot guide dog;
the second acquisition module is used for acquiring distance data between the connecting part of the robot guide dog and the terminal;
the prompting module is used for controlling the terminal to send a prompting signal according to the distance data so as to prompt a user of the distance change condition between the connecting part of the robot guide dog and the terminal;
when the first execution module controls the terminal to keep or break the physical connection with the robot guide dog according to the tension data,
comparing the tension data with a first preset tension threshold;
if the tension data is greater than or equal to the first preset tension threshold value, controlling the terminal to disconnect the physical connection with the robot guide dog;
comparing the tension data with a second preset tension threshold;
if the tension data is larger than the second preset tension threshold and smaller than the first preset tension threshold, sending an inquiry signal to inquire whether physical connection needs to be disconnected;
acquiring a response signal of a user; the response signal is a determination signal or a negative signal;
and if the response signal is a determination signal, controlling the terminal to disconnect the physical connection with the robot guide dog.
5. The terminal for the robot blind guiding dog according to claim 4, wherein the prompt signal is a vibration signal and/or a sound signal; the prompting module controls the terminal to send a prompting signal according to the distance data so as to prompt a user of the change of the distance between the connecting part of the robot guide dog and the terminal, and controls the prompting signal to change according to the change of the distance data.
6. An electronic device comprising a processor and a memory, the memory having stored therein a computer program, the processor being configured to execute the method for terminal security control for a robot blind-guiding dog according to any one of claims 1 to 3 by calling the computer program stored in the memory.
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| CN202010542740.3A CN111443650B (en) | 2020-06-15 | 2020-06-15 | Terminal for robot blind guiding dog, safety control method of terminal and electronic equipment |
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| CN202010542740.3A CN111443650B (en) | 2020-06-15 | 2020-06-15 | Terminal for robot blind guiding dog, safety control method of terminal and electronic equipment |
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| CN202232512U (en) * | 2011-09-09 | 2012-05-30 | 夏子豪 | Safety dog rope |
| JP2018088028A (en) * | 2016-11-28 | 2018-06-07 | ソニーセミコンダクタソリューションズ株式会社 | Control device and control method |
| WO2018120033A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳前海达闼云端智能科技有限公司 | Method and device for assisting user in finding object |
| US20180356233A1 (en) * | 2017-06-13 | 2018-12-13 | Boutros Baqain | Intelligent navigation assistance device |
| CN108174797B (en) * | 2018-01-15 | 2021-02-23 | 鲁首佳(山东)工业设计有限公司 | Improved device for automatically disconnecting dog belt and control method thereof |
| CN209019367U (en) * | 2018-01-25 | 2019-06-25 | 赵世祥 | Electronic guide dog |
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