CN111872918B

CN111872918B - Intelligent blind guiding robot based on Bluetooth technology

Info

Publication number: CN111872918B
Application number: CN202010945453.7A
Authority: CN
Inventors: 何兴怀
Original assignee: Haian Jiaorui Robot Technology Co ltd
Current assignee: HAIAN JIAORUI ROBOT TECHNOLOGY Co.,Ltd.
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2021-04-23
Anticipated expiration: 2040-09-10
Also published as: CN111872918A

Abstract

The invention discloses an intelligent blind guiding robot based on a Bluetooth technology, which comprises a base, a main gear, a Bluetooth module and a microprocessor module, wherein a retractable cylinder is fixed at the top of the base, the output end of a motor is connected with a first screw rod, the bottom edge of a supporting rod is positioned in a guide groove, an embedded shaft at the bottom edge of the supporting rod is connected with a toothed roller, a telescopic rod is sleeved on the second screw rod in a threaded manner, a protective sleeve is fixed on the upper end surface of the base, a rotating rod is connected to the side shaft inside the protective sleeve, an adjusting groove is formed in the top edge of the protective sleeve, a storage battery, the Bluetooth module and the microprocessor module are installed in the base, and a camera, a radar generator and an image processing module are fixed on the outer side of the supporting rod through bolts. This blind robot is led to intelligence based on bluetooth conveniently expandes to use and the shrink is deposited, occupation space not, can protect electronic device when receiving and releasing simultaneously, avoids damaging.

Description

Intelligent blind guiding robot based on Bluetooth technology

Technical Field

The invention relates to the technical field of blind guiding robots, in particular to an intelligent blind guiding robot based on a Bluetooth technology.

Background

The blind guiding robot utilizes increasingly perfect robot identification and processing technology to replace the traditional blind guiding dog, effectively solves the defects of slow training of the blind guiding dog, short service life and the like, provides convenience for the majority of blind people to go out, and adopts the Bluetooth technology as the blind guiding robot to connect and control more and more along with the development of the Bluetooth technology in the use of the blind guiding robot, however, the existing blind guiding robot still has the following problems in the use process:

the use of leading blind robot involves leading the blind person, for example, the blind robot is led to the publication No. CN105796289B, fuselage portion through setting up, handle and elevating gear etc. through the height that adapts to the user, better guide the user, but such mode can lead to the whole volume of device too big, be not convenient for shrink the adjustment, and then occupation space, be unfavorable for depositing, the use of leading blind robot simultaneously, involve multiple electron device, should lead blind robot and be not convenient for protect electron device, expose outside when not using, it is impaired easily, influence life.

Aiming at the problems, innovative design is urgently needed on the basis of the original blind guiding robot.

Disclosure of Invention

The invention aims to provide an intelligent blind guiding robot based on a Bluetooth technology, and aims to solve the problems that the existing blind guiding robot is inconvenient to shrink and adjust, occupies space, is not convenient to store, is inconvenient to protect electronic devices, is easy to damage and influences the service life in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent blind guiding robot based on a Bluetooth technology comprises a base, a main gear, a Bluetooth module and a microprocessor module, wherein a retractable cylinder is fixed at the top of the base, a motor is embedded between the bottom of the retractable cylinder and the top of the base, the output end of the motor is connected with a first screw rod, the first screw rod is connected in the retractable cylinder in a shaft connection mode, a holding rod is sleeved on the first screw rod in a threaded sleeve mode, the bottom edge of the holding rod is located in a guide groove, the guide groove is formed in the inner wall of the retractable cylinder in a shaft connection mode, a rack is fixed on the inner wall of the guide groove, a toothed roller is connected on the embedded shaft at the bottom edge of the holding rod in a shaft connection mode, a retractable groove is formed in the top edge of the holding rod, a second screw rod is connected in a shaft connection mode, a retractable rod is sleeved on the second screw rod in a threaded sleeve mode, a handle is, and the protective sheath is located the outside of receiving and releasing a section of thick bamboo, the inside avris hub connection of protective sheath has the bull stick, and the top of bull stick runs through the protective sheath and is connected with the apron to the apron is located the top of protective sheath, and the bottom cover of bull stick is equipped with the pinion, the adjustment tank has been seted up to the top edge of protective sheath, and has the fixed column through second spring coupling in the adjustment tank to the one end of fixed column is located the fixed slot, and the bottom edge of apron is seted up to the fixed slot moreover, install battery, bluetooth module and microprocessor module in the base, the outside bolt fastening of holding up the pole has camera, radar generator and image processing module.

Preferably, the bottom edge of holding up the pole is protruding structural design, and holds up and laminate each other between the bottom edge of pole and the inner wall of guide slot.

Preferably, the racks are distributed in the guide groove at equal intervals, and the racks are meshed with the toothed rollers.

Preferably, the fluted roller is connected with the deflector roll through the belt, and the deflector roll is connected with the guide disc through the belt to the transmission of guide disc awl tooth is connected with leads the tooth, leads the one end of tooth moreover and is connected with the second screw rod, and deflector roll, guide disc and lead the equal hub connection of tooth are in holding up the pole simultaneously.

Preferably, the telescopic link is of a rectangular structural design, and the telescopic link is in sliding connection with the telescopic groove in an attached mode.

Preferably, the handle is designed to be of an arc structure, 2 handles are symmetrically arranged on the central axis of the handrail, and the arc length of each handle is larger than the diameter of the handrail.

Preferably, the main gear shaft is connected to the inner part of the bottom of the winding and unwinding barrel, the main gear is connected with an output shaft of the motor through a belt, and the main gear is meshed with the pinion.

Preferably, an adaptation groove is formed in the outer side of the main gear, a toothed block is connected to the edge of the bottom of the adaptation groove in a shaft mode, and a first spring is fixed between the bottom of the toothed block and the adaptation groove.

Preferably, the fixed column forms an elastic sliding structure between the second spring and the adjusting groove, the end of the fixed column is designed to be in a truncated cone-shaped structure, and the end of the fixed column is clamped with the fixing groove.

Compared with the prior art, the invention has the beneficial effects that: the intelligent blind guiding robot based on the Bluetooth technology;

1. through the arrangement of the first screw and the holding rod, the bottom edge of the holding rod is mutually attached to the inner wall of the guide groove, when the motor drives the first screw to rotate, the holding rod can move up and down under the limiting action of the guide groove, and meanwhile, the toothed roller and the rack are arranged;

2. the main gear is connected with the motor through the belt, meanwhile, the main gear is meshed with the pinion, the rotating rod and the cover plate can be driven to rotate, when the motor drives the holding rod to expand and retract, the cover plate can be driven to rotate to open and close, the holding rod and an electronic device on the holding rod are protected, meanwhile, an adaptation groove in the main gear, a toothed block and a first spring are used, when the cover plate returns to the original position and contacts with the holding rod which is not completely contracted, the toothed block rotates in the adaptation groove under stress, the pinion can be kept temporarily stopped at the moment, the cover plate is prevented from being clamped with the holding rod, after the holding rod is contracted, elastic force applied by the first spring is exerted, the pinion can continue to rotate under stress, and the cover plate is closed.

Drawings

FIG. 1 is a schematic front sectional view of the present invention;

FIG. 2 is an enlarged view of the structure at A in FIG. 1 according to the present invention;

FIG. 3 is a schematic top sectional view of the toothed roller of the present invention;

FIG. 4 is a schematic top sectional view of the handrail of the present invention;

FIG. 5 is a schematic top view of a main gear of the present invention;

FIG. 6 is a schematic view of a front cross-sectional view of a fixing post according to the present invention;

fig. 7 is a schematic perspective view of a fixing post according to the present invention.

In the figure: 1. a base; 2. a retraction cylinder; 3. a motor; 4. a first screw; 5. a support rod; 6. a guide groove; 7. a rack; 8. a toothed roller; 9. a belt; 10. a guide roller; 11. a guide disc; 12. leading the teeth; 13. a second screw; 14. a telescopic groove; 15. a telescopic rod; 16. a handle; 17. a main gear; 18. an adaptation groove; 19. a tooth block; 20. a first spring; 21. a protective sleeve; 22. a rotating rod; 23. a cover plate; 24. an adjustment groove; 25. a second spring; 26. fixing a column; 27. fixing grooves; 28. a pinion gear; 29. a storage battery; 30. a Bluetooth module; 31. a microprocessor module; 32. a camera; 33. a radar generator; 34. and an image processing module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-7, the present invention provides a technical solution: an intelligent blind guiding robot based on Bluetooth technology comprises a base 1, a retractable cylinder 2, a motor 3, a first screw rod 4, a holding rod 5, a guide groove 6, a rack 7, a toothed roller 8, a belt 9, a guide roller 10, a guide disc 11, a guide tooth 12, a second screw rod 13, a telescopic groove 14, a telescopic rod 15, a handle 16, a main gear 17, an adaptation groove 18, a toothed block 19, a first spring 20, a protective sleeve 21, a rotating rod 22, a cover plate 23, an adjusting groove 24, a second spring 25, a fixed column 26, a fixed groove 27, a pinion 28, a storage battery 29, a Bluetooth module 30, a microprocessor module 31, a camera 32, a radar generator 33 and an image processing module 34, wherein the retractable cylinder 2 is fixed on the top of the base 1, the embedded motor 3 is installed between the bottom of the retractable cylinder 2 and the top of the base 1, the output end of the motor 3 is connected with the first screw rod 4, and the first screw rod 4 is connected in the retractable cylinder 2 in, and the upper thread sleeve of the first screw rod 4 is provided with a holding rod 5, the bottom edge of the holding rod 5 is positioned in the guide groove 6, the guide groove 6 is arranged on the inner wall of the winding and unwinding barrel 2, the inner wall of the guide groove 6 is fixed with a rack 7, the bottom edge of the holding rod 5 is connected with a fluted roller 8 through an embedded shaft, the top edge of the holding rod 5 is provided with a telescopic groove 14, the telescopic groove 14 is internally connected with a second screw rod 13, the upper thread sleeve of the second screw rod 13 is provided with a telescopic rod 15, one end of the telescopic rod 15 extending out of the telescopic groove 14 is fixed with a handle 16, the upper end surface of the base 1 is fixed with a protective sleeve 21, the protective sleeve 21 is positioned on the outer side of the winding and unwinding barrel 2, the side shaft inside the protective sleeve 21 is connected with a rotating rod 22, the top of the rotating rod 22 penetrates through the protective sleeve 21 and is connected with a cover plate 23, the cover plate 23, a fixing column 26 is connected in the adjusting groove 24 through a second spring 25, one end of the fixing column 26 is positioned in a fixing groove 27, the fixing groove 27 is formed in the bottom edge of the cover plate 23, a storage battery 29, a Bluetooth module 30 and a microprocessor module 31 are installed in the base 1, and a camera 32, a radar generator 33 and an image processing module 34 are fixed on the outer side of the holding rod 5 through bolts;

the bottom edge of the holding rod 5 is in a convex structure design, the bottom edge of the holding rod 5 is mutually attached to the inner wall of the guide groove 6, and when the motor 3 drives the first screw rod 4 to rotate in the winding and unwinding barrel 2, the holding rod 5 can be driven to move up and down in the winding and unwinding barrel 2 under the limiting action of the guide groove 6, so that the winding and unwinding are realized;

the racks 7 are distributed in the guide groove 6 at equal intervals, the racks 7 and the toothed rollers 8 are meshed with each other, and when the handrail 5 moves up and down in the winding and unwinding barrel 2, the toothed rollers 8 can be driven to rotate by meshing the toothed rollers 8 with the racks 7;

the fluted roller 8 is connected with a guide roller 10 through a belt 9, the guide roller 10 is connected with a guide disc 11 through the belt 9, the conical teeth of the guide disc 11 are in transmission connection with guide teeth 12, one end of each guide tooth 12 is connected with a second screw 13, meanwhile, the guide roller 10, the guide disc 11 and the guide teeth 12 are all connected in the handrail 5 in a shaft mode, when the fluted roller 8 rotates, the belt 9 drives the guide roller 10 to rotate, the guide roller 10 drives the guide disc 11 to rotate, and the guide disc 11 can drive the second screw 13 to rotate in a telescopic groove 14 through the guide teeth 12;

the telescopic rod 15 is designed to be of a rectangular structure, the telescopic rod 15 is in fit sliding connection with the telescopic groove 14, and when the second screw 13 is driven by the toothed roller 8 to rotate in the telescopic groove 14, the telescopic rod 15 can be driven to slide in the telescopic groove 14, so that the handle 16 at the end part of the telescopic rod 15 can be unfolded and folded;

the handles 16 are designed to be arc-shaped structures, 2 handles 16 are symmetrically arranged on the central axis of the handrail 5, the arc length of each handle 16 is larger than the diameter of the handrail 5, a user can hold the handles 16 to move along with the robot, and meanwhile, 2 handles 16 can be used for the user to select which side the user stands on, when the base 1 is knocked down by external force, the handles 16 can firstly contact with the ground to protect the handrail 5 and electronic devices on the handrail 5;

the main gear 17 is connected with the inside of the bottom of the winding and unwinding barrel 2 in a shaft mode, the main gear 17 is connected with an output shaft of the motor 3 through a belt 9, the main gear 17 is meshed with the pinion 28, when the motor 3 drives the holding rod 5 to move up and down in operation, the main gear 17 can be synchronously driven to rotate through the belt 9, the main gear 17 is meshed with the pinion 28, the rotating rod 22 and the cover plate 23 are driven to synchronously rotate, and the top of the protective sleeve 21 is closed and opened;

an adaptation groove 18 is formed in the outer side of the main gear 17, a toothed block 19 is connected to the edge of the bottom of the adaptation groove 18 in a shaft mode, a first spring 20 is fixed between the bottom of the toothed block 19 and the adaptation groove 18, when the main gear 17 is meshed with a secondary gear 28 to drive the cover plate 23 to rotate, and when the cover plate 23 rotates back along with descending of the supporting rod 5, the cover plate 23 firstly contacts with the supporting rod 5 which is not completely descended, at the moment, the toothed block 19 can rotate in the adaptation groove 18 under stress, so that the toothed block 19 cannot drive the secondary gear 28 to rotate, the situation that the cover plate 23 and the supporting rod 5 are clamped is avoided, and when the cover plate 23 is opened, the main gear 17 rotates reversely, at the moment, the toothed block 19 rotates left and right under the limit of the side of the adaptation groove 18, and can drive the cover plate 23 to rotate;

the fixing column 26 passes through the second spring 25 and constitutes elastic sliding structure with the adjustment tank 24 between, and the tip of fixing column 26 is round platform shape structural design, and block mutually between the tip of fixing column 26 and the fixed slot 27, when the apron 23 is opened and is closed, fixed slot 27 and the contact of the tip inclined plane of fixing column 26 drive the fixing column 26 to contract to the adjustment tank 24, simultaneously under the effect of second spring 25, make the fixing column 26 can pop out and block in the fixed slot 27, conveniently fix the position of apron 23, do not influence its opening simultaneously.

The working principle is as follows: when the intelligent blind guiding robot based on the Bluetooth technology is used, as shown in fig. 1-4, firstly, the motor 3 is started, the motor 3 drives the first screw rod 4 to rotate in the retraction cylinder 2, under the limiting action of the guide groove 6, the holding rod 5 can be driven to move upwards in the retraction cylinder 2, meanwhile, the holding rod 5 moves upwards in the retraction cylinder 2, the toothed roller 8 can be driven to rotate by the meshing of the toothed roller 8 and the rack 7, when the toothed roller 8 rotates, the guide roller 10 is driven to rotate by the belt 9, so that the guide roller 10 drives the guide disc 11 to rotate, the guide disc 11 can drive the second screw rod 13 to rotate in the telescopic groove 14 by the guide teeth 12, so as to drive the telescopic rod 15 to slide outwards in the telescopic groove 14, so that the handle 16 at one end of the telescopic rod 15 can be unfolded outwards following the handle 16, a user can grasp the handle 16 by hand and walk along with the robot, as can be seen from fig. 1, the rack 7 is distributed at the position, when the holding rod 5 moves upwards, the handle 16 is separated from the winding and unwinding barrel 2 and starts to expand outwards, otherwise, when the motor 3 is started reversely, the handle 16 contracts inwards and moves downwards along with the holding rod 5 to be wound and unwound into the winding and unwinding barrel 2 according to the operation;

then, as shown in fig. 1 and fig. 5-7, when the motor 3 operates to realize the up-and-down movement of the holding rod 5 and the unfolding and folding of the handle 16, the motor 3 can synchronously drive the main gear 17 to rotate through the belt 9, the main gear 17 is meshed with the pinion 28 to drive the rotating rod 22 and the cover plate 23 to synchronously rotate, before the holding rod 5 moves out of the folding and unfolding cylinder 2, the cover plate 23 rotates to expose the top of the protecting sleeve 21 and the top of the folding and unfolding cylinder 2, otherwise, when the motor 3 rotates reversely to drive the holding rod 5 to contract, the cover plate 23 can rotate back to seal the top of the protecting sleeve 21 and the folding and unfolding cylinder 2, so as to protect the parts and the electronic devices on the holding rod 5, and when the main gear 17 is meshed with the pinion 28 to drive the cover plate 23 to rotate, and when the cover plate 23 rotates back to the original position following the descending of the holding rod 5, the cover plate 23 first contacts with the outside, at the moment, the tooth block 19 can rotate in the adapting groove 18 under stress, so that the tooth block 19 cannot drive the auxiliary gear 28 to rotate, the situation that the cover plate 23 and the holding rod 5 are clamped is further avoided, meanwhile, when the cover plate 23 is opened and closed, the fixing groove 27 is in contact with the inclined plane at the end part of the fixing column 26, the fixing column 26 is driven to contract towards the inside of the adjusting groove 24, and meanwhile, under the action of the second spring 25, the fixing column 26 can be popped out and clamped into the fixing groove 27, the position of the cover plate 23 is conveniently fixed, and meanwhile, the opening of the cover plate 23;

as shown in fig. 1 and 4, a user is connected with a mobile phone through the bluetooth module 30 for starting and controlling, and simultaneously recognizes the environment through the camera 32, the radar generator 33 and the image processing module 34, and collects and processes information through the microprocessor module 31, so as to control the traveling of the base 1, and simultaneously, the whole base is powered by the storage battery 29, and the storage battery 29, the bluetooth module 30, the microprocessor module 31, the camera 32, the radar generator 33 and the image processing module 34 all adopt the prior art, and are not described herein again.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a blind robot is led to intelligence based on bluetooth, includes base (1), master gear (17), bluetooth module (30) and microprocessor module (31), its characterized in that: the foldable type electric bicycle is characterized in that a retractable cylinder (2) is fixed to the top of a base (1), a motor (3) is installed between the bottom of the retractable cylinder (2) and the top of the base (1) in an embedded mode, the output end of the motor (3) is connected with a first screw (4), the first screw (4) is connected to the inside of the retractable cylinder (2) in a shaft mode, a supporting rod (5) is sleeved on the upper portion of the first screw (4) in a threaded mode, the bottom edge of the supporting rod (5) is located in a guide groove (6), the guide groove (6) is formed in the inner wall of the retractable cylinder (2), a rack (7) is fixed to the inner wall of the guide groove (6), a toothed roller (8) is connected to the embedded shaft of the bottom edge of the supporting rod (5), a retractable groove (14) is formed in the top edge of the supporting rod (5), a second screw (13) is connected to the inner shaft of the retractable groove (14, and telescopic link (15) stretch out the one end in flexible groove (14) and be fixed with handle (16), the up end of base (1) is fixed with protective sheath (21), and protective sheath (21) are located the outside of receiving and releasing a section of thick bamboo (2), the inside avris hub connection of protective sheath (21) has bull stick (22), and the top of bull stick (22) runs through protective sheath (21) and is connected with apron (23), and apron (23) are located the top of protective sheath (21), and the bottom cover of bull stick (22) is equipped with pinion (28), adjustment tank (24) have been seted up to the top edge of protective sheath (21), and are connected with fixed column (26) through second spring (25) in adjustment tank (24), and the one end of fixed column (26) is located fixed slot (27), and fixed slot (27) are seted up in the bottom edge of apron (23), install battery (29) in base (1), The device comprises a Bluetooth module (30) and a microprocessor module (31), wherein a camera (32), a radar generator (33) and an image processing module (34) are fixed on the outer side of the holding rod (5) through bolts;

by starting the motor (3), the motor (3) drives the first screw rod (4) to rotate in the winding and unwinding barrel (2), under the limiting action of the guide groove (6), the holding rod (5) is driven to move upwards in the winding and unwinding barrel (2), meanwhile, the holding rod (5) moves upwards in the winding and unwinding barrel (2), the toothed roller (8) is driven to rotate through the meshing of the toothed roller (8) and the rack (7), when the toothed roller (8) rotates, the belt (9) drives the guide roller (10) to rotate, so that the guide roller (10) drives the guide disc (11) to rotate, the guide disc (11) drives the second screw rod (13) to rotate in the telescopic groove (14) through the guide tooth (12), and further drives the telescopic rod (15) to slide outwards in the telescopic groove (14), and the handle (16) at one end of the telescopic rod (15) is enabled to expand outwards along with the outside;

when the up-and-down movement of the holding rod (5) and the unfolding and folding of the handle (16) are realized, the motor (3) drives the main gear (17) to rotate synchronously through the belt (9), the main gear (17) is meshed with the pinion (28) to drive the rotating rod (22) and the cover plate (23) to rotate synchronously, before the holding rod (5) moves out of the folding and unfolding cylinder (2), the cover plate (23) rotates to expose the top of the protective sleeve (21) and the folding and unfolding cylinder (2), otherwise, when the motor (3) rotates reversely to drive the holding rod (5) to contract, the cover plate (23) rotates back to seal the top of the protective sleeve (21) and the folding and unfolding cylinder (2).

2. The intelligent blind guiding robot based on the Bluetooth technology is characterized in that: the bottom edge of the holding rod (5) is of a protruding structure design, and the bottom edge of the holding rod (5) is attached to the inner wall of the guide groove (6) mutually.

3. The intelligent blind guiding robot based on the Bluetooth technology is characterized in that: the racks (7) are distributed in the guide groove (6) at equal intervals, and the racks (7) are meshed with the toothed rollers (8).

4. The intelligent blind guiding robot based on the Bluetooth technology is characterized in that: tooth roller (8) are connected with deflector roll (10) through belt (9), and deflector roll (10) are connected with deflector (11) through belt (9) to deflector (11) awl tooth transmission is connected with leads tooth (12), and the one end of leading tooth (12) is connected with second screw rod (13) moreover, and deflector roll (10), deflector (11) and lead tooth (12) equal hub connection in holding up pole (5) simultaneously.

5. The intelligent blind guiding robot based on the Bluetooth technology is characterized in that: the telescopic rod (15) is designed to be of a rectangular structure, and the telescopic rod (15) is attached to the telescopic groove (14) in a sliding mode.

6. The intelligent blind guiding robot based on the Bluetooth technology is characterized in that: the handle (16) is designed to be of an arc-shaped structure, 2 handles (16) are symmetrically arranged on the central axis of the handrail (5), and the arc length of each handle (16) is larger than the diameter of the handrail (5).

7. The intelligent blind guiding robot based on the Bluetooth technology is characterized in that: the main gear (17) is connected with the inner part of the bottom of the collecting and releasing cylinder (2) in a shaft mode, the main gear (17) is connected with an output shaft of the motor (3) through a belt (9), and the main gear (17) is meshed with the auxiliary gear (28).

8. The intelligent blind guiding robot based on the Bluetooth technology is characterized in that: an adaptation groove (18) is formed in the outer side of the main gear (17), a toothed block (19) is connected to the edge of the bottom of the adaptation groove (18) in a shaft mode, and a first spring (20) is fixed between the bottom of the toothed block (19) and the adaptation groove (18).

9. The intelligent blind guiding robot based on the Bluetooth technology is characterized in that: the fixing column (26) forms an elastic sliding structure through the second spring (25) and the adjusting groove (24), the end part of the fixing column (26) is designed to be in a truncated cone shape, and the end part of the fixing column (26) is clamped with the fixing groove (27).