CN111945516A

CN111945516A - Blind walking and automatic driving traffic information accurate perception guiding device and method

Info

Publication number: CN111945516A
Application number: CN202010918911.8A
Authority: CN
Inventors: 谭诗涵
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-04
Filing date: 2020-09-04
Publication date: 2020-11-17

Abstract

A blind walking and automatic driving accurate information perception guiding device is a floor tile or wear-resistant ground sticker which comprises a pole reading bar, a pole reading mileage, a blind guiding two-dimensional code, a touch wear-resistant coating, a unique number and a blind guiding mileage and is a blind guiding and automatic driving infrastructure. Each pole reading strip is provided with an upper pole reading area and a lower pole reading area, each pole reading area is provided with 6 concave positions, the pole reading braille formed by the concave positions of the pole reading areas corresponds to 6 point positions of the braille, namely 123 braille is arranged from the left side to the bottom and 456 is arranged from the right side to the bottom, and the pole reading areas are equal to the squares of the braille; when the concave position is concave, the concave position is equivalent to a convex point of the braille, and when the concave position is straight, the concave position is equivalent to a blank of the braille, namely, no convex point exists; the pole reading braille points can be represented by 0 and 1 with brackets, 0 represents the concave straight, 1 represents the concave, and the pole reading braille point (101011) is equivalent to the braille point (1356). The rod reading braille consists of a two-position English single direction, three digits, one road condition, two angle degrees and two length numbers, and the digits are in fixed positions without preposing numbers.

Description

Blind walking and automatic driving traffic information accurate perception guiding device and method

Technical Field

The invention relates to the technical field of automatic driving, accurate traffic information sensing, Internet of things, smart cities, expressways, municipal roads and blind assistance, in particular to a blind walking and automatic driving traffic information accurate sensing guiding device and method.

Background

About 500 million blind people exist in China, account for 18 percent of the total blind people in the world, account for about 3.8 per thousand of the population in the country, and average 3800 blind people exist in each million of the population. About 45 million blind people are newly added every year, and the total number of blind people is estimated to reach 2000 million in 2020. China is the country with the most blind people in the world, and the transportation of the blind people is a non-negligible civil problem and has been highly concerned by governments all the time.

The blind road is a road facility specially used for helping the blind to walk. The blind sidewalk is generally paved by two types of bricks, one type is a strip-shaped guide brick which is called as a traveling blind sidewalk and guides the blind to walk forward with confidence; one is a prompting brick with round points to prompt the blind to have an obstacle in front of the blind, and the blind turns a corner, which is called as a prompting blind road. The first barrier free standard in the world was established in the united states in 1961. In 1991, Beijing has built the first domestic blind road. The 'urban road and building barrier-free design specification' of 8.1.2001 is issued in China. The thirty-fourth rule of the traffic safety law of the people's republic of China stipulates that the sidewalk of the main road of the city should be provided with blind roads according to the planning. But in fact, large-scale blind road construction in domestic cities does not help the blind people to walk because of insufficient propaganda strength among common people and the like. The blind road in the yellow protruding stripe pattern is just like the static eyes of the blind, is laid on a pavement of a road, and is arranged for the convenience of the travel of the blind. The blind sidewalk brick has a special shape and bright yellow color, and is achieved by utilizing the foot feeling effect of the blind and the sense aiding principle of the blind sidewalk brick.

The specification of the municipal administration blind road brick is roughly: 300 × 20, 300 × 25, 300 × 30, 250 × 25, 250 × 30, 200 × 20, 200 × 25, and the like. There are approximately two types of bricks for blind sidewalks: the straight strip-shaped raised bricks are used for paving a straight road, and the straight strip-shaped raised bricks point to the direction of a blind road, namely move along the straight strip-shaped raised bricks when moving. Each strip is 5mm higher than the ground, the width is preferably 0.3-0.6m, the blind stick and the sole can generate feeling, and the walking stick is convenient for guiding the vision-disabled person to walk forwards in a straight line safely. 2 is a dot-shaped raised brick used for paving a corner. The round dots are in the shape of round dots, each round dot is 5mm higher than the ground, the width is preferably 0.3-0.6m, and the blind stick and the soles can generate feeling so as to inform the vision-disabled person that the space environment of the front route is changed.

The blind sidewalk is practical, safe and humanized, the disabled person is guided to walk, the safety in advancing is required to be protected, therefore, the positioning in the sidewalk is very important, the urban blind sidewalk in China is still imperfect nowadays, the requirement is not met for some time, the situation of being occupied appears for some time, the blind person mainly feels the route in the place ahead clearly by the foot of the blind sidewalk bump, the effect is not good, even with the help of the blind guiding stick, the walking is still very slow, and the walking way for the blind person does not produce too much help.

Therefore, there is a need for a convenient blind sidewalk brick that can inform the blind men of the blind sidewalk, where and the direction.

Braille, also called braille and raised letters, is specially designed for blind people and is sensed by touch. The paper is formed by making different combinations of salient points on the paper through a dot plate, a dot printer and the like, and generally, each square dot is formed by six dots, the left side is 123 from top to bottom, the right side is 456, and the name is called one.

The braille of the basic structure of 6 points created by Blale has bulges on the paper surface, and has no bulges to form 63 changes, namely 63 point symbols or characters, three points on the left and right of each symbol are called 1, 2 and 3 points from the left to the top, and are called 4, 5 and 6 points from the right to the top, which are called point positions.

As can be seen from the braille system, the 10 numbers and letters in the first row are composed of 1, 2, 4, and 5 dots, i.e., there are no lower 3 and 6 dots. The characters in the fifth row just shift the point location structure of the first row downward one bit in sequence, for example, (e) the descending is, (d) the descending is, that is, the descending is to the point locations of 2, 3, 5, 6, that is, there is no upper point 1, 4.

From the design arrangement of the Braille system, the Braille system has three characteristics: firstly, the letter symbols are mutually connected in point positions, which is favorable for memory; secondly, a symbol is used for representing a common word or letter combination, the symbolic nature of characters is displayed, and phonetization is a means; again, the punctuation marks, various indicators, and abbreviations are all ideographic characters.

The blind stick has various specifications, the stick head of the blind stick with about 10 yuan is larger, and the stick head of the blind stick with about 60 yuan is made of rubber, and the diameter is 1.5 cm.

The automatic driving equipment comprises a sweeping robot, a robot teacher S1 and a Teluoyizhi programming unmanned aerial vehicle, which can accurately avoid obstacles or pedestrians to a destination under the effective guidance of a challenge card at home, and the robot can often use the vision sweeping robot to send water to a mother for drinking. But the robot is not available on public roads, and mainly the public roads do not have an accurate guiding device similar to a challenge card, and a larger sweeping robot or unmanned aerial vehicle can be used for placing objects and transporting the objects.

At present, no pedestrian automatic driving equipment exists, and no effective guiding means exists.

Therefore, an automatic driving traffic information accurate perception guiding device is needed on a public road at present, so that automatic driving equipment can be operated on a pedestrian path, the automatic driving equipment for the pedestrian path can provide guiding and transporting services for handicapped people, can also provide a guiding method of the last kilometer for the express industry, and can enable the handicapped people to work in the express industry, so that one more working opportunity is provided.

Disclosure of Invention

The embodiment of the invention provides a blind walking and automatic driving passing information accurate perception guiding device and method, aiming at solving the problem that blind people can walk blind roads more easily.

One of the purposes of the invention is to provide a convenient blind road brick which can inform the blind persons of the blind road condition, the current position and direction.

One of the purposes of the present invention is to provide an automatic driving accurate traffic information sensing and guiding device, so that the pedestrian path automatic driving equipment can provide guiding and transporting services for handicapped people, also can provide a guiding method of the last kilometer for the express industry, and the handicapped people can also work in the express industry, and have one more working opportunity.

The invention achieves the above object through the following technical scheme.

A blind walking and automatic driving passing information accurate perception guiding device is a floor tile or wear-resistant ground paste which comprises a pole reading bar, a pole reading mileage, a blind guiding two-dimensional code, a touch wear-resistant coating, a unique number and a blind guiding mileage, and is a blind guiding and automatic driving infrastructure used for storing blind guiding and automatic driving information; the blind walking and automatic driving accurate traffic information perception guiding device is applied to the government by the association of visually impaired people and installed on the right side of a blind road, a stairway and other blind roads are installed close to the side, a prompt blind road starting from the starting point of the blind road and a prompt blind road ending at the terminal point of the blind road are installed one by one in every ten meters of a normal blind road, and one is installed in each prompt blind road.

The blind walking and automatic driving passing information accurate perception guiding device has 5 bars for reading, wherein the number of the bars is 1-5, the number of the bars is 3 on the left, the number of the bars is 2 on the right, and the bars are arranged in a staggered way by 5 millimeters; each pole reading zone is provided with an upper pole reading zone and a lower pole reading zone, the total number of the pole reading zones is 10, each pole reading zone is provided with 6 concave positions, the pole reading braille formed by the concave positions of the pole reading zones corresponds to 6 point positions of the braille, namely 123 braille points from the left side to the bottom and 456 braille points from the right side to the bottom, and the pole reading zones are equivalent to the squares of the braille points; when the concave position is concave, the concave position is equivalent to a convex point of the braille, and when the concave position is straight, the concave position is equivalent to a blank of the braille, namely, no convex point exists; the pole reading braille points can be represented by 0 and 1 with brackets, 0 represents the concave straight, 1 represents the concave, and the pole reading braille point (101011) is equivalent to the braille point (1356).

The length of the rod reading strip is 139 mm, the face width is 25 mm, the bottom width is 35 mm, the height is 5mm, the length of the concave position is 19 mm, the depth of the concave position is 12 mm, and the bottom width of the concave position is 3 mm; the width between the concave positions is 3 mm; the rod reading strip is divided into an upper rod reading area and a lower rod reading area; the edges between the concave positions and the bottom surface are circular arcs, so that the blind rod is not prevented from moving in two continuous concave positions.

Taking the left upper side concave position of the left upper side rod reading strip in the blind walking and automatic driving passing information accurate perception guiding device as a starting point, taking the left lower side concave position of the left upper side rod reading strip as an end point, forming a closed line by 10 rod reading zones, taking each 6 concave positions on the closed line as a braille, stretching the left hand open, enabling the palm of the hand to be downward, enabling the closed line to pass through the palm of the hand, and enabling the direction of the thumb to be the advancing direction of the closed line; the concave position circulates according to the advancing direction of the closed line, and the concave position circulates 123456 corresponding to the point position of the braille.

The rod reading mileage is the rod reading braille on a closed line, the content is the steering prompt to the next blind road, the rod reading mileage is composed of a two-position English single direction, three-position numbers, one-position road conditions, two-position angle degrees and two-position length numbers, the numbers are in fixed positions, and the numbers do not need to be arranged in advance.

The English single side consists of the first letters of the Pinyin of the two front positions of the road name; the three-digit number represents the distance from the start or end of the road multiplied by 10; PY234 denotes: the pinyin is at 2340 meters in the forward direction or the reverse direction of the main track.

One road condition is one of the first 6 braille characters or numbers of the fifth row of the braille chart, which respectively represents 7 road conditions: 1. the Braille point position (2) represents a straight road and the forward direction, the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in the front, and the forward direction represents the direction from the head of the road to the tail of the road; 2. the Braille point position (23) represents a straight road and is reverse, the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in front, and the reverse direction represents the direction from the tail of the road to the head of the road; 3. braille point positions (25) represent a continuous path, i.e., a left turn is to be made; 4. braille point positions (256) represent a continuous path, i.e., a turn to the right is to be made; 5. the braille point (26) indicates an open circuit and turns left; 6. the Braille point position (235) represents that the circuit is disconnected and turns to the right; 7. when the road condition is braille number 1-9, the blind walking and automatic driving passing information accurate perception guiding device indicates that the next blind walking and automatic driving passing information accurate perception guiding device is at the digital length position, a straight road is arrived at the position, the road behind the position can be turned and possibly separated, and the blind walking and automatic driving passing information accurate perception guiding device at the position needs to be noticed; and when the number is 0, the accurate sensing and guiding device indicates that the next blind walking and automatic driving passing information is far more than 10 meters.

When the second-position angle degree turns in the front, filling the radian of the turning, and when the front is disconnected, filling the angle between the extension line of the blind road and the straight line of the next blind walking and automatic driving passing information precise perception guiding device; if the front is not a turn or a break, the pole reading braille point location is (000000); if the angle number exceeds 2 digits, the braille reading point position is (000000), namely 6 braille points in 2 braille reading areas are even and straight, which indicates that the road condition is special and asks the blind to find help.

When the two-position length number turns in the front, the length of an arc of the turning is filled, when the front is disconnected, the distance from the next blind walking and automatic driving passing information accurate perception guiding device is filled, the distance is counted by meters, and when the distance is a plaintext number 00, the distance is far away from 100 meters; if the front is not a turn or a break, the pole reading braille point location is (000000).

The blind guiding two-dimensional code is arranged on the upper right side of the Braille and comprises a plaintext for reading mileage, a blind guiding direction and steering prompt, a blind guiding mileage and unique number, and a detailed data reading website; the blind guiding mileage is a plaintext and is represented by a first letter of road pinyin with two digits and ten meters of three digits, wherein the capital letters of the pinyin represent the forward direction, the lowercase letters represent the reverse direction, and the ten meters represent the forward distance from the starting point of the road; the link of the detailed data reading website stores a unique number, an address, blind guiding mileage, blind guiding direction and steering prompt, risk factors, introduction of nearby terrains, information of start and stop of adjacent road names, a landform panoramic static map, longitude and latitude electronic information and direction electronic information of a next blind walking and automatic driving passing information precise perception guiding device; plaintext is a word used by a normal person.

The touch wear-resistant coating is arranged on the upper left side of the braille and is used for providing special touch, so that visually impaired people can find the blind road milestone more easily.

The blind guiding mileage and the unique number are marked by small word numbers above the inside of the touch wear-resistant coating.

The website for reading the details is placed on a server set by the association of visually impaired people or volunteers.

The blind-guiding two-dimensional code has a programming challenge card function, can be accurately sensed by the pedestrian path automatic driving equipment, and provides accurate traffic information; the pedestrian-road automatic driving equipment can read the blind-guiding two-dimensional code to carry out pedestrian-road automatic driving; the automatic drive equipment of the pedestrian way comprises a sweeping robot, a robot armor and a Teluoyizhi programming unmanned aerial vehicle.

The tactile abrasion resistant coating may be a floor glue.

A use method of the blind walking and automatic driving passing information accurate perception guiding device comprises the following steps of reading Braille point positions (010000) and Braille point positions (001000) by using a blind stick reading rod.

A. When the rod is read, the concave positions are easy to read when being concave, and when the concave positions are straight, the concave conditions of 6 concave positions are matched for comprehensive judgment, and the concave positions are not easy to read until the rod is skillfully read.

B. When the braille points read by the rods are (010000) and (001000), only one recess is formed, the blind rods sequentially sweep the concave positions of 123456, and since five 0 s are left, the sweep distance of the blind rods before and after the recess is sensed, and the comparison is 1: 4 and 2: 3, the braille represented by the point location (010000) and the point location (001000) is distinguished.

A method for using a blind walking and automatic driving passing information accurate perception guiding device comprises the following steps of reading Braille point positions (100100) and (010001) by a blind stick reading rod.

B. When the braille reading points are (100100) and (010001), the blind rod sequentially sweeps the concave position of 123456, two recesses are sensed, four 0 s are left, the first recess is at the beginning or the end, the blind rod sweeping distance before and after the middle recess is sensed, and the comparison is 2: 2 and 1: 3, distinguishing the Braille points represented by the point locations (00100) and (01000), and adding the concave locations at the beginning or the end to form the complete Braille.

A method for using the blind walking and automatic driving passing information accurate perception guiding device comprises the following steps of reading Braille point positions (110000) and (011001) by a blind stick reading rod.

A. The blind rod has two concave parts when the rod reading area is swept, and then the blind rod is all straight, so that the rod reading braille point can be judged to be (110000), and the number of 0 s swept by the blind rod can be judged.

B. When the braille point position is read to the pole (011001), first concave at the end, there are two concave in the centre, leave three 0, feel the distance when two groups of concave position are straight, contrast 1: 2, the front is 0 and the back is two 0, so that the braille reading point is (011001).

A use method of a blind walking and automatic driving passing information accurate perception guiding device comprises the following steps.

A. The blind people hold the blind stick to learn to read the rod reading braille, and when the rod reading braille is a number, namely 3 and 6 concave positions of the 3 rd, 4 th, 5 th, 7 th, 8 th, 9 th and 10 th rod reading areas are straight; when the braille is read by the pole, when the next accurate sensing guiding device for blind walking and automatic driving passing information is 10 meters in front, the 1 and 4 concave positions of the 6 th pole reading area are straight, and when the next accurate sensing guiding device for blind walking and automatic driving passing information is not 10 meters in front, the 3 and 6 concave positions are straight.

B. The blind person walks on the pedestrian path with the blind stick, and the blind person walks and the automatic driving traffic information accurate sensing guiding device clings to the right side of the blind path and is noticed to be guided.

C. The blind stick of the blind person can sweep the touch wear-resistant coating to know the position of the accurate sensing and guiding device for blind walking and automatic driving traffic information.

D. The blind person sweeps the blind stick downwards to the upper rod reading area of the first rod reading strip, the blind stick sweeps the first concave position concave to the rod reading area from the left side, the second concave position is straight, the third concave position is concave, the fourth concave position is straight, the fifth concave position is concave, the sixth concave position is concave, the braille translation into the braille point location by the rod is (1356), the braille point location by the rod is (101011), and the plaintext is z.

E. And C, repeating the step C to obtain the corresponding plaintext of the pole reading braille of 10 pole reading areas as follows: zs033ea0000, ea of the 6 th road condition is English represented by the 1 st Braille point (2) of the fifth row of the Braille table; the blind people know that the front of the middle-mountain road is a straight road and the front is a forward direction 330 meters, and the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in the front.

F. The blind person walks 10 meters forward, pole reading is carried out on the blind walking and automatic driving passing information accurate perception guiding device at the forward 340 meters of the middle mountain road, the step C is repeated, and the corresponding plaintext of the pole reading braille in 10 pole reading areas is obtained: zs034ff3007, wherein "ff" of the 6 th road condition is English represented by the 6 th Braille point (235) of the fifth row of the Braille table, and the Braille point read by a lever is (011010); the blind people know that the front of the middle mountain road is separated from the broken circuit at the 340 th meter, the blind people turn to the right for 30 degrees, and the blind people can move forward for 7 meters to reach the starting point of the next blind road.

G. When the blind person listens that no vehicle passes through, the blind person turns to the right for 30 degrees, walks to the starting point of the next blind road by moving for 7 meters, continues to walk to the blind walking and automatic driving passing information accurate sensing and guiding device closest to the destination, and then walks to the destination.

A use method of a blind walking and automatic driving accurate traffic information perception guiding device comprises the following steps of conveying articles to an express delivery shop by automatic driving equipment in a pedestrian path.

A. And downloading the SDK of the Alphaera, and replacing the function of reading the programming challenge card with reading the blind guiding two-dimensional code by using Python language.

B. Semi-closed carriages are built with Happy building blocks on a baseplate platform of RoboMaster EP, and articles are put in.

C. The accurate sensing guiding device of the current information of blind walking and automatic driving is needed to walk 10 according to the destination setting robot Master RoboMaster EP, and the direction and the distance of driving after the accurate sensing guiding device of the current information of the last walking and automatic driving are set according to the nearest express store.

D. The robot master EP is placed to a position where the first blind walk and automatic driving accurate perception guide device can be read, and is started.

E. The robot Master EP reads the blind guiding two-dimensional code, extracts the guiding information, starts the obstacle avoidance function, advances to the next blind walking and automatic driving passing information accurate sensing guiding device according to the determined direction of the direction electronic information, repeats for 10 times, and reaches the final blind walking and automatic driving passing information accurate sensing guiding device.

F. At the last blind walking and accurate perception guider limit of autopilot traffic information, go according to the direction and the distance of going that set up again and arrive the express delivery shop, the express delivery shop boss takes out article.

The method has the beneficial effects that: the blind person can not only walk but also work by using the blind road.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1: blind walk and accurate perception guiding device of autopilot traffic information.

FIG. 2: reading the bar.

FIG. 3: reading mileage and closing lines by a rod; wherein, fig. 3 a: reading mileage by a pole of 1; FIG. 3 b: reading mileage by a pole 2; FIG. 3 c: and closing the wire.

FIG. 4: and reading the braille by using the rods with the blind stick reading point positions of (010000) and (001000).

FIG. 5: the steps of reading the braille points with the stick of (100100) and (010001) are the steps of reading the braille points with the blind stick.

FIG. 6: and reading the braille by using the rods of the blind stick, wherein the step of reading the point is (110000) and (011001).

FIG. 7: a use method of the blind walking and automatic driving passing information accurate perception guiding device. Wherein, fig. 7 a: blind road site; FIG. 7 b: and using the blind walking and automatic driving passing information accurate perception guiding device.

FIG. 8: and transporting the goods to an express delivery shop by the pedestrian-road automatic driving equipment.

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.

Embodiment 1 accurate perception guiding device of blind walking and automatic driving traffic information.

As shown in fig. 1, the accurate sensing and guiding device for blind walking and automatic driving traffic information in the embodiment of the invention is a floor tile or wear-resistant ground sticker comprising a pole reading bar, a pole reading mileage, a blind guiding two-dimensional code, a touch wear-resistant coating, a unique number and a blind guiding mileage, and is a blind guiding and automatic driving infrastructure for storing blind guiding and automatic driving information; the blind walking and automatic driving accurate traffic information perception guiding device is applied to the government by the association of visually impaired people and installed on the right side of a blind road, a stairway and other blind roads are installed close to the side, a prompt blind road starting from the starting point of the blind road and a prompt blind road ending at the terminal point of the blind road are installed one by one in every ten meters of a normal blind road, and one is installed in each prompt blind road.

Taking the left upper side concave position of the pole reading area at the upper left corner in the blind walking and automatic driving passing information accurate perception guiding device as a starting point, taking the left lower side concave position of the pole reading area at the upper left corner as an end point, forming a closed line by 10 pole reading areas, taking each 6 concave positions on the closed line as a braille, extending the left hand open, leading the palm of the hand to be downward, leading the closed line to pass through the palm of the hand, and leading the direction of the thumb to be the advancing direction of the closed line; the concave position circulates according to the advancing direction of the closed line, and the concave position circulates 123456 corresponding to the point position of the braille.

The English single side consists of the first letters of the Pinyin of the two front positions of the road name; the three-digit number represents the distance from the start or end of the road multiplied by 10, and PY234 represents: the phonetic transcription path is at 2340 m.

One road condition is one of the first 6 braille characters or numbers of the fifth row of the braille chart, which respectively represents 7 road conditions: 1. the Braille point position (2) represents a straight road and the forward direction, the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in the front, and the forward direction represents the direction from the head of the road to the tail of the road; 2. the Braille point position (23) represents a straight road and is reverse, the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in front, and the reverse direction represents the direction from the tail of the road to the head of the road; 3. braille point positions (25) represent a continuous path, i.e., a left turn is to be made; 4. braille point positions (256) represent a continuous path, i.e., a turn to the right is to be made; 5. the braille point (26) indicates an open circuit and turns left; 6. the Braille point position (235) represents that the circuit is disconnected and turns to the right; 7. when the road condition is the braille number of 1-9, the accurate sensing and guiding device for the next blind walking and automatic driving passing information indicates that the accurate sensing and guiding device for the next blind walking and automatic driving passing information is located at a position with a corresponding length, the position can turn and be separated, the accurate sensing and guiding device for the blind walking and automatic driving passing information needs to be noticed, and when the braille number is 0, the accurate sensing and guiding device for the next blind walking and automatic driving passing information is far away from 10 meters.

The blind guiding mileage and the unique number are marked on the touch wear-resistant coating by small word numbers.

The tactile abrasion resistant coating may be a floor glue.

Example 2 rod reading strip.

As shown in fig. 2, the length of the rod reading strip of the embodiment of the present invention is 139 mm, the face width is 25 mm, the bottom width is 35 mm, the height is 5mm, the concave bit length is 19 mm, the concave bit depth is 12 mm, and the concave bit bottom width is 3 mm; the width between the concave positions is 3 mm; the rod reading strip is divided into an upper rod reading area and a lower rod reading area, and the edges between the concave positions and the bottom surface are circular arcs, so that the blind rod is not prevented from moving between two continuous concave positions.

Example 3 lever read range and closed line.

As shown in fig. 3a of fig. 3, the embodiment of the present invention is the rod-read braille, and rod-read braille dot position form of the rod-read mileage 1, and the plain text is: zs034ff3007, "ff" for the 6 th road condition is English represented by the 6 th Braille dot (235) in the fifth row of the Braille Table. Represents: at the 340 th meter of the middle mountain road, the front surface turns to the right from the broken circuit, turns to the right by 30 degrees, and can reach the starting point of the next blind road only after moving forward by 7 meters.

As shown in fig. 3b of fig. 3, the embodiment of the present invention is the rod-read braille, and rod-read braille dot position form of the rod-read mileage 2, and the plain text is: zs033ea0000, ea of the 6 th road condition is english represented by the 1 st braille point (2) of the fifth row of the braille alphabet. Represents: at the 330 th meter of the middle mountain road, the front is a straight road and the front is the next blind walking and automatic driving traffic information precise perception guiding device 10 meters in front.

As shown in fig. 3c of fig. 3, the braille pattern formed by the concave positions of the mileage reading on the closed line in the embodiment of the present invention has the same meaning as braille of the mileage reading 1 on fig. 3a, and the plain text is: zs034ff 3007.

The rod reading mileage is rod reading braille on a closed line, the content is a steering prompt to the next blind road, the number is at a fixed position, a preset number is not needed, and the rod reading mileage consists of a two-position English single direction, a three-position number, a one-position road condition, a two-position angle number and a two-position length number;

the English single side consists of the first letters of the Pinyin of the two front positions of the road name; the three-digit number indicates that the forward distance from the start of the road is multiplied by 10, and PY234 indicates that: the phonetic transcription path is at 2340 m.

One road condition is one of the first 6 braille characters or numbers of the fifth row of the braille chart, which respectively represents 7 road conditions: 1. the Braille point position (2) represents a straight road and is forward, the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in front, and the forward direction represents the direction from the head of the road to the tail of the road; 2. the Braille point position (23) represents a straight road and is reverse, the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in front, and the reverse direction represents the direction from the tail of the road to the head of the road; 3. the Braille point positions (25) represent that the continuous line turns left; 4. braille point locations (256) represent turns to the right from the continuous path; 5. the Braille point position (26) represents left turn away from the open circuit; 6. the Braille point position (235) represents turning to the right from the open circuit; 7. when the road condition is the braille number of 1-9, the accurate sensing and guiding device for the next blind walking and automatic driving passing information indicates that the accurate sensing and guiding device for the next blind walking and automatic driving passing information is located at a position with a corresponding length, the position can turn and be separated, the accurate sensing and guiding device for the blind walking and automatic driving passing information needs to be noticed, and when the braille number is 0, the accurate sensing and guiding device for the next blind walking and automatic driving passing information is far away from 10 meters.

When the second-position angle degree turns in the front, filling the radian of the turning, and when the front is disconnected, filling the angle between the extension line of the blind road and the straight line of the next blind walking and automatic driving passing information precise perception guiding device; if the front is not turning or breaking, blank; if the angle number exceeds 2 digits, the 6 concave positions are all straight, which is equivalent to the blank of 6 points of the braille, and the blind is asked to find help, thereby indicating that the road condition is special.

When the two-position length number is in front turning, filling the length of an arc of the turning, and when the front is disconnected, filling the distance to the next blind walking and automatic driving passing information accurate perception guiding device, counting by meters, and when the number is 00, indicating that the distance is more than 100 meters; blank if the front is not a turn or a break.

Embodiment 4 the procedure of reading braille with the stick where the reading point is (010000) and (001000) with the blind stick. .

As shown in fig. 4, the steps of reading braille with the stick having the blind stick sensing points of (010000) and (001000) according to the embodiment of the present invention are as follows.

B. When the braille points read by the rods are (010000) and (001000), there is only one recess, the blind rods sweep the recess positions of 123456 in sequence, and since five 0's remain, the blind rod sweep distance before and after the recess is felt, compare 1: 4 and 2: 3, the braille represented by the point location (010000) and the point location (001000) is distinguished.

Embodiment 5 the procedure of reading braille with the stick of the blind stick is (100100) and (010001).

As shown in fig. 5, the steps of reading the braille points (100100) and (010001) with the stick of the blind stick according to the embodiment of the present invention are as follows.

B. When the braille reading points are (100100) and (010001), the blind rod sweeps the concave position of 123456 in sequence, two recesses are sensed, four 0 s are left, the first recess is at the beginning or the end, and the blind rod sweep distance before and after the middle recess is sensed, compare 2: 2 and 1: 3, distinguishing the Braille points represented by the point locations (00100) and (01000), and adding the concave locations at the beginning or the end to form the complete Braille.

Embodiment 6 the step of reading braille with the stick of the blind stick to read out the point is (110000) and (011001). .

As shown in FIG. 6, the steps of reading the Braille dots (110000) and (011001) with the stick according to the embodiment of the present invention are as follows.

A. If the blind rod sweeps two indentations and then all are straight, then it can be determined that the point is (110000), and it is not necessary to count how many 0 s to sweep.

B. When reading braille 011001 with a stick, the first concave is at the end, the middle is provided with two concaves, three 0 s are left, the distance when two groups of concave positions are sensed is compared with 1: 2, the front is 0 and the back is two 0, so that the braille reading point is (011001).

Embodiment 7a method for using a blind walk and automatic driving traffic information precision perception guide device.

As shown in fig. 7a of fig. 7, in the blind road site of the embodiment of the present invention, the plaintext of the rod reading distance is: zs034ff3007, "ff" for the 6 th road condition is English represented by the 6 th Braille dot (235) in the fifth row of the Braille Table. The rod reading mileage indicates that the blind road is located at the 340 th meter of the Zhongshan road on site, the front part of the blind road turns to the right from the broken circuit, the blind road turns to the right by 30 degrees, and the blind road can reach the starting point of the next blind road after moving forward by 7 meters.

As shown in fig. 7b of fig. 7, the steps of using the blind walking and automatic driving traffic information precision perception guiding device according to the embodiment of the present invention are as follows.

A. The blind people hold the blind stick to learn to read the rod reading braille, when the rod reading braille is digital, namely 3 and 6 concave positions of 3 rd, 4 th, 5 th, 7 th, 8 th, 9 th and 10 th rod reading areas are always straight, when the rod reading braille is a road condition, the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in front, and 1 and 4 concave positions of the 6 th rod reading area are straight; when the next blind walking and automatic driving traffic information accurate perception guiding device is not 10 meters ahead, the 3 and 6 concave positions are straight.

D. The blind person sweeps the blind stick downwards to the upper rod reading area of the first rod reading strip, the blind stick sweeps the first concave position concave to the rod reading area from the left side, the second concave position is straight, the third concave position is concave, the fourth concave position is straight, the fifth concave position is concave, the sixth concave position is concave, the braille read by the rod is translated into the braille point position (1356), and the plaintext is z.

Embodiment 8 step of the pedestrian-road autopilot apparatus transporting an item to an express delivery shop.

As shown in fig. 8, the present invention implements the following steps for a routine humanitarian autopilot device to transport items to a courier store.

A. And downloading the SDK of the majordomo of the airplane A, and replacing the function of reading the programming challenge card with reading the blind guiding two-dimensional code.

B. And (3) building a semi-closed carriage by using Haoyao building blocks on a base plate platform of an armored master, and putting articles into the semi-closed carriage.

C. The accurate sensing guiding device of the blind walking and automatic driving passing information is set to pass through 10 according to the destination, and the direction and the distance of driving after the accurate sensing guiding device of the last walking and automatic driving passing information are set according to the nearest express store.

D. And placing the first engineer to a position where the first blind walking and automatic driving passing information accurate perception guide device can be read, and starting the first engineer.

E. The majordomo reads the blind guiding two-dimensional code, extracts out the guide information, starts the obstacle avoidance function, and moves to the next blind walking and automatic driving passing information accurate perception guide device according to the direction determined by the direction electronic information, and repeats for 10 times, and reaches the last blind walking and automatic driving passing information accurate perception guide device.

F. And driving to arrive at an express delivery shop according to the set driving direction and distance on the side of the final blind walking and automatic driving passing information accurate perception guide device.

The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. A blind walking and automatic driving traffic information accurate perception guiding device is characterized by comprising a pole reading bar, a pole reading mileage, a blind guiding two-dimensional code, a touch wear-resistant coating, a unique number and a floor tile or wear-resistant ground sticker of the blind guiding mileage, and is a blind guiding infrastructure used for storing blind guiding information; the blind walk and automatic driving traffic information accurate perception guiding device is applied to the government by the association of the visually impaired people and installed on the right side of a blind road, a stairway and other blind roads are installed close to the side, a prompt blind road starting from the starting point of the blind road and a prompt blind road ending at the terminal point of the blind road are installed, one prompt blind road is installed every ten meters, and one prompt blind road is installed every ten meters;

the blind walking and automatic driving passing information accurate perception guiding device has 5 bars for reading, wherein the number of the bars is 1-5, the number of the bars is 3 on the left, the number of the bars is 2 on the right, and the bars are arranged in a staggered way by 5 millimeters; each pole reading zone is provided with an upper pole reading zone and a lower pole reading zone, the total number of the pole reading zones is 10, each pole reading zone is provided with 6 concave positions, the pole reading braille formed by the concave positions of the pole reading zones corresponds to 6 point positions of the braille, namely 123 braille points from the left side to the bottom and 456 braille points from the right side to the bottom, and the pole reading zones are equivalent to the squares of the braille points; when the concave position is concave, the concave position is equivalent to a convex point of the braille, and when the concave position is straight, the concave position is equivalent to a blank of the braille, namely, no convex point exists; the reading braille can be represented by 0 and 1, 0 represents the flat concave position, and 1 represents the concave position;

the length of the rod reading strip is 139 mm, the face width is 25 mm, the bottom width is 35 mm, the height is 5mm, the length of the concave position is 19 mm, the depth of the concave position is 12 mm, and the bottom width of the concave position is 3 mm; the width between the concave positions is 3 mm; the rod reading strip is divided into an upper rod reading area and a lower rod reading area; the edges between the concave positions and the bottom surface are circular arcs, so that the blind rod is not prevented from moving between two continuous concave positions;

taking the left upper side concave position of the left upper side rod reading strip in the blind walking and automatic driving passing information accurate perception guiding device as a starting point, taking the left lower side concave position of the left upper side rod reading strip as an end point, forming a closed line by 10 rod reading zones, taking each 6 concave positions on the closed line as a braille, stretching the left hand open, enabling the palm of the hand to be downward, enabling the closed line to pass through the palm of the hand, and enabling the direction of the thumb to be the advancing direction of the closed line; the concave position circulates according to the advancing direction of the closed line, and the concave position circulates corresponding to 123456 cycles of the point position of the Braille;

the English single side consists of the first letters of the Pinyin of the two front positions of the road name; the three-digit number indicates that the forward distance from the start of the road is multiplied by 10, and PY234 indicates that: the phonetic major channel is at 2340 m;

one road condition is one of the first 6 braille characters or numbers of the fifth row of the braille chart, which respectively represents 7 road conditions: 1. the Braille point position (2) represents a straight road and is forward, the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in front, and the forward direction represents the direction from the head of the road to the tail of the road; 2. the Braille point position (23) represents a straight road and is reverse, the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in front, and the reverse direction represents the direction from the tail of the road to the head of the road; 3. the Braille point positions (25) represent that the continuous line turns left; 4. braille point locations (256) represent turns to the right from the continuous path; 5. the Braille point position (26) represents left turn away from the open circuit; 6. the Braille point position (235) represents turning to the right from the open circuit; 7. when the road condition is Braille number 1-9, the accurate sensing and guiding device for the next blind walking and automatic driving passing information indicates that the accurate sensing and guiding device for the next blind walking and automatic driving passing information is located at a position with a corresponding length, the position can turn and be separated, the blind walking and automatic driving passing information at the position needs to be noticed, and when the Braille number is 0, the accurate sensing and guiding device for the next blind walking and automatic driving passing information is far away from 10 meters;

when the second-position angle degree turns in the front, filling the radian of the turning, and when the front is disconnected, filling the angle between the extension line of the blind road and the straight line of the next blind walking and automatic driving passing information precise perception guiding device; if the front is not turning or breaking, blank; if the angle number exceeds 2 digits, the 6 concave positions are all straight, which is equivalent to the blank of 6 points of the braille, and the condition of the road is special, and the blind is asked to find help;

when the two-position length number is in front turning, filling the length of an arc of the turning, and when the front is disconnected, filling the distance to the next blind walking and automatic driving passing information accurate perception guiding device, counting by meters, and when the number is 00, indicating that the distance is more than 100 meters; if the front is not turning or breaking, blank;

the blind guiding two-dimensional code is arranged on the upper right side of the Braille and comprises a plaintext for reading mileage, a blind guiding direction and steering prompt, a blind guiding mileage and unique number, and a detailed data reading website; the blind guiding mileage is a plaintext and is represented by a first letter of road pinyin with two digits and ten meters of three digits, wherein the capital letters of the pinyin represent the forward direction, the lowercase letters represent the reverse direction, and the ten meters represent the forward distance from the starting point of the road; the link of the detailed data reading website stores a unique number, an address, blind guiding mileage, blind guiding direction and steering prompt, risk factors, introduction of nearby terrains, information of start and stop of adjacent road names, a landform panoramic static map, longitude and latitude electronic information and direction electronic information of a next blind walking and automatic driving passing information precise perception guiding device; the plaintext is the character used by normal people;

the touch wear-resistant coating is arranged on the upper left side of the braille and is used for providing special touch, so that visually impaired people can find the blind road milestone more easily;

2. The precise information perception and guidance device for blind walking and automatic driving according to claim 1, wherein the website for reading details is placed on a server set by the society of visually impaired people or volunteers.

3. The accurate sensing and guiding device for blind walking and automatic driving traffic information according to claim 1, wherein the blind guiding two-dimensional code has a programming challenge card function, can be accurately sensed by pedestrian lane automatic driving equipment, and provides accurate traffic information; the pedestrian-road automatic driving equipment can read the blind-guiding two-dimensional code to carry out pedestrian-road automatic driving; the automatic drive equipment of the pedestrian way comprises a sweeping robot, a robot armor and a Teluoyizhi programming unmanned aerial vehicle.

4. The accurate sensing and guiding device for blind walking and automatic driving traffic information as claimed in claim 1, wherein the wear-resistant coating is made of floor glue.

5. A use method of the blind walking and automatic driving passing information accurate perception guiding device is characterized in that a blind stick reading rod is used for reading braille 010000 and 001000, and the steps are as follows:

A. when the rod is read, the concave positions are easy to read when being concave, and the concave positions are matched with the concave conditions of 6 concave positions for comprehensive judgment when being straight, and are not easy to read until being skillful;

B. with the stick-read braille of 010000 and 001000, there is only one recess, and the blind stick sweeps the recess of 123456 in sequence, since five 0 s remain, the blind stick sweep distance before and after the recess is felt, compare 1: 4 and 2: 3, the braille represented by 010000 and 001000 is distinguished.

6. A use method of the blind walking and automatic driving passing information accurate perception guiding device is characterized in that a blind stick reading rod is used for reading braille 100100 and 010001, and the steps are as follows:

B. when the braille reading is 100100 and 010001, the blind rod sequentially sweeps the concave position of 123456, two recesses are sensed, four 0 s are left, the first recess is at the beginning or the end, and the sweep distance of the blind rod between the front recess and the rear recess is sensed, and the comparison is 2: 2 and 1: 3, distinguishing the Braille points represented by 00100 and 01000, and adding the recesses at the beginning or the end to form the complete Braille.

7. A use method of the blind walking and automatic driving passing information accurate perception guiding device is characterized in that a blind stick reading rod is used for reading braille 110000 and 011001, and the steps are as follows:

A. the blind rod sweeps two concave parts, then the blind rod is all straight, and then 110000 can be judged, and the number of 0 s swept by the blind rod is not required;

B. when reading braille 011001 with a stick, the first concave is at the end, the middle is provided with two concaves, three 0 s are left, the distance when two groups of concave positions are sensed is compared with 1: 2, the front is 0 and the back is two 0, so that the braille reading is 011001.

8. A use method of a blind walking and automatic driving accurate traffic information perception guiding device is characterized by comprising the following steps:

A. the blind people hold the blind stick to learn to read the rod reading braille, and when the rod reading braille is a number, namely 3 and 6 concave positions of the 3 rd, 4 th, 5 th, 7 th, 8 th, 9 th and 10 th rod reading areas are straight; when the braille is read by the pole, when the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in front, the 1 and 4 concave positions of the 6 th pole reading area are straight, and when the next blind walking and automatic driving passing information accurate perception guiding device is not 10 meters in front, the 3 and 6 concave positions are straight;

B. the blind person walks on the pedestrian path with the blind stick and pays attention to the accurate sensing and guiding device for the blind walking and automatic driving traffic information, which is tightly attached to the right side of the blind path, when wanting to be guided;

C. the blind stick of the blind person can sweep the touch wear-resistant coating to know the position of the accurate sensing and guiding device for the blind walking and automatic driving traffic information;

D. the blind person sweeps the blind stick downwards to an upper rod reading area of a first rod reading strip, the blind stick sweeps the first concave position concave to the rod reading area from the left side, the second concave position is straight, the third concave position is concave, the fourth concave position is straight, the fifth concave position is concave, the sixth concave position is concave, the braille point position for rod reading is (1356), the braille point position for rod reading is 101011, and the plaintext is z;

E. and C, repeating the step C to obtain the corresponding plaintext of the pole reading braille of 10 pole reading areas as follows: zs033ea0000, ea of the 6 th road condition is English represented by the 1 st Braille point (2) of the fifth row of the Braille table; the blind knows that the front of the middle mountain road is a straight road and the front is a forward direction 330 meters in the forward direction, and the next blind walking and automatic driving passing information accurate perception guiding device is 10 meters in the front;

F. the blind person walks 10 meters forward, pole reading is carried out on the blind walking and automatic driving passing information accurate perception guiding device at the forward 340 meters of the middle mountain road, the step C is repeated, and the corresponding plaintext of the pole reading braille in 10 pole reading areas is obtained: s034en3007, en for the 6 th road condition is English represented by the 5 th Braille point (26) in the fifth row of the Braille table; the blind people know that the front of the middle mountain big road is separated from the broken circuit at the 340 th meter, the blind people turn to the right for 30 degrees and can reach the starting point of the next blind road only by moving forward for 7 meters;

G. the blind person walks to the blind walking and automatic driving passing information accurate sensing and guiding device closest to the destination and then walks to the destination.

9. A use method of the blind walking and automatic driving accurate traffic information perception guiding device is characterized in that steps of transporting articles to an express delivery shop by a pedestrian path automatic driving device are as follows:

A. downloading the SDK of the majordomo, and replacing the function of reading the programming challenge card with reading a blind guiding two-dimensional code by using Python language;

B. building a semi-closed carriage by using Haoyao building blocks on a base plate platform of an armored master, and putting articles in the semi-closed carriage;

C. setting 10 blind walking and automatic driving passing information accurate sensing guide devices which need to be walked by a teacher according to a destination, and setting the driving direction and distance to the last walking and automatic driving passing information accurate sensing guide device according to the nearest express store;

D. placing a grandman on the robot to a position where the first blind walking and automatic driving passing information accurate perception guide device can be read, and starting the grandman on the robot;

E. the majordomo of the robot A reads the blind guiding two-dimensional code, extracts the guiding information, starts the obstacle avoidance function, advances to the next blind walking and automatic driving passing information accurate sensing guiding device according to the direction determined by the direction electronic information, repeats for 10 times, and reaches the final blind walking and automatic driving passing information accurate sensing guiding device;