CN112180933A

CN112180933A - Fast blind road and automatic driving device and method based on Bluetooth positioning of arrival angle

Info

Publication number: CN112180933A
Application number: CN202011067348.4A
Authority: CN
Inventors: 王美金; 谭诗涵
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-10-06
Filing date: 2020-10-06
Publication date: 2021-01-05

Abstract

A rapid blind road and automatic driving device based on Bluetooth positioning of arrival angles, wherein the Bluetooth positioning device of the blind road comprises an AoD positioning Bluetooth unit, a stick sensing strip, a stick sensing mileage, a blind guiding two-dimensional code, a touch solar cell, a floor tile or a wear-resistant ground sticker with a unique number and the blind guiding mileage; the AoD positioning Bluetooth unit periodically sends a directional signal outwards through the antenna unit. The blind-spot blind-road Bluetooth positioning device comprises 3 cane sense bars, each cane sense bar is provided with 4 cane sense areas, namely an upper left cane sense area, an upper right cane sense area, a lower left cane sense area and a lower right cane sense area, adjacent cane sense areas are separated by convex lines, each cane sense area is provided with 6 concave positions, the cane sense braille formed by the concave positions of the cane sense areas corresponds to 6 point positions of the braille, and the cane sense areas are equivalent to the square of the braille; the concave position is equivalent to a convex point of the braille when being concave, and the concave position is equivalent to a blank of the braille when being straight, namely no convex point. The cane sensing regions are 280 mm long, 25 mm wide at the face, 35 mm wide at the base and 5mm high, separated by raised lines.

Description

Fast blind road and automatic driving device and method based on Bluetooth positioning of arrival angle

Technical Field

The invention relates to the technical fields of big data, artificial intelligence, Internet of things, RFID (radio frequency identification), solar energy application and smart cities, in particular to a rapid blind road and automatic driving device based on Bluetooth positioning at an arrival angle.

Background

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 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 blind-road bricks are in the shape of round dots, each round dot is 5mm higher than the ground, the width is preferably 0.3-0.6m, the blind-road bricks can make a blind stick and the sole feel to inform the visually handicapped that the space environment of the front route will change, and in practice, the length and the width of most blind-road bricks are 300 x 300.

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.

Some roads are narrow, places where the bicycles are not placed on the blind road, and some roads are close to shops, so that the blind road is easy to be occupied. On some roads, few people walk at ordinary times, and no people walk after the commute time. A plurality of people walk on some roads during the commuting time, and no people walk after the commuting time; the blind road is wider and repeated, the blind road is less occupied, and the roads in the main pedestrian passage, the second pedestrian passage, the blind road, the bicycle placing area and the electric vehicle placing area objectively exist.

Therefore, a convenient blind road brick is needed at present, which can inform the blind whether the front 5 meters of the blind is straight or not and whether the blind is easy to be occupied or not.

Therefore, there is a need for a device that can set the blind road with less occupation and less pedestrians as a fast blind road so that the blind can walk through quickly and safely.

The bluetooth 5.1 communication standard provides a more accurate method of positioning, and the angle of departure (AoD) method requires a transmitter with at least two antennas. The receiver may have only one antenna, receive multiple signals and calculate the angle of the signal source. For example, bluetooth positioning beacons transmit signals through an antenna array, while receiving devices like smart phones receive signals using a single antenna and decode the signals to calculate relative signal direction. This direction finding method is targeted for indoor positioning systems, such as way finding systems.

The 5.1 specification also enhances the GATT (generic attribute profile), which defines the way two BLE devices transfer data back and forth using a concept called service and feature. These enhancements are generally intended to improve energy efficiency and enable faster handshaking between bluetooth devices. The 5.1 specification defines how a BLE client can skip the steps of a service lookup between two devices that have communicated once and have not changed. The client can now conclude that the device to which it is connected is of the same type as the previous connection and that the client has cached the attribute table. If some details are the same, the client may decide to skip part of the connection protocol because it already has the required data.

The AoA and AoD functions in bluetooth 5.1 are intended to bring higher accuracy to real time positioning systems (RTLS) and Indoor Positioning Systems (IPS). Bluetooth real-time location system settings for item tracking invoke bluetooth receivers, commonly referred to as locators, installed at multiple fixed locations throughout the venue. The locator is connected to a centralized server, colloquially referred to as a location engine. A bluetooth transmitter, colloquially referred to as a tag, is placed on the item to be tracked by the system. The tag periodically sends a signal to a position location engine, which estimates the position of each locator. In indoor positioning systems, bluetooth transmitters, commonly referred to as positioning beacons, are placed in fixed locations. The visitor can typically listen to the positioning beacon using an application on the smartphone. The application uses the received signal strength to calculate its real-time location.

SmartBond DA1469x series bluetooth controllers from Dialog semiconductors incorporate the AoA and AoD directional location features of the bluetooth 5.1 standard. The family of devices also includes a Sensor Node Controller (SNC) that is autonomous and independently processes data from sensors interfaced therewith. In addition, the DA1469x family also has a built-in power management unit that enables the on-chip processing core only when needed, while eliminating the need for a separate PMIC, built-in charging function for lithium ion and lithium polymer battery charging. The angle of arrival (AoA) of the bluetooth transmitter can be detected by a development board of Dialog semiconductor corporation. The particular device is set to make ten measurements per second of the angle to the transmitter.

The logical address of bluetooth is represented by a three-bit binary number, which can represent 8 logical links, but 000 represents broadcast, and the other 7-bit logical addresses represent the number of devices that can create logical links at the same time. Theoretically, one bluetooth master (master) can be connected with seven slave bluetooth slaves.

The polymer lithium battery can not explode in a high-temperature environment, and the working temperature of the lithium battery is minus 20 ℃ to plus 80 ℃. The high-temperature resistant lithium battery can bear the high temperature of 800 ℃ at most. The common lithium battery is tested at high temperature, and the temperature is 200 degrees, 500 degrees, 800 degrees and the like.

The combination of the current Bluetooth, the solar cell and the polymer lithium battery is about 20 yuan RMB.

Chinese patent "a laser direction sensor and artificial intelligence cloud platform device and method of recognizing way", patent No.: 2020110109970, provides a head-wearing internal and external double-axis anti-shake directional camera, which can detect the body direction of blind people and provide the functions of obstacle detection, pedestrian detection, vehicle detection and traffic signal identification.

The ROS is a highly flexible software architecture for writing robot software programs. It contains a large amount of tool software, library code, and defined protocols, aimed at simplifying the difficulty and complexity of the process of creating complex, robust robot behaviors across robot platforms.

The ROS robot intelligent car comprises a laser radar, a binocular camera and a Bluetooth 5.1, has the functions of visual navigation, image recognition SLAM line patrol, SLAM laser radar mapping navigation positioning, can automatically avoid people or obstacles to advance, can automatically drive along a lane line by training a deep learning model, can accurately recognize traffic signals (such as traffic lights, left turn, right turn, parking and the like) and make a response, and has the functions of automatic image following, SLAM composition, path planning, automatic navigation and the like. The load can reach 50 kg.

The blind person middle speed walking means that under the condition that no electronic equipment reminds people or barriers in front, on the condition that relatively few people and quiet roads exist, and due to propaganda and LED lamp indication, the wide roads have special marked bicycles and other articles to park in the region, the probability of no barriers is extremely high, the probability that pedestrians or blind persons on the other side cannot hear the prompting sound is extremely low, and the walking speed of two people can not be injured in case of collision. Is slightly slower than the normal walking speed of the blind but faster than the walking speed of the blind for searching the advancing.

The blind person can walk quickly, namely the blind person has reliable prompt, and can walk at the normal walking speed under the condition that no person or obstacle exists in the front 5 meters.

Therefore, there is a need for a device that can achieve fast blind-road and sidewalk automatic driving.

Disclosure of Invention

The embodiment of the invention provides a fast blind way and automatic driving device based on Bluetooth positioning at an arrival angle, which aims to solve the problem of slow walking speed of blind people.

One of the purposes of the invention is to provide a device which sets the blind road with less occupied probability and fewer pedestrians as a quick blind road at low cost so that the blind can walk through quickly and safely.

One of the purposes of the invention is that the blind can walk at the same speed as a normal person.

One of the purposes of the invention is that the blind can use the intelligent vehicle to transport goods in short distance, so as to obtain more working opportunities.

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

A rapid blind road and automatic driving device based on Bluetooth arrival angle positioning comprises a blind road Bluetooth positioning device, a rapid blind road identification device, a blind road client, a seven-color directional alarm, a bell, a blind stick and a Bluetooth direction sensor.

The blind road Bluetooth positioning device comprises an AoD positioning Bluetooth unit, a cane sensing strip, a cane sensing mileage, a blind guiding two-dimensional code, a touch solar cell, a floor tile or a wear-resistant ground sticker with a unique number and a blind guiding mileage; applying for installation on the right side of the blind road, and the stairway and other blind roads are installed by the blind association to the government, starting from the prompt blind road at the starting point of the blind road and ending at the prompt blind road at the end point of the blind road; applying for setting a fast blind road for a blind road on a road which is rarely occupied when a user walks at ordinary times; applying for setting a time-sharing fast blind road for a blind road on a road where a plurality of people walk during the commuting time and no people walk after the commuting time; the fast blind sidewalk and the time-sharing fast blind sidewalk are provided with a blind sidewalk Bluetooth positioning device and a fast blind sidewalk identification device, and the blind sidewalk Bluetooth positioning devices are arranged on the fast blind sidewalk one by one every 4.8 meters; the rapid blind road marking device is installed one by 1.2 meters; the blind road Bluetooth positioning device and the rapid blind road identification device are blind guiding infrastructure and are used for storing information of a rapid blind road and other blind roads; the blind road Bluetooth positioning device can be installed on any blind road for blind guiding and automatic driving guiding.

The AoD positioning Bluetooth unit comprises a Bluetooth controller, an antenna unit, a positioning information and attribute table storage unit; the method comprises the steps that a Bluetooth controller periodically sends a direction-finding signal to the outside through an antenna unit, a blind road client on a mobile phone downloads an attribute table of a nearby blind road Bluetooth positioning device according to mobile phone positioning information, when a plurality of direction-finding signals from the Bluetooth controller pass through an antenna of equipment loading the blind road client, the blind road client performs I/Q sampling, and based on I/Q sample data, the blind road client calculates the direction and distance of the equipment loading the blind road client relative to the Bluetooth controller according to a Bluetooth protocol stack algorithm; the antenna unit consists of 4 antennas and is used for sending a direction-finding signal and distributing the direction-finding signal in 4 corners of the blind road Bluetooth positioning device; when the positioning information storage unit is installed in the blind road Bluetooth positioning device, millimeter-level high-precision positioning information and uploading attribute table information are written in by depending on a thousand-discovery microsystem of the Beidou; the AoD positioning Bluetooth unit is used for measuring the current generated by the solar battery, so that the brightness of the rapid blind road is obtained, the brightness of the lithium battery for charging and discharging and the brightness of the LED rapid blind road lamp are controlled, and the AoD positioning Bluetooth unit is located inside the blind road Bluetooth positioning device.

The blind-spot blind spot comprises 3 stick-spot sensing bars, each stick-spot sensing bar is provided with 4 stick-spot sensing areas, namely, an upper left stick-spot sensing area, an upper right stick-spot sensing area, a lower left stick-spot sensing area and a lower right stick-spot sensing area, the adjacent stick-spot sensing areas are separated by convex lines, each stick-spot sensing area is provided with 6 concave positions, stick-spot sensing braille formed by the concave positions of the stick-spot sensing areas corresponds to 6 point positions of the braille, namely, 123 parts from the left side of the braille to the lower part of the braille, 456; 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; stick-sensing braille points may be bracketed by 0 and 1 to indicate point locations, with 0 indicating a depressed straight location and 1 indicating a depressed concave location, and the stick-sensing braille point (110100) corresponding to braille point (124).

The stick sensory strip length is 280 mm, the face width is 25 mm, the base width is 35 mm, the height is 5mm, the stick sensory areas are separated by convex lines, the base width of the convex lines is 12 mm, the face width of the convex lines is 6 mm, the height is 3 mm, when the convex lines are between the stick sensory strips, the length is 25 mm, and in other cases, the length of the convex lines is 15 mm.

The length of the concave position is 19 mm, the depth of the concave position is 12 mm, and the width of the bottom of the concave position is 3 mm; the width between the concave positions is 3 mm; the stick-sensing strip is divided into an upper surface and a lower surface, and is respectively provided with a left stick-sensing area and a right stick-sensing area, and the number of the stick-sensing areas is 4.

The stick-feeling braille is arranged from the uppermost stick-feeling strip from left to right according to the upper stick-feeling region direction and from right to left according to the lower stick-feeling region direction, and the point positions corresponding to the braille are circularly arranged according to 123456.

The cane-feeling mileage is cane-feeling braille of the blind road Bluetooth positioning device, the content is a steering prompt to the next blind road, the cane-feeling mileage consists of a one-digit blind road mark, two-digit English single-direction, four-digit numbers, one-digit road conditions, two-digit angle degrees and two-digit length numbers, and the numbers are in fixed positions and do not need preposed numbers.

One blind road sign represents 4 kinds of blind roads by one of four braille on the sixth row or the seventh row of the braille chart:

1. the Braille point position (6) represents a fast blind track;

2. the Braille point position (56) represents a normal blind road, and traffic lights, breaks, steps and turns can be arranged in the middle;

3. the Braille point position (456) represents a busy blind road and more obstacles;

4. the Braille point (3456) represents a time-sharing fast blind road, which is a fast blind road only at a specific time and requires to know the set time of the fast blind road in advance.

The two-digit English single-side + four-digit number is composed of the first letter of the Pinyin of the two digits in front of the road name; four digits indicate the distance from the start or end of the road, PY1234 indicates: the pinyin is on the 1234 th meter in the path.

One road condition is one of 10 braille or numerals of the fifth row of the braille chart, which respectively represents 11 road conditions:

1. the Braille point position (2) indicates that 10 meters ahead are straight roads and are in the forward direction, and the forward direction indicates the direction from the head of the road to the tail of the road;

2. the Braille points (23) indicate that the front 10 meters are straight and reverse, and the reverse indicates the direction from the tail of the road to the head of the road;

3. the Braille point position (25) represents a straight path, namely going up to go up to a step;

4. the Braille point position (256) represents a straight path, namely the straight path is about to go down a step;

5. the Braille point position (26) indicates that the circuit is disconnected and has traffic lights and needs to be kept in mind;

6. braille dot location (235) indicates an open circuit and a left turn, no traffic light;

7. a braille dot location (2356) indicates an open circuit and turns to the right without a traffic light;

8. braille dots (236) indicate a continuous path, i.e., a left turn is about to occur;

9. braille point positions (35) represent a continuous path, namely a turn to the right is about to be made;

10. the Braille point position (356) indicates that the fast blind road is about to end and the walking is resumed;

11. when the road condition is the number 1-9, the road is a straight road, and the corresponding length position may be a turning, a breaking or a step, and the blind road Bluetooth positioning device and the prompt blind road at the position need to be noticed.

Filling the radian of the turn when the second-position angle degree turns in front; when the front is disconnected, filling the angle between the extension line of the blind road and the straight line to the next blind road Bluetooth positioning device; filling the step number when the front is the step; when the front is a straight road and an express way, filling the number of the blind way Bluetooth positioning devices and the number of the express blind way identification devices which finish the express way; if the front is not a turn, a break, a step or a fast straight road, the stick feeling Braille point position is (000000); if the angle degree of the stick feeling braille is 00 and the indicating angle is 0, the blind can walk straight, and if the angle degree exceeds 2 digits, the stick feeling braille is 99 and indicates that the road condition is special, and the blind is asked to find help; if the number of the blind road Bluetooth positioning devices and the number of the quick blind road identification devices exceed 2 digits, the braille feeling is 00.

Filling the length of the turning arc when the two-position length number turns in front; when the front is disconnected, filling the distance to the next blind road Bluetooth positioning device, and counting by meters; when the front is a straight road and an express way, filling the distance to the end of the express way, and counting by meters; the two-digit length number is more than 100 meters when the plaintext number is 00; the cane feel braille is 00 if the front is not a turn, a break, or a fast straight road.

The blind guiding two-dimensional code is arranged on the upper right side of the Braille and comprises a plaintext of the cane sensing mileage, a blind guiding direction and steering prompt, a detailed data reading website, a unique number and a blind guiding mileage; 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 topography, information of start and stop of adjacent road names, a landform panoramic static map, longitude and latitude electronic information and direction electronic information to a next blind road Bluetooth positioning device; the plaintext is the character used by normal people; the detailed data reading website is placed on a server set by the blind association or volunteers; the blind guiding two-dimensional code is used for enabling the automatic driving equipment with the obstacle avoiding function to read and then to be positioned, and the automatic driving is carried out in a pedestrian path.

The touch solar cell comprises tempered glass, a solar cell, a lithium battery and an LED rapid blind road lamp, and is arranged on the upper left of the braille to provide special touch, so that the blind can find the blind road milestone more easily; the lithium battery is used for storing the electric quantity of the solar battery and supplying power to the Bluetooth controller and the LED rapid blind road lamp; the LED quick blind road lamp is used for marking a quick blind road, so that pedestrians can pay attention to avoid the blind person without placing sundries such as bicycles and the like on the quick blind road, and the brightness and the flicker of the LED quick blind road lamp are controlled by the AoD positioning Bluetooth unit.

The unique serial number and the blind guiding mileage are marked by small character numbers below the touch solar cell; the blind guiding mileage is a plaintext and consists of a two-digit English single party and a four-digit number, the two-digit English single party is composed of the first letters of the Pinyin of the two digits in front of the road name, and the four-digit number represents the distance from the starting point or the ending point of the road.

The rapid blind road marking device is a blind road Bluetooth positioning device without an AoD positioning Bluetooth unit, the rapid blind road marking device adopts a small-area solar cell and low capacity to reduce the cost, and the rapid blind road marking device is only used by an LED rapid blind road lamp and is used for marking a rapid blind road, so that pedestrians pay attention to not block the blind person to advance and not place obstacles to occupy the blind road.

The blind road client is used for receiving a direction finding signal of the blind road Bluetooth positioning device, positioning and guiding the blind to avoid obstacles and walk, is arranged on mobile equipment comprising Bluetooth 5.1 and hardware for identifying the body direction of the blind, and is used for prestoring and uploading barrier-free photos of the fast blind road to a commercial map server for marking, comparing the current fast blind road with the prestored fast blind road photos and judging whether the barriers exist; the system is used for carrying out human body identification on the rapid blind road and identifying whether people exist in the front 5 meters; and the blind road client downloads an attribute table of a nearby blind road Bluetooth positioning device according to the mobile phone positioning information, listens a direction finding signal, performs I/Q sampling, and calculates the direction and distance of equipment loading the blind road client relative to the Bluetooth controller according to a Bluetooth protocol stack algorithm based on I/Q sample data.

The seven-color directional alarm comprises a seven-color LED, a lithium polymer battery, a directional horn and a switch; the directional bellmouth is forward by fixing the arm belt, the leg belt or the chest belt on the body, and the seven-color LED surrounds the directional bellmouth and is used for reminding the blind person to avoid or remind the blind person to have people on the rapid blind road when the blind person walks the rapid blind road.

The ring bell is used for reminding the blind person to avoid or remind the blind person on the quick blind road when the blind person walks on the quick blind road, and is hung on the body, the hand or the feet when the ring bell is used.

The Bluetooth direction sensor comprises a Bluetooth unit, a lithium polymer battery and a direction sensor; the blind person identification device is adhered to the right front of a handle of the handheld cloud deck and used for identifying the direction of the body of the blind person and transmitting direction data to the mobile equipment where the blind road client is located.

The steps of the blind stick for distinguishing the left stick feeling area from the right stick feeling area are as follows.

A. After the blind stick contacts the stick sensing strip, the stick sensing strip is horizontally swept to sense the position of a convex line, the left side of the convex line is a left stick sensing area, and the right side of the convex line is a right stick sensing area.

The steps of the stick-feeling braille can be read quickly by the stick.

A. After the blind stick contacts the stick sensing strip, put the left side in the stick sensing district with the blind stick, the arm is taken to the blind stick level and is swept 6 concave positions in this stick sensing district, and the wrist shakes 6 times from top to bottom simultaneously, and every concave position shakes 1 time, feels the hindrance of shake, if hinder deeply, the stick is felt the braille point location and is 1, if hinder shallowly, the stick is felt the braille point location and is 0.

B. It is not easy to read until after proficiency.

The steps of slowly reading the braille by the blind stick are as follows.

A. The blind stick is placed on the left side of the stick sensing area and slowly dragged over the first concave position, if the concave position is concave, the stick sensing Braille point position is 1, and if the concave position is straight, the stick sensing Braille point position is 0.

B. Whether the first or the sixth concave position is concave or straight can be distinguished, if the second or the fifth concave position is straight, all concave positions are dragged to see how many concave positions are, and then the straight length is compared to distinguish the braille feeling.

C. If the stick feeling braille has only one concave, only (100000), (010000), (001000), (000100), (000010) and (000001) 6 cases exist, wherein (100000) and (000001) are easy to distinguish, and the other 4 cases are bilaterally symmetrical, namely (001000) and (010000) are distinguished, because five 0 cases are left, the sweeping distance of the blind rod before and after concave feeling is compared with 1: 4 and 2: 3, identifying the braille represented by the point positions (010000) and (001000);

D. if the stick-feel braille has two indentations, it is sufficient to distinguish (100100) and (010001), feel that there are two indentations, four 0 s remaining, the first indentation at the beginning or end, feel the blind rod sweep distance before and after the middle indentation, 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.

E. If the braille is felt to the cane has three concave, distinguish (011001) and (001101) can, feel the distance when two sets of concave position are straight, compare 1: 2, it is distinguished that there is one 0 and there are two 0, thereby obtaining the stick-feeling braille.

F. If the stick-feeling braille has four recesses, the stick-feeling braille can be easily recognized.

G. It is not easy to read until after proficiency.

The steps of the walking of the blind stick on the quick blind road are as follows.

A. Blind person's association applies for and establishes the blind road in the pedestrian road of the road that has main pedestrian passageway, second pedestrian passageway, blind road, bicycle and electric motor car place the district for quick blind road, widely publicize this quick blind road can not place the barrier and the blind person is preferred to be walked, set up and mark the bicycle and place the district at the pedestrian road on quick blind road side, reduce the chance that the bicycle put into quick blind road, set up the luminance and the scintillation of LED quick blind road lamp, make luminance and scintillation can both indicate the existence of quick blind road in the sun and evening.

B. The blind people hold the blind stick to learn and read the stick feeling braille until the blind people are skilled; the blind person exercises to control the self pace, and the step length spans 1.2 meters every two steps.

C. The blind person walks on the pedestrian path by holding the blind stick, the blind stick of the blind person sweeps the touch solar cell to know that the blind path is a blind path Bluetooth positioning device or a quick blind path identification device, and the blind person turns on a seven-color directional alarm or hangs a rattle.

D. The blind reads the plain text of the braille with the cane sense on the blind road by the blind stick, and the plain text of the braille with the cane sense is as follows: (capital letters) XH1580 (be, bb) 7590; knowing that the user stands on the rapid blind road, the user stands on the reverse 1580 m of the west river road, stands straight, reaches the end point of the rapid blind road by 90 m, and has 75 blind road Bluetooth positioning devices or rapid blind road identification devices.

E. The blind person controls the self pace to walk at a medium speed which is faster than the speed of the blind person walking on a common blind road and slower than the speed of the normal person walking on the road, and the blind person sweeps the touch solar cell of the blind road Bluetooth positioning device every two steps to confirm whether the blind person hears the sound of a seven-color directional alarm or a ring to avoid colliding with another blind person.

F. When the blind road arrives at the 70 th blind road Bluetooth positioning device or the quick blind road identification device, the walking is suspended, and the blind person reads the plain text of the Braille braille with the cane: (capital letters) XH1496 (") 0506; knowing that the station is on the fast blind road, the station is on the reverse 1496 m of the west river road, the straight road is about to finish the fast blind road, the terminal point of the fast blind road is 6m, and 5 blind road Bluetooth positioning devices or fast blind road identification devices are arranged.

I. The blind person controls the self step pitch, the touch solar cell of the blind road Bluetooth positioning device is swept every two steps to confirm, when the blind road Bluetooth positioning device reaches the 75 th blind road Bluetooth positioning device, the blind person pauses walking, and the blind person reads the plain text of the Braille of the stick feeling Braille by using a blind stick: (alphabetical symbols) XH1490 (ff) 0008; the blind people know that the blind people stand on a normal blind road, traffic lights, breaks, steps and turns may exist in the front of the blind people, and at the position of 1490 meters in the reverse direction of the west river road, the front of the blind people is broken and turns to the left without the traffic lights; the angle of left turn is 0, namely straight from the broken circuit, the next blind road bluetooth positioner or quick blind road identification means is 8 meters away.

J. The blind person stands at the intersection which is away from the broken circuit, listens whether the blind person has the tsunami feeling of the advancing vehicle, memorizes the direction of the coming road, slowly searches for the advancing vehicle to advance for 8 meters along the direction, searches for the prompting blind road, the blind road Bluetooth positioning device or the quick blind road identification device, and continues to advance.

The steps of the client side of the blind road for walking the fast blind road are as follows.

A. The blind person wears a head-wearing type internal and external double-shaft anti-shake directional camera or a handheld cradle head with a mobile phone, downloads a blind road client, sets a cradle head angle so that the blind road client can shoot an image of a front road, and sets an intelligent following mode for the blind road; opening a blind road client; the blind person who holds the cloud deck pastes the bluetooth direction sensor to the dead ahead of the handle of the handheld cloud deck, and the feeling that the handheld cloud deck is towards the dead ahead is memorized with the help of the family; the head-mounted internal and external double-shaft anti-shake directional camera body is provided with a direction sensor.

B. If the blind person wears the head-wearing type internal and external double-shaft anti-shake directional camera, the blind person holds the blind stick with one hand and is empty with the other hand or holds other sundries with higher cost; if the blind person holds the cradle head of the mobile phone, the blind person holds the blind stick with the other hand, so that the cost is low but the blind person is not convenient enough.

C. The blind person walks as usual until the camera finds the blind road Bluetooth positioning device or the blind road client finds the direction finding signal of the blind road Bluetooth positioning device.

D. The blind sidewalk client obtains the direction of the body of the blind according to the direction sensor of the head-mounted internal and external double-shaft anti-shake directional camera or the Bluetooth direction sensor adhered to the holder handle, obtains the walking direction of the blind walking towards the blind sidewalk Bluetooth positioning device according to the direction finding signal of the blind sidewalk Bluetooth positioning device, guides the blind to turn left or right, and indicates the blind to walk to reach the nearest blind sidewalk Bluetooth positioning device until the direction of the body of the blind is the same as the walking direction towards the blind sidewalk Bluetooth positioning device.

E. The blind person starts to advance rapidly under the instruction of the blind road client, namely the walking speed of normal people advances; when the blind road client finds that people or obstacles are in the front of the blind road by 5 meters, the blind person is prompted to slow down by one or more modes of preset sound, vibration and laser irradiation to explore and move forward.

F. When the blind person is about to arrive at the intersection at the rapid blind road end point, the blind person is reminded to walk slowly, the blind person rotates the equipment provided with the blind road client to the left and the right on the prompting blind road of the intersection, the artificial intelligence unit observes whether a vehicle or a person exists or not, and when the vehicle or the person does not exist, the blind person is guided to walk to the next blind road Bluetooth positioning device.

The blind people transport goods in short distance by using the automatic driving equipment on the fast blind road as follows.

A. The binocular camera module of the ROS robot intelligent vehicle is set by a volunteer in advance to intelligently follow the blind road Bluetooth positioning device or the rapid blind road identification device, the blind guiding two-dimensional code is analyzed, and the positioning information is obtained.

B. The method comprises the steps that a volunteer sets a laser radar module of the ROS robot intelligent vehicle to construct an image recognition SLAM line, the ROS robot intelligent vehicle is set to avoid people or obstacles to advance along the appointed SLAM line, automatic driving along a blind road is achieved through a model for training deep learning, and traffic lights are recognized and reacted.

C. And a Bluetooth 5.1 module of the ROS robot intelligent vehicle is arranged to download an attribute table of a nearby blind-track Bluetooth positioning device according to the positioning information of the mobile phone, listen to a direction finding signal, perform I/Q sampling, and calculate the direction and distance of the ROS robot intelligent vehicle relative to a Bluetooth controller according to a Bluetooth protocol stack algorithm based on I/Q sample data.

D. The blind person applies the courier to work and is responsible for placing goods into an express box from a express delivery network point, and the blind person scans the goods from a fixed position of the express delivery network point, places the goods into an ROS robot intelligent trolley and sets the express box of a destination by voice.

E. After the express box system confirms that the destination express box has enough empty boxes and orders, the blind person starts the ROS robot intelligent trolley, and the ROS robot intelligent trolley moves forward to the destination express box along the blind road.

F. If the blind person or the pedestrian is encountered on the way, the function of avoiding the person or the barrier of the ROS robot intelligent trolley is started, the blind person can move forward after waiting for the person or the barrier to walk, the blind person can know the speed and the position of the ROS robot intelligent trolley by hearing the sound and can move forward along with the walking, and the ROS robot intelligent trolley is controlled by voice when in need.

G. The blind person arrives in front of the destination express delivery case, sweeps the sign indicating number to the goods, and express delivery case system opens the express delivery case that corresponds after receiving, and the blind person puts into the express delivery case with the goods one by one, will post from express delivery case unpacking again and receive ROS robot smart car, returns the express delivery site.

The method has the beneficial effects that: the fast blind way facilitates the blind people to go to and from work, buy vegetables, shop and study, and the like, thereby enabling the blind people to participate in the society more smoothly and independently.

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: a fast blind way and automatic driving device based on Bluetooth positioning of arrival angle; wherein the content of the first and second substances,

FIG. 1 a: a fast blind road and an automatic driving device based on the Bluetooth positioning of the arrival angle;

FIG. 1 b: a blind road Bluetooth positioning device;

FIG. 1 c: stick-sensing strip.

FIG. 2: and distinguishing a left stick sensing area from a right stick sensing area by using a blind stick.

FIG. 3: and reading the braille quickly by using a blind stick.

FIG. 4: and slowly reading the braille by using a blind stick.

FIG. 5: a step of walking the blind stick on a fast blind road, wherein,

FIG. 5 a: stick sense braille, stick sense braille point location and braille point location comparison graphs corresponding to plaintext (capital letters) XH1580 (be, bb) 7590';

FIG. 5 b: stick-feeling braille, stick-feeling braille point locations and braille point location comparison graphs corresponding to plaintext (capital letters) XH1496 (") 0506";

FIG. 5 c: stick sense Braille, stick sense Braille point positions and Braille point position comparison graphs corresponding to plaintext (letter symbols) XH1490 (ff) 0008';

FIG. 5 d: fast blind road and automatic driving device live-action map based on arrival angle Bluetooth positioning;

FIG. 5 e: and (5) walking the fast blind road by using a blind stick.

FIG. 6: and a step of walking the fast blind road by using the blind road client.

FIG. 7: and the blind people transport the goods in short distance by using the automatic driving equipment on the fast blind road.

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 1a fast blind road and autopilot device based on bluetooth arrival angle location.

As shown in fig. 1a of fig. 1, a fast blind sidewalk and automatic driving device based on bluetooth arrival angle positioning according to an embodiment of the present invention includes a blind sidewalk bluetooth positioning device, a fast blind sidewalk identification device, a blind sidewalk client, a seven-color directional alarm, a ring, a cane and a bluetooth direction sensor.

1. the Braille point position (6) represents a fast blind track;

The blind road client is used for receiving a direction finding signal of the blind road Bluetooth positioning device, positioning and guiding the blind person to avoid obstacles and walk, is arranged on mobile equipment comprising Bluetooth 5.1 and direction identification hardware, and is used for prestoring and uploading a barrier-free photo of the fast blind road to a commercial map server for marking, comparing the current fast blind road with the prestored fast blind road photo and judging whether the barrier exists or not; the system is used for carrying out human body identification on the rapid blind road and identifying whether people exist in the front 5 meters; and the blind road client downloads an attribute table of a nearby blind road Bluetooth positioning device according to the mobile phone positioning information, listens a direction finding signal, performs I/Q sampling, and calculates the direction and distance of equipment loading the blind road client relative to the Bluetooth controller according to a Bluetooth protocol stack algorithm based on I/Q sample data.

As shown in fig. 1b of fig. 1, the blind road bluetooth positioning device according to the embodiment of the present invention includes an AoD positioning bluetooth unit, a stick-sensing bar, a stick-sensing mileage, a blind-guiding two-dimensional code, a touch-sensing solar cell, a floor tile or a wear-resistant ground sticker with a unique number and a blind-guiding mileage. The AoD positioning Bluetooth unit comprises a Bluetooth controller, an antenna unit, positioning information and an attribute table storage unit.

As shown in FIG. 1c of FIG. 1, embodiments of the present invention have a stick sensory bar length of 280 mm, a face width of 25 mm, a base width of 35 mm, and a height of 5mm, the stick sensory areas being separated by raised lines having a base width of 12 mm, a raised line face width of 6 mm, and a height of 3 mm, the raised lines having a length of 25 mm between stick sensory bars, and the raised lines having a length of 15 mm otherwise.

Example 2 a step of distinguishing the left and right sensory areas with a tactile stick.

As shown in fig. 2, the steps of distinguishing the right and left stick feeling zones by using the fast blind road based on the bluetooth arrival location and the stick of the automatic driving device in the embodiment of the present invention are as follows.

Embodiment 3 the step of using the tactile stick to read the braille quickly.

As shown in fig. 3, the steps of fast blind road based on bluetooth arrival positioning and stick-feeling braille reading by the stick of the automatic driving device according to the embodiment of the present invention are as follows.

B. It is not easy to read until after proficiency.

Embodiment 4 a step of slowly reading braille with a tactile stick.

As shown in fig. 4, the steps of using the fast blind road based on bluetooth arrival positioning and the cane of the automatic driving device to read braille slowly in the embodiment of the present invention are as follows.

C. If the stick feeling braille has only one concave, only (100000), (010000), (001000), (000100), (000010) and (000001) 6 cases exist, wherein (100000) and (000001) are easy to distinguish, and the other 4 cases are bilaterally symmetrical, namely (001000) and (010000) are distinguished, because five 0 cases are left, the sweeping distance of the blind rod before and after concave feeling is compared with 1: 4 and 2: 3, the braille represented by the point location (010000) and the point location (001000) is distinguished.

G. It is not easy to read until after proficiency.

Embodiment 5 step of walking the blind stick to the fast blind road.

As shown in fig. 5a of fig. 5, the plain text "(capital letters) XH1580 (be, bb) 7590" of the embodiment of the present invention corresponds to a stick-sense braille, stick-sense braille points, and comparison graph of braille points.

As shown in fig. 5b of fig. 5, the plain text "(capital letters) XH1496 (") 0506 "of the embodiment of the present invention is a comparison graph of stick-sense braille, stick-sense braille points, and braille points.

As shown in fig. 5c of fig. 5, the plain text "(alphabetical symbols) XH1490 (ff) 0008" of the embodiment of the present invention is a comparison graph of stick-sense braille, stick-sense braille points, and braille points.

As shown in fig. 5d of fig. 5, the embodiment of the present invention is a real view of a fast blind road and an automatic driving device based on bluetooth arrival angle positioning.

As shown in fig. 5e of fig. 5, the steps of the embodiment of the present invention for using the fast blind road based on the bluetooth arrival angle positioning and the cane of the automatic driving device to walk the fast blind road are as follows.

Example 6 procedure for fast blind sidewalk with blind sidewalk client.

As shown in fig. 6, the steps of using the fast blind sidewalk located based on the bluetooth arrival angle and the blind sidewalk client of the automatic driving device to walk the fast blind sidewalk in the embodiment of the present invention are as follows.

Embodiment 7 procedure for blind men to transport goods in short distance with autopilot equipment on fast blind sidewalks.

As shown in fig. 7, the blind persons in the embodiment of the invention transport the goods in short distance by the automatic driving device in the fast blind road as follows.

B. The method comprises the steps that a volunteer guides a laser radar module of the ROS robot intelligent trolley to construct an image recognition SLAM line, the ROS robot intelligent trolley is set to avoid people or obstacles to advance along the appointed SLAM line, automatic running along a blind road is achieved through a model for training deep learning, and traffic lights are recognized and reacted.

C. And a Bluetooth 5.1 module of the ROS robot intelligent vehicle is arranged to download an attribute table of a blind road Bluetooth positioning device to be passed through according to the mobile phone positioning information, listen to a direction finding signal, perform I/Q sampling, and calculate the direction and distance of the ROS robot intelligent vehicle relative to a Bluetooth controller according to a Bluetooth protocol stack algorithm based on I/Q sample data.

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 fast blind way and automatic driving device based on Bluetooth positioning of arrival angles is characterized by comprising a blind way Bluetooth positioning device, a fast blind way identification device, a blind way client, a seven-color directional alarm, a bell, a blind stick and a Bluetooth direction sensor;

the blind road Bluetooth positioning device comprises an AoD positioning Bluetooth unit, a cane sensing strip, a cane sensing mileage, a blind guiding two-dimensional code, a touch solar cell, a floor tile or a wear-resistant ground sticker with a unique number and a blind guiding mileage; applying for installation on the right side of the blind road, and the stairway and other blind roads are installed by the blind association to the government, starting from the prompt blind road at the starting point of the blind road and ending at the prompt blind road at the end point of the blind road; applying for setting a fast blind road for a blind road on a road which is rarely occupied when a user walks at ordinary times; applying for setting a time-sharing fast blind road for a blind road on a road where a plurality of people walk during the commuting time and no people walk after the commuting time; the fast blind sidewalk and the time-sharing fast blind sidewalk are provided with a blind sidewalk Bluetooth positioning device and a fast blind sidewalk identification device, and the blind sidewalk Bluetooth positioning devices are arranged on the fast blind sidewalk one by one every 4.8 meters; the rapid blind road marking device is installed one by 1.2 meters; the blind road Bluetooth positioning device and the rapid blind road identification device are blind guiding infrastructure and are used for storing information of a rapid blind road and other blind roads; the blind road Bluetooth positioning device can be arranged on any blind road for blind guiding and automatic driving guiding;

the AoD positioning Bluetooth unit comprises a Bluetooth controller, an antenna unit, a positioning information and attribute table storage unit; the method comprises the steps that a Bluetooth controller periodically sends a direction-finding signal to the outside through an antenna unit, a blind road client on a mobile phone downloads an attribute table of a nearby blind road Bluetooth positioning device according to mobile phone positioning information, when a plurality of direction-finding signals from the Bluetooth controller pass through an antenna of equipment loading the blind road client, the blind road client performs I/Q sampling, and based on I/Q sample data, the blind road client calculates the direction and distance of the equipment loading the blind road client relative to the Bluetooth controller according to a Bluetooth protocol stack algorithm; the antenna unit consists of 4 antennas and is used for sending a direction-finding signal and distributing the direction-finding signal in 4 corners of the blind road Bluetooth positioning device; when the positioning information storage unit is installed in the blind road Bluetooth positioning device, millimeter-level high-precision positioning information and uploading attribute table information are written in by depending on a thousand-discovery microsystem of the Beidou; the AoD positioning Bluetooth unit is used for measuring the current generated by the solar battery so as to obtain the brightness of the rapid blind road and is used for controlling the charging and discharging of the lithium battery and the brightness of the LED rapid blind road lamp, and the AoD positioning Bluetooth unit is positioned in the blind road Bluetooth positioning device;

the blind-spot blind spot comprises 3 stick-spot sensing bars, each stick-spot sensing bar is provided with 4 stick-spot sensing areas, namely, an upper left stick-spot sensing area, an upper right stick-spot sensing area, a lower left stick-spot sensing area and a lower right stick-spot sensing area, the adjacent stick-spot sensing areas are separated by convex lines, each stick-spot sensing area is provided with 6 concave positions, stick-spot sensing braille formed by the concave positions of the stick-spot sensing areas corresponds to 6 point positions of the braille, namely, 123 parts from the left side of the braille to the lower part of the braille, 456; 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 stick-sensing braille points can be represented by 0 and 1 with brackets, 0 represents that the concave position is straight, 1 represents that the concave position is concave, and the stick-sensing braille point (110100) is equivalent to the braille point (124);

the stick sensing strips are 280 mm in length, 25 mm in surface width, 35 mm in bottom width and 5mm in height, the stick sensing areas are separated by convex lines, the bottom width of the convex lines is 12 mm, the surface width of the convex lines is 6 mm, 3 mm in height, the length of the convex lines is 25 mm when the convex lines are among the stick sensing strips, and the length of the convex lines is 15 mm in other cases;

the length of the concave position is 19 mm, the depth of the concave position is 12 mm, and the width of the bottom of the concave position is 3 mm; the width between the concave positions is 3 mm; the stick-sensing strip is divided into an upper surface and a lower surface, and is respectively provided with a left stick-sensing area and a right stick-sensing area, and the number of the left stick-sensing area and the right stick-sensing area is 4;

the cane feeling braille is arranged sequentially from the uppermost cane feeling strip from left to right according to the upper cane feeling region direction and from right to left according to the lower cane feeling region direction, and the braille points are arranged in a circulating manner according to 123456 of the braille points;

the cane-feeling mileage is cane-feeling braille of the blind road Bluetooth positioning device, the content is a steering prompt to the next blind road, and the cane-feeling mileage consists of a one-digit blind road mark, a two-digit English single party, a four-digit number, a one-digit road condition, a two-digit angle number and a two-digit length number, wherein the number is at a fixed position and does not need a preposed number;

1. the Braille point position (6) represents a fast blind track;

4. the Braille point position (3456) represents a time-sharing fast blind road, the fast blind road is only the fast blind road at a specific time, and the set time of the fast blind road needs to be known in advance;

the two-digit English single-side + four-digit number is composed of the first letter of the Pinyin of the two digits in front of the road name; four digits indicate the distance from the start or end of the road, PY1234 indicates: the place 1234 m of the Pinyin Daodao;

11. when the road condition is a number of 1-9, the road condition is a straight road, and the corresponding length position may be a turn, a break or a step, and the blind road Bluetooth positioning device and the prompt blind road at the position need to be noticed;

filling the radian of the turn when the second-position angle degree turns in front; when the front is disconnected, filling the angle between the extension line of the blind road and the straight line to the next blind road Bluetooth positioning device; filling the step number when the front is the step; when the front is a straight road and an express way, filling the number of the blind way Bluetooth positioning devices and the number of the express blind way identification devices which finish the express way; if the front is not a turn, a break, a step or a fast straight road, the stick feeling Braille point position is (000000); if the angle degree of the stick feeling braille is 00 and the indicating angle is 0, the blind can walk straight, and if the angle degree exceeds 2 digits, the stick feeling braille is 99 and indicates that the road condition is special, and the blind is asked to find help; if the number of the blind road Bluetooth positioning devices and the number of the quick blind road identification devices exceed 2 digits, the stick feeling braille is 00;

filling the length of the turning arc when the two-position length number turns in front; when the front is disconnected, filling the distance to the next blind road Bluetooth positioning device, and counting by meters; when the front is a straight road and an express way, filling the distance to the end of the express way, and counting by meters; the two-digit length number is more than 100 meters when the plaintext number is 00; if the front is not turning, breaking or fast straight, the stick feeling braille is 00;

the blind guiding two-dimensional code is arranged on the upper right side of the Braille and comprises a plaintext of the cane sensing mileage, a blind guiding direction and steering prompt, a detailed data reading website, a unique number and a blind guiding mileage; 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 topography, information of start and stop of adjacent road names, a landform panoramic static map, longitude and latitude electronic information and direction electronic information to a next blind road Bluetooth positioning device; the plaintext is the character used by normal people; the detailed data reading website is placed on a server set by the blind association or volunteers; the blind guiding two-dimensional code is used for enabling automatic driving equipment with an obstacle avoiding function to read and then position the equipment, and the equipment automatically drives in a pedestrian path;

the touch solar cell comprises tempered glass, a solar cell, a lithium battery and an LED rapid blind road lamp, and is arranged on the upper left of the braille to provide special touch, so that the blind can find the blind road milestone more easily; the lithium battery is used for storing the electric quantity of the solar battery and supplying power to the Bluetooth controller and the LED rapid blind road lamp; the LED fast blind road lamp is used for marking a fast blind road, so that pedestrians can pay attention to avoid the blind, and sundries such as bicycles and the like do not need to be put on the fast blind road, and the LED fast blind road lamp is controlled to be bright and flash by the AoD positioning Bluetooth unit;

the unique serial number and the blind guiding mileage are marked by small character numbers below the touch solar cell; the blind guiding mileage is a plaintext and consists of a two-digit English single party and a four-digit number, the two-digit English single party is composed of the first letters of the Pinyin of the two digits in front of the road name, and the four-digit number represents the distance from the starting point or the ending point of the road;

the rapid blind road marking device is a blind road Bluetooth positioning device without an AoD positioning Bluetooth unit, adopts a small-area solar cell and low capacity to reduce the cost, is only used for an LED rapid blind road lamp and is used for marking a rapid blind road, so that pedestrians pay attention to not block the blind person to advance and not place obstacles to occupy the blind road;

the blind road client is used for receiving a direction finding signal of the blind road Bluetooth positioning device, positioning and guiding the blind to avoid obstacles and walk, is arranged on mobile equipment comprising Bluetooth 5.1 and hardware for identifying the body direction of the blind, and is used for prestoring and uploading barrier-free photos of the fast blind road to a commercial map server for marking, comparing the current fast blind road with the prestored fast blind road photos and judging whether the barriers exist; the system is used for carrying out human body identification on the rapid blind road and identifying whether people exist in the front 5 meters; the blind road client downloads an attribute table of a nearby blind road Bluetooth positioning device according to the mobile phone positioning information, listens a direction finding signal, performs I/Q sampling, and calculates the direction and distance of equipment loading the blind road client relative to a Bluetooth controller according to a Bluetooth protocol stack algorithm based on I/Q sample data;

the seven-color directional alarm comprises a seven-color LED, a lithium polymer battery, a directional horn and a switch; the blind person walking device is fixed on a body by using an arm belt, a leg belt or a chest belt, so that the directional bell mouth is forward, and the seven-color LED surrounds the directional bell mouth and is used for reminding a blind person of avoiding or reminding the blind person of having the blind person when the blind person walks on the rapid blind road;

the ring bell is used for reminding the blind person to avoid or remind the blind person on the quick blind road when the blind person walks on the quick blind road, and is hung on the body, the hand or the feet when the ring bell is used;

2. The apparatus of claim 1, wherein the step of using the blind stick of the apparatus to distinguish the right and left stick zones is as follows:

3. The fast blind road and autopilot device based on bluetooth arrival location of claim 1 wherein the steps of using the device's cane to read braille are as follows:

A. after the blind stick contacts with the stick sensing strip, the blind stick is placed on the left side of the stick sensing area, an arm is brought to the blind stick to horizontally sweep through 6 concave positions of the stick sensing area, meanwhile, the wrist shakes up and down for 6 times, each concave position shakes for 1 time, the shaking obstruction is sensed, if the obstruction is deep, the stick sensing Braille point position is 1, and if the obstruction is shallow, the stick sensing Braille point position is 0;

B. it is not easy to read until after proficiency.

4. The fast blind road and autopilot device based on bluetooth arrival location of claim 1 wherein the step of reading braille slowly with the device's cane is as follows:

A. placing the blind cane on the left side of the cane feeling area, slowly dragging the blind cane to pass through a first concave position, wherein if the concave position is concave, the blind cane feeling point position is 1, and if the concave position is straight, the blind cane feeling point position is 0;

B. if the second or fifth concave position is straight, the second or sixth concave position is dragged over all the concave positions to see how many concave positions are, and then the straight length is compared to distinguish the stick feeling braille;

D. if the stick-feel braille has two indentations, it is sufficient to distinguish (100100) and (010001), feel that there are two indentations, four 0 s remaining, the first indentation at the beginning or end, feel the blind rod sweep distance before and after the middle indentation, compare 2: 2 and 1: 3, distinguishing the Braille point positions represented by the point positions (00100) and (01000), and forming complete Braille by adding the recesses at the beginning or the end;

E. if the braille is felt to the cane has three concave, distinguish (011001) and (001101) can, feel the distance when two sets of concave position are straight, compare 1: 2, distinguishing that the position is 0 and the position is two 0, thereby obtaining the stick-feeling braille;

F. if the stick-feeling braille has four concave parts, the stick-feeling braille is easy to distinguish;

G. it is not easy to read until after proficiency.

5. The fast blind road and autopilot device based on bluetooth arrival location of claim 1 wherein the steps of walking the fast blind road with the device's cane are as follows:

A. the blind person association applies for setting up the blind road in the pedestrian road of the road with main pedestrian passageway, second pedestrian passageway, blind road, bicycle and electric motor car and placing the area as the fast blind road, publicize that the fast blind road can not place the barrier and the blind person walks preferentially extensively, set up and label the single car and place the area in the pedestrian road on the fast blind road, reduce the chance that the bicycle puts into the fast blind road, set up the luminance and scintillation of the fast blind road lamp of LED, make luminance and scintillation can both point out the existence of the fast blind road in the sun and evening;

B. the blind people hold the blind stick to learn and read the stick feeling braille until the blind people are skilled; the blind person exercises to control the self pace, and the step length spans 1.2 meters every two steps;

C. the blind person walks on the pedestrian path by holding the blind stick, the blind stick of the blind person sweeps the touch solar cell to know that the blind path is a blind path Bluetooth positioning device or a rapid blind path identification device, and the blind person turns on a seven-color directional alarm or hangs a rattle;

D. the blind reads the plain text of the braille with the cane sense on the blind road by the blind stick, and the plain text of the braille with the cane sense is as follows: (capital letters) XH1580 (be, bb) 7590; knowing that the user stands on the rapid blind road, the user stands on the direct road at the reverse 1580 m position of the west river road and reaches the end point of the rapid blind road by 90 m, and 75 blind road Bluetooth positioning devices or rapid blind road identification devices are arranged;

E. the blind person controls the self pace to walk at a medium speed which is faster than the speed of the blind person walking on a common blind road and slower than the speed of the normal person walking on the road, and the blind person sweeps the touch solar cell of the blind road Bluetooth positioning device every two steps to confirm whether a seven-color directional alarm or the sound of a ring bell exists or not so as to avoid colliding with another blind person;

F. when the blind road arrives at the 70 th blind road Bluetooth positioning device or the quick blind road identification device, the walking is suspended, and the blind person reads the plain text of the Braille braille with the cane: (capital letters) XH1496 (") 0506; knowing that the station is on the fast blind way, the station is on a direct road at 1496 m reverse direction of the west river, the fast blind way is about to end, the distance from the fast blind way to the end point is 6m, and 5 blind way Bluetooth positioning devices or fast blind way identification devices are arranged;

I. the blind person controls the self step pitch, the touch solar cell of the blind road Bluetooth positioning device is swept every two steps to confirm, when the blind road Bluetooth positioning device reaches the 75 th blind road Bluetooth positioning device, the blind person pauses walking, and the blind person reads the plain text of the Braille of the stick feeling Braille by using a blind stick: (alphabetical symbols) XH1490 (ff) 0008; the blind people know that the blind people stand on a normal blind road, traffic lights, breaks, steps and turns may exist in the front of the blind people, and at the position of 1490 meters in the reverse direction of the west river road, the front of the blind people is broken and turns to the left without the traffic lights; the left turning angle is 0, namely the left turning angle is straight and is away from the open circuit, and the next blind road Bluetooth positioning device or the rapid blind road identification device is 8 meters away;

6. The apparatus as claimed in claim 1, wherein the step of using the blind road client of the apparatus to walk the fast blind road comprises:

A. the blind person wears a head-wearing type internal and external double-shaft anti-shake directional camera or a handheld cradle head with a mobile phone, downloads a blind road client, sets a cradle head angle so that the blind road client can shoot an image of a front road, and sets an intelligent following mode for the blind road; opening a blind road client; the blind person who holds the cloud deck pastes the bluetooth direction sensor to the dead ahead of the handle of the handheld cloud deck, and the feeling that the handheld cloud deck is towards the dead ahead is memorized with the help of the family; the head-mounted internal and external double-shaft anti-shake directional camera is provided with a direction sensor;

B. if the blind person wears the head-wearing type internal and external double-shaft anti-shake directional camera, the blind person holds the blind stick with one hand and is empty with the other hand or holds other sundries with higher cost; if the blind person holds the cradle head of the mobile phone, the blind person holds the blind stick with the other hand, so that the cost is low but the blind person is not convenient enough;

C. the blind person walks as usual until a camera finds a blind road Bluetooth positioning device or a blind road client finds a direction finding signal of the blind road Bluetooth positioning device;

D. the blind sidewalk client obtains the direction of the body of the blind according to a direction sensor of the head-mounted internal and external double-shaft anti-shake directional camera or a Bluetooth direction sensor adhered to a holder handle, obtains the walking direction of the blind walking towards the blind sidewalk Bluetooth positioning device according to a direction finding signal of the blind sidewalk Bluetooth positioning device, guides the blind to turn left or right, and indicates the blind to walk to reach the nearest blind sidewalk Bluetooth positioning device until the direction of the body of the blind is the same as the walking direction towards the blind sidewalk Bluetooth positioning device;

E. the blind person starts to advance rapidly under the instruction of the blind road client, namely the walking speed of normal people advances; when the blind road client finds that people or obstacles are in the front of the blind road by 5 meters, the blind person is prompted to slow down by one or more modes of preset sound, vibration and laser irradiation to explore and move forward;

7. The fast blind road and autopilot device based on bluetooth arrival location of claim 1 wherein the steps of the blind transporting the cargo in the fast blind road with the autopilot device for short distance are as follows:

A. a volunteer sets a binocular camera module of the ROS robot intelligent car to intelligently follow a blind road Bluetooth positioning device or a rapid blind road identification device in advance, analyzes a blind guiding two-dimensional code therein, and obtains positioning information therein;

B. the method comprises the steps that a volunteer sets a laser radar module of the ROS robot intelligent car to construct an image recognition SLAM line, the ROS robot intelligent car is set to avoid people or barriers to advance along the appointed SLAM line, automatic driving along a blind road is achieved through a training deep learning model, traffic lights are recognized, and a response is made;

C. setting a Bluetooth 5.1 module of the ROS robot intelligent car to download an attribute table of a nearby blind-track Bluetooth positioning device according to the positioning information of the mobile phone, listening to a direction finding signal, carrying out I/Q sampling, and calculating the direction and distance of the ROS robot intelligent car relative to a Bluetooth controller according to a Bluetooth protocol stack algorithm based on I/Q sample data;

D. the blind person applies the courier to work and is responsible for placing goods into an express box from a quick delivery network point, and the blind person scans the goods from a fixed position of the express network point, places the goods into an ROS robot intelligent trolley and sets the express box of a destination by voice;

E. after the express box system confirms that the destination express box has enough empty boxes and reserves, the blind person starts the ROS robot intelligent trolley, and the ROS robot intelligent trolley moves forward to the destination express box along the blind road;

F. if other blind persons or pedestrians are encountered in the way, the ROS robot intelligent trolley is started to avoid people or barriers, and then moves forward after the people or the barriers walk, the blind persons can know the speed and the position of the ROS robot intelligent trolley by hearing the sound and follow the movement, and the ROS robot intelligent trolley is controlled by voice if necessary;