CN113370225A - Blind person guiding service robot system - Google Patents
Blind person guiding service robot system Download PDFInfo
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- CN113370225A CN113370225A CN202110599661.0A CN202110599661A CN113370225A CN 113370225 A CN113370225 A CN 113370225A CN 202110599661 A CN202110599661 A CN 202110599661A CN 113370225 A CN113370225 A CN 113370225A
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- module
- data processing
- blind
- blind person
- real time
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a blind person guiding service robot system, and relates to the technical field of robot control. The system is mainly characterized by comprising a positioning navigation module, a wireless communication module, a voice interaction module and a driving module which are in bidirectional transmission with a data processing module. The positioning navigation module comprises a camera module, an infrared distance measurement module and an ultrasonic obstacle avoidance module; the wireless communication module is connected with the remote assistance module and is used for responding to the sudden temporary situation of the robot in real time; the voice interaction module can receive navigation instructions and remind the blind people of information such as position change in real time. The blind person guiding service robot can detect and avoid the barrier in the process of guiding the blind person to go out, adjust the walking route in real time, remind the blind person to avoid the barrier through the voice module and ensure that the blind person accurately and safely reaches the destination.
Description
Technical Field
The invention relates to a blind person guiding service robot system, and belongs to the technical field of robot control.
Background
At present, the total number of blind people in China is as high as several million people, the blind people go out by hundreds of times of danger coefficient of the blind people due to visual deficiency, the blind people mainly depend on a blind guiding rod, but the blind guiding rod has no direction sense, the change of blind roads cannot be monitored in real time, and potential danger can be brought to the blind people. Therefore, it is necessary to design a device capable of planning a route in real time, reminding a blind person of a real-time position and avoiding an obstacle.
Disclosure of Invention
The invention aims to provide a blind person guiding service robot system which can adjust a walking route in real time, remind the blind person to avoid an obstacle through a voice module and ensure that the blind person can accurately and safely reach a destination.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a blind person guiding service robot system comprises a data processing module, a bidirectional transmission positioning navigation module, a wireless communication module, a voice interaction module and a driving module;
the data processing module, the positioning navigation module, the wireless communication module, the voice interaction module and the driving module are in bidirectional transmission, so that the information data processing of the robot can be controlled, and the working coordination among the modules can be coordinated.
The positioning navigation module comprises a camera module, an infrared distance measurement module and an ultrasonic obstacle avoidance module, and has the capabilities of navigation route planning, path judgment and obstacle avoidance on the way.
The wireless communication module is connected with the remote assistance module, and can contact emergency assistance when the robot breaks out of a temporary situation or the blind person encounters difficulty.
The voice interaction module can transmit the voice instruction to the data processing module to wait for the next action after the robot receives the voice instruction, and remind the blind of position change in real time to guide the blind to walk.
The driving module is connected with a power supply system of the robot, and universal wheels with uniform specifications can assist the blind to finish straight-going and steering actions.
The positioning navigation module comprises a camera module, an infrared distance measurement module and an ultrasonic obstacle avoidance module, the camera can monitor obstacles in the front area in real time in the advancing process, the infrared distance measurement module and the ultrasonic obstacle avoidance module are used for measuring the distance between the obstacle and the obstacle, the walking route of the blind can be planned in real time after the data processing module is connected, the blind can be reminded by voice, meanwhile, the camera can collect the change of a signal lamp of the intersection, and the possibility of passing through the intersection can be judged in real time and the voice is reminded.
Preferably, the data processing module adopts an ARM processor of a Linux system;
the positioning navigation module comprises an image, an infrared sensor, a laser radar and an ultrasonic sensor, is electrically connected with the STM32 for control, and feeds specific data back to the data processing module to process the data through the operation of the ROS system;
the wireless communication connection data processing module and the remote assistance module adopt a wireless communication module with the model of NRF24L01, wherein the remote processing module reports the abnormity to an engineer or a special maintainer;
the voice interaction module is a sound box and a microphone to form a man-machine interaction module, and is connected with the STM32 and then is in serial port communication and is managed by a software system in the man-machine interaction module on the data processing module;
the driving module adopts a two-wheel differential speed and universal wheel foot driving module, and is connected with the STM32 and controlled by the serial port communication of the data processing module.
The invention has the advantages that:
1. the blind person guiding service robot with the functions of positioning, navigation, obstacle avoidance, voice interaction and the like is capable of helping the blind person to normally go out, performs voice interaction with the blind person, and has the function of a blind person guiding rod.
2. The wireless communication module of the robot can help the blind in time when the blind meets dangerous conditions.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a schematic diagram of a module structure according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention includes:
a blind person guide service robot and a working method thereof are characterized by comprising the following steps: the system comprises a positioning navigation module, a wireless communication module, a voice interaction module and a driving module which are in bidirectional transmission with a data processing module. The positioning navigation module comprises a camera module, an infrared distance measurement module and an ultrasonic obstacle avoidance module; the wireless communication module is connected with the remote assistance module and is used for responding to the sudden temporary situation of the robot in real time; the voice interaction module can receive navigation instructions and remind the blind people of information such as position change in real time.
The data processing module, the positioning navigation module, the wireless communication module, the voice interaction module and the driving module are in bidirectional transmission, so that the information data processing of the robot can be controlled, and the working coordination among the modules can be coordinated.
The positioning navigation module comprises a camera module, an infrared distance measurement module and an ultrasonic obstacle avoidance module, and has the capabilities of navigation route planning, path judgment and obstacle avoidance on the way.
The wireless communication module is connected with the remote assistance module, and can contact emergency assistance when the robot breaks out of temporary conditions or the blind person encounters difficulty.
The voice interaction module can transmit the voice instruction to the data processing module to wait for the next action after the robot receives the voice instruction, and remind the blind of position change in real time to guide the blind to walk.
The driving module is connected with a power supply system of the robot, and universal wheels with uniform specifications can assist the blind in completing straight-going and steering actions.
The positioning navigation module comprises a camera module, an infrared distance measurement module and an ultrasonic obstacle avoidance module, the camera can monitor obstacles in the front area in real time in the advancing process, the infrared distance measurement module and the ultrasonic obstacle avoidance module are used for measuring the distance between the obstacle and the obstacle, the walking route of the blind can be planned in real time after the data processing module is connected, voice reminding is carried out, meanwhile, the camera can collect the change of a signal lamp of the intersection, and the possibility of passing through the intersection is judged in real time and voice reminding is carried out.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A blind person guiding service robot system is characterized by comprising a data processing module, a bidirectional transmission positioning navigation module, a wireless communication module, a voice interaction module and a driving module;
the data processing module is in bidirectional transmission with the positioning navigation module, the wireless communication module, the voice interaction module and the driving module, can control information data processing of the robot, and coordinates working cooperation among the modules;
the positioning navigation module comprises a camera module, an infrared distance measurement module and an ultrasonic obstacle avoidance module, and has the capabilities of navigation route planning, path judgment and obstacle avoidance on the way;
the wireless communication module is connected with the remote assistance module and can contact emergency assistance when the robot breaks out of a temporary situation or the blind person encounters difficulty;
the voice interaction module can transmit the voice instruction to the data processing module to wait for the next action after the robot receives the voice instruction, remind the blind of position change in real time and guide the blind to walk;
the driving module is connected with a power supply system of the robot, and universal wheels with uniform specifications are used to assist the blind in completing straight-going and steering actions;
the positioning navigation module comprises a camera module, an infrared distance measurement module and an ultrasonic obstacle avoidance module, the camera can monitor obstacles in the front area in real time in the advancing process, the infrared distance measurement module and the ultrasonic obstacle avoidance module are used for measuring the distance between the obstacle and the obstacle, the walking route of the blind can be planned in real time after the data processing module is connected, the blind can be reminded by voice, meanwhile, the camera can collect the change of a signal lamp of the intersection, and the possibility of passing through the intersection can be judged in real time and the voice is reminded.
2. The blind person guidance service robot system according to claim 1, wherein the data processing module employs an ARM processor of a Linux system;
the positioning navigation module comprises an image, an infrared sensor, a laser radar and an ultrasonic sensor, is electrically connected with the STM32 for control, and feeds specific data back to the data processing module to process the data through the operation of the ROS system;
the wireless communication connection data processing module and the remote assistance module adopt a wireless communication module with the model of NRF24L01, wherein the remote processing module reports the abnormity to an engineer or a special maintainer;
the voice interaction module is a sound box and a microphone to form a man-machine interaction module, and is connected with the STM32 and then is in serial port communication and is managed by a software system in the man-machine interaction module on the data processing module;
the driving module adopts a two-wheel differential speed and universal wheel foot driving module, and is connected with the STM32 and controlled by the serial port communication of the data processing module.
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| CN202110599661.0A CN113370225A (en) | 2021-05-31 | 2021-05-31 | Blind person guiding service robot system |
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| CN202110599661.0A CN113370225A (en) | 2021-05-31 | 2021-05-31 | Blind person guiding service robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114029966A (en) * | 2021-09-28 | 2022-02-11 | 北京仙宇科技有限公司 | Barrier-free communication action system for blind persons in area |
| CN114505873A (en) * | 2022-03-23 | 2022-05-17 | 山东新一代信息产业技术研究院有限公司 | Visual disorder person guide service robot |
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| CN110368275A (en) * | 2019-08-12 | 2019-10-25 | 广州大学 | A kind of blind-guidance robot and blind guiding system, blind-guiding method |
| CN111035543A (en) * | 2019-12-31 | 2020-04-21 | 北京新能源汽车技术创新中心有限公司 | Intelligent blind guiding robot |
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2021
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20150081043A (en) * | 2014-01-03 | 2015-07-13 | 김호영 | Intelligent guidance robot using voice operation of mobile communication equipment |
| WO2017177444A1 (en) * | 2016-04-15 | 2017-10-19 | 深圳前海达闼云端智能科技有限公司 | Cloud robot system, robot, and robot cloud platform |
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| CN114029966A (en) * | 2021-09-28 | 2022-02-11 | 北京仙宇科技有限公司 | Barrier-free communication action system for blind persons in area |
| CN114505873A (en) * | 2022-03-23 | 2022-05-17 | 山东新一代信息产业技术研究院有限公司 | Visual disorder person guide service robot |
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Application publication date: 20210910 |