CN113576855B - Blind guiding device and blind guiding method - Google Patents
Blind guiding device and blind guiding method Download PDFInfo
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- CN113576855B CN113576855B CN202111147098.XA CN202111147098A CN113576855B CN 113576855 B CN113576855 B CN 113576855B CN 202111147098 A CN202111147098 A CN 202111147098A CN 113576855 B CN113576855 B CN 113576855B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
- A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
Abstract
The invention provides a blind guiding device and a blind guiding method, wherein the blind guiding device comprises a clamping piece; the guide assembly comprises an indicator, the indicator is positioned on one side of the guide assembly facing the forehead of the user, and the indicator protrudes out of the guide assembly and is used for being pressed against the forehead of the user; the guide assembly is provided with a first guide part and a second guide part, the first guide part extends along a first direction, and the second guide part extends along a second direction; the indicator can move relative to the forehead of the user along the extending direction of the first guide part to prompt the user that the road surface has height change in front of the traveling direction; the indicator may also be movable relative to the forehead portion of the user in an extending direction of the second guide portion to prompt the user to turn, the first direction and the second direction extending in different directions, respectively. The blind guiding device provided by the invention can provide navigation information such as road height, steering position, steering direction and the like in front of the advancing direction for a user, and is convenient to use.
Description
Technical Field
The invention relates to the technical field of intelligent equipment, in particular to a blind guiding device and a blind guiding method.
Background
The visually impaired people (such as the blind) cannot normally travel due to impaired vision, and therefore, the visually impaired people need a blind guiding device when traveling.
In the prior art, the blind guiding device is usually a blind guiding walking stick, and a visually impaired person holds one end of the blind guiding walking stick and makes the other end of the blind guiding walking stick touch the ground. Therefore, when the visually impaired people walk, the blind guiding walking stick is used for knocking the ground or an object in front of the walking direction to judge whether the front is provided with an obstacle or not.
However, the blind guiding stick can only provide the road information of the position where the user is located for the user, and the detection range of the blind guiding stick is small, so that the use is inconvenient.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a blind guiding device and a blind guiding method, which can provide navigation information such as road height, steering position, steering direction, etc. ahead of the traveling direction for the user, and are convenient to use.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
a first aspect of an embodiment of the present invention provides a blind guiding device, which includes a fastening member, where the fastening member is used to fasten on a head of a user; the guide assembly comprises an indicator, the indicator is positioned on one side of the guide assembly facing the forehead of the user, and the indicator protrudes out of the guide assembly and is used for being pressed against the forehead of the user; the guide assembly is provided with a first guide part and a second guide part, the first guide part extends along a first direction, and the second guide part extends along a second direction; the indicator can move relative to the forehead of the user along the extending direction of the first guide part to prompt the user that the road surface has height change in front of the traveling direction; the indicator may also be movable relative to the forehead portion of the user in an extending direction of the second guide portion to prompt the user to turn, the first direction and the second direction extending in different directions, respectively.
In some optional embodiments, the guide assembly includes a support member and a movable member, the support member is connected to the fastening member, the movable member is disposed on the support member, the indication member is disposed on the movable member, one of the first guide portion and the second guide portion is disposed on the movable member, and the other of the first guide portion and the second guide portion is disposed on the support member.
In some alternative embodiments, the first guide portion is provided on the movable member and the second guide portion is provided on the support member.
In some alternative embodiments, the first guide portion is a slot-like structure; the blind guiding device further comprises a first driving piece, the first driving piece is located in the first guiding portion, one end of the indicating piece is connected with the first driving piece, the other end of the indicating piece extends out of the first guiding portion, and the first driving piece is used for driving the indicating piece to move along the extending direction of the first guiding portion relative to the moving piece.
In some optional embodiments, the blind guiding device further comprises a conveying belt, the conveying belt is located in the first guiding portion, the conveying belt is connected with the output end of the first driving member, and the indicating member is fixedly connected with the conveying belt so as to drive the indicating member through the conveying belt.
In some optional embodiments, the second guide portion is a groove-shaped structure, the movable member is provided with a guide protrusion, and the guide protrusion extends into the second guide portion; the blind guiding device further comprises a second driving piece, wherein the output end of the second driving piece is connected with the moving piece so as to drive the moving piece to move relative to the supporting piece along the extending direction of the second guiding portion.
In some optional embodiments, the blind guiding device further comprises a transmission gear and a transmission lead screw; the second driving piece is arranged on the moving piece, the transmission gear is connected with the output end of the second driving piece and meshed with the transmission lead screw, two ends of the transmission lead screw are connected with the supporting piece in a rotating mode, the moving piece and the transmission lead screw are mutually screwed, and the extending direction of the transmission lead screw is parallel to the extending direction of the second guide portion.
In some alternative embodiments, the first direction is a vertical direction and the second direction is perpendicular to the first direction.
In some optional embodiments, the blind guiding device further comprises a plurality of support portions disposed on a side of the support facing a forehead portion of the user; the protruding height of the support part protruding guide component is smaller than that of the indicator.
In some optional embodiments, the blind guiding device comprises a processor, a positioning module, a direction sensor and a communication module, wherein the indicator, the positioning module, the direction sensor and the communication module are all electrically connected with the processor; the communication module is used for receiving navigation information, the positioning module is used for positioning the current position of a user, and the direction sensor is used for determining the current orientation of the user; the processor is configured to control the pointer to move in the first direction or the second direction based on the navigation information, the current location of the user, and the current orientation of the user.
A second aspect of an embodiment of the present invention provides a blind guiding method, which includes controlling an indicator to move from an initial position to a preset position in a first direction or a second direction; and when the user is detected to move according to the first direction or the second direction of the indicator, controlling the indicator to return to the initial position from the preset position along the opposite direction of the first direction or the second direction.
In some optional embodiments, controlling the indicator to return to the initial position from the preset position in a direction opposite to the first direction or the second direction upon detecting the user's movement according to the first direction or the second direction of the indicator includes: when the moving range of the user is larger than a preset range threshold value, the processor controls the indicating piece to be fixed at a preset position; when the range to be moved of the user is changed from being larger than the preset range threshold value to being smaller than or equal to the preset range threshold value, the processor controls the indicator to return to the initial position from the preset position in the opposite direction of the first direction or the second direction.
Compared with the prior art, the blind guiding device and the blind guiding method provided by the embodiment of the invention have the following advantages:
the blind guiding device comprises a clamping piece and a guiding component, wherein the guiding component comprises an indicating piece, and one side of the indicating piece, facing to a user, protrudes out of the guiding component. The clamping piece is used for clamping the head of a user, so that the blind guiding device can be worn on the head of the user, and the use is convenient. And after the user wears the blind guiding device, the guiding component is positioned on one side of the forehead of the head of the user. Meanwhile, as the indicator protrudes out of the guide assembly, a gap is formed between the guide assembly and the forehead of the user, and the indicator can be pressed against the forehead of the user. Accordingly, the user can perceive that the indicator is pressed against the forehead position.
Therefore, different road condition information can be provided for the user through the movement of the indicating piece along different directions. For example, when a user perceives that the indicator is moving in a first direction, the road surface is considered to have a change in height forward of the direction of travel, such as an up-down slope, an up-down stair, a pit, or an obstacle protruding from the road surface. When the user perceives that the indicator moves along the second direction, the user considers that the position can be steered, and the user can turn left or right according to the position of the indicator.
Therefore, the indicating piece moves along different directions, different road surface information of the advancing direction can be provided for the user, effective navigation service is provided for the user, and the use is convenient.
In addition to the technical problems solved by the embodiments of the present invention, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems that can be solved by the blind guiding device and blind guiding method provided by the embodiments of the present invention, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is an exploded view of a blind guiding device according to an embodiment of the present invention;
FIG. 2 is a first schematic view of a portion of the guide assembly of FIG. 1;
FIG. 3 is a schematic view of a portion of the guide assembly of FIG. 1;
fig. 4 is a schematic diagram of a blind guiding method using the blind guiding device in fig. 1.
Reference numerals:
10: a clamping and fixing piece;
21: an indicator; 22: a first guide portion; 23: a second guide portion; 24: a support member; 25: a movable member; 251: a guide projection;
31: a first driving member; 32: a conveyor belt; 33: a second driving member; 34: a transmission gear; 35: a drive screw;
41: a support portion;
x: a first direction; y: a second direction.
Detailed Description
In order to make the aforementioned objects, features and advantages of the embodiments of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all 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.
In the prior art, a visually impaired user detects whether a protruding obstacle or a pit is formed in front of a traveling direction by swinging a blind guiding stick, however, the blind guiding stick has a preset length, the user can only detect road conditions within a preset range by the blind guiding stick, and the user still has unknown road condition information outside the detection range of the blind guiding stick. Meanwhile, the user cannot acquire the direction information of the road surface through the blind guiding walking stick, so that the user cannot walk on a complex road.
In view of this, the present application provides a blind guiding device and a blind guiding method, where a user can wear the blind guiding device at a head position, and at this time, an indicator of the blind guiding device is pressed against a forehead of the user, and the user can sense that the indicator is pressed against the forehead of the user. Therefore, different road condition information can be provided for the user through the movement of the indicating piece along different directions, so that navigation service is provided for the user, and the use is more convenient.
Fig. 1 is an exploded view of a blind guiding device according to an embodiment of the present invention. Fig. 2 is a schematic view of a part of the structure of the guide assembly in fig. 1. Fig. 3 is a schematic view of a part of the structure of the guide assembly shown in fig. 1.
Referring to fig. 1 to 3, the present embodiment provides a blind guiding device, which includes a fastener 10, wherein the fastener 10 is used for being fastened on the head of a user; the guide assembly comprises an indicator 21, the indicator 21 is positioned on one side of the guide assembly facing the forehead of the user, and the indicator 21 protrudes out of the guide assembly and is used for being pressed against the forehead of the user; the guide assembly is provided with a first guide part 22 and a second guide part 23, the first guide part 22 extends along a first direction X, and the second guide part 23 extends along a second direction Y; the indicator 21 is movable relative to the forehead portion of the user in the extending direction of the first guide portion 22 to prompt the user that the road surface has a height change in front of the traveling direction; the indicator 21 is also movable relative to the forehead portion of the user in the extending direction of the second guide portion 23 to prompt the user to turn, and the first direction X and the second direction Y extend in different directions, respectively.
Specifically, the blind guiding device can be worn on the head of the user, and different navigation information is provided for the user through mutual abutting between the blind guiding device and the head of the user.
Specifically, the blind guiding device comprises a clamping piece 10, wherein the clamping piece 10 can be an annular hoop or an elastic flexible belt, so that the clamping piece 10 can surround and hoop the head of a user, and the blind guiding device can have good fixing stability.
The blind guiding device further comprises a guiding assembly comprising an indicator 21. After the user wears the blind guiding device, the guiding component is located in front of the forehead of the user, and a gap is formed between the guiding component and the forehead. In this way, the indicator 21 may rest on the forehead of the user. Accordingly, the user can perceive that the indicator 21 is pressed against the forehead portion thereof. And the user can also perceive the moving track and moving direction of the pointer 21 when the pointer 21 moves with respect to the forehead portion of the user.
In some embodiments, the indicator 21 may be a spherical structure, so that the indicator 21 does not have an edge angle, and scratching of a user during the movement of the indicator 21 is avoided. Optionally, the indicator 21 may be an elastic member, for example, the material of the indicator 21 may be rubber, so as to prevent the user from being subjected to a rigid impact, and the safety of the user is high.
Then, different road condition information can be referred to by different moving directions of the indicator 21. In some embodiments, the guiding assembly comprises a first guiding portion 22, the first guiding portion 22 extending along a first direction X, and the indicator 21 can be used to indicate that the road surface has a height change in front of the user's traveling direction when moving along the first direction X. That is, when the user perceives that the indicator 21 moves in the first direction X, it is known that the road surface may have steps, steep slopes, protruding obstacles or pits, or the like.
The guide assembly further comprises a second guide portion 23, the second guide portion 23 extends along the second direction Y, and the indicator 21 can be used for indicating the front of the road surface or the current position as the position to be steered when moving along the second direction Y. That is, when the user perceives that the indicator 21 moves in the second direction Y, the position to be turned and the direction to be turned can be known.
Therefore, the user can acquire the road height in front of the advancing direction and the navigation information such as steering through the movement of the indicating piece 21 along different directions, and the blind guiding device provides better navigation service for the user and is convenient to use.
The first direction X and the second direction Y may be any directions as long as the first direction X and the second direction Y are not parallel. Illustratively, the first direction X is a horizontal direction and the second direction Y is a vertical direction.
In some alternative embodiments, in order to facilitate the user to perceive and acquire the navigation information, the first direction X is a vertical direction, i.e., the user can acquire the height information of the road surface by reciprocating the indicator 21 in the vertical direction.
The second direction Y may be disposed in a horizontal direction. The second direction Y is arranged perpendicular to the first direction X in consideration of the arc shape of the forehead portion of the user. For example, the second direction Y may extend along the circumference of the forehead portion of the user, so that when the indicator 21 moves along the second direction Y, the indicator 21 can effectively press against the forehead portion of the user, and the indicator 21 and the left and right sides of the forehead portion are prevented from being separated from each other. And the user can acquire information to be steered, such as left turn, right turn, etc., by the left and right movement of the pointer 21 with respect to the user. Thus, the direction of movement of the pointer 21 corresponds to the spatial orientation, and is easily distinguishable by the user.
In some embodiments, the guide assembly includes a support 24, the support 24 is connected to the trim member 10, and the first guide portion 22 and the second guide portion 23 may be simultaneously disposed on the support 24.
In some alternative embodiments, the guide assembly further includes a movable member 25, the movable member 25 is disposed on the support member 24, the indicator member 21 is disposed on the movable member 25, one of the first guide portion 22 and the second guide portion 23 is disposed on the movable member 25, and the other of the first guide portion 22 and the second guide portion 23 is disposed on the support member 24. Thus, the indication member 21 can move relative to the movable member 25, and simultaneously, the indication member 21 and the movable member 25 as a whole can move relative to the support member 24, so that the movement of the indication member 21 in different directions can be free from interference, and the position adjustment of the indication member 21 is flexible.
Here, the first guide portion 22 may be disposed on the support member 24, and at this time, the movement of the indication member 21 in the first direction X may be achieved by moving the movable member 25 along the first guide portion 22.
In some alternative embodiments, the first guide portion 22 may be disposed on the movable member 25, and the second guide portion 23 may be disposed on the support member 24, and the present embodiment does not limit the disposition positions of the first guide portion 22 and the second guide portion 23.
For the first guiding portion 22, it may be a protruding structure disposed on the movable member 25, the protruding structure extends along the first direction X, and correspondingly, the indicating member 21 is provided with a sliding slot cooperating with the protruding structure. In some alternative embodiments, the first guide 22 is a slot-like structure; the blind guiding device further comprises a first driving member 31, the first driving member 31 is located in the first guiding portion 22, one end of the indicating member 21 is connected to the first driving member 31, the other end of the indicating member extends out of the first guiding portion 22, and the first driving member 31 is used for driving the indicating member 21 to move relative to the movable member 25 along the extending direction of the first guiding portion 22.
In this way, the first guiding portion 22 can also function as a receiving portion to receive the first driving member 31 in its receiving space, so as to avoid the first driving member 31 and the indicator 21 from interfering with each other, and reduce the size of the blind guiding device.
The first driving member 31 may be a driving cylinder or the like, and drives the indicator 21 to reciprocate along the first direction X through an output end of the driving cylinder.
In some alternative embodiments, the first driving member 31 may also be a motor, and correspondingly, the blind guiding device further includes a transmission assembly to convert the rotation of the motor into the movement of the indicator 21 along the linear direction.
In some optional embodiments, the blind guiding device further includes a conveyor belt 32, the conveyor belt 32 is located in the first guiding portion 22, the conveyor belt 32 is connected to the output end of the first driving member 31, and the indicating member 21 is fixedly connected to the conveyor belt 32 so as to drive the indicating member 21 through the conveyor belt 32.
At this time, the conveyor belt 32 is also accommodated in the first guide portion 22. Illustratively, the end of the first guiding portion 22 is provided with a receiving cavity, the receiving cavity is communicated with the first guiding portion 22, the first driving member 31 is located in the receiving cavity, and the conveying belt 32 is located in the first guiding portion 22.
At this time, the accommodating space of the first guiding portion 22 may be provided with a supporting roller disposed between the endless conveying belts 32, so that when the indicator 21 abuts against the forehead of the user, the conveying belts 32 may abut against the supporting roller, thereby avoiding reduction of abutting force between the indicator 21 and the forehead of the user due to deformation of the conveying belts 32. Meanwhile, the supporting roller is rotatably connected with the movable member 25, and the friction force between the supporting roller and the conveying belt 32 is small, so that the condition that the indicating member 21 cannot move relative to the movable member 25 is avoided.
The second guiding portion 23 is disposed between the movable member 25 and the supporting member 24, in some alternative embodiments, the second guiding portion 23 is a groove-shaped structure, the movable member 25 is provided with a guiding protrusion 251, and the guiding protrusion 251 extends into the second guiding portion 23; in this way, the movable member 25 can be moved in the second direction Y by the relative movement of the guide projection 251 along the second guide portion 23.
Wherein the second direction Y extends along the circumference of the head of the user, and the second guiding portion 23 is disposed in an arc shape. Thus, when the movable element 25 moves to the end position of the second guiding portion 23, the second guiding portion 23 and the forehead portion of the user still have a preset distance therebetween, and the indicating member 21 can be effectively pressed against the forehead portion of the user.
The blind guiding device further includes a second driving element 33, an output end of the second driving element 33 is connected to the movable element 25 to drive the movable element 25 to move relative to the supporting element 24 along the extending direction of the second guiding portion 23.
The second driving member 33 may be a driving cylinder, etc., and the output end of the driving cylinder drives the indicating member 21 to reciprocate along the second direction Y. An elastic element can be arranged between the output end of the driving cylinder and the movable element 25 to adapt to the rotation direction of the movable element 25 along the second direction Y.
In some alternative embodiments, the first driving member 31 may also be a motor, and correspondingly, the blind guiding device further includes a transmission assembly to convert the rotation of the motor into the movement of the indicator 21 along the second direction Y.
In some optional embodiments, the blind guiding device further comprises a transmission gear 34 and a transmission lead screw 35; the second driving member 33 is disposed on the movable member 25, the transmission gear 34 is connected to an output end of the second driving member 33, the transmission gear 34 is engaged with the transmission screw 35, two ends of the transmission screw 35 are rotatably connected to the supporting member 24, the movable member 25 and the transmission screw 35 are rotatably engaged with each other, and an extending direction of the transmission screw 35 is parallel to an extending direction of the second guiding portion 23.
The transmission gear 34 is coaxial with the output shaft of the second driving member 33, the transmission between the transmission gear 34 and the transmission screw 35 is relatively stable, and the movable member 25 can relatively stably move relative to the supporting member 24. In this way, the indicator 21 can move smoothly relative to the forehead of the user, and the use experience of the user is optimized.
In order to prevent the guide assembly from being inclined when the user wears the blind guiding device, for example, one end of the guide assembly contacts with the forehead of the user, at this time, the support 24 and the indicator 21 can be pressed against the forehead of the user at the same time, which is inconvenient for the user to operate.
In some alternative embodiments, the blind guiding device further comprises a plurality of supports 41, the plurality of supports 41 being disposed on a side of the support 24 facing the forehead of the user; the protruding height of the support portion 41 protruding the guide assembly is smaller than the protruding height of the indicator 21.
The support 41 may be a bump structure and is disposed on a side of the support 24 facing the user. The support portion 41 may be plural and arranged at intervals in the circumferential direction of the support 24. For example, the number of the supporting portions 41 may be four, and when the user wears the blind guiding device, the four supporting portions 41 press against the forehead portion of the user, so that an avoiding gap is formed between the guiding component and the forehead portion of the user to allow the movable member 25 and the indicating member 21 to move relative to the forehead portion of the user.
Of course, the protruding height of the support portion 41 protruding the guide assembly is smaller than the protruding height of the indicator 21. In this way, the indicator 21 can still be effectively abutted against the forehead of the user after the user wears the blind guide device.
In some optional embodiments, the blind guiding device comprises a processor, a positioning module, a direction sensor and a communication module, wherein the indicator 21, the positioning module, the direction sensor and the communication module are all electrically connected with the processor; the communication module is used for receiving navigation information, the positioning module is used for positioning the current position of a user, and the direction sensor is used for determining the current orientation of the user; the processor is adapted to control the pointer 21 to move in the first direction X or the second direction Y in dependence on the navigation information, the current position of the user and the current orientation of the user.
The processor can be a single chip microcomputer or a microprocessor. The Positioning module may be a gps (global Positioning system) Positioning module or a beidou Positioning module. The orientation sensor may be a gyroscope. The communication module may be a bluetooth module or a WiFi module.
Thus, the processor can pre-store the road condition information. The communication module is used for receiving navigation information. The positioning module can acquire the current position of the user in real time. The direction sensor acquires the current orientation of the user, namely the face orientation of the user in real time.
In this way, after the processor acquires the current position information of the user acquired by the positioning module, the current position information can be compared with the pre-stored road condition information to judge whether to send out an instruction for controlling the movement of the indicating member 21. For example, the control indicator 21 is moved upwards in the first direction X to prompt the user to have a hill climb, a staircase or a protruding obstacle in front.
When the processor sends an instruction to control the indicator 21 to move upwards along the first direction X, the distance between the user and the position where the height of the road surface changes can be set as required, for example, the distance can be 10m to 15m, so as to provide a warning effect for the user.
Of course, when the processor issues the instruction for controlling the indicator 21 to move along the second direction Y, the indicator may be located at the position to be steered, so as to avoid the user from shifting the steering position, which may result in a falling accident.
Of course, the blind guiding device may further include an image collecting device to collect image information around the current position of the user in real time, and the user may obtain the image information obtained by the image collecting device to provide a navigation instruction for the user, so as to avoid the user being blocked by a temporary obstacle.
The blind guiding device further comprises a voice module, the voice module comprises a loudspeaker and a microphone, and therefore voice interaction with the blind guiding device can be achieved by a user.
The embodiment also provides a blind guiding method, which comprises the steps of controlling the indicator 21 to move from the initial position to the preset position along the first direction X or the second direction Y; when the user is detected to move according to the first direction X or the second direction Y of the indicator 21, the indicator 21 is controlled to return to the initial position from the preset position in the opposite direction of the first direction X or the second direction Y.
Here, the initial position of the indicator 21 means that the indicator 21 is located at the midpoint position of the first guide portion 22 and at the same time, at the midpoint position of the second guide portion 23. When the indicator 21 is in the initial position, the user may continue to travel in the current orientation.
In this embodiment, the indicator 21 may provide a prompt to the user through different movement modes. For example, when the user needs to climb the slope, the processor may control the indicator 21 to move upward in the first direction X from the initial position, and when the user climbs to the top of the slope, the indicator 21 also reaches the top end position of the first guide portion 22. Or when the indicator 21 reaches the top end position of the first guide portion 22, the indicator 21 does not return to the initial position, i.e., represents that the user needs to continue climbing the slope, until the indicator 21 returns to the initial position when the user climbs to the top of the slope.
The movement of the indicator 21 along the second direction Y may be similar to the movement along the first direction X, and the description thereof is omitted in this embodiment.
Alternatively, in this embodiment, when the user needs to climb the slope, the processor may control the indicator 21 to move to the top position of the first guiding portion 22, and when the user climbs the slope, the processor may control the indicator 21 to gradually move downward along the first direction X, and when the user climbs to the top position of the slope, the processor may simultaneously control the indicator 21 to reach the initial position, so that the user may continue to travel toward the current direction.
Similarly, when the user needs to go down the stairs, the processor may control the indicator 21 to move to the bottom position of the first guide portion 22, and during the user's going down the stairs, the processor controls the indicator 21 to move upward along the first direction X. When the user needs to turn to the right, the processor controls the indicator 21 to move to the right end of the second guide part 23 along the second direction Y, and during the turning process of the user, the processor controls the indicator 21 to rotate to the left along the second direction Y until the indicator moves to the initial position.
In consideration of the small size of the blind guiding device, the first guide portion 22 and the second guide portion 23 each have a preset extension length, and the actual steering angle of the user may be larger than the movable angle of the indicator 21, and the actual lifting height of the road surface is larger than the lifting height of the indicator 21. In some alternative embodiments, controlling the indicator 21 to return to the initial position from the preset position in a direction opposite to the first direction X or the second direction Y upon detecting the user's movement according to the first direction X or the second direction Y of the indicator 21 includes: when the moving range of the user is larger than the preset range threshold, controlling the indicator 21 to be fixed at the preset position; when the range to be moved by the user changes from being greater than the preset range threshold to being less than or equal to the preset range threshold, the control indicator 21 returns from the preset position to the initial position in the opposite direction of the first direction X or the second direction Y.
In this way, the movement of the indicator 21 from the end position of the first guide portion 22 or the second guide portion 23 toward the initial position can serve as a prompt to the user that the user is about to turn to the right or is about to reach the end of the road surface elevation section.
For example, when the height of an obstacle or a steep slope, a staircase in front of the user's traveling direction is 3m, the processor may control the indicator 21 to move to the top end of the first guide 22, and as the user climbs, the processor controls the indicator 21 to move down the first guide 22 until the user reaches the top of the slope, and the indicator 21 moves to the initial position.
Of course, when the height is less than 3m, the processor may control the indicator 21 to move to the top end of the first guide portion 22, and as the user climbs, the processor controls the indicator 21 to move downward along the first guide portion 22 until the user reaches the top of the slope, and the indicator 21 moves to the initial position.
When the height is greater than 3m, the processor may control the indicator 21 to move to the top end of the first guide portion 22, and as the user climbs, the processor always controls the indicator 21 to be locked at the top end of the first guide portion 22 to inform the user that the top of the slope has not been reached. When the user has reached a height of 6m of the steep slope when the remaining height of the user to be climbed is 3m, for example, the height of the steep slope is 9m, the processor controls the indicator 21 to move down the first guide 22 until the user reaches the top of the slope and the indicator 21 moves to the initial position.
Taking the example that the user needs to turn left, when the direction to be turned by the user is less than or equal to 40 °, the processor may control the indicator 21 to move to the left end of the second guide portion 23, and as the user turns, the processor controls the indicator 21 to move rightward along the second guide portion 23 until the user turns to the right, and the indicator 21 moves to the initial position.
Fig. 4 is a schematic diagram of a blind guiding method using the blind guiding device in fig. 1. Referring to fig. 4, when the user's waiting direction is greater than 40 °, the user currently faces the direction a and rotates in the direction B. The processor may control the indicator 21 to move to the left end of the second guide portion 23, and as the user turns, the processor always controls the indicator 21 to be locked at the left end of the second guide portion 23 to indicate to the user that the user has not turned to the right. When the remaining angle a to be turned by the user is 40 ° (wherein the dotted line refers to the real-time orientation during the turning of the user), for example, the angle to be turned by the user is 90 °, the user has completed the turning of 50 °, and the processor, i.e., the control indicator 21, moves to the right along the second guide 23 until the user turns to the right position, and the indicator 21 moves to the initial position.
The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
In the description of the present specification, reference to the description of the terms "one embodiment", "some embodiments", "an illustrative embodiment", "an example", "a specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. A blind guide device, comprising:
the clamping piece is used for clamping and fixing the head of a user;
a guide assembly including an indicator on a side of the guide assembly facing the forehead portion of the user, the indicator protruding out of the guide assembly and being for pressing against the forehead portion of the user;
the guide assembly is provided with a first guide part and a second guide part, the first guide part extends along a first direction, and the second guide part extends along a second direction; the indicator can move from an initial position to a preset position along the first direction or the second direction, wherein when the indicator moves relative to the forehead portion of the user along the extending direction of the first guide portion, the indicator is used for prompting the user that the road surface has height change in front of the traveling direction; the indicator is used for prompting the user to turn when moving relative to the forehead of the user along the extending direction of the second guide part, and the first direction and the second direction respectively extend along different directions;
when a user moves according to the first direction or the second direction of the indicator, the indicator is configured to return to the initial position from the preset position along the opposite direction of the first direction or the second direction.
2. The blind guiding device as claimed in claim 1, wherein the guiding assembly comprises a supporting member and a movable member, the supporting member is connected to the fastening member, the movable member is disposed on the supporting member, the indicating member is disposed on the movable member, one of the first guiding portion and the second guiding portion is disposed on the movable member, and the other of the first guiding portion and the second guiding portion is disposed on the supporting member.
3. Blind guiding device according to claim 2,
the first guide portion is disposed on the movable member, and the second guide portion is disposed on the support member.
4. The blind guide device of claim 3 wherein the first guide portion is a channel-like structure;
the blind guiding device further comprises a first driving piece, the first driving piece is located in the first guide portion, one end of the indicating piece is connected with the first driving piece, the other end of the indicating piece extends out of the first guide portion, and the first driving piece is used for driving the indicating piece to move along the extending direction of the first guide portion relative to the moving piece.
5. The blind guide device of claim 4 further comprising a conveyor belt disposed within the first guide portion, the conveyor belt being connected to the output end of the first driving member, the indicating member being fixedly connected to the conveyor belt for driving the indicating member via the conveyor belt.
6. The blind guiding device as claimed in claim 3, wherein the second guiding portion is a groove-shaped structure, and the movable member is provided with a guiding protrusion, and the guiding protrusion extends into the second guiding portion;
the blind guiding device further comprises a second driving piece, wherein the output end of the second driving piece is connected with the moving piece so as to drive the moving piece to move relative to the supporting piece along the extending direction of the second guiding portion.
7. The blind guide device of claim 6, further comprising a transmission gear and a transmission lead screw;
the second driving piece is arranged on the moving piece, the transmission gear is connected with the output end of the second driving piece, the transmission gear is meshed with the transmission screw rod, two ends of the transmission screw rod are connected with the supporting piece in a rotating mode, the moving piece is mutually and rotatably combined with the transmission screw rod, and the extending direction of the transmission screw rod is parallel to the extending direction of the second guide portion.
8. The blind guide apparatus of any one of claims 1-6 wherein the first direction is a vertical direction and the second direction is perpendicular to the first direction.
9. The blind guide apparatus according to any one of claims 2-6, characterized in that the blind guide apparatus further comprises a plurality of support portions, which are provided on a side of the support member facing the forehead portion of the user;
the protruding height of the supporting part protruding out of the guide assembly is smaller than the protruding height of the indicator.
10. The blind guide apparatus according to any one of claims 1-6, wherein the blind guide apparatus comprises a processor, a positioning module, an orientation sensor, and a communication module, and the indicator, the positioning module, the orientation sensor, and the communication module are all electrically connected to the processor;
the communication module is used for receiving navigation information, the positioning module is used for positioning the current position of the user, and the direction sensor is used for determining the current orientation of the user;
the processor is configured to control the indicator to move in the first direction or the second direction according to the navigation information, the current location of the user, and the current orientation of the user.
11. A blind guiding method applied to the blind guiding device according to any one of claims 1 to 10, comprising:
controlling the indicator to move from an initial position to a preset position along a first direction or a second direction;
when the movement of the user according to the first direction or the second direction of the indicator is detected, the indicator is controlled to return to the initial position from the preset position along the opposite direction of the first direction or the second direction.
12. The blind guiding method of claim 11, wherein the controlling the indicator to return to the initial position from the preset position in a direction opposite to the first direction or the second direction upon detecting the user's movement according to the first direction or the second direction of the indicator comprises:
when the moving range of the user is larger than a preset range threshold value, controlling the indicator to be fixed at the preset position;
when the range to be moved of the user is changed from being larger than the preset range threshold value to being smaller than or equal to the preset range threshold value, the indicator is controlled to return to the initial position from the preset position along the opposite direction of the first direction or the second direction.
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| CN105250119B (en) * | 2015-11-16 | 2017-11-10 | 深圳前海达闼云端智能科技有限公司 | Blind guiding method, device and equipment |
| CN106890067B (en) * | 2017-01-06 | 2019-05-31 | 南京邮电大学 | Indoor blind man navigation robot |
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| US6298010B1 (en) * | 1997-04-30 | 2001-10-02 | Maria Ritz | Orientation aid for the blind and the visually disabled |
| CN105748265A (en) * | 2016-05-23 | 2016-07-13 | 京东方科技集团股份有限公司 | Navigation device and method |
| KR20180073746A (en) * | 2016-12-22 | 2018-07-03 | 성균관대학교산학협력단 | Navigation apparatus for blind person |
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