CN114191269B - Intelligent reminding and guiding method and device in intelligent crutch - Google Patents
Intelligent reminding and guiding method and device in intelligent crutch Download PDFInfo
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- CN114191269B CN114191269B CN202111515974.XA CN202111515974A CN114191269B CN 114191269 B CN114191269 B CN 114191269B CN 202111515974 A CN202111515974 A CN 202111515974A CN 114191269 B CN114191269 B CN 114191269B
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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
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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
- A61H3/068—Sticks for blind persons
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
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Abstract
An intelligent reminding and guiding method and device in an intelligent crutch comprise an obstacle information extraction end and an intelligent reminding and guiding end. The obstacle information extraction end is used for receiving the obstacle information and the guide information in the advancing direction; the intelligent reminding and guiding end is designed by referring to the guiding behavior of the guide dog according to the bionics principle, and corresponding actions are made according to the obstacle information and the guiding information in the advancing direction to remind the user and give the user corresponding advancing guidance. Wherein the obstacle information and the guide information comprise forward travel, obstacle stop, ascending and descending stairs and left and right steering at different angles. The guide information provided by the invention is based on the bionics principle, is superior to reminding modes such as a buzzer, voice and the like, and can enable users to have comfortable, convenient and friendly experience and better integrate into social life.
Description
Technical Field
The invention relates to an intelligent reminding and guiding method and device in an intelligent crutch, and belongs to the technical field of auxiliary tools for walking of blind persons.
Background
The problems of blindness and vision impairment are one of the serious social and public health problems in the world, where the number of visually impaired people is great. Currently, the world has approximately 4500 ten thousand people for blind people, 1.35 hundred million people for visually impaired patients, china is one of the most countries for blind people worldwide, about 600-700 ten thousand for blind people accounting for 18% of the total number of blind people worldwide, and 1200 ten thousand for binocular low-vision patients. The information obtained by normal people through vision accounts for 70% -80% of the total information, and the information acquisition of the blind person is limited to a large extent in the dark world.
Currently, the tools for assisting the daily travel of the blind are mainly a guide dog and a guide stick. The guide dog has high training cost, needs daily consumption, has limited service life and has certain limitation in wide popularization. The blind guiding stick is used as an instrument for guiding or identifying the surrounding environment for visually impaired people, and has an extremely important role in the daily life of the blind. The guide reminding of the guide stick mainly comprises a buzzer, a loudspeaker, a microphone, vibration and the like. Ranging and roadblock detection are carried out in modes of ultrasonic wave, laser and the like, then sound reminding is provided through equipment such as a buzzer, a loudspeaker and a microphone, and left and right vibration buttons on a blind guiding handle are adopted individually to send out obstacle avoidance prompts. These similar reminding modes provide convenience for the blind to travel to a certain extent. However, the vibration mode has the problem of single form, and various sound reminding modes can bring certain interference to the blind and pedestrians around the blind.
In order to better solve the reminding mode of the current blind guiding stick, the invention designs a more intelligent, convenient and friendly reminding and guiding method and device by means of the bionics principle and referring to the working mode of the blind guiding dog.
Disclosure of Invention
Aiming at the defects of the existing reminding and guiding modes of the blind guiding stick, the invention provides a new scheme which can intelligently, conveniently and friendly remind the blind to travel forwards, avoid obstacles and stop steps, go up and down stairs with different heights, turn left and right at different angles and the like, and provides more convenient, efficient and safe trip reminding and guiding for the blind.
In a first aspect, an embodiment of the present invention provides an intelligent reminding and guiding method in an intelligent crutch, which is characterized in that the method includes an obstacle information extraction end and an intelligent reminding and guiding end. Wherein:
the obstacle information extraction end is used for receiving the obstacle information and the guide information in the advancing direction;
the intelligent reminding and guiding end is designed by referring to the guiding behavior of the guide dog according to the bionics principle, and corresponding actions are made according to the obstacle information and the guiding information in the advancing direction to remind the user and give the user corresponding advancing guidance.
The obstacle information extraction terminal of the invention receives obstacle information and guide information including forward travel, obstacle stop, ascending and descending stairs, and left and right steering at different angles.
According to the obstacle information and the guide information in the advancing direction, the intelligent reminding and guide terminal comprises advancing forward, obstacle stopping, ascending and descending stairs and steering at left and right angles, makes corresponding actions, reminds a user and gives corresponding advancing guide to the user.
The intelligent reminding and guiding device is characterized in that the intelligent reminding and guiding device applies forward thrust or traction force to the body of the user according to the bionics principle when the information received by the obstacle information extraction device indicates that the front is free of obstacles, and reminds the user that the front is free of obstacles, so that the user can walk stably.
The intelligent reminding and guiding device for stopping the obstacle is characterized in that when the information received by the obstacle information extraction end indicates that the obstacle exists in front, the intelligent reminding and guiding end applies a backward thrust or resistance to the body of the user according to the bionics principle to remind the user that the obstacle exists in front, the user needs to stop the step, and the user cannot walk forwards continuously.
The intelligent reminding and guiding device for going up and down stairs is characterized in that when the information received by the obstacle information extraction end indicates that stairs are in front of the stairs, the intelligent reminding and guiding end applies acting forces representing different heights of the stairs to the body of a user according to a bionics principle, so that the user is reminded of having stairs in front of the user, and the user needs to lift the stairs according to the corresponding height of the stairs.
The intelligent reminding and guiding device comprises a left-right angle steering intelligent reminding and guiding device, wherein the left-right angle steering intelligent reminding and guiding device is used for reminding a user of turning ahead by applying left or right traction force to the body of the user according to a bionic principle when information received by the obstacle information extraction device indicates that the front needs to turn, and meanwhile applying traction forces of different force magnitudes or different azimuth angles according to the required turning angle magnitude, so that the user is reminded of turning ahead and the user needs to moderately turn according to the guiding of the traction force.
In a second aspect, an embodiment of the present invention provides an intelligent reminding and guiding device in an intelligent crutch, which is characterized in that the device includes an obstacle information extraction unit and an intelligent reminding and guiding unit. Wherein:
an obstacle information extraction unit for receiving obstacle information and guide information in a traveling direction;
the intelligent reminding and guiding unit is designed by referring to the guiding behavior of the guide dog according to the bionics principle, and makes corresponding actions according to the obstacle information and the guiding information in the advancing direction to remind the user and give corresponding advancing guidance to the user.
The intelligent reminding and guiding unit of the invention comprises:
the forward moving subunit is used for applying forward pushing force or traction force to the body of the user when the information received by the obstacle information extraction unit indicates that the front is free of obstacle, reminding the user that the front is free of obstacle and enabling the user to walk stably;
the obstacle stop subunit is used for applying a backward thrust or resistance action to the body of the user when the information received by the obstacle information extraction unit indicates that an obstacle exists in front, reminding the user that the obstacle exists in front, stopping the step, and preventing the user from continuing to walk forwards;
the stair ascending and descending subunit is used for applying acting forces representing different stair heights to the body of the user when the information received by the obstacle information extraction unit indicates that stair obstacles exist in front, reminding the user that stairs exist in front, and guiding the user to ascend and descend;
and the left-right angle-dividing steering sub-unit is used for applying left or right traction forces representing different angles to the body of the user when the information received by the obstacle information extraction unit indicates that the front needs to turn, reminding the user of turning in front and guiding the user to moderately turn and advance.
The ascending and descending stair subunit of the present invention comprises:
the reading module is used for reading the stair height information received by the obstacle information extraction unit;
the reminding and guiding module is used for applying acting forces with different forces or different spacing points according to different stair heights, reminding and guiding a user to step at the corresponding height, and going up and down stairs.
The reminding and guiding module is also used for applying acting force combining ascending and descending stairs to remind and guide a user to step and span when the read threshold obstacle information similar to the stair shape.
The left-right split angle steering subunit of the present invention comprises:
the reading module is used for reading the left and right steering angle information received by the obstacle information extraction unit;
and the reminding and guiding module is used for applying traction forces with different force magnitudes and different azimuth angles according to the left and right steering angle information read by the reading module, reminding a user of left turning or right turning in front, and needing to moderately turn and advance according to the guiding of the traction forces.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic diagram of an intelligent reminding and guiding device in an intelligent crutch according to an embodiment of the present invention.
Detailed description of the preferred embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
As shown in fig. 1, an intelligent reminding and guiding device in an intelligent crutch is characterized in that the device comprises:
unit 1: the obstacle information extraction unit acquires obstacle information in front of the user, and comprises four types of information including forward travel, obstacle avoidance and stop, ascending and descending stairs, and left and right steering in different angles. The specific information is derived from an upstream processing unit of the intelligent crutch, can be sensed and extracted through a plurality of sensors, and is classified according to four types of information defined by the invention, so that reminding and guiding are provided for users.
Unit 2: and the intelligent reminding and guiding unit gives corresponding intelligent, convenient and friendly reminding and guiding to the user according to the obstacle information provided by the unit 1. The unit consists of four subunits:
subunit 201: travel to the forward subunit. When no obstacle exists in front of the travel, the subunit applies forward thrust or traction force to the body of the user, reminds the user that no obstacle exists in front of the user, and can walk stably;
subunit 202: obstacle stop subunit. When the front of the travel is blocked, the subunit applies a backward thrust or resistance to the body of the user to remind the user that the front of the travel is blocked, a stop is needed, and the user cannot continue to walk forwards;
subunit 203: a sub-unit for going up and down stairs. When the obstacle information in front of the travel is stair obstacle, the sub-unit applies acting forces representing different stair heights to the body of the user, reminds the user of having stairs in front of the user, and guides the user to go up and down stairs. Wherein, to stair obstacle will apply different warning signals according to the stair height of discernment, the user of being convenient for safely, smoothly go up and down stairs. In addition, if the threshold obstacle is in front of the walking, the sub-unit can also apply acting force information combining ascending and descending stairs to remind a user to step and stride.
Subunit 204: the left and right steering sub-units are divided into an angle. When the obstacle information in front of the travel is a front turn, the subunit applies traction forces representing different angles to the left or right to the body of the user, reminds the user of the turn in front of the user, and guides the user to moderately turn the travel.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. The intelligent reminding and guiding method in the intelligent crutch is characterized by comprising an obstacle information extraction end and an intelligent reminding and guiding end; wherein:
the obstacle information extraction end is used for receiving obstacle information and guide information in the advancing direction; the intelligent reminding and guiding end is designed by referring to the guiding behavior of the guide dog according to the bionics principle, and makes corresponding actions according to the obstacle information and the guiding information in the advancing direction to remind the user and give corresponding advancing guidance to the user;
the obstacle information and the guide information comprise forward travel, obstacle stop, ascending and descending stairs and left and right steering at different angles;
the intelligent reminding and guiding terminal applies forward thrust or traction force to the body of the user according to the bionics principle when the information received by the obstacle information extraction terminal indicates that the front is free of obstacles, so that the user is reminded of the front being free of obstacles and can walk stably;
the intelligent reminding and guiding device for stopping the obstacle is characterized in that when the information received by the obstacle information extraction end indicates that the obstacle exists in front, the intelligent reminding and guiding end applies a backward thrust or resistance action to the body of a user according to a bionics principle to remind the user that the obstacle exists in front, the user needs to stop the step, and the user cannot continue to walk forwards;
the intelligent reminding and guiding terminal applies acting forces representing different stair heights to the body of the user according to the bionics principle when the information received by the obstacle information extracting terminal indicates that stair obstacles exist in front of the stair, so that the user is reminded of having stairs in front of the stair, and the user needs to lift the corresponding height according to the stair ascending and descending guiding terminal to ascend and descend the stairs;
the intelligent reminding and guiding device comprises a left-right angle steering intelligent reminding and guiding device, wherein when information received by the obstacle information extraction end indicates that the front part needs to turn, the intelligent reminding and guiding end applies left or right traction force to the body of a user according to a bionics principle, and simultaneously applies traction forces with different force magnitudes or different azimuth angles according to the magnitude of the needed turning angle to remind the user that the front part has a turn and the user needs to moderately turn according to the guidance of the traction force.
2. The utility model provides an intelligent reminding and guiding device in intelligent blind cane, its characterized in that, it includes obstacle information extraction element and intelligent reminding and guiding unit, wherein:
the obstacle information extraction unit is used for receiving obstacle information and guide information in the advancing direction; the intelligent reminding and guiding unit is designed by referring to the guiding behavior of the guide dog according to the bionics principle, and performs corresponding actions according to the obstacle information and the guiding information in the advancing direction to remind the user and give the user corresponding advancing guidance at the same time;
the intelligent reminding and guiding unit comprises:
the forward moving subunit is used for applying forward pushing force or traction force to the body of the user when the information received by the obstacle information extraction unit indicates that the front is free of obstacle, reminding the user that the front is free of obstacle and enabling the user to walk stably;
the obstacle stop subunit is used for applying a backward thrust or resistance action to the body of the user when the information received by the obstacle information extraction unit indicates that an obstacle exists in front, reminding the user that the obstacle exists in front, stopping the step, and preventing the user from continuing to walk forwards;
the stair ascending and descending subunit is used for applying acting forces representing different stair heights to the body of the user when the information received by the obstacle information extraction unit indicates that stair obstacles exist in front, reminding the user that stairs exist in front, and guiding the user to ascend and descend;
and the left-right angle-dividing steering sub-unit is used for applying left or right traction forces representing different angles to the body of the user when the information received by the obstacle information extraction unit indicates that the front needs to turn, reminding the user of turning in front and guiding the user to moderately turn and advance.
3. The intelligent reminding and guidance device in an intelligent cane according to claim 2 wherein said stair traversing subunit comprises:
the reading module is used for reading the stair height information received by the obstacle information extraction unit;
the reminding and guiding module is used for applying acting forces with different forces or different spacing points according to different stair heights to remind and guide a user to step at the corresponding height and go up and down stairs;
the reminding and guiding module is also used for applying acting force combining ascending and descending stairs to remind and guide a user to step and span when the read threshold obstacle information similar to the stair shape.
4. The intelligent reminding and guidance device in an intelligent cane according to claim 2 wherein said left and right split angle steering sub-unit comprises:
the reading module is used for reading the left and right steering angle information received by the obstacle information extraction unit;
and the reminding and guiding module is used for applying traction forces with different force magnitudes and different azimuth angles according to the left and right steering angle information read by the reading module, reminding a user of left turning or right turning in front, and needing to moderately turn and advance according to the guiding of the traction forces.
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| CN202111515974.XA CN114191269B (en) | 2021-12-06 | 2021-12-06 | Intelligent reminding and guiding method and device in intelligent crutch |
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| CN202111515974.XA CN114191269B (en) | 2021-12-06 | 2021-12-06 | Intelligent reminding and guiding method and device in intelligent crutch |
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| CN114191269B true CN114191269B (en) | 2023-05-09 |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102240244A (en) * | 2011-04-26 | 2011-11-16 | 郑一溥 | Blind guide crutch device and blind guide implementation method thereof |
| CN203841993U (en) * | 2014-05-14 | 2014-09-24 | 金陵科技学院 | Autonomous guide robot for blind people |
| CN109199805A (en) * | 2017-06-30 | 2019-01-15 | 山东华宇工学院 | Smart electronics blind guiding system |
| CN209019366U (en) * | 2018-01-12 | 2019-06-25 | 阳光学院 | Intelligent blind-guiding robot |
| CN109806121A (en) * | 2019-04-09 | 2019-05-28 | 沈阳工程学院 | Avoidance guide is explored the way vehicle |
| IL272970A (en) * | 2020-02-27 | 2021-08-31 | Seamless Vision 2017 Ltd | Self-navigating guide robot |
| CN213406855U (en) * | 2020-07-21 | 2021-06-11 | 上海商学院 | Guiding type blind stick |
| CN113520812B (en) * | 2021-08-26 | 2022-08-12 | 山东大学 | Four-foot robot blind guiding system and method |
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