CN204890520U - Self -contained navigation leads blind man's stick - Google Patents
Self -contained navigation leads blind man's stick Download PDFInfo
- Publication number
- CN204890520U CN204890520U CN201520626407.5U CN201520626407U CN204890520U CN 204890520 U CN204890520 U CN 204890520U CN 201520626407 U CN201520626407 U CN 201520626407U CN 204890520 U CN204890520 U CN 204890520U
- Authority
- CN
- China
- Prior art keywords
- blind
- chip microcomputer
- dolly
- universal wheel
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model provides a self -contained navigation leads blind man's stick, includes the cane physically, the bottom of the cane body is equipped with the dolly that leads the cane body to move ahead, and the bottom of dolly is equipped with the universal wheel, is equipped with the controlling means of control universal wheel direction of motion on the dolly, controlling means includes camera, gray sensor, singlechip and steering wheel, and the signal input part of singlechip is connected with camera and gray sensor respectively, and the controlled end of steering wheel is connected to the output of singlechip, and the steering wheel passes through the rotation axis that the universal wheel is connected to the connecting piece. The utility model discloses a set up the dolly bottom the cane body to the impulsive force that produces when the blind person moves ahead through steering wheel torque control universal wheel direction, leading blind person's walking, thereby the self -contained navigation of realization blind man's stick has improved blind person's ability of walking as dolly power, has improved blind person's quality of going on a journey.
Description
Technical field
This utility model relates to people with disability's appurtenance field, particularly a kind of blind-guiding stick that can independently move ahead.
Background technology
According to hygiene department's statistical data display, blind person is the colony of an enormous amount, and blind person, due to physiological defect, is faced with inconvenience and potential danger during walking in public places.For convenience of blind person's trip, sidewalk is all provided with sidewalk for visually impaired people usually, and nowadays the coverage rate of sidewalk for visually impaired people is very high.But due to build lack of standardization of some sidewalk for visually impaired people and now sidewalk for visually impaired people initiatively can't inform the particular location at its place, cause the blind person that really sidewalk for visually impaired people can be used to go on a journey less.
At present, the method solving blind person's trip mainly contains and uses seeing-eye dog to guide, adopts intelligent blind man's stick to guide or household such as to accompany and attend at the mode, wherein seeing-eye dog raise and train strongly professional, the time is long, cost is high; Although the mode that household accompanies and attends to can give supportive protection whenever and wherever possible, the burden of household can be increased the weight of; Household has been liberated in the appearance of intelligence blind man's stick, brings very big help to blind person's trip.
Existing intelligent blind man's stick mainly contains GPS and locates blind man's stick and ultrasound examination blind man's stick, the intelligent blind man's stick had is additional voice broadcast function also, wherein GPS locates blind man's stick and can locate blind person position, household is facilitated to know blind person present position, but household does not also know when blind person wants help, and can not ensure blind safety in real time; Ultrasound examination blind man's stick can detect the barrier in certain limit, but can not embody the position residing for blind person.And these traditional most function singlenesses of intelligent blind man's stick, and in use, crutch is walked still to need blind person to lean on, and fails truly to realize the theory that intelligent blind man's stick leads blind person to move ahead.
Utility model content
This utility model technical issues that need to address are to provide a kind of blind-guiding stick of independent navigation, and it can lead blind person to move ahead automatically, and can provide information needed to blind person's trip.
For solving the problems of the technologies described above, technical solution adopted in the utility model is as follows.
A blind-guiding stick for independent navigation, comprises cane body, and the bottom of described cane body is provided with the dolly leading cane body to move ahead, and the bottom of dolly is provided with universal wheel, and dolly is provided with the control device controlling the universal wheel direction of motion; Described control device comprises photographic head, gray-scale sensor, single-chip microcomputer and steering wheel, the signal input part of single-chip microcomputer is connected with photographic head and gray-scale sensor respectively, the outfan of single-chip microcomputer connects the controlled end of steering wheel, and steering wheel connects the rotating shaft of universal wheel by connector.
The blind-guiding stick of above-mentioned independent navigation, described steering wheel comprises steering wheel and is arranged on drive circuit, direct current generator, train of reduction gears and the position feedback transducer for gathering universal wheel actual position information in steering wheel, the input of described drive circuit connects the outfan of single-chip microcomputer, the outfan of drive circuit connects the input of direct current generator, the output shaft of direct current generator is connected with the top of connector and train of reduction gears respectively, the output shaft link position feedback transducer of train of reduction gears, the outfan of position feedback potentiometer is connected to drive circuit.
The blind-guiding stick of above-mentioned independent navigation, described dolly is provided with left universal wheel and right universal wheel, left universal wheel rotating shaft fixedly connected to the inner side left half axle, right universal wheel rotating shaft fixedly connected to the inner side right axle shaft, the opposite end of left half axle and right axle shaft is equipped with the bottom of connector respectively.
The blind-guiding stick of above-mentioned independent navigation, described control device also comprises the monitoring ultrasonic module arranging dolly front portion, and the outfan of monitoring ultrasonic module connects the first serial of single-chip microcomputer.
The blind-guiding stick of above-mentioned independent navigation, described control device also comprises GPS module, and the signal output part of GPS module connects the I/O port of single-chip microcomputer.
The blind-guiding stick of above-mentioned independent navigation, described control device is also provided with anti-lost module, anti-lost module comprises the alarm be arranged on cane body, rfid interrogator, antenna and is worn on blind person's RFID with it, RFID within the scope of rfid interrogator reading antenna, the outfan of rfid interrogator is connected with the second serial of alarm and single-chip microcomputer respectively.
The blind-guiding stick of above-mentioned independent navigation, described anti-lost module also comprises GSM message module, and GSM message module is connected with the 3rd serial ports of single-chip microcomputer.
The blind-guiding stick of above-mentioned independent navigation, described control device also comprises voice broadcast module, and voice broadcast module is connected with the FPDP of single-chip microcomputer.
The blind-guiding stick of above-mentioned independent navigation, described control device also comprises bluetooth module, and bluetooth module is connected with the COM1 of single-chip microcomputer.
Owing to have employed above technical scheme, the technological progress acquired by this utility model is as follows.
This utility model by arranging dolly bottom cane body, and the impulse force produced when moving ahead using blind person, as dolly power, controls universal wheel direction by steering wheel torsion, lead blind person's walking, thus realize the independent navigation of blind man's stick, improve blind person's locomotor activity, improve blind person and to go on a journey quality.In addition, this utility model also has GPS location, GSM message is sought help, RFID identifies, ultrasonic ranging keeps away barrier, wireless blue tooth, real-time recording are talked with and the function such as audio alert, and the safety for blind person provides multi-faceted guarantee.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the electrical diagram of control device described in the utility model;
Fig. 3 is the structural representation of servo driving universal wheel described in the utility model;
Fig. 4 is the operation principle block diagram of steering wheel described in the utility model.
In figure, each label is expressed as: 1. cane body, 2. right universal wheel, 3. steering wheel, 4. left universal wheel, 5. connector, 6. left half axle, 7. right axle shaft.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, this utility model is further elaborated.
Structure of the present utility model as shown in Figure 1, comprises cane body 1 and dolly, and dolly is arranged on the bottom of cane body, moves ahead for leading cane body.
The bottom of dolly is provided with universal wheel, and dolly is provided with control device.In the present embodiment, be provided with two universal wheels bottom dolly: left universal wheel 2 and right universal wheel 4, control device is for controlling the direction of motion of left universal wheel and right universal wheel, so that guiding blind safety is advanced.
Control device comprises photographic head, gray-scale sensor, single-chip microcomputer and steering wheel 3; Single-chip microcomputer adopts STM32, and the PB0 signal input part of single-chip microcomputer is connected with gray-scale sensor, and photographic head connects the usb signal input port of single-chip microcomputer, and the PB9 outfan of single-chip microcomputer connects the controlled end of steering wheel.In the present embodiment, gray-scale sensor is provided with two, is separately positioned on the both sides of dolly; Photographic head adopts COMS photographic head, be arranged on dolly front top, CMOS camera is a kind of photographic head adopting cmos image sensor, cmos image sensor is a kind of typical solid state image sensor, usually forms by as a few parts such as quick cell array, line driver, row driver, time sequence control logic, a/d converter, data/address bus output interface, control interfaces.
The output shaft of steering wheel is set with connector 5, left universal wheel rotating shaft fixedly connected to the inner side left half axle 6, right universal wheel rotating shaft fixedly connected to the inner side right axle shaft 7, the opposite end of left half axle and right axle shaft is equipped with the bottom of connector respectively, as shown in Figure 3.
Steering wheel is used for adjusting turning to of dolly under the control of single-chip microcomputer, its structure as shown in Figure 4, comprise steering wheel, drive circuit, direct current generator, train of reduction gears and position feedback transducer is provided with in steering wheel, position feedback transducer is for gathering the actual position information of universal wheel, and the outfan of position feedback potentiometer is connected to drive circuit.The input of drive circuit connects the outfan of single-chip microcomputer, the signal end of direct current generator connects the outfan of drive circuit, the outfan of direct current generator is connected with the input of connector and train of reduction gears respectively, the outfan link position feedback transducer of train of reduction gears.
Operationally, drive circuit receives the control wave of single-chip microcomputer to steering wheel, drives connector to drive universal wheel to advance by controlling direct current generator work; Period, direct current generator drives position feedback transducer to carry out position detection by train of reduction gears, the positional information of collection is converted to position voltage signal feedback to drive circuit by position feedback transducer, control circuit is according to position feedback voltage, the control wave inputted with single-chip microcomputer compares, and produces and corrects pulse, control and drive direct current generator forward or reverse, make the position of universal wheel and expected value phase compound, thus reach the object accurately controlling steering angle.
Operation principle of the present utility model is: dolly is in traveling process, utilize the feature that sidewalk for visually impaired people is different from other road surface colors, road image information is gathered by COMS photographic head and gray-scale sensor, send into single-chip microcomputer to process, single-chip microcomputer adopts artificial neural network algorithm and fuzzy image recognition algorithm to carry out computing to data, to extract sidewalk for visually impaired people characteristic information, and then drive universal wheel to turn to by controlling steering wheel, people touches blind man's stick as power simultaneously, and wheel is walked in the middle of sidewalk for visually impaired people with blind man's stick and blind person always.
During craspedodrome, COMS photographic head may detect the road conditions at 1 meter of, dolly front, and the information transmission of collection to after single-chip microcomputer, through single-chip microcomputer process, thus is gone on along on sidewalk for visually impaired people by servos control dolly by COMS photographic head; Be aided with gray-scale sensor identification sidewalk for visually impaired people and normal road again, when dolly departs from sidewalk for visually impaired people, gray-scale sensor can detect that dolly departs from sidewalk for visually impaired people, and single-chip microcomputer adjusts dolly direction through process by steering wheel after receiving the information of gray-scale sensor transmission, ensures that dolly travels along sidewalk for visually impaired people always.Dolly is in motor process, and control device can be triggered will at regular intervals cane body one power forward by direct current generator, allows blind person feel all the time going ahead.
When there being turning, first COMS photographic head can detect the road conditions that front needs to turn, and this information can draw concrete turn direction and steering angle after single-chip microcomputer process, specially enjoys further by servos control dolly.In steering procedure, gray-scale sensor also can detect whether dolly departs from sidewalk for visually impaired people, control signal is sent to steering wheel after this information of single-chip microcomputer process, steering wheel inside produces voltage difference, the positive and negative of voltage difference outputs to the rotating that motor drive ic determines motor, when motor rotates forward, dolly turns left, and during motor reversal, dolly is turned right, thus controls turning to of dolly, further by adjustment dolly direction, dolly is travelled always along sidewalk for visually impaired people.
After successfully turning to, motor speed just no longer changes, and when motor speed is constant, drive position feedback transducer to rotate by train of reduction gears, make voltage difference be zero, motor stalls, dolly recovers straight forward.
For bring to blind person more have more accommodating, the monitoring ultrasonic module, GPS module, GSM message module, voice broadcast module, bluetooth module and the anti-lost module that are connected with single-chip microcomputer is also provided with in control device of the present utility model, the annexation of above-mentioned module and single-chip microcomputer as shown in Figure 2, the function of each module and operation principle specific as follows described in.
Monitoring ultrasonic module LM1812 arranges dolly front portion, be made up of supersonic generator and ultrasonic receiver two parts, barrier whether is had to exist in the certain limit of supersonic generator detection front, and send ultrasonic receiver to by novel for detection, ultrasonic receiver is according to the first serial sending single-chip microcomputer after the information dyscalculia thing of reception and the distance of dolly to, and the result that single-chip microcomputer can detect in conjunction with monitoring ultrasonic module control the direct of travel of universal wheel further by controlling steering wheel.
GPS module comprises GPS receiving circuit and GPS reception antenna, for receiving gps satellite signal, thus determines the particular location of blind man's stick and blind person, and information is sent to the I/O port of single-chip microcomputer.GSM message module adopts TC35, is connected with the serial asynchronous communication interface PC2 of single-chip microcomputer, the latitude and longitude information that GPS gathers can be compiled note, sends remote short messages seek help according to the instruction of single-chip microcomputer to the mobile terminal bound with it.
Voice broadcast module adopts ISD1420 chip, and can carry out editor, the storage of voice signal, voice broadcast module is connected with the FPDP PA0 ~ PA7 of single-chip microcomputer, for sending the voice messaging such as obstacle distance warning, turning prompting according to the instruction of single-chip microcomputer.ISD1420 chip is the high-quality monolithic audio record circuit of American I SD Company, be made up of agitator, voice memory unit, preamplifier, automatic gain control circuit, anti-interference filter, out amplifier, a minimum recording-reproducing system is only made up of a mike, loudspeaker, two buttons, power supply, minority resistance capacitances, volume is little, facilitates setting-in to use.Voice broadcast module also can real-time recording, then utilizes GSM message module to give household by recording transmission, allows household know blind person's situation instantly.
Bluetooth module adopts bluetooth 4.0, is connected with the COM1 TXD/RXD of single-chip microcomputer, for the bluetooth earphone early warning stored in voice broadcast module, the transmission of speech informations such as prompting and household's dialogue of turning worn to blind person, plays voice message effect.
Anti-lost module, loses for preventing blind person and blind man's stick disengaging time from crossing for a long time.Comprise the alarm be arranged on cane body, rfid interrogator, antenna and be worn on blind person's RFID with it, RFID within the scope of rfid interrogator reading antenna, the outfan of rfid interrogator is connected with the second serial PC1 of alarm and single-chip microcomputer respectively.When blind person is not within the scope of RFID antenna, alarm gives a warning, warning continued after 1 minute, if blind person does not get back in antenna range, GSM message module is then utilized to send from its household of trend the latitude and longitude information at blind man's stick place that GPS module gathers, so that household learns that blind person wanders away information in time.
Claims (9)
1. a blind-guiding stick for independent navigation, comprises cane body, it is characterized in that: the bottom of described cane body is provided with the dolly leading cane body to move ahead, and the bottom of dolly is provided with universal wheel, and dolly is provided with the control device controlling the universal wheel direction of motion; Described control device comprises photographic head, gray-scale sensor, single-chip microcomputer and steering wheel, the signal input part of single-chip microcomputer is connected with photographic head and gray-scale sensor respectively, the outfan of single-chip microcomputer connects the controlled end of steering wheel, and steering wheel connects the rotating shaft of universal wheel by connector.
2. the blind-guiding stick of independent navigation according to claim 1, it is characterized in that: described steering wheel comprises steering wheel and is arranged on the drive circuit in steering wheel, direct current generator, train of reduction gears and the position feedback transducer for gathering universal wheel actual position information, the input of described drive circuit connects the outfan of single-chip microcomputer, the outfan of drive circuit connects the input of direct current generator, the output shaft of direct current generator is connected with the top of connector and train of reduction gears respectively, the output shaft link position feedback transducer of train of reduction gears, the outfan of position feedback potentiometer is connected to drive circuit.
3. the blind-guiding stick of independent navigation according to claim 2, it is characterized in that: described dolly is provided with left universal wheel and right universal wheel, left universal wheel rotating shaft fixedly connected to the inner side left half axle, right universal wheel rotating shaft fixedly connected to the inner side right axle shaft, the opposite end of left half axle and right axle shaft is equipped with the bottom of connector respectively.
4. the blind-guiding stick of independent navigation according to claim 3, is characterized in that: described control device also comprises the monitoring ultrasonic module arranging dolly front portion, and the outfan of monitoring ultrasonic module connects the first serial of single-chip microcomputer.
5. the blind-guiding stick of independent navigation according to claim 4, is characterized in that: described control device also comprises GPS module, and the signal output part of GPS module connects the I/O port of single-chip microcomputer.
6. the blind-guiding stick of independent navigation according to claim 1 or 5, it is characterized in that: described control device is also provided with anti-lost module, anti-lost module comprises the alarm be arranged on cane body, rfid interrogator, antenna and is worn on blind person's RFID with it, RFID within the scope of rfid interrogator reading antenna, the outfan of rfid interrogator is connected with the second serial of alarm and single-chip microcomputer respectively.
7. the blind-guiding stick of independent navigation according to claim 6, is characterized in that: described anti-lost module also comprises GSM message module, and GSM message module is connected with the 3rd serial ports of single-chip microcomputer.
8. the blind-guiding stick of independent navigation according to claim 7, is characterized in that: described control device also comprises voice broadcast module, and voice broadcast module is connected with the FPDP of single-chip microcomputer.
9. the blind-guiding stick of independent navigation according to claim 8, is characterized in that: described control device also comprises bluetooth module, and bluetooth module is connected with the COM1 of single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520626407.5U CN204890520U (en) | 2015-08-19 | 2015-08-19 | Self -contained navigation leads blind man's stick |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520626407.5U CN204890520U (en) | 2015-08-19 | 2015-08-19 | Self -contained navigation leads blind man's stick |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204890520U true CN204890520U (en) | 2015-12-23 |
Family
ID=54912741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520626407.5U Active CN204890520U (en) | 2015-08-19 | 2015-08-19 | Self -contained navigation leads blind man's stick |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204890520U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107328408A (en) * | 2017-08-22 | 2017-11-07 | 安徽信息工程学院 | Machine dog for guiding blind |
| CN107588780A (en) * | 2017-10-27 | 2018-01-16 | 朱秋华 | A kind of intelligent blind guiding system |
| CN107945504A (en) * | 2017-12-08 | 2018-04-20 | 湖州师范学院 | Three wheeler guiding blind-man crossing street auxiliary device |
| CN108056900A (en) * | 2017-12-08 | 2018-05-22 | 湖州师范学院 | Lorry guiding blind-man crossing street auxiliary device |
| CN108066113A (en) * | 2017-12-29 | 2018-05-25 | 上海电力学院 | A kind of intelligent blind-guiding stick |
| CN109009908A (en) * | 2018-09-27 | 2018-12-18 | 田家炜 | A kind of electronic guide dog and its guide rope and its application method |
| CN110575371A (en) * | 2019-10-22 | 2019-12-17 | 大连民族大学 | intelligent blind-guiding walking stick and control method |
| CN113069329A (en) * | 2020-01-06 | 2021-07-06 | 奥迪股份公司 | Walking assistance system and method |
| CN113075926A (en) * | 2021-03-15 | 2021-07-06 | 南通大学 | Blind guiding robot dog based on artificial intelligence |
| CN113332110A (en) * | 2021-06-02 | 2021-09-03 | 西京学院 | Scene auditory perception-based blind-guiding flashlight and blind-guiding method |
-
2015
- 2015-08-19 CN CN201520626407.5U patent/CN204890520U/en active Active
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107328408B (en) * | 2017-08-22 | 2023-08-18 | 安徽信息工程学院 | Blind guiding machine dog |
| CN107328408A (en) * | 2017-08-22 | 2017-11-07 | 安徽信息工程学院 | Machine dog for guiding blind |
| CN107588780A (en) * | 2017-10-27 | 2018-01-16 | 朱秋华 | A kind of intelligent blind guiding system |
| CN107945504A (en) * | 2017-12-08 | 2018-04-20 | 湖州师范学院 | Three wheeler guiding blind-man crossing street auxiliary device |
| CN108056900A (en) * | 2017-12-08 | 2018-05-22 | 湖州师范学院 | Lorry guiding blind-man crossing street auxiliary device |
| CN108066113A (en) * | 2017-12-29 | 2018-05-25 | 上海电力学院 | A kind of intelligent blind-guiding stick |
| CN109009908A (en) * | 2018-09-27 | 2018-12-18 | 田家炜 | A kind of electronic guide dog and its guide rope and its application method |
| CN110575371A (en) * | 2019-10-22 | 2019-12-17 | 大连民族大学 | intelligent blind-guiding walking stick and control method |
| CN110575371B (en) * | 2019-10-22 | 2022-05-10 | 大连民族大学 | Intelligent blind-guiding walking stick and control method |
| CN113069329A (en) * | 2020-01-06 | 2021-07-06 | 奥迪股份公司 | Walking assistance system and method |
| CN113075926A (en) * | 2021-03-15 | 2021-07-06 | 南通大学 | Blind guiding robot dog based on artificial intelligence |
| CN113332110A (en) * | 2021-06-02 | 2021-09-03 | 西京学院 | Scene auditory perception-based blind-guiding flashlight and blind-guiding method |
| CN113332110B (en) * | 2021-06-02 | 2023-06-27 | 西京学院 | Blind guiding flashlight and blind guiding method based on scenery auditory perception |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204890520U (en) | Self -contained navigation leads blind man's stick | |
| KR101193610B1 (en) | Intelligent robot system for traffic guidance of crosswalk | |
| CN101639699B (en) | Intelligent automatic searching and tracking golf cart | |
| CN204446522U (en) | Based on hyperacoustic intelligent blind-guiding device | |
| CN105726234A (en) | Intelligent electrically powered wheelchair and application method | |
| CN204937441U (en) | The water-bed sniffing robot of a kind of autonomous navigation | |
| CN109259948B (en) | Wheelchair for assisting driving | |
| CN207281590U (en) | A kind of intelligence blind-guidance robot device | |
| CN102481206A (en) | Road guide apparatus for a visually impaired person | |
| CN105816303B (en) | A kind of blind guiding system and its method based on GPS and vision guided navigation | |
| CN111035543A (en) | Intelligent blind guiding robot | |
| CN109394483A (en) | Blindmen intelligent crutch and its control method | |
| CN110308682A (en) | A kind of back massage robot control system and method | |
| CN107525520A (en) | Voice guide equipment | |
| CN209879303U (en) | Multifunctional intelligent wheelchair system | |
| CN104635737A (en) | Garden tour blind-guide-handcart intelligent system | |
| CN205286872U (en) | Blind person keeps away barrier glasses | |
| CN220189134U (en) | Unmanned bicycle based on contest | |
| CN204932185U (en) | Multifunctional intellectual blind guiding stick | |
| CN116270047A (en) | Electric wheelchair for realizing intelligent movement and remote health monitoring and control system | |
| CN103720574A (en) | Intelligent guiding device with GPS positioning function | |
| Tachi et al. | Guide dog robot—its basic plan and some experiments with MELDOG MARK I | |
| CN209590588U (en) | A kind of children's vehicle control device | |
| CN207980369U (en) | A kind of body-building long-distance running assistant | |
| CN219250155U (en) | Accompanying robot and accompanying system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |