CN206548784U - A kind of wear-type guide equipment - Google Patents
A kind of wear-type guide equipment Download PDFInfo
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- CN206548784U CN206548784U CN201621104042.0U CN201621104042U CN206548784U CN 206548784 U CN206548784 U CN 206548784U CN 201621104042 U CN201621104042 U CN 201621104042U CN 206548784 U CN206548784 U CN 206548784U
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Abstract
The utility model is applied to guide apparatus field there is provided a kind of wear-type guide equipment, including user surrounding environment can be detected, and forms the laser radar system of the positional information of detected object；Traffic information is formed according to the positional information of the detected object, and according to the controller of traffic information formation prompting control instruction；The suggestion device of road condition advisory information is exported according to the control instruction；And it is wearable in user's head, for installing the laser radar system, controller and the fixed structure of suggestion device.This equipment carries out environment, road conditions by laser radar system and detected, the parameters such as detection range, scanning range, scan frequency, angular resolution, measurement distance precision are effectively lifted, and equipment installs simple, practicality and real-time, blind person can be helped to carry out accurate navigation avoidance in real time, the walk and safety of blind person greatly is improved, Consumer's Experience is good, is used suitable for large-scale promotion.
Description
Technical field
The utility model belongs to guide apparatus field, more particularly to a kind of wear-type guide equipment.
Background technology
Investigated according to associated mechanisms, China there are about blind person 10,000,000 at present, account for the 18% of world blind person sum, and future has
The trend continued to increase, to the year two thousand twenty, Chinese blind person's quantity is estimated up to 50,000,000.Blind person is used as a special group in society
, it is necessary to which society is given, them are more to care about and looks after body, enables them to preferably live on one's own life.How safety is walked, and is
The greatest problem faced in blindman.But the current special navigation product of blind person is not also very ripe.
In the market common are be provided with the outside of a kind of guide helmet, including headpiece case, headpiece case camera and
Ultrasonic meter, headpiece case is built-in with GPS navigation system and inertial navigation system, camera, ultrasonic meter, GPS
Navigation system and inertial navigation system are connected with data processor, data processor connection man-machine interaction device, the man-machine friendship
Mutual device includes earphone and microphone, and headpiece case is built-in with power supply.But use GPS, camera and ultrasonic measurement phase
With reference to technology, device structure is more complicated, and operating difficulties, detection range and investigative range are limited, and precision is not high, to barrier
Can not be accurately positioned, also can not disturbance of perception thing dimension information, properties of product are not sufficiently stable, while equipment is expensive, market accreditation
Degree is relatively low, it is difficult to be promoted popularization.
Utility model content
The utility model embodiment provides a kind of wear-type guide equipment, it is intended to solves existing guide device structure and compares
Complexity, operating difficulties, detection range and investigative range are limited, and precision is not high, and barrier can not be accurately positioned, and can not also perceive
The problem of barrier dimension information.
The utility model embodiment is achieved in that a kind of wear-type guide equipment, it is characterised in that including：
User surrounding environment can be detected, and form the laser radar system of the positional information of detected object；
Traffic information is formed according to the positional information of the detected object, and according to traffic information formation prompting control
Make the controller of instruction；
The suggestion device of road condition advisory information is exported according to the control instruction；And
It is wearable in user's head, for installing the laser radar system, controller and the fixed knot of suggestion device
Structure.
It is preferred that, the laser radar system includes：
Detect the first laser radar of the ambient conditions of 360 degree of scopes around user；And
Detect the second laser radar of road conditions in front of user.
It is preferred that, the first laser radar is the single laser radar for carrying out 360 degree of range detections, or by multiple
Laser radar splicing composition, to carry out the Scanning Detction of 360 scopes.
It is preferred that, the second laser radar is the structure light laser radar that can be detected by structure light to road conditions,
The structure light laser radar includes：
Structured light module, for generating and launching structure light signal；
Signal acquisition module, sends for gathering the structured light module, is reflected by being detected object
Catoptric arrangement optical signal；And
Signal processing module, produces structure optical signal, and tie according to the reflection for control structure light emission module
Positional information of the structure optical signal in the signal acquisition module, processing obtains the range information of detected object.
It is preferred that, the output end of structured light module is launched described in the structure optical signals, the structure light
Signal forms a branch of in approximately the same plane, the emergent light with certain angle, the outgoing using the output end as summit
The angle of light is in the range of 0~180 degree.
It is preferred that, the normal direction of the output end of the second laser radar and the folder of the plane of scanning motion of the first laser radar
Angle is in the range of 30~80 degree.
It is preferred that, the controller includes：
For the signal receiving module for the range information for receiving detected object；
The range information of the detected object is handled, the data processing module of traffic information is formed；
The traffic information is converted into pointing out to the signal conversion module of control instruction；And
The prompting control instruction is exported to the signal transmission module of the suggestion device.
It is preferred that, the suggestion device includes one can export the prompt message of prompt message according to the prompting control instruction
Output unit, the prompt message output unit includes：
One or more combinations in voice cue module, vibration prompt module, and touch feedback reminding module.
It is preferred that, the wear-type guide equipment also includes a positioner, and the positioner includes：
For the GPS module for the location information for obtaining equipment；And
The location information is sent to the wireless communication module of associated terminal or background server.
It is preferred that, be additionally provided with the wear-type guide equipment can be called for help or passive anticollision signal lamp.
The utility model provide wear-type guide equipment, by the laser radar system on the helmet to user around
Environment is detected, and forms the positional information of detected object, is carried out the positional information of detected object by controller
Processing, forms traffic information, and forms prompting control instruction, to control suggestion device to issue the user with for representing environment shape
Condition, the prompt message of road conditions；This equipment by laser radar system carry out environment, road conditions detect, detection range, scanning range,
The parameters such as scan frequency, angular resolution, measurement distance precision are effectively lifted, and equipment installs simple, practicality and
It is real-time, blind person can be helped to carry out accurate navigation avoidance in real time, the walk and safety of blind person is greatly improved.
Brief description of the drawings
Fig. 1 is the module map for the wear-type guide equipment that the utility model embodiment is provided；
Fig. 2 is the module map for the laser radar system that the utility model embodiment is provided；
Fig. 3 is the module map for the second laser radar that the utility model embodiment is provided；
Fig. 4 is the detection schematic diagram one for the wear-type guide equipment that the utility model embodiment is provided；
Fig. 5 is the detection schematic diagram two for the wear-type guide equipment that the utility model embodiment is provided；
Fig. 6 is a kind of structure chart for wear-type guide equipment that the utility model embodiment is provided；
Fig. 7 is the structure chart for another wear-type guide equipment that the utility model embodiment is provided；
Fig. 8 is the module map for the controller that the utility model embodiment is provided；
Fig. 9 is the module map for the positioner that the utility model embodiment is provided.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
The utility model provide wear-type guide equipment, by the laser radar system on the helmet to user around
Environment is detected, and forms the positional information of detected object, is carried out the positional information of detected object by controller
Processing, forms traffic information, and forms prompting control instruction, to control suggestion device to issue the user with for representing environment shape
Condition, the prompt message of road conditions；This equipment by laser radar system carry out environment, road conditions detect, detection range, scanning range,
The parameters such as scan frequency, angular resolution, measurement distance precision are effectively lifted, and equipment installs simple, practicality and
It is real-time, blind person can be helped to carry out accurate navigation avoidance in real time, the walk and safety of blind person is greatly improved,
Consumer's Experience is good, is used suitable for large-scale promotion.
The utility model scheme is introduced below by way of specific embodiment.
As shown in figure 1, the utility model provides a kind of wear-type guide equipment, including：
The wearable fixed structure 1 in user's head；User surrounding environment can be detected, and form detected object
Positional information laser radar system 2；Traffic information is formed according to the positional information of detected object, and believed according to the road conditions
Breath forms the controller 3 of prompting control instruction；And the suggestion device 4 of road condition advisory information is exported according to control instruction.It is fixed
Structure 1 is used to install laser radar system 2, controller 3 and suggestion device 4, wherein, fixed structure 1 is wearable in user
The wearable structure on head, such as helmet.The helmet can carry out accommodation according to the head size of user, to meet use
The comfortableness requirement of family wearing.
The present embodiment by laser radar system carry out environment, road conditions detect, detection range, scanning range, scan frequency,
The parameters such as angular resolution, measurement distance precision are effectively lifted, and equipment installs simple, practicality and real-time,
Blind person can be helped to carry out accurate navigation avoidance in real time, the walk and safety of blind person is greatly improved.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, as one embodiment of the present utility model, laser radar system 2 includes：Visit
Survey the first laser radar 21 of the ambient conditions of 360 degree of scopes around user；And the second laser of detection user front road conditions
Radar 22.
In one embodiment of the present utility model, first laser radar 21 using based on TOF (Time of Flight,
Flight time) principle TOF laser radars, obtain light path by the time difference for calculating modulation Laser emission and returning and then obtain
Measure the range information of object.The ambient conditions of 360 degree of scopes around user can be detected by TOF laser radars, can
Realize and 360 degree of scannings detection is carried out to the environment in the range of 200m around user, precision is higher, scan frequency is fast, and data are real-time
Update, it is highly reliable.
In one embodiment of the present utility model, first laser radar 21 carries out 360 degree of range detections to be single
Laser radar, or be made up of the splicing of multiple laser radars, to carry out the Scanning Detction of 360 degree of scopes, with specific reference to actual need
Carry out type selecting is sought, if first laser radar 21 is made up of the splicing of multiple laser radars, the scanning area combination of each laser radar
Get up, form the scanning probe form of 360 degree of scopes around user, in this way, the effect of detection is more flexible.
As shown in figure 3, in one embodiment of the present utility model, second laser radar 22 is that can be satisfied the need by structure light
The structure light laser radar that condition is detected.Wherein, structure light laser radar includes：Structured light module 221, signal acquisition
Module 222, signal processing module 223.
Wherein, structured light module 221, for generating and launching structure light signal.
Signal acquisition module 222, sends for gathering structured light module 221, is reflected by detected object
Catoptric arrangement optical signal；Here by taking cmos image sensor as an example, it is certainly not limited to the sensor.
Signal processing module 223, for the positional information according to catoptric arrangement optical signal in signal acquisition module 222,
Processing obtains the range information of detected object.
In one embodiment of the present utility model, second laser radar by taking structure light laser radar as an example, is preferably installed
In helmet obliquely downward, the detection plane with first laser radar 21 is at an angle, and it is controlled by signal processing module 223
Structured light module 221 produces structure optical signal, then by signal acquisition module, such as cmos image sensor, receives tested
The structure optical signal that object is reflected, and by the catoptric arrangement optical signal reflected by detected object in signal acquisition mould
Positional information in the image of block passes to signal processing module 223, and the parsing of signal processing module 223 carrys out signal acquisition module
222 light echo information, the surrounding environment range information in structure light range of exposures is obtained using principle of triangulation.First laser
Radar, by taking TOF laser radars as an example, is preferably mounted at directly over headpiece case, the laser radar is based on time-of-flight method, passes through
The time difference for calculating modulation Laser emission and returning obtains light path and then obtains measuring the range information of object.
As shown in figure 4, in the utility model embodiment, the output end of structure optical signals structured light module 221
Launch, structure optical signal forms a branch of in approximately the same plane, the outgoing with certain angle using output end as summit
Light.Because structure light laser radar has special structure light design, the light beam of structure optical signal can cover the two of certain angle
Dimensional plane, the higher angular resolution of realization and scan frequency, can accurately detect closely barrier and surface evenness letter
Breath, such as orientation, distance and barrier profile size etc., with real-time detection road conditions.
Wherein, it is preferred that the angle α of the emergent light of structure optical signal may be provided in the range of 0~180 degree, it is ensured that right
The detection of the environmental aspect of user's direction of advance.
It is furthermore preferred that the angle α of the emergent light of structure optical signal is between 60~110 degree, with wide with enough detections
Degree, the detection width refers to that the left and right in user's direction of advance is extended, to be carried out fully to user's front space or road surface
Detection scanning, the width of the detection scanning meets scope of activities when people normally advances.For example, user's advance route not one
Straight line, such as user are stepped toward side, if without enough detection widths, then may cause the place that user steps not
It is detected；If certain sweep length is too big, detection range will shorten, and precision can also be reduced, therefore by structure optical signal
The angle α of emergent light above-mentioned deficiency can be preferably solved between 60~110 degree.
As shown in figure 5, in one embodiment of the present utility model, the normal direction of the output end of second laser radar 22 and the
The angle β of the plane of scanning motion of one laser radar 21 is in the range of 30~80 degree, and the angular range sweeps second laser radar
Retouch the information of road surface in front of user.
It is preferred that, the normal direction of the output end of second laser radar 22 and the angle β of the plane of scanning motion of first laser radar 21
In the range of 45~60 degree, investigative range, detection range are appropriate, realize the accurately detecting to user's road surface ahead.
In the utility model embodiment, TOF laser radars can carry out 360 degrees omnidirection scanning laser radar, and the TOF swashs
Optical radar preferably directly over the outside of headpiece case, to realize 360 degrees omnidirection scanning probe, can measure 200
Distance, the orientation and velocity information of object in the range of rice, data update rate are fast.And structure light laser radar, preferably install
In helmet obliquely downward, the accurate detection scanning of closely environment can be achieved, here the ring mainly in scanning user's direction of advance
Border situation, it can measure the two dimensional surface distance and bearing information in the range of 0~10 meter of high accuracy, and measurement frequency is high, data
Renewal rate is fast.
In one embodiment of the present utility model, the helmet 1 swashs as the mounting body for realizing scanning probe function, first
Mounting means of the optical radar 21 with second laser radar 22 on the helmet 1 includes：1st, two laser radars are discrete is installed on the helmet 1
On, as shown in Figure 6；2nd, two laser radars are combined into stuck-module and are installed on the helmet 1, as shown in Figure 7.
As shown in figure 8, in one embodiment of the present utility model, controller 3 includes：For receiving detected object
The signal receiving module 31 of range information；The range information of detected object is handled, at the data for forming traffic information
Manage module 32；Traffic information is converted into pointing out to the signal conversion module 33 of control instruction；And will be prompted to control instruction output
To the signal transmission module 34 of suggestion device 4.Wherein, traffic information can be barrier or other road surface characteristics, such as pit, with
The information such as relative distance, angle, the speed of user.
In one embodiment of the present utility model, suggestion device 4 includes one can be according to the prompting control instruction output
The prompt message output unit 41 of prompt message, wherein, prompt message output unit includes：Voice cue module, vibration prompt
One or more combinations in module, and touch feedback reminding module.
Wherein, voice cue module is audio player, such as earphone；Vibration prompt module allows user by producing vibration
Know road conditions by experiencing different vibration modes；Touch feedback reminding module, such as by traffic information with blind on screen
The form displaying of text.
In the utility model embodiment, laser radar system 2 to surrounding environment be scanned detection after obtain visited
The range information of object is surveyed as input signal, the range information is handled by data processing module 32, road conditions are formed
Information, the information such as the relative distance, orientation, speed that are detected between object and user；Again will by signal conversion module 33
Traffic information is converted into pointing out control instruction, points out control instruction to be passed in a wired or wireless manner by signal transmission module 34
Suggestion device 4 is defeated by, for example, suggestion device 4 has a voice cue module, the voice cue module is audio player, more
Specific such as bluetooth earphone, then point out control instruction to be wirelessly transmitted to bluetooth earphone by signal transmission module 34, to carry out language
Sound is reported, and blind person hears that autonomous judgement is carried out after voice message can just produce corresponding action.
As shown in figure 9, in one embodiment of the present utility model, wear-type guide equipment also includes a positioner 5,
The positioner 5 includes：For the GPS module 51 for the location information for obtaining equipment；And send the location information to phase
The terminal of association or the wireless communication module 52 of background server.By the program, the households of blind userses can with it is in office where
Side determines the position of blind person by network, is gone astray from the group to prevent blind userses are lost, can be further assured that blind safety.
In one embodiment of the present utility model, being additionally provided with the wear-type guide equipment can be called for help or passively
The signal lamp of anticollision.As the signal lamp of passive anticollision, user is more had identification when walking at night, keep away
Exempt from the collision that other people cause to user；As people, the signal lamp can also have calling function, when user feels or is
System detects dangerous road conditions, can send passage of scintillation light by signal lamp and be called for help, while buzzer can also be configured, to increase
It is strong to call for help effect.
The wear-type guide equipment that above-mentioned utility model embodiment is provided, passes through the laser radar system pair on the helmet
User surrounding environment is detected, and forms the range information of detected object, by controller by the distance of detected object
Information is handled, and forms traffic information, and forms prompting control instruction, to control suggestion device to issue the user with for table
Show environmental aspect, the prompt message of road conditions；This equipment carries out environment, road conditions by laser radar system and detected, and detection range, sweeps
The parameters such as scope, scan frequency, angular resolution, measurement distance precision are retouched effectively to be lifted, and equipment installs simple, it is real
With property and real-time, blind person can be helped to carry out accurate navigation avoidance in real time, the walk of blind person is greatly improved and go out
Row safety, Consumer's Experience is good, is used suitable for large-scale promotion.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (10)
1. a kind of wear-type guide equipment, it is characterised in that including：
User surrounding environment can be detected, and form the laser radar system of the positional information of detected object；
Traffic information is formed according to the positional information of the detected object, and referred to according to traffic information formation prompting control
The controller of order；
The suggestion device of road condition advisory information is exported according to the control instruction；And
It is wearable in user's head, for installing the laser radar system, controller and the fixed structure of suggestion device.
2. wear-type guide equipment as claimed in claim 1, it is characterised in that the laser radar system includes：
Detect the first laser radar of the ambient conditions of 360 degree of scopes around user；And
Detect the second laser radar of road conditions in front of user.
3. wear-type guide equipment as claimed in claim 2, it is characterised in that the first laser radar is carried out to be single
The laser radar of 360 degree of range detections, or be made up of the splicing of multiple laser radars, to carry out the Scanning Detction of 360 scopes.
4. wear-type guide equipment as claimed in claim 2, it is characterised in that the second laser radar is that can pass through structure
The structure light laser radar that light is detected to road conditions, the structure light laser radar includes：
Structured light module, for generating and launching structure light signal；
Signal acquisition module, sends for gathering the structured light module, by being detected the reflection that object is reflected
Structure optical signal；And
Signal processing module, structure optical signal is produced for control structure light emission module, and according to the catoptric arrangement light
Positional information of the signal in the signal acquisition module, processing obtains the range information of detected object.
5. wear-type guide equipment as claimed in claim 4, it is characterised in that structure light described in the structure optical signals is sent out
The output end for penetrating module is launched, and the structure optical signal forms a branch of positioned at same flat using the output end as summit
Emergent light on face, with certain angle, the angle of the emergent light is in the range of 0~180 degree.
6. the wear-type guide equipment as described in claim 3 or 4, it is characterised in that the output end of the second laser radar
Normal direction and the first laser radar the plane of scanning motion angle in the range of 30~80 degree.
7. wear-type guide equipment as claimed in claim 1, it is characterised in that the controller includes：
For the signal receiving module for the range information for receiving detected object；
The range information of the detected object is handled, the data processing module of traffic information is formed；
The traffic information is converted into pointing out to the signal conversion module of control instruction；And
The prompting control instruction is exported to the signal transmission module of the suggestion device.
8. wear-type guide equipment as claimed in claim 1, it is characterised in that the suggestion device can be according to described including one
Control instruction is pointed out to export the prompt message output unit of prompt message, the prompt message output unit includes：
One or more combinations in voice cue module, vibration prompt module, and touch feedback reminding module.
9. wear-type guide equipment as claimed in claim 1, it is characterised in that the wear-type guide equipment also includes certain
Position device, the positioner includes：
For the GPS module for the location information for obtaining equipment；And
The location information is sent to the wireless communication module of associated terminal or background server.
10. wear-type guide equipment as claimed in claim 1, it is characterised in that be additionally provided with the wear-type guide equipment
Can be called for help or passive anticollision signal lamp.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621104042.0U CN206548784U (en) | 2016-09-30 | 2016-09-30 | A kind of wear-type guide equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621104042.0U CN206548784U (en) | 2016-09-30 | 2016-09-30 | A kind of wear-type guide equipment |
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| CN206548784U true CN206548784U (en) | 2017-10-13 |
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| CN201621104042.0U Active CN206548784U (en) | 2016-09-30 | 2016-09-30 | A kind of wear-type guide equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106420287A (en) * | 2016-09-30 | 2017-02-22 | 深圳市镭神智能系统有限公司 | Head-mounted type blind guide device |
| CN108279780A (en) * | 2018-03-01 | 2018-07-13 | 京东方科技集团股份有限公司 | Wearable device and control method |
| CN108338441A (en) * | 2018-01-11 | 2018-07-31 | 中国科学院电子学研究所 | Wearable acoustic detection and the acoustic fix ranging helmet |
-
2016
- 2016-09-30 CN CN201621104042.0U patent/CN206548784U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106420287A (en) * | 2016-09-30 | 2017-02-22 | 深圳市镭神智能系统有限公司 | Head-mounted type blind guide device |
| CN108338441A (en) * | 2018-01-11 | 2018-07-31 | 中国科学院电子学研究所 | Wearable acoustic detection and the acoustic fix ranging helmet |
| CN108338441B (en) * | 2018-01-11 | 2021-03-26 | 中国科学院电子学研究所 | Wearable sound detection and sound positioning helmet |
| CN108279780A (en) * | 2018-03-01 | 2018-07-13 | 京东方科技集团股份有限公司 | Wearable device and control method |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A head worn blind guide device Effective date of registration: 20210820 Granted publication date: 20171013 Pledgee: Shenzhen Branch of Guoren Property Insurance Co.,Ltd. Pledgor: LEISHEN INTELLIGENT SYSTEM Co.,Ltd. Registration number: Y2021980008070 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230414 Granted publication date: 20171013 Pledgee: Shenzhen Branch of Guoren Property Insurance Co.,Ltd. Pledgor: LEISHEN INTELLIGENT SYSTEM Co.,Ltd. Registration number: Y2021980008070 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |