CN207252529U - Standardize seeing-eye dog training device - Google Patents

Abstract

One kind standardization seeing-eye dog training device, including guide adapter component, display screen, running gear, are characterized in that：The running gear include base, the bearing block being arranged in base, spacing turntable on bearing block, for the rotating driving motor of driving disc, the column being arranged on base, the annular slide track being arranged on column, the spacing spin on annular slide track；Running gear is the more than one spacing transfer tape assemble on turntable, turntable is equipped with some mounting grooves, transfer tape assemble is spacing in mounting groove, one of transfer roller of transfer tape assemble is equipped with speed probe, display screen is loop configuration, and be arranged in the frame structure being made of base, column and slideway, if annular display screen is in series by dry medium screen unit.It has the advantages that simple and compact for structure, convenient to use, maintenance cost is low, training effectiveness is high, manpower intervention is few.

Description

Standardize seeing-eye dog training device

Technical field

Performance animals training apparatus field is the utility model is related to, specifically a kind of standardization seeing-eye dog training device.

Background technology

Seeing-eye dog is referred to as " eyes of blind person ", is that visually impaired people goes on a journey safely, participates in public life as working dog Important tool.Blind person leads seeing-eye dog and makees guide, and dog is it may be noted that traffic and barrier, before just leading owner when safe OK.Blind person can go out to call on a friend in the case where seeing-eye dog helps, do shopping, rides, take a walk, and it is qualified that seeing-eye dog becomes blind person " eyes ".Identification gesture and simple challenge, such as seat, wait, simple avoidance, complicated avoidance are included to the training course of seeing-eye dog Deng, should also accomplish not like and cry, do not flutter people, not chasing, and can be informed exactly by appropriate mode owner where have turning, It is stair etc. to have barrier, where；Guiding blind person goes across the road, the pit-hole on avoiding obstacles or road surface.

At present, there are 77 countries in the world using seeing-eye dog, share 170 seeing-eye dog training organizations, trained more than 30,000 Seeing-eye dog delivers visually impaired people and uses, and wherein the U.S. has 10,000, and Britain has 4,000, and Germany has 1,100, Japan There are 900, state-owned 600 of method, Australia there are 500, only twenties, China.As it can be seen that China makes in seeing-eye dog Use and still have great potential.These mechanisms publicize the relevant knowledge and general knowledge of seeing-eye dog, promote the use of the advanced reason of seeing-eye dog Read, be supplied to visually impaired people to use the seeing-eye dog for training qualified, and technological guidance and help are provided to visually impaired people.China's mesh The preceding visually impaired people using seeing-eye dog only has 8, also far apart apart from international standard, the seeing-eye dog cause accepting a heavy burden in China and road Far.

And in the prior art for seeing-eye dog almost all by being accomplished manually, when at the same time training more seeing-eye dogs when, it is necessary to It is multiple to help instruction person to cooperate with progress, due to having involved excessive human resources, on the one hand due to that can not realize automation, cause to train Efficiency is too low；On the other hand, since manpower intervention is excessive, cause to train cost excessive.If China is carried out by the way of traditional Culture, not only there are huge shortage of personnel, and lacks the training mode more standardized, the training to seeing-eye dog is unfavorable. Not only training effectiveness is low, and costly, and in this aspect, there are many urgent problems to be solved.

Utility model content

The purpose of this utility model is to provide a kind of standardization seeing-eye dog training device, fundamentally solves above-mentioned ask Topic, it has the advantages that, and simple and compact for structure, convenient to use, maintenance cost is low, training effectiveness is high, manpower intervention is few.

To achieve the above object, the utility model provides following technical solution：The standardization seeing-eye dog training device bag Guide adapter component, display screen, running gear are included, is characterized in that：The running gear includes base, is arranged in base Bearing block, spacing turntable on bearing block, for the rotating driving motor of driving disc, the column being arranged on base, set Put annular slide track on column, the spacing spin on annular slide track；Running gear is more than one spacing on turntable Transfer tape assemble, turntable is equipped with some mounting grooves, and transfer tape assemble is spacing in mounting groove, wherein the one of transfer tape assemble A transfer roller is equipped with speed probe, and display screen is loop configuration, and is arranged on the frame knot being made of base, column and slideway In structure, if annular display screen is in series by dry medium screen unit；

It is spacing that bearing block includes chassis, the lead being arranged in chassis, spacing annular block plate on lead, bottom Shaft on block plate, be arranged on spring between shaft and chassis, the end cap for being sleeved on outside shaft and being fixed on chassis, fixation The flange for being used to fix turntable in shaft, flange are equipped with driving the matched dentalation of motor output end.

The guide adapter component include guide saddle main body, guide vest, the power module being arranged in guide saddle main body, point The front sensor and rear sensor that are not arranged on the inside of guide vest front and rear, be arranged on inner side at left and right sides of guide vest Survey sensor, be arranged on the loudspeaker of guide vest front portion, the vibrating device being arranged on guide vest.

The slideway inner wall be and the matched arcuate structure of spin.

The standardization seeing-eye dog training device further includes the emulated robot for drawing guide saddle.

Smell simulation system is further included, smell simulation system includes filling the odor bottle of odor source solution, is arranged on smell Atomising device matched with smell solution, the guiding device in bottom of bottle portion, guiding device include supply air system, exhaust pipe, setting In the dispersal device of exhaust outlet, exhaust outlet is arranged on turntable lower part, and base inner wall is equipped with diversion trench.

The beneficial effects of the utility model：The bearing block of damping and steering-effecting can be played by being equipped between base and turntable, Bearing block bottom is spacing in the groove of base, and is bolted, and ensures the stability of bearing block.Bullet is set in bearing block Spring mechanism, can be flexibly supported turntable by shaft.Meanwhile turntable bottom is engaged with the output terminal of driving machine, can pass through The change control output motor driving disc rotation of spin position, to simulate the steering of dog only.Set in turntable some small-sized Treads, can avoid the problem that existing treadmill resistance is excessive.And the output terminal of one of shaft of each treads is equipped with Speed probe, can monitor the gait of march of dog only in real time by sensor, and by multiple treads comprehensive functions, make result More accurately and reliably.Treads can be in the spacing annular groove on turntable, also can be spacing in kidney ellipsoid groove, as long as can guarantee that dog Be not in interim card only when trampling treads.Treads are arranged to single direction rotation, can prevent negative-feedback signal.

Guide vest passes through four bandages（According to actual needs, the high resiliency that bandage can also be replaced with to hardness higher connects Bar, connecting rod end are hinged with spin or directly fix spherical structure in connecting rod end）It is spacing at slideway center, so as to limit While dog position, the parameters such as dog direct of travel, speed are detected in real time.And ensure dog only even in the feelings of " remaining where one is " Remain to simulate its traveling under condition.Above device is used to simulate level land environment, and when environment downstairs in simulation, base is changed to treadbelt Setting triangular in shape or treadbelt tilt adjustable treadmill, sets hierarchic structure to simulate upstairs or go downstairs in treadbelt（Figure Slightly）.

The slideway of annular is mounted on base by column, slideway is equipped with notch, easy to by the spin with bandage It is placed in slideway.Setting and the matched arc groove of spin on the slideway of annular, easy to make spin be completely fitted in slideway.It is sliding Annular screen is equipped between road and base, for ease of installing and producing, if annular screen is formed by dry medium screen unit spliced, each song Shield in the spacing frame structure by being formed between base, stent and slideway of unit.Annular screen is used to show after processing Panorama static image data.Certainly, video image also can directly be gathered under conditions of fund condition permission.Simulated training When, video image is divided into some sections, such as the straight trip section between two traffic posts is set to a section, it is each to turn Section is set to a section.Using each section as separate storage in the server, by the time shaft of each section unit video image It is engaged with map reference.Each video unit is modified to and is at the uniform velocity advanced according to certain speed, to avoid the production of cumulative errors It is raw, it ensure that the accuracy of map.

Guide adapter component includes guide saddle main body, guide vest, interchangeable handle, processor module, wireless telecommunications mould Block, GPS module, low frequency/tweeter, shock module, memory module, image capture module, sound acquisition module, humiture Acquisition module, guide vest inside set heart rate sensor, advancement sensor, retreat sensor, side（Turn to）Sensor.Pass through Wireless communication module remotely receives training chest control terminal and sends corresponding control instruction, and processor module refers to according to corresponding control Order.When dog only makes malfunction in the training process（For example when occurring red light in simulated environment, continue to advance； Or run into hollow area and continue to advance etc.）, control terminal is recalled corresponding by processor module control from memory module High frequency/or low-frequency sound, play finally by loudspeaker, and combine vibration, dog is only produced certain uncomfortable sensation, make Dog only produces malfunction fastness memory, so as to reduce the frequency that malfunction occurs in follow-up training.It can also lead to Cross loudspeaker and play voice command, the country that phonetic control command can only be used according to dog, and use the corresponding language of the country Sound instructs.Heart rate sensor judges that dog only to true or simulated environment reaction, passes through number by monitoring the heartbeat of dog only in real time More targetedly it is trained and adjusts according to change means, so as to targetedly increase or decrease the training of respective environment, carries High training effectiveness.Some sensors being equipped with the inside of guide saddle（Such as pressure sensor）, can be supervised in real time by corresponding sensor Survey dog only running gear go forward into, stop, the input signal for the motion state such as turn.For use in training device other parts Control foundation.

To improve the fidelity of simulated environment, it can also increase smell generating means.Smell generating means includes odor source（Gas Taste solution or the powdered smell original）, be arranged on odor bottle bottom atomising device matched with smell solution, water conservancy diversion dress Put, guiding device includes supply air system（Such as ventilating fan, nitrogen blowning installation）, exhaust pipe, be arranged on the scattered of exhaust outlet Device.The smell generating means being used in combination with map location, makes the dog only release interference when reaching the specific location of map Smell（Mainly dog only likes the smell of smelling）, dog is improved only to " resistance " of surrounding environment, avoids falling into temptation and deviateing Destination.

It should be noted that the training device of the utility model, which is primarily adapted for use in, has built up certain condition reflection, and lead to The dog in Family foster stage and job training stage is crossed, i.e., the utility model is mainly used for the common training stage.

Brief description of the drawings

Fig. 1 is the using state structure diagram of the utility model；

Fig. 2 is the isometric side structure schematic view of the utility model；

Fig. 3 is the schematic cross-sectional view of the utility model；

Fig. 4 is the structure diagram of the utility model guide saddle sensor mounting location；

Fig. 5 is the structure diagram of the utility model smell generating means；

Fig. 6 is vibrated for the utility model guide saddle or sounding control principle block diagram；

Fig. 7 is the structure diagram of the utility model another embodiment；

Fig. 8 is the structure diagram I of the utility model slideway distribution of resistance；

Fig. 9 is the structure diagram II of the utility model slideway distribution of resistance.

Description of reference numerals：1 base, 2 columns, 3 slideways, 4 bent screen units, 5 spin, 51 bandages, 6 transfer tape assembles, 7 turns Disk, 8 bearing blocks, 9 flanges, 10 chassis, 11 bearings, 12 springs, 13 shafts, 14 block plates, 15 leads, 16 sealing rings, 17 end caps, 18 grooves, 19 driving machines, 20 dogs only, 21 loudspeakers, 22 side sensers, 23 guide vests, sensor, 25 gas source bottles, 26 after 24 Cavity, 27 ventilating fans, 28 atomising devices, 29 surge chambers, 30 exhaust pipes.

Embodiment

Below in conjunction with Fig. 1 ~ 9, the content of the utility model is described in detail by specific embodiment.The standardization seeing-eye dog is instructed Practicing device includes guide adapter component, display screen, running gear.Since the arc or spherical structure of the prior art are still with larger Frictional force, leads to not the technique effect for realizing " original place walking ".It is generally necessary to coordinate the piston shoes with sensor, and dog 20 In actual guide and this equipment need not be equipped with, if wearing can cause not being inconsistent with virtual condition in training, dog is only produced Discomfort.Therefore, existing arc or spherical structure are substituted by some transfer tape assembles.Running gear includes base 1, sets Bearing block 8 in base, spacing turntable 7 on bearing block, for the rotating driving motor 19 of driving disc, be arranged on bottom Column 2 on seat, the annular slide track 3 being arranged on column, the spacing spin 5 on annular slide track, slideway inner wall are and spin Matched arcuate structure.Running gear is the more than one spacing transfer tape assemble 6 on turntable 7, if turntable is equipped with Dry mounting groove, transfer tape assemble 6 is spacing in mounting groove, and one of transfer roller of transfer tape assemble 6 is equipped with speed probe, Display screen is loop configuration, and is arranged in the frame structure being made of base, column and slideway, and annular display screen is by some Song screen unit 4 is in series.Bearing block includes chassis 10, the lead 15 being arranged in chassis, the spacing ring on lead The spacing shaft 13 on block plate in shape block plate 14, bottom, the bearing 11 being arranged between chassis and shaft, be arranged on shaft and bottom Spring 12, the end cap 17 for being sleeved on shaft outside and being fixed on chassis, the sealing being arranged between end cap 17 and shaft between disk Circle 16, the flange 9 for being used to fix turntable 7 being fixed in shaft 13, flange is equipped with matched with driving motor output end Dentalation.

Guide adapter component includes guide vest 23, the guide saddle main body coordinated with guide vest（Using existing guide saddle Structure, not shown in figure）, coordinate with guide saddle main body or guide vest processor module, wireless communication module, GPS module, It is arranged on the high-frequency/low-frequency loudspeaker 21 of guide vest front portion, memory module, image capture module, sound acquisition module, warm and humid Acquisition module, vibrating device are spent, spin 5 is arranged on 51 end of bandage, and bandage is fixed on guide vest, in guide vest front portion Side sets heart rate sensor, front sensor, rear sensor 24, side senser 22.

The draw-gear for being used for fixing guide saddle handle can be also equipped with slideway（Not shown in figure）, set on draw-gear Shaft is, it can be achieved that different height, the tractive force of angle are adjusted, for simulating the user of different heights and different tractive force. Also draw-gear can be installed on emulated robot（Not shown in figure）On, robot is used to simulate all ages and classes, height, race User so that further improve with simulation authenticity.

To improve emulator, smell simulation system further can be also used, smell simulation system includes filling smell Source solution（Or it is placed on the powdered smell original in cavity）Gas source bottle 25, be arranged on gas source bottle bottom cavity 26, Atomising device matched with smell solution 28, the guiding device of 25 bottom of gas source bottle are arranged on, guiding device includes air-supply and is System（Such as ventilating fan 27 or nitrogen blowning installation）, be connected with cavity surge chamber 29, exhaust pipe 30, be arranged on exhaust outlet Dispersal device, exhaust outlet are arranged on turntable lower part, and base inner wall is equipped with diversion trench.

More accurately to control the rotation angle of turntable, the diverse location of each spin and slideway is arranged to mutually be not attached to and hinder It is worth different resistance units, the upper and lower two parts resistance value of annular slide track（Sn）It is identical, with spin（Rn）As conduction device, by each several part It is connected in parallel on identical power supply, power supply one end is partly connected on annular slide track, lower part connects the other end of power supply.Preferably, The top and the bottom of annular slide track do not use whole metal runners, but replace with less frictional force and shape and slideway unit phase With resistor disc, spin can also use it is circular beyond other shapes, beneficial to being oriented to and spacing, as middle part is spacing in cunning in bar shaped In the sliding slot in road, both ends are in round end structure, are frictionally slided easy to small on resistor disc.

When spin is only rotated to up to different slipway locations with dog, then there are different current signal output, so that The data of dog rotation angle range can be obtained, coordinate the sensor on guide vest then to obtain more precisely angle number According to avoiding the driving motor of bottom from rotating not in place or rotate through position.Below by way of the annular slide track explanation of two kinds of different angles The operation principle of the structure.But it is again noted that the sum of resistance value of any two above resistance unit should be different from it during use The sum of identical resistance value of resistance unit of his quantity, avoids result in signal conflict, influences the accuracy of result.

As shown in figure 8, when road layout comparison is simple, dog only turns to that number is few, and road majority is in sphere of movements for the elephants shape at this time Distribution, minimum steering angle at this time is 45 °, then can use spin as four（R1~R4）, slideway resistance unit be four（S1~ S4）As guiding parts, corresponding form of following rotation angles with resistance value can obtain.

Further, as shown in figure 9, when road layout is complex, dog only turns to number and increases at this time, and road is in The deformation distribution of sphere of movements for the elephants shape, minimum steering angle at this time is 22.5 °, and spin quantity is constant, is still four（R1~R4）, it is sliding The unit of road resistance is eight（S1~S8）When, it can obtain corresponding form of following rotation angles with resistance value.

On the one hand guide adapter component can be used as environment collection terminal, transducing signal when on the other hand can be trained as dog 20 Input terminal.

When as environment collection terminal, 360 ° of full-view cameras are equipped with guide saddle main body（Highly it is slightly above dog only）, To carrying out the information such as visual information, humiture, sound and coordinate of environment around collection in real time in the height of dog only, and will Above- mentioned information coordinates map location to be stored in corresponding memory module, and view data, data of the Temperature and Humidity module is related to gps data Connection, uses for follow-up simulated training.It is acquired with dog oneself height position, it is ensured that environmental simulation is truer.Image Acquisition interval then should be according to camera（Focus）Focal length and angle of visibility be adjusted.For example, the angle of visibility of 15mm camera lenses is about 110 °, the angle of visibility of 24mm camera lenses be about 84 °.It should ensure that between adjacent collection image there are intersection, at by the later stage Reason is allowed to form the consecutive image with transparent effect.

But when 360 ° of full-view cameras gather image information, on the one hand due to operation or camera lens itself the problem of, Image base still has the back of camera bracket or dog only, on the other hand due to the sun/moon positions in image acquisition process Change or the change of dog direct of travel, cause the difference of illumination condition, make gathered image that irregularities brightness change be presented, If above-mentioned gathered data is used for follow-up environmental simulation the authenticity of environmental simulation will certainly be made to have a greatly reduced quality.For this reason, reply The picture collected is handled, and is such as cut, is adjusted curve.Existing skill can be used for the anti-fluttering method in gatherer process Art, is no longer described in detail.

Method for removing camera bracket in picture, can carry out as steps described below：Before data acquisition is carried out, thing The height D1 on first recording camera distance of camera lens ground, the height D2 on eye distance ground during dog normal stand.View data After collection, the height d1 of image, the height d2 cut needed for image base are recorded, collected by data d2 to all Image data carries out cutting batch processing, so as to obtain the analog image of fidelity higher.

For adjusting picture illuminance, then following methods can be used：On the one hand can be by adding the time（It should ensure that season phase Together）Parameter, carries out multi collect, matches the diverse geographic location same period（Position of sun is essentially identical）Interior picture number According to；On the other hand can also adjust the parameters such as picture curve by batch processing is consistent the illumination conditions of view data.Due to Canine can only differentiate gray level image, therefore in the collection of image, need to only use sampled grey to can reach simulation effect, not only The space shared by view data is dramatically reduced, reduces the workload of image processor indirectly, is more conducive to illuminance curve Adjustment.

The shading value of gray scale pictures is adjusted by curve, can be by three-dimensional simulation sleety weather, also can be directly in corresponding day Gas gathers corresponding image, and is synthesized sleet layer with original image by the method for superposition, while coordinates what sleety weather gathered Humiture information, makes simulated environment closer to true environment.

During training, guide vest is only put on to dog, dog is only placed on turntable, by the strap ends on guide vest Spin is placed in slideway by notch.Start annular screen, and acoustic control instruction is only sent to dog, dog is only in analog loop under instruction Advance in border to objective.During guide, dog only applies rearward force, the transfer roller of transmission belt component to transfer tape assemble Rotation, can then monitor the motion state of dog only in real time by speed probe.When acceleration or deceleration is walked, positioned at guide vest Interior front sensor and the input signal of rear sensor can change（The bandage that guide vest is tauted is spacing, and pressure is passed Sense is more sensitive, and side sensor hardly changes）, speed probe is matched, then can obtain dog only corresponding movement State.

When dog only turns to, side sensor can detect different pressure signals, so as to can determine whether the steering side of dog only Position, can be by control terminal by driving motor to drive flange after side senser receives steering pressure（Turntable）Occur corresponding Rotation, so as to simulate the steering of dog only.

, can be in real time by the position of dog by the map built in system, the difference of the dog speed of travel, coordinate is on map Pace of change it is also different.Map reference is mutually matched with " outdoor scene " shown on annular screen, is led so as to reach simulation open air The purpose of blind environment.

It should be noted that the transfer tape assemble in figure is the structure of the utility model and to be easy to draw for convenience of description And be purposely exaggerated, quantity and the adjustment in specification can be carried out according to being actually needed in actual production, on the one hand will not be to dog only Walking produces obstacle, does not on the other hand influence speed data collection.

Claims (5)

1. one kind standardization seeing-eye dog training device, including guide adapter component, display screen, running gear, it is characterised in that：It is described Running gear includes the base, bearing block being arranged in base, spacing turntable on bearing block, rotating for driving disc Driving motor, the column being arranged on base, the annular slide track being arranged on column, the spacing spin on annular slide track；Walk Luggage is set to the more than one spacing transfer tape assemble on turntable, and turntable is equipped with some mounting grooves, transfer tape assemble limit Position is in mounting groove, and one of transfer roller of transfer tape assemble is equipped with speed probe, and display screen is loop configuration, and is set In the frame structure being made of base, column and slideway, if annular display screen is in series by dry medium screen unit；

Bearing block includes chassis, the lead being arranged in chassis, spacing annular block plate on lead, bottom is spacing is keeping off Shaft on disk, be arranged on spring between shaft and chassis, be sleeved on shaft it is outer and be fixed on chassis end cap, be fixed on and turn The flange for being used to fix turntable on axis, flange are equipped with driving the matched dentalation of motor output end.

2. standardization seeing-eye dog training device according to claim 1, it is characterised in that：The guide adapter component includes leading Blind saddle main body, guide vest, the power module being arranged in guide saddle main body, be separately positioned in guide vest front and rear The front sensor of side and rear sensor, before being arranged on the survey sensor of inner side at left and right sides of guide vest, being arranged on guide vest The loudspeaker in portion, the vibrating device being arranged on guide vest.

3. standardization seeing-eye dog training device according to claim 1 or 2, it is characterised in that：The slideway inner wall be with The matched arcuate structure of spin.

4. standardization seeing-eye dog training device according to claim 3, it is characterised in that：The standardization guide dog training Device further includes the emulated robot for drawing guide saddle.

5. standardization seeing-eye dog training device according to claim 4, it is characterised in that：Smell simulation system is further included, Smell simulation system includes filling the odor bottle of odor source solution, be arranged on odor bottle bottom with the matched mist of smell solution Makeup is put, guiding device, and guiding device includes supply air system, exhaust pipe, the dispersal device for being arranged on exhaust outlet, exhaust pipe Outlet is arranged on turntable lower part, and base inner wall is equipped with diversion trench.