CN209048611U - The walking stick for having obstacle detection and intelligent navigation - Google Patents
The walking stick for having obstacle detection and intelligent navigation Download PDFInfo
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- CN209048611U CN209048611U CN201721708387.1U CN201721708387U CN209048611U CN 209048611 U CN209048611 U CN 209048611U CN 201721708387 U CN201721708387 U CN 201721708387U CN 209048611 U CN209048611 U CN 209048611U
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Abstract
The utility model discloses a kind of walking sticks for having obstacle detection and intelligent navigation.Walking stick includes walking stick columnar part, handle portion; the top of walking stick cylinder is equipped with full-view camera, front sonic probe, left sonic probe and right sonic probe; the sound wave and camera shooting detectivity of walking stick are formed, the top of walking stick cylinder is externally provided with rubber protecting jacket；Handle is equipped with walking stick power switch, bluetooth headset switch, loudspeaker, emergency relief switch, full-view camera switch, front sonic probe switch, left and right sonic probe switch, interior to be equipped with walking stick battery compartment.The utility model has intelligence, convenience and security reliability.
Description
Technical field
The utility model relates to visually impaired people's intelligent navigation technology fields, in particular to one kind to have obstacle detection and intelligence
The walking stick that can be navigated.
Background technique
According to statistics, Chinese blind person, the visually impaired people including low visual acuity reach 14,000,000, but in each big city of China of today
On road, it is hardly visible blind person's walking, major reason is a lack of safe and reliable intelligent navigation technology as ensureing, simultaneously
It is often occupied by all kinds of articles in city blind way, especially all kinds of bicycles and battery truck, exacerbates the difficulty of blind person's trip.To the greatest extent
Pipe has had some patents and document to refer to visually impaired people's airmanship, but former due to a lack of convenience, reliability and intelligence etc.
Cause can not provide trip for visually impaired people and ensure.
Utility model content
The utility model is in view of the deficiencies of the prior art, and it is an object of the present invention to provide a kind of convenience is good, highly-safe has
The walking stick of obstacle detection and intelligent navigation.
The utility model intelligent navigation walking stick adopts the following technical scheme that
A kind of walking stick having obstacle detection and intelligent navigation, including walking stick columnar part, handle portion, handle and hand
The bending of cane cylinder joining place is convenient for support；
The top of walking stick cylinder is equipped with full-view camera, front sonic probe, left sonic probe and right sonic probe,
The sound wave and camera shooting detectivity for forming walking stick, wherein front sonic probe, left sonic probe, right sonic probe are in same
One height, full-view camera are located at the surface of front sonic probe, and the top of walking stick cylinder is externally provided with rubber protecting jacket, rubber
Protective case is set there are four circular hole, a pair of with full-view camera, front sonic probe, left sonic probe and right sonic probe one
It answers；
Handle be equipped with walking stick power switch, bluetooth headset switch, loudspeaker, emergency relief switch, full-view camera switch,
Front sonic probe switch, left and right sonic probe switch, it is interior to be equipped with walking stick battery compartment.
The handle, comprising: handle body, handle cover board, handle cover plate switch, built-in chip, touch screen, USB connect
It is mouth, SIM card socket, emergency relief switch jack, bluetooth headset switch jack, walking stick power switch jack, speaker receptacle, complete
Scape camera switch jack, front sonic probe switch jack, left and right sonic probe switch jack；
Handle front end is externally provided with screw thread, so as to set screw thread in walking stick cylinder top and be attached to form complete hand
Cane；Loudspeaker can be connected by being equipped with speaker receptacle in handle front end, and tail end is equipped with bluetooth headset switch jack, walking stick power switch
Jack, full-view camera switch jack, front sonic probe switch jack, left and right sonic probe switch jack, to connect indigo plant
Tooth headset switch, handle power switch, full-view camera switch, front sonic probe switch and left and right sonic probe switch；
It is equipped with handle cover board at the middle part of handle, plays a protective role to the electronic equipment in handle, is set in cover board tail end
There is flip-over type handle cover plate switch, with easily upon opening and set lever cover board；Handle cover board is opened, there is built-in core on handle
Piece, touch screen, USB interface and SIM card socket, for carrying out walking stick parameter setting operation, USB interface fills touch screen for walking stick
Electricity and data connection, SIM card socket is for connecting mobile portable phone card, to obtain real-time walking stick position and to send urgent letter
Breath；The walking stick battery compartment is located at the other side of handle and handle cover board is symmetric, and plays installation rechargeable battery,
Electric energy effect is provided for all electronic equipments of walking stick.
The described emergency relief switch is located at handle front, actively triggers, or in emergency it is passive by built-in chip
Triggering；
Emergency relief switch jack is arranged in front of handle, can connect emergency relief switch, be convenient for user's emergency
When use；
Full-view camera switch, front sonic probe switch and left and right sonic probe switch are arranged at handle rear, pass through
Power lead is connect with full-view camera, front sonic probe, left sonic probe and right sonic probe, wherein left and right sound wave
Probe switch controls left sonic probe and right sonic probe simultaneously.
The bottom end of the walking stick cylinder is equipped with walking stick neonychium, is nut cap shape, covers in the end in walking stick cylinder, play
Antiskid, shock-absorbing effect；The handle is equipped with taper knob, is cortical material, covers on handle, play the role of anti-sweat, rain-proof.
The built-in chip can connect the peripheral device interface of assisting navigation by power supply line, comprising: center control
Unit, SIM card connecting interface, camera connecting interface, front sonic probe connecting interface, left sonic probe connecting interface,
Right sonic probe connecting interface, bluetooth headset connecting interface, USB connection interface, loudspeaker connecting interface, emergency relief switch
Interface and touch screen interface are managed assisting navigation equipment by internal preset program.
The utility model has the beneficial effects that
(1) intelligent.It can be mutually authenticated and be combined navigation by three kinds of sound wave, camera shooting and atural object map modes,
Single mode is overcome to obstacle detection and identifies that there are the deficiencies of blind area, while these functions carry out pipe by built-in chip
Reason interferes without using person, improves the intelligence of guiding stick；
(2) convenience.Appearance and common walking stick do not have difference, and all intelligent navigation devices are dexterously hidden in walking stick body
In, according to the habit of people, power switch, bluetooth headset, rescue switch etc. are provided at handle, visually impaired people can easily make
With；
(3) device security.The walking stick pad of the settable antiskid, shock-absorbing of walking stick, protective case, handle cover, taper knob etc., to electricity
Sub- component is effectively protected, and service life of equipment is improved；
(4) emergency relief.In view of visually impaired people belongs to special population, it is possible to provide emergency relief switch is straight by user
Contact hair, can also be judged automatically and automatic trigger by system, further improve the safe survival ability of visually impaired people.
The utility model is used suitable for visually impaired people's intelligent navigation, also extends to intelligent navigation correlative technology field,
It is equally applicable
In normally without visually impaired people.
Detailed description of the invention
Fig. 1 is the overall effect schematic diagram of the utility model guiding stick；
Fig. 2 is the structural schematic diagram for the main components that Fig. 1 is disassembled；
Fig. 3 is the front-view schematic diagram of Fig. 1；
Fig. 4 is handle arrangement schematic diagram in Fig. 1；
Fig. 5 is navigation chip functional schematic in Fig. 4；
Fig. 6 is front sonic probe operation schematic diagram；
Fig. 7 is the left and right sonic probe operation schematic diagram；
Fig. 8 is front sonic probe detection barrier schematic diagram；
In figure: walking stick cylinder 1, handle 2, rubber protecting jacket 3, walking stick neonychium 4, walking stick power switch 5, bluetooth headset are opened
Close 6, loudspeaker 7, bluetooth headset, emergency relief switch 8, full-view camera switch 9, front sonic probe switch 10, left and right sound
Wave probe switch 11, taper knob 12 and walking stick battery compartment 13；Handle body 2.1, handle cover board 2.2, handle cover plate switch 2.3,
Built-in chip 2.4, touch screen 2.5, USB interface 2.6, SIM card socket 2.7, emergency relief switch jack 2.8, bluetooth headset are opened
Close jack 2.9, walking stick power switch jack 2.10, speaker receptacle 2.11, full-view camera switch jack 2.12, front sound wave
Probe switch jack 2.13, left and right sonic probe switch jack 2.14；Central control unit 2.4.1, SIM card connecting interface
2.4.2, camera connecting interface 2.4.3, front sonic probe connecting interface 2.4.4, left sonic probe connecting interface
2.4.5, right sonic probe connecting interface 2.4.6, bluetooth headset connecting interface 2.4.7, USB connection interface 2.4.8, loudspeaker
Connecting interface 2.4.9, emergency relief switch interface 2.4.10 and touch screen interface 2.4.11；Full-view camera 3.1, front sound wave
Probe 3.2, left sonic probe 3.3 and right sonic probe 3.4.
Specific embodiment
For technology contents, feature and the effect that can further appreciate that the utility model, following instance is hereby enumerated, and is cooperated attached
Figure is described in detail.
Embodiment 1
A kind of walking stick having obstacle detection and intelligent navigation, according to Fig. 1, it includes walking stick cylinder 1, handle 2, rubber
Protective case 3 (optional), walking stick neonychium 4, walking stick power switch 5, bluetooth headset switch 6, loudspeaker 7,8 and of emergency relief switch
Taper knob 12 (optional).
According to Fig. 2,4, walking stick cylinder 1 and handle 2 are engaged togather by screw thread, cover upper rubber protection in walking stick cylinder
Cover 3, walking stick neonychium 4.
According to Fig. 3, rubber protecting jacket 3 is set there are four circular hole, by full-view camera 3.1, front sonic probe 3.2, left
Sonic probe 3.3 and right sonic probe 3.4 are in turn mounted to a circular hole of rubber protecting jacket 3, form the sound of intelligent walking stick
Wave and camera shooting detectivity；Front sonic probe 3.2, left sonic probe 3.3, right sonic probe 3.4 are in sustained height,
Full-view camera 3.1 is located at the surface of front sonic probe 3.2.
According to Fig. 4, by handle cover board 2.2, handle cover plate switch 2.3, built-in chip 2.4, touch screen 2.5, USB interface
2.6, SIM card socket 2.7, emergency relief switch jack 2.8, bluetooth headset switch jack 2.9, walking stick power switch jack 2.10
It is installed on handle body 2.1 with speaker receptacle 2.11, forms handle physical structure.
According to Fig. 5, by power supply line by walking stick power switch 5, bluetooth headset switch 6, loudspeaker 7, full-view camera
3.1, front sonic probe 3.2, left sonic probe 3.3, right sonic probe 3.4, touch screen 2.5, USB interface 2.6 and SIM
The assisting navigations equipment such as card plug 2.7 are connected to the corresponding interface of built-in chip 2.4, comprising: SIM card connecting interface 2.4.2, take the photograph
As head connecting interface 2.4.3, front sonic probe connecting interface 2.4.4, left sonic probe connecting interface 2.4.5, right sound
Wave probe connecting interface 2.4.6, bluetooth headset connecting interface 2.4.7, USB connection interface 2.4.8, loudspeaker connecting interface
2.4.9, emergency relief switch interface 2.4.10 and touch screen interface 2.4.11 forms the electrified structure of walking stick, so as to intelligence
Manage walking stick.
Walking stick power switch 5 is opened, so that each assisting navigation equipment is in energized state, by plug-in, self-test is each auxiliary
Help equipment whether normal, comprising: whether camera works normally, whether sonic probe works normally, whether bluetooth headset is normal
Whether connection, loudspeaker normally connect, and the working condition of these ancillary equipments is shown by touch screen 2.5；12 sets of taper knob
Upper handle can begin to use intelligent walking stick, play the role of the anti-sweat of rain-proof, extend the service life of walking stick electronic device.
Application Example
The method of walking stick progress obstacle detection and intelligent navigation, comprising: 1) acoustic detection barrier, 2) the automatic knowledge of camera shooting
Other barrier, 3) built in atural object navigation by map-matching, 4) combined detection barrier and navigation as needed can be using wherein
One or more navigate.
To avoid single method from carrying out the deficiency of obstacle detection and identification, relatively reliable lead is provided for visually impaired people
Boat ensures.
1) it is based on acoustic detection barrier, is comprised the following specific steps that:
1.1) walking stick front obstacle detects: according to Fig. 6, through the front sonic probe on walking stick cylinder, to before walking stick
Emit N number of sound wave from bottom to top into direction, N is natural number, and each sound wave has fixed emission angle thetai, 0≤θi≤180°；Work as sound
After wave encounters front obstacle, sonic probe is returned to, and records the two-way time t of each sound wavei, then the trip of each sound wave
Row distance li=ti× v/2, v are the aerial speed of sound wave, to form the data set of a sound echo in front of walking stick
Close Lh={ li,ti,θi}I=1, N, i is natural number；
1.2) walking stick left obstacle detection: according to Fig. 7, by the left sonic probe on walking stick cylinder, to a walking stick left side
Direction M sound wave of horizontal emission from front to back, M is natural number, similar with step 1.1), forms a sound wave in walking stick left and returns
The data acquisition system L of wavel={ lj,tj,αj}J=1, M, j is natural number, αiFor the left sound wave angle of departure, 0≤αi≤180°；
1.3) walking stick right obstacle detection: according to Fig. 7, by the right sonic probe on walking stick cylinder, to the walking stick right side
Direction K sound wave of horizontal emission from front to back, K is natural number, similar with step 1.1), forms a sound wave in walking stick right and returns
The data acquisition system L of waver={ lk,tk,βk}K=1, K, k is natural number, βkFor the right sound wave angle of departure, 0≤βk≤180°；
1.4) walking stick front obstacle judges, according to Fig. 8, according to data acquisition system Lh={ li,ti,θi}I=1, NJudge, it can
To be divided into following situation:
1.4.1) ground obstacle judges: as 0≤θiAt≤45 °, it is believed that acoustic detection is that ground obstacle returns
Wave, to calculate horizontal distance D of the barrier from front sonic probei=li×sinθiAnd vertical range Hi=li×cosθi,
H is vertical range of the front sonic probe apart from ground, warns user according to following situations:
A) work as DiWhen > 1m, do not warned；
B) work as DiWhen≤1m, and work as | H-HiWhen |≤0.1m, do not warned；
C) work as DiWhen≤1m, and work as H-HiIt when > 0.1m, and is upward slope by bluetooth headset warning front；
D) work as DiWhen≤1m, and work as HiIt when-H > 0.1m, and is descending by bluetooth headset warning front；
1.4.2) front barrier judgment: as 45 ° of < θiAt≤135 °, it is believed that acoustic detection be user just
The barrier in front, works as liWhen≤1m, being warned immediately ahead of user by bluetooth headset has barrier；
1.4.3) head barrier judgment: as 135 °≤θiAt≤180 °, it is believed that acoustic detection is user's head
The barrier in portion, works as liWhen~1m, user head is warned to have barrier by bluetooth headset；
1.5) walking stick left barrier judgment, can be according to data acquisition system Ll={ lj,tj,αj}J=1, MJudge, works as lj≤1m
When, warn user left to have barrier by bluetooth headset；
1.6) walking stick right barrier judgment, can be according to data acquisition system Lr={ lk,tk,βk}K=1, KJudge, works as lk≤1m
When, warn user right to have barrier by bluetooth headset；
2) based on camera shooting automatic identification of obstacles, when user begins to use walking stick to walk, full-view camera is according to one
The image in fixed time interval T shooting front, T default value is 1s, can also be arranged by touch screen, and use image automatic identification
Method quickly identifies the contour of object in image, and forward image and the object of identification is temporarily stored to built-in chip；
3) it is matched, is included the following steps: based on atural object navigation map
3.1) on the frequent track route of visually impaired people, terrestrial object information, and the location information provided according to SIM card are acquired,
Atural object and location information are stored into built-in chip simultaneously, the terrestrial object information includes the fixation of both sides of the road and direction of advance
Immovable object, comprising: house, trees, bus station etc.；
3.2) when visually impaired people uses walking stick, the location information that built-in chip is provided according to SIM card, read step 3.1)
The terrestrial object information of middle storage, and atural object title is broadcasted by bluetooth headset；
3.3) when visually impaired people is far from pre-determined route, warned by bluetooth headset, it is so-called far from refer to SIM card provide
Real time position and step 3.1) in store position deviation be greater than 2m when；
4) combined detection barrier and navigation, comprise the following specific steps that:
4.1) it by three sonic probes, according to step 1) real-time detection and identifies in front of walking stick, the obstacle of the left and right
Object；
4.2) by walking stick camera, according to step 2) captured in real-time and the barrier in front of walking stick is identified；
4.3) by built-in chip, according to the location information that SIM card provides, walking stick direction of advance is read in real time according to step 3)
Atural object；
4.4) by the default management program of built-in chip, to step 4.1), 4.2) and 4.3) provided by barrier and ground
Object is compared, to differentiate that barrier is fixed object, or the object temporarily placed, or mobile object, and pass through indigo plant
Tooth earphone is broadcasted to user, to promote the accuracy and safety of intelligent navigation；
4.4.1) so-called fixed object refers to object present in navigation map；
4.4.2) the so-called object temporarily placed refers to the object being not present in navigation map, but by step 1) and 2)
Immovable object of detection, the bicycle and automobile such as parked；
4.4.3) the object of so-called movement, refers in navigation map and is not present, but passes through step 1) and 2) detect removable
Dynamic object, such as automobile and bicycle of traveling；
4.4.4) the object of so-called movement refers to step 1) and 2) object of detection detection, but disappear again in short time t
Object, t < 3 second.
Further comprise
5) it rescues, includes the following steps:
5.1) when user unintentionally encounters barrier, tumble or deviates navigation routine, emergency relief can actively be opened
Switch, connects SIM card by built-in chip, puts through the phone of user household, and location information is sent by short message mode, makes
User household's phone can be configured by touch screen；
5.2) when user injures unexpectedly, and cannot actively open emergency relief switch, system can be according to sonic probe
The obstacle information of detection judged, walking stick is horizontal at this time or low angle slant setting is in ground, built-in chip according to front,
The distance L of the left and right barrier, when L<when 0.1m and as residence time T>10min, actively triggers alarm switch, by interior
Chip connection SIM card is set, 110 phones, and short massage notice 110 and household's phone are put through.
Claims (4)
1. a kind of walking stick for having obstacle detection and intelligent navigation, which is characterized in that it includes walking stick cylinder (1) part, hand
Handle (2) part, handle and the bending of walking stick cylinder joining place are convenient for support；
The top of walking stick cylinder (1) is equipped with full-view camera (3.1), front sonic probe (3.2), left sonic probe (3.3)
With right sonic probe (3.4), the sound wave and camera shooting detectivity of walking stick are formed, wherein front sonic probe (3.2), left sound
Wave probe (3.3), right sonic probe (3.4) are in sustained height, and full-view camera (3.1) is located at front sonic probe
(3.2) surface, the top of walking stick cylinder (1) are externally provided with rubber protecting jacket (3), and rubber protecting jacket (3) is set there are four circular hole,
One by one with full-view camera (3.1), front sonic probe (3.2), left sonic probe (3.3) and right sonic probe (3.4)
It is corresponding；
Handle (2) is equipped with walking stick power switch (5), bluetooth headset switch (6), loudspeaker (7), emergency relief switch (8), panorama
Camera switchs (9), front sonic probe switch (10), left and right sonic probe switch (11), interior to be equipped with walking stick battery compartment (13)；
The handle (2), comprising: handle body (2.1), handle cover board (2.2), handle cover plate switch (2.3), built-in chip
(2.4), touch screen (2.5), USB interface (2.6), SIM card socket (2.7), emergency relief switch jack (2.8), bluetooth headset
Switch jack (2.9), walking stick power switch jack (2.10), speaker receptacle (2.11), full-view camera switch jack
(2.12), front sonic probe switch jack (2.13), left and right sonic probe switch jack (2.14)；
Handle (2) front end is externally provided with screw thread, so as to set screw thread in walking stick cylinder (1) top and be attached to form complete hand
Cane；Being equipped with speaker receptacle (2.11) in handle front end can connect loudspeaker (7), and tail end is equipped with bluetooth headset switch jack
(2.9), walking stick power switch jack (2.10), full-view camera switch jack (2.12), front sonic probe switch jack
(2.13), left and right sonic probe switch jack (2.14), to connect bluetooth headset switch (6), walking stick power switch (5), complete
Scape camera switchs (9), front sonic probe switch (10) and left and right sonic probe switch (11)；
Handle cover board (2.2) are equipped at the middle part of handle (2), are played a protective role to the electronic equipment in handle, in cover board tail
End is equipped with flip-over type handle cover plate switch (2.3), with easily upon opening and set lever cover board；It opens handle cover board (2.2), in hand
There are built-in chip (2.4), touch screen (2.5), USB interface (2.6) and SIM card socket (2.7) on handle, touch screen (2.5) is used for
Walking stick parameter setting operation is carried out, USB interface (2.6) charges for walking stick and data connection, and SIM card socket (2.7) is for connecting
Mobile portable phone card is connect, to obtain real-time walking stick position and to send emergence message；The walking stick battery compartment (13) is located at hand
The other side of handle (2) and handle cover board (2.2) are symmetric, and play installation rechargeable battery, are all electronic equipments of walking stick
Electric energy effect is provided.
2. walking stick according to claim 1, which is characterized in that the emergency relief switch (8) is located at handle front, main
Dynamic triggering, or in emergency by built-in chip (2.4) passive triggering；
Emergency relief switch jack (2.8) is arranged in front of handle, can connect emergency relief switch (8), urgent convenient for user
It is used when situation；
Full-view camera switchs (9), front sonic probe switch (10) and left and right sonic probe switch (11) and is arranged in handle (2)
Rear passes through power lead and full-view camera (3.1), front sonic probe (3.2), left sonic probe (3.3) and right
Sonic probe (3.4) connection, wherein left and right sonic probe switch (11) controls left sonic probe (3.3) and right sound wave simultaneously
It pops one's head in (3.4).
3. walking stick according to claim 1, which is characterized in that protected equipped with walking stick the bottom end of the walking stick cylinder (1)
It pads (4), is nut cap shape, covers in the end in walking stick cylinder (1), play the role of antiskid, shock-absorbing；The handle (2) is equipped with handle
It covers (12), is cortical material, covers on handle (2), play the role of anti-sweat, rain-proof.
4. walking stick according to claim 1, which is characterized in that the built-in chip (2.4) can be connected by power supply line
Connect the peripheral device interface of assisting navigation, comprising: central control unit (2.4.1), SIM card connecting interface (2.4.2), camera
Connecting interface (2.4.3), front sonic probe connecting interface (2.4.4), left sonic probe connecting interface (2.4.5), right
Sonic probe connecting interface (2.4.6), bluetooth headset connecting interface (2.4.7), USB connection interface (2.4.8), loudspeaker connection
Interface (2.4.9), emergency relief switch interface (2.4.10) and touch screen interface (2.4.11), by internal preset program to auxiliary
Navigation equipment is managed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721708387.1U CN209048611U (en) | 2017-12-10 | 2017-12-10 | The walking stick for having obstacle detection and intelligent navigation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721708387.1U CN209048611U (en) | 2017-12-10 | 2017-12-10 | The walking stick for having obstacle detection and intelligent navigation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108042323A (en) * | 2017-12-10 | 2018-05-18 | 吴得佑 | Possess the walking stick and its application process of obstacle detection and intelligent navigation |
| CN113208883A (en) * | 2021-06-08 | 2021-08-06 | 西安建筑科技大学 | Multi-functional intelligent blind-guiding walking stick based on machine vision |
-
2017
- 2017-12-10 CN CN201721708387.1U patent/CN209048611U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108042323A (en) * | 2017-12-10 | 2018-05-18 | 吴得佑 | Possess the walking stick and its application process of obstacle detection and intelligent navigation |
| CN108042323B (en) * | 2017-12-10 | 2024-01-09 | 吴得佑 | Walking stick with obstacle detection and intelligent navigation functions and application method thereof |
| CN113208883A (en) * | 2021-06-08 | 2021-08-06 | 西安建筑科技大学 | Multi-functional intelligent blind-guiding walking stick based on machine vision |
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