CN211461094U - Blind guiding stick - Google Patents

Abstract

The utility model relates to the technical field of blind guiding equipment, and discloses a blind guiding stick, which comprises a stick body, a handle, a lifting mechanism, a first rotating mechanism and an image acquisition mechanism; the lifting mechanism is connected to the rod body in a sliding mode along the length direction of the rod body, and the image acquisition mechanism is rotatably installed on the lifting mechanism through the first rotating mechanism so that when the lifting mechanism slides along the rod body, the image acquisition mechanism follows the rod body through the first rotating mechanism. When the blind guiding stick is used by the blind, the posture of the lens of the image acquisition mechanism can be kept to always point to the front, the vertical height is kept unchanged, the image recognition effect of the field environment is improved by matching with navigation software, and therefore the blind guiding stick can better serve for the blind.

Description

Blind guiding stick

Technical Field

The utility model relates to a lead blind equipment technical field, especially relate to a guide blind stick.

Background

The number of the people with visual disorder in the world is large, and according to statistics, about 4500 ten thousand of blind people exist in the world at present, and 1.4 hundred million people with visual disorder exist. However, China is one of the most blind countries, about 700 or more blind people account for 16% of the blind people in the world, and the vision disorder is 1200 tens of thousands of patients. The normal people mainly obtain the external information through vision, but the blind people can not well obtain the external information when living in the dark, and the blind people need to assist the blind people to walk by means of blind guiding equipment such as a blind guiding stick when more. The blind guiding stick is called a blind guiding stick or a blind guiding stick, and can play a role in safety warning when the blind goes out to help the blind go out. When the blind guiding stick is used, the blind person needs to continuously knock the ground, and the blind guiding stick collides with the external environment to identify the obstacle in front or identify the blind guiding mark on the ground, so as to make a judgment on whether the blind person can go forward.

A plurality of design schemes related to intelligent blind guiding sticks appear in the market at present, some of the design schemes identify front obstacles through an ultrasonic radar, some of the design schemes capture front images through a camera to identify the front obstacles so as to judge the condition of a front road, and then the front obstacles are fed back to a user through voice reminding. In the other scheme, the blind guiding stick can directly roll on the road without lifting the blind guiding stick by adding the roller at the tail of the blind guiding stick, so that the travelling speed is increased.

However, the above-mentioned intelligent blind guiding stick scheme inevitably causes the position change of the camera due to moving and lifting in the use process, and further influences the image recognition effect. Even the roller scheme can not well keep the posture of the camera unchanged, especially when the ground is fluctuated, the camera shakes, and the roller is inconvenient to use on uneven roads, such as blind roads.

SUMMERY OF THE UTILITY MODEL

An embodiment of the utility model provides a blind guiding stick for solve current blind guiding stick and arouse the camera position change at the in-process that removes and lift up, and then lead to image acquisition and the relatively poor problem of recognition effect.

The embodiment of the utility model provides a blind guiding stick, which comprises a stick body, a handle, a lifting mechanism, a first rotating mechanism and an image acquisition mechanism; the lifting mechanism is connected to the rod body in a sliding mode along the length direction of the rod body, and the image acquisition mechanism is rotatably installed on the lifting mechanism through the first rotating mechanism so that when the lifting mechanism slides along the rod body, the image acquisition mechanism follows the rod body through the first rotating mechanism.

The rotation axis of the first rotating mechanism is along the horizontal direction and is vertical to the length direction of the rod body.

The first rotating mechanism comprises a first driving piece and a rotating rod, an output shaft of the first driving piece is in power coupling connection with the rotating rod, and the image acquisition mechanism is installed on the rotating rod.

The device comprises a height measurement sensor, a distance value comparator, a first angle sensor and a first angle value comparator;

the height measuring sensor is arranged on the image acquisition mechanism and used for detecting a real-time distance value between the image acquisition mechanism and the ground and sending the real-time distance value to the distance value comparator;

a preset distance value is prestored in the distance value comparator, the input end of the distance value comparator is electrically connected with the height measuring sensor, and the output end of the distance value comparator is electrically connected with the lifting mechanism; the distance value comparator is used for comparing the real-time distance value with the preset distance value, outputting a downward moving signal to the lifting mechanism when the real-time distance value is larger than the preset distance value, outputting a maintaining signal to the lifting mechanism when the real-time distance value is equal to the preset distance value, and outputting an upward moving signal to the lifting mechanism when the real-time distance value is smaller than the preset distance value;

the first angle sensor is arranged on the image acquisition mechanism and used for detecting a real-time pitch angle value between the image acquisition mechanism and the ground and sending the real-time pitch angle value to the first angle value comparator;

a preset pitch angle value is prestored in the first angle value comparator, the input end of the first angle value comparator is electrically connected to the first angle sensor, and the output end of the first angle value comparator is electrically connected to the first rotating mechanism; the first angle value comparator is used for comparing the real-time pitch angle value with the preset pitch angle value, outputting a first turning signal to the first rotating mechanism when the real-time pitch angle value is larger than the preset pitch angle value, and outputting a holding signal to the first rotating mechanism when the real-time pitch angle value is equal to the preset pitch angle value; and when the real-time pitch angle value is smaller than the preset pitch angle value, outputting a second turning signal to the first rotating mechanism.

The image acquisition mechanism is rotatably arranged on the first rotating mechanism through the second rotating mechanism; the rotation axis of the second rotating mechanism is along the horizontal direction and is positioned in the vertical plane where the rod body is positioned.

The second rotating mechanism comprises a second driving piece and a swinging platform, and an output shaft of the second driving piece is in power coupling connection with the swinging platform.

The device also comprises a second angle sensor and a second angle numerical value comparator;

the second angle sensor is arranged on the image acquisition mechanism and used for detecting a real-time roll angle value between the image acquisition mechanism and the ground and sending the real-time roll angle value to the second angle value comparator;

a preset roll angle value is prestored in the second angle value comparator, the input end of the second angle value comparator is electrically connected to the second angle sensor, and the output end of the second angle value comparator is electrically connected to the second rotating mechanism; the second angle value comparator is used for comparing the real-time roll angle value with the preset roll angle value, outputting a first roll signal to the second rotating mechanism when the real-time roll angle value is larger than the preset roll angle value, outputting a holding signal to the second rotating mechanism when the real-time roll angle value is equal to the preset roll angle value, and outputting a second roll signal to the second rotating mechanism when the real-time roll angle value is smaller than the preset roll angle value.

The image acquisition mechanism is rotatably arranged on the first rotating mechanism through the third rotating mechanism; the rotation axis of the third rotating mechanism is vertical and intersected with the axis of the rod body.

The third rotating mechanism comprises a third driving piece and a rotating platform, and an output shaft of the third driving piece is in power coupling connection with the rotating platform.

The device also comprises a third angle sensor and a third angle value comparator;

the third angle sensor is arranged on the image acquisition mechanism and used for detecting a real-time deflection angle value between the image acquisition mechanism and a vertical plane where the rod body is located and sending the real-time deflection angle value to the third angle value comparator;

a preset deflection angle value is prestored in the third angle value comparator, the input end of the third angle value comparator is electrically connected to the third angle sensor, and the output end of the third angle value comparator is electrically connected to the third rotating mechanism; the third angle value comparator is used for comparing the real-time deflection angle value with the preset deflection angle value, outputting a first rotating signal to the third rotating mechanism when the real-time deflection angle value is larger than the preset deflection angle value, outputting a holding signal to the third rotating mechanism when the real-time deflection angle value is equal to the preset deflection angle value, and outputting a second rotating signal to the third rotating mechanism when the real-time deflection angle value is smaller than the preset deflection angle value.

The blind guiding stick provided by the embodiment of the utility model can acquire the field environment in the advancing direction through the image acquisition mechanism, and can adjust the ground clearance of the image acquisition mechanism by utilizing the lifting mechanism, so as to keep the image acquisition mechanism at a fixed height all the time; the first rotating mechanism can be used for adjusting the pitching angle between the image acquisition mechanism and the ground, and the lens of the image acquisition mechanism is kept to be always pointed forwards. When the blind guiding stick is used by the blind, the posture of the lens of the image acquisition mechanism can be kept to always point to the front, the vertical height is kept unchanged, the image recognition effect of the field environment is improved by matching with navigation software, and therefore the blind guiding stick can better serve for the blind.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a blind guiding stick according to an embodiment of the present invention;

fig. 2 is a partially enlarged view of a blind guiding stick according to an embodiment of the present invention;

fig. 3 is a side view of a blind guiding stick according to an embodiment of the present invention;

fig. 4 is a front view of a blind guiding stick according to an embodiment of the present invention;

fig. 5 is a schematic view illustrating pitching adjustment of a blind stick according to an embodiment of the present invention;

fig. 6 is a schematic view of the image pickup mechanism according to the embodiment of the present invention during swing adjustment;

fig. 7 is a schematic view of the image pickup mechanism according to the embodiment of the present invention during rotational adjustment;

description of reference numerals:

1: a rod body; 11: a gland; 2: a handle;

3: a lifting mechanism; 31: a base; 32: a groove;

33: a roller; 4: a first rotating mechanism; 41: a first rotating shaft;

42: a rotating rod; 5: an image acquisition mechanism; 6: a second rotating mechanism;

61: a second rotating shaft; 62: a swing platform; 7: a third rotating mechanism;

71: a third rotating shaft; 72: rotating the platform; 8: height measurement sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "first", "second", "third" and "fourth" are used for the sake of clarity only to indicate the numbering of the product parts and do not represent any substantial difference, unless explicitly stated or limited otherwise. The front, the back, the upper, the lower, the left and the right are based on the directions shown in the attached drawings. The specific meaning of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations.

It is to be understood that, unless otherwise expressly specified or limited, the term "coupled" is used broadly, and may, for example, refer to directly coupled devices or indirectly coupled devices through intervening media. The specific meaning of the above terms in the embodiments of the present invention can be understood in specific cases by those skilled in the art.

As shown in fig. 1 to 4, the blind guiding stick provided by the embodiment of the present invention includes a rod body 1 and a handle 2, and further includes a lifting mechanism 3, a first rotating mechanism 4 and an image capturing mechanism 5. The lifting mechanism 3 is slidably connected to the rod body 1 along the length direction of the rod body 1, and the image capturing mechanism 5 is rotatably mounted on the lifting mechanism 3 through the first rotating mechanism 4, so that the image capturing mechanism 5 can follow up through the first rotating mechanism 4 when the lifting mechanism 3 slides along the rod body 1.

Specifically, the rod body 1 may be a hollow shell or a solid body. The handle 2 may be integrally formed with the shaft 1 or may be detachably connected to the shaft 1 (e.g., by screwing). The handle 2 is sleeved with an anti-slip sleeve which is in an annular stripe shape, so that the handle 2 is not easy to slip.

The lifting mechanism 3 can adopt a linear motor, electric energy can be directly converted into linear motion mechanical energy through the linear motor, the lifting mechanism 3 is driven to reciprocate along the length direction of the rod body 1, and the height of the image acquisition mechanism 5 is always maintained at a preset value. In addition, the lifting mechanism 3 may also adopt other mechanisms for outputting linear motion, including a transmission device requiring an intermediate conversion mechanism, such as a roller trolley structure or a lead screw nut structure.

The first rotating mechanism 4 is mounted to the elevating mechanism 3 to move up and down with the elevating mechanism 3. The first simultaneous image capturing mechanism 5 is mounted on the first rotating mechanism 4 to rotate under the driving of the first rotating mechanism 4, so as to change the lens direction of the image capturing mechanism 5 to make it always face forward. The image acquisition mechanism 5 may employ a CCD camera. The rotating motion of first rotary mechanism 4 and the sliding motion of elevating system 3 are the follow-up relation, can realize the follow-up through mechanical mechanism, for example elevating system 3 realizes going up and down through the screw nut structure, and elevating system 3 is including installing the lead screw on the body of rod 1 and the nut of screw cup joint in the lead screw promptly, and first rotary mechanism 4 is installed on the nut, rotates through the driving medium simultaneously and connects in the lead screw, therefore can drive nut reciprocating motion and first rotary mechanism 4 rotation simultaneously when the lead screw rotates. In addition, the following can be realized through a comparison control circuit, for example, the lifting distance of the lifting mechanism 3 can be detected to adjust the rotation angle of the first rotating mechanism 4.

It should be noted that the forward direction in this embodiment refers to the forward direction of the user, the bottom of the rod body 1 is forward, and the orientation reference in this embodiment is taken as an example that the user faces forward, the left hand and the right hand of the user correspond to the left-right direction, the front side and the rear side of the user correspond to the front-back direction, and the height direction of the user corresponds to the up-down direction.

The following is a detailed description of the upward movement process of the blind guiding stick.

As shown in fig. 5, the broken line indicates the initial movement state of the blind stick, and the solid line indicates the adjusted state of the blind stick. Initially, the handle 2 of the blind guiding stick is held by the user, the bottom of the rod 1 falls on the ground, the lifting mechanism 3 is located at the center of the rod 1, and the first rotating mechanism 4 is in a first rotating state, so that the lens of the image capturing mechanism 5 faces to the front. When a user moves the blind guiding stick upwards, the bottom of the rod body 1 is lifted upwards for a certain distance by taking the handle 2 as a fulcrum, the relative position relation between the lifting mechanism 3 and the first rotating mechanism 4 and the rod body 1 is still unchanged at the moment of lifting, and at the moment, the position of the lifting mechanism 3 is higher than the initial height relative to the ground; the first rotation mechanism 4 is positioned to be inclined rearward with respect to the ground. Thus, in order to restore the initial height and the initial pitch angle, the raising and lowering mechanism 3 slides downward, and the first rotation mechanism 4 tilts forward (i.e., rotates counterclockwise).

According to the blind guiding stick provided by the embodiment, the field environment in the advancing direction can be acquired through the image acquisition mechanism, the ground clearance of the image acquisition mechanism can be adjusted by utilizing the lifting mechanism, and the image acquisition mechanism is kept at a fixed height all the time; the first rotating mechanism can be used for adjusting the pitching angle between the image acquisition mechanism and the ground, and the lens of the image acquisition mechanism is kept to be always pointed forwards. When the blind guiding stick is used by the blind, the posture of the lens of the image acquisition mechanism can be kept to always point to the front, the vertical height is kept unchanged, the image recognition effect of the field environment is improved by matching with navigation software, and therefore the blind guiding stick can better serve for the blind.

Further, as shown in fig. 1 to 5, the rotation axis of the first rotation mechanism 4 (i.e., the axis of the first rotation shaft 41) is along the horizontal direction (i.e., parallel to the ground), and is perpendicular to the length direction of the rod body 1.

Further, as shown in fig. 2 to 4, the first rotating mechanism 4 includes a first driving member (not shown) and a rotating rod 42, an output shaft of the first driving member (i.e. the first rotating shaft 41) is in power coupling connection with the rotating rod 42, where the power coupling connection means that the driving member is connected with the driven member and drives the driven member to rotate, such as a gear transmission, a chain transmission, a belt transmission or a worm and gear transmission. The image taking mechanism 5 is mounted on the rotating lever 42. Specifically, the first driving member may be a motor mounted on the lifting mechanism 3, the lower end of the rotating rod 42 is fixedly connected to the first rotating shaft 41, and the upper end of the rotating rod 42 is connected to the image capturing mechanism 5. Specifically, the axial direction of the first rotating shaft 41 is the left-right direction, and the rotating rod 42 rotates around the first rotating shaft 41, so as to drive the image capturing mechanism 5 to rotate back and forth.

Further, an altimetry sensor 8, a distance value comparator, a first angle sensor and a first angle value comparator (none of which are shown in the figure) are included.

The height measurement sensor 8 is arranged on the image acquisition mechanism 5 and used for detecting a real-time distance value between the image acquisition mechanism 5 and the ground and sending the real-time distance value to the distance value comparator. Specifically, the altimeter sensor 8 may be a sensitive barometer, such as a MEMS (Micro-Electro-Mechanical System, MEMS for short). In addition, the height measurement sensor 8 can also adopt a range radar, is arranged around the image acquisition mechanism 5, and can measure the height difference between the image acquisition mechanism 5 and the ground in real time.

The distance value comparator is internally pre-stored with a preset distance value, the input end of the distance value comparator is electrically connected with the height measuring sensor 8, and the output end of the distance value comparator is electrically connected with the lifting mechanism 3. The distance value comparator is configured to compare the real-time distance value with a preset distance value, and output a down-shift signal to the lifting mechanism 3 when the real-time distance value is greater than the preset distance value, and output a hold signal to the lifting mechanism 3 when the real-time distance value is equal to the preset distance value, and output an up-shift signal to the lifting mechanism 3 when the real-time distance value is less than the preset distance value.

The first angle sensor is also arranged on the image acquisition mechanism 5 and used for detecting a real-time pitch angle value between the image acquisition mechanism 5 and the ground and sending the real-time pitch angle value to the first angle value comparator. Specifically, the first angle sensor may employ a gyroscope or a level, and the initial position is preset to be a horizontal state. As shown in fig. 5, when the stick body 1 moves upward, the gyroscope or the level meter detects the inclination angle α (i.e., the real-time pitch angle value) between the image capturing mechanism 5 and the horizontal plane.

The first angle value comparator is internally pre-stored with a preset pitch angle value, the input end of the first angle value comparator is electrically connected with the first angle sensor, and the output end of the first angle value comparator is electrically connected with the first rotating mechanism 4. The first angle value comparator is used for comparing the real-time pitch angle value with a preset pitch angle value, outputting a first turning signal to the first rotating mechanism 4 when the real-time pitch angle value is larger than the preset pitch angle value, and outputting a holding signal to the first rotating mechanism 4 when the real-time pitch angle value is equal to the preset pitch angle value; and outputting a second turning signal to the first rotating mechanism 4 when the real-time pitch angle value is smaller than the preset pitch angle value. The first turning signal and the second turning signal are opposite in turning direction and are turned forwards or backwards respectively, and specific turning can be selected according to habits of users. In the present embodiment, the first flipping signal is used as a forward flipping example for explanation.

As shown in fig. 5, when the rod 1 is lifted upwards, the height measurement sensor 8 detects that the real-time distance value between the image capturing mechanism 5 and the ground is increased and is greater than the preset distance value, so that the distance value comparator outputs a downward movement signal to the lifting mechanism 3, and the lifting mechanism 3 slides downwards until the lifting mechanism returns to the preset position. At the same time, the user can select the desired position,

the first angle sensor detects that the real-time pitch angle value alpha between the image acquisition mechanism 5 and the ground is smaller than a preset pitch angle value (0 degrees, horizontal state), so that the first angle value comparator outputs a signal of turning forward, and the first rotating mechanism 4 turns forward, that is, the first rotating shaft 41 rotates counterclockwise until the rotating rod 42 is in a vertical position.

Further, as shown in fig. 2 to 4, the image taking apparatus further includes a second rotating mechanism 6, and the image taking mechanism 5 is rotatably mounted on the first rotating mechanism 4 by the second rotating mechanism 6. The rotation axis of the second rotation mechanism 6 (i.e. the axis of the second rotation shaft 61) is along the horizontal direction and is located in the vertical plane of the rod body 1, and the first rotation shaft 41 and the second rotation shaft 61 are perpendicular to each other.

Further, the second rotating mechanism 6 includes a second driving member (not shown) and a swing platform 62, and an output shaft of the second driving member (i.e., the second rotating shaft 61) is in power coupling connection with the swing platform 62. A power coupling connection here means that the driving element is connected to the driven element and drives the driven element to rotate, for example a gear drive, a chain drive, a belt drive or a worm drive. The image taking mechanism 5 is mounted on the swing platform 62.

Specifically, the second driving member may be a motor mounted on the rotating rod 42, an output shaft of the motor (i.e., the second rotating shaft 61) is fixedly connected to the swing platform 62, and the image capturing mechanism 5 is mounted on the swing platform 62 and swings left and right along with the swing platform 62. As shown in fig. 6, the axial direction of the second rotating shaft 61 is the front-back direction, and the swing platform 62 rotates around the second rotating shaft 61, so as to drive the image capturing mechanism 5 to swing left and right.

Still further, a second angle sensor and a second angle value comparator (both not shown) are included.

The second angle sensor is arranged on the image acquisition mechanism 5 and used for detecting a real-time roll angle value between the image acquisition mechanism 5 and the ground and sending the real-time roll angle value to the second angle value comparator. Specifically, the second angle sensor may also adopt a gyroscope, and may adopt the same gyroscope as the first angle sensor to measure two axial tilt angles.

The second angle value comparator is pre-stored with a preset roll angle value, the input end of the second angle value comparator is electrically connected to the second angle sensor, and the output end of the second angle value comparator is electrically connected to the second rotating mechanism 6. The second angle value comparator is configured to compare the real-time roll angle value with the preset roll angle value, and output a first yaw signal to the second rotating mechanism 6 when the real-time roll angle value is greater than the preset roll angle value, and output a hold signal to the second rotating mechanism 6 when the real-time roll angle value is equal to the preset roll angle value, and output a second yaw signal to the second rotating mechanism 6 when the real-time roll angle value is smaller than the preset roll angle value. The first side turning signal and the second side turning signal are opposite in turning direction, namely turning left or turning right respectively, and the specific turning direction can be selected according to habits of users. In the present embodiment, the first side-turn signal is taken as an example of turning to the right side.

As shown in fig. 6, when the second angle sensor detects that the real-time roll angle of the image capturing mechanism 5 to the ground is increased (i.e. the image capturing mechanism swings to the left) and is greater than the preset roll angle value (90 °), the second angle value comparator outputs a signal of turning to the right, and the second rotating mechanism 6 turns to the right, i.e. the second rotating shaft 61 rotates clockwise, until the swing platform 62 is in the horizontal position.

Further, a third rotating mechanism 7 is included, and the image capturing mechanism 5 is rotatably mounted to the first rotating mechanism 4 by the third rotating mechanism 7. The rotation axis of the third rotation mechanism 7 (i.e., the axis of the third rotation shaft 71) is in the vertical direction and intersects with the axis of the rod body 1. The first and third rotating shafts 41 and 71 are perpendicular to each other.

Further, the third rotating mechanism 7 includes a third driving member (not shown) and a rotating platform 72, and an output shaft of the third driving member (i.e., the third rotating shaft 71) is in power coupling connection with the rotating platform 72. A power coupling connection here means that the driving element is connected to the driven element and drives the driven element to rotate, for example a gear drive, a chain drive, a belt drive or a worm drive. The image taking mechanism 5 is mounted on the rotary table 72.

Specifically, the third driving member may be a motor mounted on the rotating rod 42, an output shaft of the motor (i.e., the third rotating shaft 71) is fixedly connected to the rotating platform 72, and the image capturing mechanism 5 is mounted on the rotating platform 72 and rotates left and right along with the rotating platform 72. As shown in fig. 7, the axial direction of the third rotating shaft 71 is the up-down direction (i.e. the vertical direction), and the rotating platform 72 rotates around the third rotating shaft 71, so as to drive the image capturing mechanism 5 to rotate left and right. In addition, the image capturing mechanism 5 may be rotatably mounted on the second rotating mechanism 6 through a third rotating mechanism 7, and the first rotating shaft 41, the second rotating shaft 61, and the third rotating shaft 71 may be perpendicular to each other.

Still further, a third angle sensor and a third angle value comparator (neither shown) are included.

The third angle sensor is arranged on the image acquisition mechanism 5 and used for detecting a real-time deflection angle value between the image acquisition mechanism 5 and a vertical plane where the rod body 1 is located and sending the real-time deflection angle value to the third angle value comparator. Specifically, the third angle sensor may also adopt a gyroscope, and may adopt the same gyroscope as the first angle sensor and the second angle sensor to measure three axial tilt angles.

The third angle value comparator is internally pre-stored with a preset deflection angle value, the input end of the third angle value comparator is electrically connected with the third angle sensor, and the output end of the third angle value comparator is electrically connected with the third rotating mechanism 7. The third angle value comparator is configured to compare the real-time deflection angle value with a preset deflection angle value, and output a first rotation signal to the third rotating mechanism 7 when the real-time deflection angle value is greater than the preset deflection angle value, and output a hold signal to the third rotating mechanism 7 when the real-time deflection angle value is equal to the preset deflection angle value, and output a second rotation signal to the third rotating mechanism 7 when the real-time deflection angle value is less than the preset deflection angle value. The first rotation signal and the second rotation signal are opposite in rotation direction and are respectively rotated leftwards or rightwards, and the specific rotation direction can be selected according to habits of users. In the present embodiment, the first rotation signal is taken as an example of the right rotation direction.

As shown in fig. 7, when the third angle sensor detects that the real-time deflection angle between the image capturing mechanism 5 and the vertical plane where the rod body 1 is located is increased (i.e. rotated to the left by γ) and is greater than the preset roll angle value (0 °), the third angle value comparator outputs a signal of rotating to the right, and the third rotating mechanism 7 rotates to the right, i.e. the third rotating shaft 71 rotates clockwise, until the rotating platform 72 is in a state of facing the front.

Further, as shown in fig. 2 to 4, the lifting mechanism 3 includes a base 31, a rail and a fourth driving member (not shown), the base 31 is connected to the fixed end of the first rotating mechanism 4, and the rail is configured on the rod 1. The fourth driving member is connected to the base 31 or the rail to convert the rotational motion output by the fourth driving member into the reciprocating translational motion of the base 31. The fourth driving piece can adopt an electric motor or other power machinery for outputting rotation.

In a specific embodiment, the track is a groove 32 formed in the rod body 1, a roller 33 is mounted at the bottom of the base 31, and the fourth driving member is in power coupling connection with the roller 33, and the roller 33 is rollably inserted into the groove 32. Specifically, the groove 32 extends in the length direction of the rod body 1. The rollers 33 are installed at four corners of the bottom of the base 31, and the rollers 33 may be rubber wheels, and the rubber wheels perform a reciprocating motion by using a frictional force between the rubber wheels and the bottom surface of the groove 32. In addition, the roller 33 may be a gear, and a rack engaged with the gear is correspondingly provided in the groove 32. The fourth driving member may be a motor, the two front rollers 33 are mounted on the same front axle, the two rear rollers 33 are mounted on the same rear axle, the motor can drive the front axle to rotate, so as to drive the two front rollers 33, and the two rear rollers 33 are used as driven wheels. Other driving methods may be used, and are not limited herein. As shown in fig. 4, a pressing cover 11 may be further fixed on the rod body 1, and an inverted T-shaped groove is formed in the middle of the pressing cover 11, and is used for accommodating the base 31 and limiting the upper surface of the base 31, so as to ensure stable sliding of the base 31.

In another embodiment, the track may also be a lead screw (not shown) mounted on the rod 1, the fourth driving member is connected to the lead screw in a power coupling manner, and the base 31 is sleeved on the lead screw in a threaded manner. The lead screw can be rotationally installed on the rod body 1 through the bearing seat, and a threaded hole is formed in the middle of the base 31 and is sleeved on the outer side of the lead screw. The motor is used for driving the screw rod to rotate, and then the base 31 is driven to move in a reciprocating mode.

Still integrated power module and circuit chip in the body of rod 1, power module can adopt the battery, provides the electric energy for elevating system 3, first rotary mechanism 4, image acquisition mechanism 5, second rotary mechanism 6, third rotary mechanism 7 and circuit chip through power module. The circuit chip is integrated with start-stop circuits of the lifting mechanism 3, the first rotating mechanism 4, the second rotating mechanism 6 and the third rotating mechanism 7, wherein the start-stop circuits are all formed by conventional circuits, and are not described herein again.

As can be seen from the above embodiments, the blind guiding stick provided by the utility model can acquire the field environment in the advancing direction through the image acquisition mechanism, and can adjust the height above the ground of the image acquisition mechanism by using the lifting mechanism, so as to keep the image acquisition mechanism at a fixed height all the time; the first rotating mechanism can be used for adjusting the pitching angle between the image acquisition mechanism and the ground, and the lens of the image acquisition mechanism is kept to be always pointed forwards. When the blind guiding stick is used by the blind, the posture of the camera can be kept to be always directed to the front, the vertical height is kept unchanged, the image recognition effect of the field environment can be improved by matching with navigation software, and therefore the blind guiding stick can better serve the blind.

Furthermore, the second rotating mechanism can be used for adjusting the side-tilting angle of the image acquisition mechanism, so that the swing platform is ensured to be horizontal; the third rotating mechanism can be used for adjusting the deflection angle of the image acquisition mechanism, so that the lens of the image acquisition mechanism faces the right front.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (10)

1. A blind guiding stick comprises a stick body and a handle, and is characterized by further comprising a lifting mechanism, a first rotating mechanism and an image acquisition mechanism; the lifting mechanism is connected to the rod body in a sliding mode along the length direction of the rod body, and the image acquisition mechanism is rotatably installed on the lifting mechanism through the first rotating mechanism so that when the lifting mechanism slides along the rod body, the image acquisition mechanism follows the rod body through the first rotating mechanism.

2. The blind guiding stick of claim 1, wherein the axis of rotation of the first rotating mechanism is horizontal and perpendicular to the length of the shaft.

3. The blind guiding stick of claim 2, wherein the first rotating mechanism comprises a first driving member and a rotating rod, an output shaft of the first driving member is in power coupling connection with the rotating rod, and the image capturing mechanism is mounted on the rotating rod.

4. The blind guiding stick of claim 1, further comprising a height measurement sensor, a distance value comparator, a first angle sensor and a first angle value comparator;

the height measuring sensor is arranged on the image acquisition mechanism and used for detecting a real-time distance value between the image acquisition mechanism and the ground and sending the real-time distance value to the distance value comparator;

a preset distance value is prestored in the distance value comparator, the input end of the distance value comparator is electrically connected with the height measuring sensor, and the output end of the distance value comparator is electrically connected with the lifting mechanism; the distance value comparator is used for comparing the real-time distance value with the preset distance value, outputting a downward moving signal to the lifting mechanism when the real-time distance value is larger than the preset distance value, outputting a maintaining signal to the lifting mechanism when the real-time distance value is equal to the preset distance value, and outputting an upward moving signal to the lifting mechanism when the real-time distance value is smaller than the preset distance value;

the first angle sensor is arranged on the image acquisition mechanism and used for detecting a real-time pitch angle value between the image acquisition mechanism and the ground and sending the real-time pitch angle value to the first angle value comparator;

a preset pitch angle value is prestored in the first angle value comparator, the input end of the first angle value comparator is electrically connected to the first angle sensor, and the output end of the first angle value comparator is electrically connected to the first rotating mechanism; the first angle value comparator is used for comparing the real-time pitch angle value with the preset pitch angle value, outputting a first turning signal to the first rotating mechanism when the real-time pitch angle value is larger than the preset pitch angle value, and outputting a holding signal to the first rotating mechanism when the real-time pitch angle value is equal to the preset pitch angle value; and when the real-time pitch angle value is smaller than the preset pitch angle value, outputting a second turning signal to the first rotating mechanism.

5. The blind guiding stick of claim 1, further comprising a second rotation mechanism by which said image capturing mechanism is rotatably mounted to said first rotation mechanism; the rotation axis of the second rotating mechanism is along the horizontal direction and is positioned in the vertical plane where the rod body is positioned.

6. The blind guiding stick of claim 5, wherein the second rotation mechanism comprises a second driving member and a swing platform, an output shaft of the second driving member is in dynamic coupling connection with the swing platform, and the image capturing mechanism is mounted on the swing platform.

7. The blind guiding stick of claim 5, further comprising a second angle sensor and a second angular value comparator;

the second angle sensor is arranged on the image acquisition mechanism and used for detecting a real-time roll angle value between the image acquisition mechanism and the ground and sending the real-time roll angle value to the second angle value comparator;

a preset roll angle value is prestored in the second angle value comparator, the input end of the second angle value comparator is electrically connected to the second angle sensor, and the output end of the second angle value comparator is electrically connected to the second rotating mechanism; the second angle value comparator is used for comparing the real-time roll angle value with the preset roll angle value, outputting a first roll signal to the second rotating mechanism when the real-time roll angle value is larger than the preset roll angle value, outputting a holding signal to the second rotating mechanism when the real-time roll angle value is equal to the preset roll angle value, and outputting a second roll signal to the second rotating mechanism when the real-time roll angle value is smaller than the preset roll angle value.

8. The blind guiding stick of any one of claims 1 to 7, further comprising a third rotation mechanism by which the image capturing mechanism is rotatably mounted to the first rotation mechanism; the rotation axis of the third rotating mechanism is vertical and intersected with the axis of the rod body.

9. The blind guiding stick of claim 8, wherein the third rotation mechanism comprises a third driving member and a rotating platform, an output shaft of the third driving member is in dynamic coupling connection with the rotating platform, and the image capturing mechanism is mounted on the rotating platform.

10. The blind guiding stick of claim 8, further comprising a third angle sensor and a third angle numerical comparator;

the third angle sensor is arranged on the image acquisition mechanism and used for detecting a real-time deflection angle value between the image acquisition mechanism and a vertical plane where the rod body is located and sending the real-time deflection angle value to the third angle value comparator;

a preset deflection angle value is prestored in the third angle value comparator, the input end of the third angle value comparator is electrically connected to the third angle sensor, and the output end of the third angle value comparator is electrically connected to the third rotating mechanism; the third angle value comparator is used for comparing the real-time deflection angle value with the preset deflection angle value, outputting a first rotating signal to the third rotating mechanism when the real-time deflection angle value is larger than the preset deflection angle value, outputting a holding signal to the third rotating mechanism when the real-time deflection angle value is equal to the preset deflection angle value, and outputting a second rotating signal to the third rotating mechanism when the real-time deflection angle value is smaller than the preset deflection angle value.

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