WO2018028296A1 - 一种新型导盲系统 - Google Patents

一种新型导盲系统 Download PDF

Info

Publication number
WO2018028296A1
WO2018028296A1 PCT/CN2017/088049 CN2017088049W WO2018028296A1 WO 2018028296 A1 WO2018028296 A1 WO 2018028296A1 CN 2017088049 W CN2017088049 W CN 2017088049W WO 2018028296 A1 WO2018028296 A1 WO 2018028296A1
Authority
WO
WIPO (PCT)
Prior art keywords
blind
guide
module
guiding
touch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/088049
Other languages
English (en)
French (fr)
Inventor
余亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou University
Original Assignee
Suzhou University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou University filed Critical Suzhou University
Publication of WO2018028296A1 publication Critical patent/WO2018028296A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/066—Installations on the floor, e.g. special surfaces, to guide blind persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0153—Support for the device hand-held
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors

Definitions

  • the invention relates to the field of guiding blind technology, in particular to a novel blind guiding system.
  • blind travel is generally guided by blind roads and other means, such as guide dogs and blind roads.
  • the roads and sidewalks generally use the obviously uneven road surface as a blind road.
  • the concave and convex blind road has a certain guiding effect, the blind guiding effect is also limited, and the obvious protruding of the dots and drops has an effect on the blind rod click.
  • the blind and non-blind people are inconvenient to walk. When crossing the blind road, they will feel more inconvenient, especially pulling boxes and carts.
  • ordinary blind roads will have blind spots. It is easy for the blind to pass the road without knowing what to do.
  • the object of the present invention is to provide a new type of blind track and guide cane which can solve the existing problems.
  • the present invention overcomes the deficiencies in the prior art, facilitates walking of a blind person, and has a good guiding effect, by canceling the existing concave and convex blind track. It is convenient for the blind to walk and also brings convenience to non-blind people.
  • a novel blind guiding system includes a blind track, a blind guide controller, a sensor, and a signal receiving unit.
  • the guide blind controller is provided with a control module and a globally positioned guide blind map module, and the sensor can sense the road surface on the blind track. a situation, and transmitting the sensed information to a signal receiving unit, the control module navigating according to a globally positioned guide map module The information received by the information and/or signal receiving unit controls the guide blind controller to guide the direction the blind person wants to go.
  • the guiding system further comprises a guiding cane, the guiding cane being detachably connected to the guiding blind controller, the guiding blind controller is provided with a touch guiding blind module, and the touch guiding blind module
  • the manual touch screen includes a concave and convex surface, and the touch sense technology or a mechanical method is used to make the finger have a high and low touch feeling, and the direction of the walking and the obstacle change and the guiding of the control module are judged according to the touched unevenness change.
  • the concave and convex feeling formed by the tactile feedback technique can be set in the guide shoe, and different concave and convex changes can be touched by the bottom of the left and right feet to judge the direction of walking and the change of the obstacle.
  • the guide blind system is further provided with a blind track, and a position storage module is disposed on the blind track, and the guide cane is provided with a position sensing piece capable of sensing the position information of the position storage module, and the position guide button and the voice broadcast are provided on the guide cane.
  • the module by pressing the position touch button, the voice broadcast module can broadcast the position information and direction information of the guide cane.
  • the touch guide module further comprises a path search module, wherein the path search module inputs a destination to perform a path search, and sets a reasonable route suitable for the blind person to walk, and calculates an approximate time; the voice broadcast module can guide the blind according to the touch The module's information voice broadcasts the road guide information, and the voice broadcast module can tell where there is a blind road and where there is no blind road.
  • a path search module inputs a destination to perform a path search, and sets a reasonable route suitable for the blind person to walk, and calculates an approximate time
  • the voice broadcast module can guide the blind according to the touch
  • the guiding system further comprises a guiding shoe, wherein the guiding stick is provided with a vibration module and a buzzer, the control module comprises a guiding blind controller, the guiding shoe, the guiding blind controller and the obstacle
  • the control module comprises a guiding blind controller, the guiding shoe, the guiding blind controller and the obstacle
  • a large triangular relationship is formed between objects to measure the length, width and height of the obstacle; a small triangular relationship is formed between the two guide shoes and the obstacle, and the small triangle is used to measure the height and width of the obstacle, which is special and difficult to judge.
  • the guide stick is provided with a traffic light sensing device
  • the traffic light sensing device can sense the controller of the traffic signal light, and when the pedestrian signal light of the blind person is in the green light, the sensing device voice prompts “green light please proceed "When the pedestrian signal in the direction of the blind is red, the voice of the sensing device prompts "Red light please stop”, when the pedestrian signal light in the forward direction of the blind is yellow, the voice of the sensing device prompts "Yellow light please wait”.
  • the touch guide module is provided with a convex graphic display matched with the traffic signal, and the triangular convex image is set as a red light, the rectangular convex graphic is a green light, the square convex graphic is a yellow light, a triangular convex graphic, a rectangular shape, and a rectangular shape.
  • the embossed pattern and the square embossed pattern are composed of a frame line and a face composed of a small number of dots in the frame. The number of touchable dots will start to change to a different color for a certain period of time, and accordingly, the process of changing the number of small dots in the frame will be used to indicate that the time of changing the color of the lamp is approaching. By touching the actual feeling, the convex outline of the outer frame does not change.
  • the touch guide module sets a data storage, stores and sets a place for blind people or blind people to be a simple guide number, and the blind person can find the place to go through the touch guide module, touch the guide module or Voice broadcasts guide blind people to walk.
  • an inductive lamp is disposed on the blind track ground, and the guide wand is provided with an induction lamp sensing device, and the position of the guide wand is grounded as an origin, within a certain distance of the blind person's forward direction and behind the blind person, The sensor light flashes, and as the blind moves forward, the light that exceeds the distance range is extinguished.
  • the blind track is provided with a strip composed of an induced magnetic strip/or a magnetic point, the blind
  • the road has a striking color that distinguishes it from ordinary roads or sidewalks.
  • the touch guide module sets a data storage, stores and sets a place for blind people or blind people to be a simple guide blind serial number, and the blind person can find a place to go through the touch guide module, and touch the blind guide module to broadcast the blind guide. walk.
  • For the blind road maps of coordinate positioning one is to evaluate the blind road conditions from the blind road drawings that already exist, but scattered on the municipal roads of various department units, or directly measure the blind roads of the existing roads.
  • the real-time walking information obtained by the above data storage is digitally converted to form a blind road map with geographic coordinates.
  • the novel blind guiding system of the present invention it is no longer necessary to provide uneven and uneven ground on ordinary roads and sidewalks, and the unevenness is removed, which is beneficial to the smoothness of the road surface and convenient for non-blind people and blind people to walk and ensure safety.
  • the novel blind guiding system installs a sensor on a guide stick held by a blind person, and installs a sensor on the blind road to facilitate walking by a blind person and has a good guiding effect.
  • the guide stick is provided with a traffic light sensing device, which is beneficial for the blind person to cross the road correctly according to the indication of the traffic signal when crossing the road.
  • the guide cane is equipped with a touch guide module, which can effectively help the blind person to go where he wants to go.
  • the touch guide module includes a voice broadcast module, which is used to broadcast the road guide blind information, so that the blind person can directly understand the guide information of the road in time.
  • the touch guide module sets a data memory to place a blind person or a frequent place. Store and set up as a simple guide number, so that blind people can find their way home when they are out.
  • the information displayed on the manual touch screen of the touch guide module has a prominent feeling. Convenient for blind identification and operation.
  • FIG. 1 is a schematic diagram of a touch guide module of a novel blind guiding system according to the present invention.
  • FIG. 2 is a schematic view showing the positional relationship between a guide shoe, a guide blind controller and an obstacle in the novel blind guiding system of the present invention.
  • FIG 3 is a schematic view showing the blinking of the induction lamp on the blind road on the sidewalk of the novel blind guiding system of the present invention.
  • FIG. 4 is a schematic view showing the blinking of the induction lamp on the blind line of the zebra crossing of the novel blind guiding system of the present invention.
  • FIG. 5 is a conceptual diagram of a virtual blind track and a guide blind positioning system of the novel blind guide system according to the present invention.
  • a novel blind guiding system is characterized in that it comprises: a blind track, a guide blind controller, a sensor, and a signal receiving unit, wherein the guide blind controller is provided with a control module and a globally positioned guide blind map module, wherein the sensor can sense The road surface condition on the blind road, and the sensed information is sent to the signal receiving unit, and the control module controls the blind control according to the information of the globally guided guide map module navigation and/or the information received by the signal receiving unit.
  • the controller guides the direction the blind person wants to go.
  • the novel guide blind system further includes a guide stick, the blind track is provided with a strip of color spray, an induced magnetic strip/or a magnetic point, and the guide stick is provided with a control module, a sensor, a signal receiving unit, and a voice prompt a unit capable of sensing a strip and a road surface composed of an inductive magnetic stripe or a magnetic point disposed on the blind track, and transmitting the sensed information to the signal receiving unit through the signal transmitting unit, the control module according to the signal receiving unit
  • the received information controls the guide stick to guide the blind person in the direction he wants to go.
  • the novel blind guiding system of the invention installs a sensor on a guide stick held by a blind person, and installs a sensor on the blind road to facilitate walking of the blind person and has a good guiding effect.
  • the guide cane detachably mounts a touch guide module, the touch guide module includes a manual touch screen, and the surface of the manual touch screen has a concave and convex feeling, and the touch sense feedback technology is used to make the finger have a high and low touch feeling, according to the touched bump Change, determine the direction of walking and obstacle changes and the guidance of the control module.
  • a position storage module is disposed on the blind track, and the guide cane is provided with a position sensing piece capable of sensing the position information of the position storage module, and the guide bar is provided with a position touch button and a voice broadcast module, and pressing the position touch button, the voice The broadcast module can broadcast the position information and direction information of the guide stick.
  • the information displayed on the manual touch screen of the touch guide module has a prominent feeling, which is convenient for the blind person to recognize and operate.
  • a position storage module is disposed on the blind track, and the guide cane is provided with a position sensing piece capable of sensing the position information of the position storage module, and the guide bar is provided with a position touch button and a voice broadcast module, and pressing the position touch button, the voice
  • the broadcast module can broadcast the position information and direction information of the guide stick.
  • the voice broadcast module is used to broadcast the road guide blind information, so that the blind person can directly understand the information of the road guide blind in time.
  • FIG. 1 is a schematic diagram of a touch guide module of the novel guide blind system according to the present invention.
  • the original storage track 1 is different from the actual travel track 2, and the position touch button 3 and the guide blind controller are different. 4
  • the feel is also different, it is convenient for blind people to operate, which can effectively help the blind to go where they want to go. So blind people can know where they are located and direction information.
  • the position coordinates use the off-the-shelf space positioning system, the outdoor use GPS or Beidou and other global positioning systems, the outdoor global positioning system, and the occluded room uses wireless LAN positioning, but when using the global positioning system outdoors, it is different from the usual mobile phone.
  • the position needs to be positioned on the passing ground where the foot is walking. This height position can be adjusted according to the system.
  • Indoor public places mainly include gymnasiums, airports, train stations, hospitals, etc., where public walkways are required.
  • the touch guide module further comprises a path search module, wherein the path search module inputs a destination to perform a path search, and sets a reasonable route suitable for the blind person to walk, and calculates an approximate time;
  • the voice broadcast module can guide the blind according to the touch
  • the voice broadcast module can also predict the characteristics of the blind road, that is, the position of the blind road crossing and turning, and the number, size and distance of the blind road crossing and turning, and the estimated time required for arrival, for the blind person to select .
  • the obstacle scale consists of length A, width B and height H.
  • the height is the most important cause of falls, so it is important to test it.
  • the guide blind system further includes a guide shoe 6 on which a vibration module and a buzzer are disposed, the control module includes a guide blind controller 7, the guide shoe 6, the guide blind controller 7 and The obstacles 8 form a large triangular relationship, and the distance measuring sensor 9 is used to measure the length of the obstacle; the two guiding shoes form a small triangular relationship with the obstacle, and the small triangle is used to measure the height and width of the obstacle, the length Manual touch screen 5 with width, height and reaction to the bump When the length, width and height exceed the set size, the buzzer sounds and/or the vibration module vibrates, which is convenient for the blind person to delay and walk after careful judgment.
  • the guide controller functions as a terminal, depending on the needs or the shape of the tablet or other, for convenient operation and hand holding or lifting, convenient for one hand operation, with functions of operation, storage and positioning, and vibration And the function of sounding. It can be used alone or as an extension of the guide cane and combined with the guide cane.
  • the controller's overall data summary interacts with the cloud data connection.
  • the summary control system evaluates whether the determination is to go around or cross the past, and it is possible to cross for the low. past.
  • the obstacle categories for travel are judged as follows: first, normal changes caused by design, such as height and direction of travel: ramps, steps, stairs, and direction of travel changes; second, non-designed ground changes, walking needs to overcome these Obstacles, obstacles caused by unevenness, material and ground friction changes, water and other phenomena, measures taken: First, on the premise of judgment, around the past (height or direction), and second, slow down Speed or stop, stop for further confirmation.
  • the guide blind controller is convenient for guiding the road, guiding the advancement, and converting the blind road map information according to the production positioning into a walkable identifiable guide blind path on the controller, the surface of the touch guide blind module can be touched, and the touch feedback technology is used to make the finger have a high or low level.
  • the sense of touch, judging the direction of walking and Obstruction changes, the same purpose can also make the guide controller into a mechanically driven concave and convex shape, which can make the path obvious, and the obstacles on the road are reflected on the controller.
  • Other road conditions are also designed to facilitate blind learning through different button designs.
  • the shoe or the controller is used for ranging, and after the real-time information is obtained by the operation and the safety judgment is made, the judgment of the forward walking is made.
  • the distance measurement of the guide controller, and the calculation of the relationship with the obstacle when the user's standing is used as the calculation point, the obstacle situation of the body for a certain distance can be calculated, and the safety situation can be evaluated.
  • the distance measurement and computational techniques improve, the distance the body can move forward increases.
  • the guide shoe is equipped with sensors, real-time monitoring of road conditions and human walking speed and other information is transmitted to the control center, and the miniature ranging sensor tests the height and width of obstacles and other related data.
  • the guide stick is provided with a traffic light sensing device, and the traffic light sensing device can sense the controller of the traffic signal light.
  • the sensing device voice prompts “green light please go forward”, blind person When the pedestrian signal light in the forward direction is red, the voice prompting "Red light should stop”, and the pedestrian signal light in the forward direction of the blind is yellow, please wait for the yellow light of the sensing device.
  • the touch guide module is provided with a convex graphic display matching the traffic signal, and the triangular convex image is set to a red light, the rectangular convex graphic is a green light, the square convex graphic is a yellow light, a triangular convex graphic, a rectangular convex graphic, and a rectangular convex graphic.
  • the square and square convex patterns are composed of a frame line and a face formed by the number of small dots in the frame.
  • the touch guide module sets a data storage, stores and sets a place for blind people or blind people to be a simple guide number, and the blind person can find through the touch guide module. Where to go, touch the guide module or voice broadcast to guide the blind. Allowing blind people to find their way home when they are out.
  • FIG. 3 a schematic diagram of the blinking of the induction lamp on the blind track 14 on the sidewalk 13 of the novel blinding system.
  • an induction lamp 10 is arranged on the blind road ground, and the guide light stick is provided with an induction light sensing device, and the position of the guide stick to the ground is taken as the origin, and the blind person advances.
  • the sensor light flashes, and as the blind moves forward, the light that exceeds the distance range is extinguished.
  • the induction lamp can set a time delay function.
  • FIG. 4 is a schematic view showing the blinking of the induction lamp on the blind track 14 on the zebra crossing 15 of the novel blind guiding system of the present invention.
  • An inductive lamp 10 is disposed on the blind track ground, and the guide wand is provided with an induction lamp sensing device, and the position 11 of the guide wand is used as an origin, within a certain distance range 12 of the blind person's forward direction and behind the blind person.
  • the sensor light flashes, and as the blind moves forward, the light that exceeds the distance range is extinguished.
  • the induction lamp is also mated with a road signal light 16.
  • a strip consisting of an inductive magnetic strip/or magnetic point is provided on the blind track, and the blind track has a conspicuous color distinguished from a general road or a sidewalk.
  • the road surface or the edge in the lateral width of the blind road is different from the sidewalk on the side, or Is a different color, or material
  • the quality is different, or the degree of roughness is different, and the lane is replaced by a zebra crossing.
  • blind road maps of coordinate positioning For the blind road maps of coordinate positioning, one is to evaluate the blind road conditions from the blind road drawings that already exist, but scattered on the municipal roads of various department units, or directly measure the blind roads of the existing roads.
  • the blind roads that do not exist in reality through the digital vector data conversion, form a coordinate blind road map of public places in different countries or indoors.
  • the real-time walking information obtained by the above data storage is digitally converted to form a blind road map with geographic coordinates.
  • FIG. 5 is a conceptual diagram of a virtual blind track and a guide blind positioning system.
  • the guide blind control system 17 utilizes a global positioning system 18 such as GPS or Beidou in the outdoor, and uses a wireless local area network 19 to locate in an occluded room.
  • the guide blind position 20 where the guide blind control system 18 is located is positioned, in particular, the virtual guide map is pre-stored in the cloud database 21, so that the continuous point formed by the virtual guide blind position 20 in the outdoor walkway 22 or the indoor 24 and the passage 23 becomes a line.
  • the virtual blind track 25 is formed, and the background of the guide blind control system 17 is the cloud database 21 for normal interaction of connection, storage and update.
  • the actual road conditions can be divided into two types: predictive and real-time perception. For this reason, the utilization of data or map can be divided into two situations.
  • One is predictive, the first map is stored, similar to the driving navigator, and the road condition and direction have been generated on the map. Waiting for the necessary information, but perhaps not showing small information like a small road, so you need to do a blind road map, the blind road map is suitable for blind people, it is a special map, it will be a large scale scale; the other is real-time road conditions, there is no map on the map. , or if there is no update information and there is a difference between the original map and the original map, it is accompanied by walking, and the road conditions appear at any time.
  • the data will be integrated and stored in the crossroads or sidewalks, flats or slopes or other obstacles that people may walk through.
  • the types of roads are divided into several types according to the regulatory standards. After storage, it is convenient to pass by itself in the future.
  • the control center is uploaded, and the new data after the formation is corrected by the summary correction.
  • the above-mentioned mutual connection uses the wireless connection.
  • the present invention has various embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation are within the scope of the present invention.

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Traffic Control Systems (AREA)
  • Rehabilitation Tools (AREA)
  • Road Signs Or Road Markings (AREA)

Abstract

一种新型导盲系统，包括盲道（14）、导盲控制器（4）、传感器、信号接收单元。该导盲控制器（7）设有控制模块、全球定位的导盲地图模块。该传感器能感应导盲道上的路面情况，并将感应到的信息发送给信号接收单元。该控制模块根据全球定位的导盲地图模块导航的信息和/或信号接收单元接收到的信息控制导盲控制器（7）向盲人想去的方向导引。该导盲系统使普通道路和人行道上不再设置凹凸不平的凹凸地面，去掉凹凸，有利于路面平整，方便非盲人和盲人行走，保证安全。该新型导盲系统在盲人所持的导盲杖上装传感器，在盲道上装传感器，方便盲人走路，导盲效果好。

Description

一种新型导盲系统 技术领域
本发明涉及一种导盲技术领域，尤其涉及一种新型导盲系统。
背景技术
随着社会的进步，道路交通越来越发达和复杂，但盲人的出行也面临着更多道路选择，需要导引。社会对盲人出行设置了一些导引设施，盲人出行一般靠盲道及其它手段导盲，如导盲犬和盲道等。现有技术中，道路和人行道普遍采用明显凹凸不平的路面做盲道，凹凸盲道虽有一定的导盲作用，但其导盲效果也限，点点滴滴的明显凸出虽对盲杖点击有效果，但对行走本身言，盲人和非盲人的行走均不方便，穿越盲道时会觉得更不方便，特别是拉箱子、推车等现象，而且在十字路口时普通的盲道会出现盲道的盲点，容易使盲人过路无所适从。
发明内容
本发明目的是：提供一种能解决现有问题的新型盲道和导盲杖，本发明克服了现有技术中的不足，方便盲人行走，导盲效果好，通过取消现在实行的凹凸式盲道，给盲人带来行走方便，也给非盲人带来方便。
本发明的技术方案是：
一种新型导盲系统，包括盲道、导盲控制器、传感器、信号接收单元，所述导盲控制器设有控制模块、全球定位的导盲地图模块，所述传感器能感应到盲道上的路面情况，并将感应到的信息发送给信号接收单元，所述控制模块根据全球定位的导盲地图模块导航的 信息和/或信号接收单元接收到的信息控制导盲控制器向盲人想去的方向导引。
优选的，所述导盲系统还包括导盲杖，所述导盲杖与所述导盲控制器可拆卸地连接，所述导盲控制器设置有触摸导盲模块，所述触摸导盲模块包括手动触摸屏，所述手动触摸屏表面有凹凸感，利用触觉反馈技术或机械方法使手指有高低的触摸感，根据触摸到的凹凸变化，判断行走的方向和障碍物变化以及控制模块的导引。除此，还可在导盲鞋里设置触觉反馈技术形成的凹凸感，用左右脚底部触摸不同的凹凸变化，判断行走的方向和障碍物变化。
优选的，所述导盲系统还设置有盲道，盲道上设置位置存储模块，导盲杖上设置有能感应位置存储模块位置信息的位置感应片，导盲杖上设有位置触摸按钮和语音播报模块，按下所述位置触摸按钮，所述语音播报模块能播报导盲杖的位置信息和方向信息。
优选的，所述触摸导盲模块还设置路径搜索模块，在路径搜索模块输入目的地能进行路径搜索，设定适合盲人行走的合理路线、计算大致时间；所述语音播报模块能根据触摸导盲模块的信息语音播报道路导盲信息，所述语音播报模块能告知哪里设有盲道，哪里没有设盲道。
优选的，所述导盲系统还包括导盲鞋，所述导盲杖上设置振动模块、蜂鸣器，所述控制模块包括导盲控制器，所述导盲鞋、导盲控制器和障碍物间形成大三角关系，用来测量障碍物的长度、宽度、高度；两只导盲鞋和障碍物间形成小三角关系，小三角用来测障碍物的高度和宽度，对于特殊、难判断的障碍物，所述长度、宽度、 高度反应到所述凹凸触摸屏上，长度、宽度、高度超出设置的尺寸时，所述蜂鸣器响和/或振动模块振动，方便盲人延时谨慎判断后再行走。
优选的，所述导盲杖上设有红绿灯感应装置，所述红绿灯感应装置能感应交通信号灯的控制器，盲人前行方向的人行信号灯亮绿灯时，所述感应装置语音提示“绿灯请前行”，盲人前行方向的人行信号灯亮红灯时，所述感应装置语音提示“红灯请停下”，盲人前行方向的人行信号灯亮黄灯时，所述感应装置语音提示“黄灯请等待”。
优选的，触摸导盲模块设置有与交通信号灯匹配的凸出图形显示，以三角形凸出图形定为红灯，长方形凸出图形为绿灯、正方形凸出图形为黄灯，三角形凸出图形、长方形凸出图形和正方形凸出图形由外框线和框内小点数组成的面构成。可触摸的小点数目会随着某一灯色变化开始到变成另一种灯色的一段时间内，相应地利用框内小点数的变少过程，表示变换灯色的时间趋近现象，通过触摸与实际感受接近，凸出的外框线图形不变。
优选的，所述触摸导盲模块设置数据存储器，把盲人家或盲人常去的地点存储并设置为简单的导盲编号，盲人能通过触摸导盲模块查找要去的地方，触摸导盲模块或语音播报指引盲人行走。
优选的，在盲道地面上设置有感应灯，所述导盲杖上设有感应灯感应装置，以导盲杖着地的位置为原点，在盲人前进方向和盲人身后的一定距离范围内，所述感应灯闪烁，随着盲人前行，后面超过距离范围的灯熄灭。
优选的，所述盲道上设置有感应磁条/或磁点组成的条，所述盲 道有与一般道路或人行道区分的醒目色彩。
所述触摸导盲模块设置数据存储器，把盲人家或盲人常去的地点存储并设置为简单的导盲序号，盲人能通过触摸导盲模块查找要去的地方，触摸导盲模块语音播报指引盲人行走。有关坐标定位的盲道地图，一是从已经存在，但分散于各部门单位的市政道路的盲道图纸正和，或直接测量现有道路的实体盲道，对盲道情况进行评估，废除图上虽然标注，但实际不存在的盲道，通过数字化的矢量数据转换，形成全国或不同地区或室内公共场所的坐标盲道地图。二是由上述数据存储器得到的实时行走信息进行数字地图转换，形成有地理坐标的盲道地图。
本发明的优点：
1、本发明所述的新型导盲系统，普通道路和人行道上不再需要设置凹凸不平的凹凸地面，去掉凹凸，有利于路面平整，方便非盲人和盲人行走，保证安全。
2、本发明所述的新型导盲系统在盲人所持的导盲杖上装传感器，在盲道上装传感器，方便盲人走路，导盲效果好。
3、所述导盲杖上设有红绿灯感应装置，有利于盲人在过马路时按照交通信号灯的指示正确过马路。
4、所述导盲杖安装触摸导盲模块，能有效帮助盲人去自己想去的地方。
5、所述触摸导盲模块包括语音播报模块，用来播报道路导盲信息，方便盲人及时直接了解道路的导盲信息。
6、所述触摸导盲模块设置数据存储器，把盲人家或常去的地点 存储并设置为简单的导盲编号，使得盲人出门在外时可以顺利找到回家的路。
7、所述触摸导盲模块的手动触摸屏上显示信息有突出感觉。方便盲人识别和操作。
附图说明
下面结合附图及实施例对本发明作进一步描述：
图1为本发明所述新型导盲系统的触摸导盲模块的示意图。
图2为本发明所述新型导盲系统的导盲鞋、导盲控制器和障碍物间的位置关系示意图。
图3为本发明所述新型导盲系统的人行道上的盲道上感应灯闪烁的示意图。
图4为本发明所述新型导盲系统的斑马线上的盲道上感应灯闪烁的示意图。
如图5为本发明所述新型导盲系统的虚拟盲道和导盲定位系统概念图。
具体实施方式
下面结合附图及优选实施方式对本发明技术方案进行详细说明。
一种新型导盲系统，其特征在于：包括盲道、导盲控制器、传感器、信号接收单元，所述导盲控制器设有控制模块、全球定位的导盲地图模块，所述传感器能感应到盲道上的路面情况，并将感应到的信息发送给信号接收单元，所述控制模块根据全球定位的导盲地图模块导航的信息和/或信号接收单元接收到的信息控制导盲控 制器向盲人想去的方向导引。所述新型导盲系统，还设置导盲杖，所述盲道设有彩色喷涂、感应磁条/或磁点组成的条，所述导盲杖设有控制模块、传感器、信号接收单元、语音提示单元，所述传感器能感应到盲道上设置的感应磁条/或磁点组成的条和路面情况，并通过信号发射单元将感应到的信息发送给信号接收单元，所述控制模块根据信号接收单元接收到的信息控制导盲杖向盲人想去的方向导引。本发明所述的新型导盲系统在盲人所持的导盲杖上装传感器，在盲道上装传感器，方便盲人走路，导盲效果好。
所述导盲杖可拆卸地安装触摸导盲模块，所述触摸导盲模块包括手动触摸屏，所述手动触摸屏表面有凹凸感，利用触觉反馈技术使手指有高低的触摸感，根据触摸到的凹凸变化，判断行走的方向和障碍物变化以及控制模块的导引。盲道上设置位置存储模块，导盲杖上设置有能感应位置存储模块位置信息的位置感应片，导盲杖上设有位置触摸按钮和语音播报模块，按下所述位置触摸按钮，所述语音播报模块能播报导盲杖的位置信息和方向信息。所述触摸导盲模块的手动触摸屏上显示信息有突出感觉，方便盲人识别和操作。盲道上设置位置存储模块，导盲杖上设置有能感应位置存储模块位置信息的位置感应片，导盲杖上设有位置触摸按钮和语音播报模块，按下所述位置触摸按钮，所述语音播报模块能播报导盲杖的位置信息和方向信息。语音播报模块用来播报道路导盲信息，方便盲人及时直接了解道路导盲的信息。如图1所示为本发明所述新型导盲系统的触摸导盲模块的示意图，在手动触摸屏5上原先储存轨迹1与实际行走轨迹2手感不同，所述位置触摸按钮3和导盲控制器4的 手感也不同，方便盲人操作，这能有效帮助盲人去自己想去的地方。从而盲人可以知道自己所在的位置信息和方向信息。位置坐标利用现成的空间定位系统，室外利用GPS或北斗等全球定位系统，室外全球定位系统，有遮挡的室内则利用无线局域网定位，但室外利用全球定位系统时，与平时一般手机利用的高度不同，需将位置定位在脚行走的通行地面上，这个高度位置可根据系统调节。室内公共场所主要有体育馆、机场和火车站、医院等，这些地方均需设置公共的人行通道。
优选的，所述触摸导盲模块还设置路径搜索模块，在路径搜索模块输入目的地能进行路径搜索，设定适合盲人行走的合理路线、计算大致时间；所述语音播报模块能根据触摸导盲模块的信息语音播报道路的导盲信息，所述语音播报模块能告知哪里设有盲道，哪里没有设盲道。导引盲人顺利找到盲道，安全行走。除此，所述语音播报模块还能预报盲道特点，即盲道的相互交叉和拐弯的位置，以及盲道相互交叉和拐弯的数量、大小和相隔距离，以及到达所需的时间预估，供盲人选用。
障碍物是导致跌摔跤的主要原因，障碍物尺度由长A、宽B和高H构成，其中高度是造成跌摔的最重要原因，因此对它的测试很重要。所述导盲系统还包括导盲鞋6，所述导盲杖上设置振动模块、蜂鸣器，所述控制模块包括导盲控制器7，所述导盲鞋6、导盲控制器7和障碍物8间形成大三角关系，结合测距传感器9来测量障碍物的长度；两只导盲鞋和障碍物间形成小三角关系，小三角用来测障碍物的高度和宽度，所述长度、宽度、高度反应到所述凹凸的手动触摸屏5 上，长度、宽度、高度超出设置的尺寸时，所述蜂鸣器响和/或振动模块振动，方便盲人延时谨慎判断后再行走。导盲控制器起到终端作用，根据需要或是平板的或是其它形状，为的是方便操作和手握或提挂，方便一只手操作，有运算、存储和定位等功能，还有振动和发声的功能。可单独使用或作为导盲杖的延伸，与导盲杖结合在一起。控制器的总体数据汇总与云数据连接交互。通过导盲鞋6、导盲控制器7和障碍物8间的大小三角关系作为二道防线评估障碍物尺度，特别是通过小三角的关系测量，而后的大三角关系验证，能够提升安全级别。
通过障碍物的距离和障碍物本身的尺度测试和三角关系计算，获取障碍物与鞋间的距离和障碍物的高度、宽度和长度，障碍物不止一个，多数的场合，障碍物的测试和计算按复数状态，复数时的障碍物是脚步前进方向垂直断面和水平范围的障碍物多少，通过与脚步的关系计算，汇总控制系统评估，判断是绕过去还是跨过去，对于低矮的有可能跨过去。行进的障碍类别判断按，一是通过设计引起的正常变化，如高度和行进的方向变化:坡道、台阶、楼梯和方向上的行进弯道变化；二是非设计的地面变化，行走需要克服这些障碍，障碍由高低不平、材质和地面摩擦力变化形成的易滑，还有水和其它现象，采取的措施:一是在有判断的前提下，绕过去(高度或方向)，二是放慢速度或停下，停下是为了进一步的确认。
导盲控制器方便导路，对前进作引导，根据制作定位的盲道地图信息在控制器上转换为行走可识别的导盲路径，触摸导盲模块表面可触摸，利用触觉反馈技术使手指有高低的触摸感，判断行走的方向和 障碍物变化，同样目的还可使导盲控制器做成机械带动的凹凸式，可使路径明显，行进路上的障碍物高低反映在控制器上。其它的路况信息也通过不同的按钮设计便于盲人学习操作。另外，对于没有盲道地图信息的则使用鞋或控制器测距，经运算得到实时信息并作安全判断后，作出向前行走的判断。依据导盲鞋、导盲控制器的测距，以及与障碍物间的关系运算，以使用人的站立为计算点时，可以计算出身体前行一段距离的障碍物情况，并评估安全情况，随着测距和计算技术的提高，身体可以前行的距离会增大。实时测距得到的信息与储存的导盲地图信息有出入时，以实时信息为预先，并将此信息反馈给控制中心，以便修改数据，以方便以后的盲人。导盲鞋中设有传感器，实时监测路面情况和人体行走速度等信息传给控制中心，微型测距传感器测试障碍物的高度、宽度等有关数据。
所述导盲杖上设有红绿灯感应装置，所述红绿灯感应装置能感应交通信号灯的控制器，盲人前行方向的人行信号灯亮绿灯时，所述感应装置语音提示“绿灯请前行”，盲人前行方向的人行信号灯亮红灯时，所述感应装置语音提示“红灯请停下”，盲人前行方向的人行信号灯亮黄灯时，所述感应装置语音提示黄灯请等待。触摸导盲模块设置有与交通信号灯匹配的凸出图形显示，以三角形凸出图形定为红灯，长方形凸出图形为绿灯、正方形凸出图形为黄灯，三角形凸出图形、长方形凸出图形和正方形凸出图形由外框线和框内小点数形成的面构成。
所述触摸导盲模块设置数据存储器，把盲人家或盲人常去的地点存储并设置为简单的导盲编号，盲人能通过触摸导盲模块查找要 去的地方，触摸导盲模块或语音播报指引盲人行走。使得盲人出门在外时可以顺利找到回家的路。
如图3所示，为所述新型导盲系统的人行道13上的盲道14上感应灯闪烁的示意图。为了对其他正常行人作提示盲道上有盲人行走，在盲道地面上设置有感应灯10，所述导盲杖上设有感应灯感应装置，以导盲杖着地的位置11为原点，在盲人前进方向和盲人身后的一定距离范围12内，所述感应灯闪烁，随着盲人前行，后面超过距离范围的灯熄灭。所述感应灯能设定延时熄灭功能。
如图4为本发明所述新型导盲系统的斑马线15上的盲道14上感应灯闪烁的示意图。在盲道地面上设置有感应灯10，所述导盲杖上设有感应灯感应装置，以导盲杖着地的位置11为原点，在盲人前进方向和盲人身后的一定距离范围12内，所述感应灯闪烁，随着盲人前行，后面超过距离范围的灯熄灭。所述感应灯还和道路信号灯16配合。盲道上设置有感应磁条/或磁点组成的条，所述盲道有与一般道路或人行道区分的醒目色彩。
将行走分成直行和交会(人和车)的两种类型，直行没有交叉，只是一条路或线的方向变化引起的拐弯，不会与人或物交叉，这里指人行道；交会(人和车)是两条路或线的交叉，有人行道的交叉或行车道上的斑马线。为减少盲人的行走会与其他人或物的交叉机会，地面保留原来的盲道作为专用通道，方法上进行根本改变。盲道宽度考虑方便残障人士通过，为使地面容易行走，地面为平坦，取消以前盲道上凹凸的突起物，但为提醒其他行人注意，盲道横向宽度内的路面或边沿不同于边上的人行道，或是色彩相异，或是材 质相异，或是粗糙程度不同，行车道上由斑马线代替。
有关坐标定位的盲道地图，一是从已经存在，但分散于各部门单位的市政道路的盲道图纸正和，或直接测量现有道路的实体盲道，对盲道情况进行评估，废除图上虽然标注，但实际不存在的盲道，通过数字化的矢量数据转换，形成全国或不同地区或室内公共场所的坐标盲道地图。二是由上述数据存储器得到的实时行走信息进行数字地图转换，形成有地理坐标的盲道地图。
如图5是虚拟盲道和导盲定位系统概念图，导盲控制系统17在室外利用GPS或北斗等全球定位系统18，而在有遮挡的室内则利用无线局域网19定位，通过定位系统，随时对导盲控制系统18所在的导盲位置20定位，特别是云数据库21中预存有虚拟导盲地图，使得室外人行道22或室内24和通道23中由虚拟导盲位置20组成的连续点成为线，形成虚拟盲道25，而导盲控制系统17的后台是云数据库21，进行连接、存储和更新的正常交互。
实际的路况可分成预知和实时感知的两类型，为此数据或地图的利用情况也可分成两种情况，一是预知的，先有图存储，类似行车导航仪，图上已经生成路况、方向等行走必需的信息，但也许没有标示类似小路那样的细小信息，这样需要做盲道地图，盲道地图适合盲人使用，是专用地图，将是大比例尺度的；另一是实时路况，地图上原本没有，或没有更新信息而与原地图有出入外，则是伴随着行走，随时出现的路况变化。根据以上情况，主要将人可能行走通过的交叉路或人行道、平地或有坡或有其他障碍等内容进行数据整合并录入储存，路的类型依据法规标准分成几种通过类型，一是 存储后便于以后自身通过，二是上传控制中心，通过汇总修正形成以后的新数据，以上相互间的联系使用无线连接。
本发明尚有多种实施方式，凡采用等同变换或者等效变换而形成的所有技术方案，均落在本发明的保护范围之内。

Claims (10)

  1. 一种新型导盲系统，其特征在于：包括盲道、导盲控制器、传感器、信号接收单元，所述导盲控制器设有控制模块、全球定位的导盲地图模块，所述传感器能感应到盲道上的路面情况，并将感应到的信息发送给信号接收单元，所述控制模块根据全球定位的导盲地图模块导航的信息和/或信号接收单元接收到的信息控制导盲控制器向盲人想去的方向导引。
  2. 根据权利要求1所述的新型导盲系统，其特征在于：所述导盲系统还包括导盲杖，所述导盲杖与所述导盲控制器可拆卸地连接，所述导盲控制器设置有触摸导盲模块，所述触摸导盲模块包括手动触摸屏，所述手动触摸屏表面有凹凸感，利用触觉反馈技术或机械方法使手指有高低的触摸感，根据触摸到的凹凸变化，判断行走的方向和障碍物变化以及控制模块的导引。
  3. 根据权利要求2所述的新型导盲系统，其特征在于：所述导盲系统还设置有盲道，盲道上设置位置存储模块，导盲杖上设置有能感应位置存储模块位置信息的位置感应片，导盲杖上设有位置触摸按钮和语音播报模块，按下所述位置触摸按钮，所述语音播报模块能播报导盲杖的位置信息和方向信息。
  4. 根据权利要求3所述的新型导盲系统，其特征在于：所述触摸导盲模块还设置路径搜索模块，在路径搜索模块输入目的地能进行路径搜索，设定适合盲人行走的合理路线、计算大致时间；所述语音播报模块能根据触摸导盲模块的信息语音播报道路导盲信息，所述语音播报模块能告知哪里设有盲道，哪里没有设盲道。
  5. 根据权利要求3所述的新型导盲系统，其特征在于：所述导盲系统还包括导盲鞋，所述导盲杖上设置振动模块、蜂鸣器，所述控制模块包括导盲控制器，所述导盲鞋、导盲控制器和障碍物间形成大三角关系，用来测量障碍物的长度、宽度、高度；两只导盲鞋和障碍物间形成小三角关系，小三角用来测障碍物的高度和宽度，对于特殊，难判断的障碍物，所述长度、宽度、高度反应到所述凹凸触摸屏上，长度、宽度、高度超出设置的尺寸时，所述蜂鸣器响和/或振动模块振动。
  6. 根据权利要求3所述的新型导盲系统，其特征在于：所述导盲杖上设有红绿灯感应装置，所述红绿灯感应装置能感应交通信号灯的控制器，盲人前行方向的人行信号灯亮绿灯时，所述感应装置语音提示“绿灯请前行”，盲人前行方向的人行信号灯亮红灯时，所述感应装置语音提示“红灯请停下”，盲人前行方向的人行信号灯亮黄灯时，所述感应装置语音提示“黄灯请等待”。
  7. 根据权利要求6所述的新型导盲系统，其特征在于：触摸导盲模块设置有与交通信号灯匹配的凸出图形显示，以三角形凸出图形定为红灯，长方形凸出图形为绿灯、正方形凸出图形为黄灯，三角形凸出图形、长方形凸出图形和正方形凸出图形由外框线和框内小点数组合的面构成。
  8. 根据权利要求3所述的新型导盲系统，其特征在于：所述触摸导盲模块设置数据存储器，把盲人家或盲人常去的地点存储并设置为简单的导盲编号，盲人能通过触摸导盲模块查找要去的地方，触摸导盲模块或语音播报指引盲人行走。
  9. 根据权利要求3所述的新型导盲系统，其特征在于：在盲道地面上设置有感应灯，所述导盲杖上设有感应灯感应装置，以导盲杖着地的位置为原点，在盲人前进方向和盲人身后的一定距离范围内，所述感应灯闪烁，随着盲人前行，后面超过距离范围的灯熄灭。
  10. 根据权利要求3所述的新型导盲系统，其特征在于：所述盲道上设置有感应磁条/或磁点组成的条，所述盲道有与一般道路或人行道区分的醒目色彩。
PCT/CN2017/088049 2016-08-12 2017-06-13 一种新型导盲系统 Ceased WO2018028296A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610662017.2 2016-08-12
CN201610662017.2A CN106074103A (zh) 2016-08-12 2016-08-12 一种新型导盲系统

Publications (1)

Publication Number Publication Date
WO2018028296A1 true WO2018028296A1 (zh) 2018-02-15

Family

ID=57456915

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/088049 Ceased WO2018028296A1 (zh) 2016-08-12 2017-06-13 一种新型导盲系统

Country Status (2)

Country Link
CN (1) CN106074103A (zh)
WO (1) WO2018028296A1 (zh)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109394483A (zh) * 2018-11-05 2019-03-01 广东科学技术职业学院 盲人智能拐杖及其控制方法
CN109645633A (zh) * 2019-01-21 2019-04-19 珠海格力电器股份有限公司 一种手杖、导航方法、装置
CN110044366A (zh) * 2019-05-20 2019-07-23 中兴健康科技有限公司 一种复合导盲系统
CN110584962A (zh) * 2019-08-28 2019-12-20 西安工业大学 一种组合探障智能导盲系统
CN110693148A (zh) * 2019-09-06 2020-01-17 东莞理工学院 一种新型智能拐杖
CN111388291A (zh) * 2020-04-20 2020-07-10 吉林大学 一种与交通灯无线通信的智能盲杖
CN111814747A (zh) * 2020-08-11 2020-10-23 合肥工业大学 基于图像认知的智能导盲方法和系统
CN112767677A (zh) * 2020-11-05 2021-05-07 上海城市交通设计院有限公司 一种智慧复合无障碍通道
CN113255028A (zh) * 2021-04-15 2021-08-13 东南大学 一种过街盲道有效性测度方法
CN113520812A (zh) * 2021-08-26 2021-10-22 山东大学 一种四足机器人导盲系统及方法
CN113639739A (zh) * 2021-07-21 2021-11-12 重庆蓝岸通讯技术有限公司 一种盲道识别导航系统及方法
WO2022146309A1 (en) * 2020-12-29 2022-07-07 Kastamonu Üni̇versi̇tesi̇ Rektörlüğü An embedded system design to distinguish hearing impaired people in traffic
CN115998592A (zh) * 2023-03-30 2023-04-25 深圳市微克科技有限公司 一种基于智能手表辅助盲人的数据处理方法及系统
CN116392369A (zh) * 2023-06-08 2023-07-07 中国电建集团昆明勘测设计研究院有限公司 一种基于盲道的识别感应方法、装置、设备及存储介质

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106074103A (zh) * 2016-08-12 2016-11-09 苏州大学 一种新型导盲系统
CN108938344A (zh) * 2017-05-29 2018-12-07 宁波市镇海怡福莱文化创意有限公司 盲拐与色标组合方法
CN108951446A (zh) * 2017-05-29 2018-12-07 宁波市镇海西门专利技术开发有限公司 一种盲人引路装置及方法
CN108277718B (zh) * 2018-01-24 2019-10-29 北京铂阳顶荣光伏科技有限公司 一种太阳能盲道提醒系统及盲道
CN108629966A (zh) 2018-05-08 2018-10-09 京东方科技集团股份有限公司 交叉路口导盲系统、导盲方法和导盲终端
CN109662872B (zh) * 2019-01-14 2022-02-08 内蒙古工业大学 基于视听互动景观设计的感知导盲系统以及感知导盲方法
CN110664594A (zh) * 2019-09-06 2020-01-10 江苏中云科技有限公司 一种基于盲道的智能导盲系统
CN110478206B (zh) * 2019-09-10 2022-02-15 李少阳 一种智能导盲系统及设备
CN111005290A (zh) * 2019-11-15 2020-04-14 李嘉葆 一种智能盲道
CN112641609A (zh) * 2021-01-14 2021-04-13 新疆大学 社会空间盲人智能出行辅助系统及方法
CN113908023B (zh) * 2021-09-30 2022-07-08 北京理工大学 一种导盲车和人车协同的导盲车控制方法

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080251110A1 (en) * 2007-04-12 2008-10-16 Giuseppe Pede Walking Aid for a Visually Disabled Person
CN201235026Y (zh) * 2008-06-05 2009-05-13 昆明理工大学 磁性盲人导向装置
CN102068369A (zh) * 2010-12-30 2011-05-25 北京理工大学珠海学院 物联网环境下的盲人导航系统
CN104127302A (zh) * 2014-07-31 2014-11-05 青岛歌尔声学科技有限公司 一种视障人士行路安全导航方法
CN104631282A (zh) * 2015-01-12 2015-05-20 华东师范大学 一种基于电子盲杖和非凹凸盲道的导盲系统
CN104882090A (zh) * 2015-05-26 2015-09-02 浙江大学 一种盲人触觉图像实现的装置及方法
CN105232296A (zh) * 2015-10-28 2016-01-13 沙洲职业工学院 一种智能导盲杖及导盲系统
CN105662797A (zh) * 2016-03-16 2016-06-15 宁波市江东精诚自动化设备有限公司 一种智能物联网导盲杖
CN106074103A (zh) * 2016-08-12 2016-11-09 苏州大学 一种新型导盲系统
CN206183611U (zh) * 2016-08-12 2017-05-24 苏州大学 一种新型导盲系统

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1181456C (zh) * 2001-07-24 2004-12-22 王森林 电子导引盲道及智能盲人路标系统
DE102005009110A1 (de) * 2005-01-13 2006-07-27 Siemens Ag Vorrichtung zur Vermittlung von Umgebungsinformationen an einen sehbehinderten Menschen
JP2007033713A (ja) * 2005-07-25 2007-02-08 Sony Corp 信号処理装置および方法、プログラム、並びに記録媒体
CN1789558A (zh) * 2005-12-16 2006-06-21 常俊伟 传感式盲道及盲杖
CN201255927Y (zh) * 2008-08-16 2009-06-10 孙宁婧 盲人红绿灯感知系统
CN103126862B (zh) * 2013-02-04 2015-01-07 江苏科技大学 基于gps、gprs和rfid的室外导盲机器人及导航定位方法
CN203389058U (zh) * 2013-07-23 2014-01-15 金陵科技学院 多方向红外测距智能导盲杖
CN104346924A (zh) * 2014-10-17 2015-02-11 王海鹏 盲人智能道路交通引导系统
CN106074097B (zh) * 2015-01-13 2018-02-09 江苏怡龙医疗科技有限公司 一种智能手杖系统

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080251110A1 (en) * 2007-04-12 2008-10-16 Giuseppe Pede Walking Aid for a Visually Disabled Person
CN201235026Y (zh) * 2008-06-05 2009-05-13 昆明理工大学 磁性盲人导向装置
CN102068369A (zh) * 2010-12-30 2011-05-25 北京理工大学珠海学院 物联网环境下的盲人导航系统
CN104127302A (zh) * 2014-07-31 2014-11-05 青岛歌尔声学科技有限公司 一种视障人士行路安全导航方法
CN104631282A (zh) * 2015-01-12 2015-05-20 华东师范大学 一种基于电子盲杖和非凹凸盲道的导盲系统
CN104882090A (zh) * 2015-05-26 2015-09-02 浙江大学 一种盲人触觉图像实现的装置及方法
CN105232296A (zh) * 2015-10-28 2016-01-13 沙洲职业工学院 一种智能导盲杖及导盲系统
CN105662797A (zh) * 2016-03-16 2016-06-15 宁波市江东精诚自动化设备有限公司 一种智能物联网导盲杖
CN106074103A (zh) * 2016-08-12 2016-11-09 苏州大学 一种新型导盲系统
CN206183611U (zh) * 2016-08-12 2017-05-24 苏州大学 一种新型导盲系统

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109394483A (zh) * 2018-11-05 2019-03-01 广东科学技术职业学院 盲人智能拐杖及其控制方法
CN109645633A (zh) * 2019-01-21 2019-04-19 珠海格力电器股份有限公司 一种手杖、导航方法、装置
CN109645633B (zh) * 2019-01-21 2024-02-09 珠海格力电器股份有限公司 一种手杖、导航方法、装置
CN110044366A (zh) * 2019-05-20 2019-07-23 中兴健康科技有限公司 一种复合导盲系统
CN110584962A (zh) * 2019-08-28 2019-12-20 西安工业大学 一种组合探障智能导盲系统
CN110693148A (zh) * 2019-09-06 2020-01-17 东莞理工学院 一种新型智能拐杖
CN111388291A (zh) * 2020-04-20 2020-07-10 吉林大学 一种与交通灯无线通信的智能盲杖
CN111814747A (zh) * 2020-08-11 2020-10-23 合肥工业大学 基于图像认知的智能导盲方法和系统
CN112767677A (zh) * 2020-11-05 2021-05-07 上海城市交通设计院有限公司 一种智慧复合无障碍通道
WO2022146309A1 (en) * 2020-12-29 2022-07-07 Kastamonu Üni̇versi̇tesi̇ Rektörlüğü An embedded system design to distinguish hearing impaired people in traffic
CN113255028A (zh) * 2021-04-15 2021-08-13 东南大学 一种过街盲道有效性测度方法
CN113639739A (zh) * 2021-07-21 2021-11-12 重庆蓝岸通讯技术有限公司 一种盲道识别导航系统及方法
CN113520812A (zh) * 2021-08-26 2021-10-22 山东大学 一种四足机器人导盲系统及方法
CN115998592A (zh) * 2023-03-30 2023-04-25 深圳市微克科技有限公司 一种基于智能手表辅助盲人的数据处理方法及系统
CN115998592B (zh) * 2023-03-30 2023-05-23 深圳市微克科技有限公司 一种基于智能手表辅助盲人的数据处理方法及系统
CN116392369A (zh) * 2023-06-08 2023-07-07 中国电建集团昆明勘测设计研究院有限公司 一种基于盲道的识别感应方法、装置、设备及存储介质
CN116392369B (zh) * 2023-06-08 2023-09-08 中国电建集团昆明勘测设计研究院有限公司 一种基于盲道的识别感应方法、装置、设备及存储介质

Also Published As

Publication number Publication date
CN106074103A (zh) 2016-11-09

Similar Documents

Publication Publication Date Title
WO2018028296A1 (zh) 一种新型导盲系统
CN103126862B (zh) 基于gps、gprs和rfid的室外导盲机器人及导航定位方法
US4620816A (en) Bipedal guidance system and method
CN105496740B (zh) 一种智能导盲装置及安装有该装置的导盲杖
JP5269755B2 (ja) 人横断支援車両システム及び人横断支援方法
CN104631282A (zh) 一种基于电子盲杖和非凹凸盲道的导盲系统
CN107753250B (zh) 电子盲道及与盲道配合使用的盲人探测手杖
KR101796276B1 (ko) 시각장애인을 위한 보행 안내 장치 및 시스템
CN206183611U (zh) 一种新型导盲系统
KR20130086861A (ko) 전자식지팡이와 스마트폰을 이용한 시각장애인용 안내장치
US20080107481A1 (en) Tactile directional tiles for pedestrians
JPWO2017038883A1 (ja) 自律移動体及び信号制御システム
KR20210154833A (ko) 교통 참가자를 안내하기 위한 컴퓨터 구현 방법
JP5530000B2 (ja) 人横断支援通知システム及び人横断支援方法
KR101587010B1 (ko) 사물인터넷 기반의 발광 보도블록 제어장치 및 그 제어방법
Wang et al. Analysis of spatial landmarks for seamless urban navigation of visually impaired people
CN112384183A (zh) 一种智能盲道系统、基于智能盲道系统的盲人行走辅助装置及方法
CN110897840B (zh) 一种用于盲人出行的智能导航方法和装置
Hersh et al. Mobility: an overview
CN119454419B (zh) 一种盲杖及其安全路径导航方法、电子设备及存储介质
Scott et al. Walking between the lines: Nonvisual cues for maintaining headings during street crossings
Wang et al. Understanding and using spatial landmarks of visually impaired people for navigation applications
CN213076454U (zh) 电子盲道及与盲道配合使用的盲人探测手杖
KR20210121691A (ko) 보행자 모바일 안전 사용제한 스마트 가로등
CN206700372U (zh) 一种导盲装置以及导盲车

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17838428

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17838428

Country of ref document: EP

Kind code of ref document: A1