WO2018058947A1 - 手持导盲设备 - Google Patents

手持导盲设备 Download PDF

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Publication number
WO2018058947A1
WO2018058947A1 PCT/CN2017/081530 CN2017081530W WO2018058947A1 WO 2018058947 A1 WO2018058947 A1 WO 2018058947A1 CN 2017081530 W CN2017081530 W CN 2017081530W WO 2018058947 A1 WO2018058947 A1 WO 2018058947A1
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WO
WIPO (PCT)
Prior art keywords
laser radar
navigation
information
structured light
module
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PCT/CN2017/081530
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English (en)
French (fr)
Inventor
胡小波
张芳芳
张无忌
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深圳市镭神智能系统有限公司
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Publication of WO2018058947A1 publication Critical patent/WO2018058947A1/zh

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    • 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
    • A61H3/068—Sticks 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
    • A61H3/061—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

Definitions

  • the present disclosure is in the field of security devices, for example, relating to a handheld guide blind device.
  • China has about 10 million blind people, accounting for 18% of the world's total blind population, and there is a continuing trend of increasing in the future.
  • the number of blind people in China is estimated to reach 50 million.
  • the blind people need the society to give them more care and care so that they can live a better life independently. How to walk safely is the biggest problem facing the blind.
  • the hand-held guide blind device is usually composed of an automatic sensor, a cane body, a control circuit, a cane handle and a rubber body.
  • the automatic sensor captures a pothole or an obstacle on the road surface, and can be worn when a danger is found.
  • the vibration ring vibration on the user's hand reminds the user that there is danger in the direction ahead.
  • the handheld guide device is equipped with a voice device that "tells" the user through the voice device to select the appropriate path when a dangerous situation is detected.
  • the hand-held guide blind device is complicated to assemble, and when the sensor is used as the detecting means, the data precision is not high, the detection range and the detection range are limited, and the reliability is not high.
  • the embodiment provides a hand-held guide blind device with simple assembly, high data precision, long detection distance, large detection range and high reliability.
  • a hand-held blinding device comprising:
  • a laser radar system for detecting road conditions on the body of the walking stick
  • a controller communicatively coupled to the lidar system, processing location information of the detected object detected by the lidar system, and forming a navigation signal
  • a navigation device that outputs prompt information according to the navigation command of the controller.
  • the hand-held guide blind device provided by the embodiment provides a probe for the surrounding road conditions through a laser radar system. Measure, and process the detected distance information of the measured object through the controller, generate and send navigation information to the navigation device, to play the output navigation information to the user through the navigation device, and the data acquired by the handheld guide device has high precision.
  • the utility model has high practicability and high reliability, and the user can avoid obstacles according to the navigation information, thereby ensuring the safety of the user during the traveling process.
  • FIG. 1 is a structural diagram of a handheld guide blind device according to an embodiment
  • FIG. 2 is a block diagram of a handheld guide blind device according to an embodiment
  • FIG. 3 is a schematic diagram of the operation of the handheld guide blind device according to an embodiment
  • FIG. 4 is a block diagram of a laser radar system provided by an embodiment
  • FIG. 5 is a structural diagram of a TOF laser radar provided by an embodiment
  • FIG. 6 is a structural diagram of a structured light laser radar provided by an embodiment
  • FIG. 7 is a block diagram of a second laser radar of a laser radar system according to an embodiment
  • FIG. 8 is a functional block diagram of a controller according to an embodiment
  • FIG. 9 is a structural view of a cane body of a hand-held blind guiding device according to an embodiment
  • FIG. 10 is a block diagram of a handheld guide device with positioning and emergency alarm functions provided by an embodiment.
  • the directions described in this embodiment are all based on the state when the hand-held guide blind device is in normal use as a reference.
  • the handheld blind guiding device provided by the embodiment is connected to each other through a laser radar system, a controller and a navigation device, and detects a surrounding road condition by a laser radar system, and the detected distance information of the measured object is
  • the controller performs processing to generate and send navigation information to the navigation device to play output navigation information to the user through the navigation device, and the data acquired by the handheld guide device has high precision.
  • the utility model has high practicability and high reliability, and the user can avoid obstacles according to the navigation information, thereby ensuring the safety of the user during the traveling process.
  • a hand-held guide blind device 10 includes: a cane body 100; a lidar system 200 disposed on the cane body 100 for detecting road conditions; and a laser radar system 200 a communication connection, processing the distance information of the measured object detected by the laser radar system 200, and forming a navigation signal controller 300; and communicating with the controller 300, and outputting the navigation of the prompt information according to the navigation command of the controller 300 Device 400.
  • the cane body 100 can be a cane, and can include a stick handle and a stick.
  • the laser radar system 200 can be disposed on the cane body 100. When the user holds the cane body 100 forward, the environment in front of and around the user can be detected by the laser radar system 200.
  • the prompt information may be one or a combination of voice prompt information, vibration prompt information, and haptic feedback prompt information.
  • the laser radar system 200, the controller 300, and the navigation device 400 are connected to each other, and the surrounding road conditions are detected by the laser radar system 200, and the detected distance information of the measured object is controlled by the controller.
  • the processing 300 generates and sends navigation information to the navigation device 400 to play the navigation information to the user through the navigation device 400.
  • the data obtained by the handheld guide device has high precision, high practicability and high reliability, and the user can according to the navigation. Information avoids obstacles and ensures the safety of users during the journey.
  • the laser radar system 200 and the cane body 100 can be connected in a detachable manner, and the connection manner can be plugging, snapping, pasting or magnetically attracting, and the detachable connection mode facilitates maintenance and replacement of the laser radar. .
  • the communication connection between the laser radar system 200, the controller 300, and the navigation device 400 may be a wireless connection mode or a wired connection mode, wherein the wireless connection mode may be Bluetooth or wireless fidelity (Wireless).
  • the wireless connection mode may be Bluetooth or wireless fidelity (Wireless).
  • the wireless connection mode can be flexibly configured according to the actual needs of the user or the actual application scenario.
  • the environment of the user's surroundings can be detected by the laser radar system 200, and the environment of the user such as an obstacle or a road surface is detected by the lidar system 200.
  • the environmental condition information is transmitted to the controller 300 and subjected to data processing.
  • Data processing can include: information on the relative distance between the user and the obstacle, between the user and the obstacle Relative position information, relative speed information between the user and the obstacle, and analysis processing of the obstacle position information.
  • the controller 300 can convert the result of the system analysis decision into a navigation signal and transmit the navigation signal to the navigation device 400 for play output by wireless or wired.
  • the user receives the prompt information and makes autonomous judgment and takes corresponding actions to avoid accidents during the travel.
  • Hand-held guide blind equipment is simple to assemble, easy to operate, and highly reliable, ensuring the safety of the user during travel.
  • the laser radar system 200 may include a first laser radar 210 that can perform 360-degree scanning detection in a horizontal direction, and a road condition in which the forward direction can be performed by structured light.
  • the detected second laser radar 220 The first laser radar 210 can measure the distance information of the measured object by the time difference between the laser emission and the return, and the beam plane of the structured light is at an angle with the scanning plane of the first laser radar 210.
  • the first laser radar 210 detects the distance information of the measured object, and the cane body 100 is in a normal use state as a reference.
  • the normal use state may be that the cane body 100 is in an upright state.
  • the beam plane of the structured light may be a linear laser that is emitted by a laser and is concentrated by a cylindrical mirror disposed in the second laser radar 220.
  • the first laser radar 210 may be a TOF laser radar based on the Time of Flight (TOF) principle, installed above the second laser radar 220, and calculated by modulation.
  • the time difference between the laser emission and the return is obtained by the optical path and the distance information of the measured object is obtained.
  • the 360-degree omnidirectional scanning detection of the surrounding environment of the user can be performed, and the relative distance information between the measured object and the user in the two-dimensional plane of the preset range is obtained.
  • the orientation information of the measured object, the measurement frequency is high, the data update rate is fast, and the scanning detection can be performed by single line or multi-line method, the assembly is simple, the use is convenient, the utility is high and the real-time property is strong.
  • the first laser radar 210 may be a laser radar based on the principle of triangulation.
  • the size of the preset range may be adjusted according to the needs of the user or the application scenario, for example, 6m, 10m, 30m, 50m, 100m, 200m, etc. from the user.
  • the second laser radar 220 can be a structured light laser radar.
  • the structured light laser radar can emit laser light through a laser, and converge into a beam plane through a lens disposed in the structured light laser radar, and can detect object information within a preset range of the forward direction, has high detection precision, simple assembly, and convenient use.
  • the size of the preset direction of the forward direction may be adjusted according to the needs of the user or the application scenario, for example, 2 meters from the user, 4 meters from the user, or 6 meters from the user.
  • the beam plane of the structured light and the scanning plane of the first laser radar 210 may be at an angle of 0 degrees to 90 degrees.
  • the angle is between 0 degrees and 90 degrees, the beam plane of the structured light and the scanning plane of the first laser radar 210 can form a scanning detection area in the forward direction of the user, and the object in the scanning detection area can be scanned and detected to ensure the user. Safety during the journey.
  • the beam plane of the structured light and the scanning plane of the first laser radar 210 may be at an angle of 20 degrees to 80 degrees.
  • the angle is between 20 degrees and 80 degrees
  • the area of the detection beam formed by the beam plane of the structured light and the scanning plane of the first laser radar 210 in the user's forward direction is greater than the angle of 0 to 20 degrees and 80 to 90 degrees.
  • the beam plane and the scanning plane of the first laser radar 210 have a large detection area formed in the user's forward direction, the scanning detection range is wider, and the scanning detection distance is far, and the information of the measured object at a distant position can be obtained, thereby improving the user's Safety during the journey.
  • the beam plane of the structured light and the scanning plane of the first laser radar 210 may be at an angle of 30 degrees to 45 degrees. At an angle of 30 degrees to 45 degrees, the area of the scanning detection area formed by the beam plane of the structured light and the scanning plane of the first laser radar 210 in the user's forward direction is greater than the angle between 0 and 30 degrees and 45 to 90 degrees.
  • the beam plane of the structured light and the scanning plane of the first laser radar 210 have a large detection area formed in the user's forward direction, the scanning detection range is wider, the scanning detection distance is further, and the information of the measured object at a farther position can be obtained, and the information is improved. The user is safe during the travel process.
  • the mounting position of the laser radar system 200 on the cane body 100 can be appropriately adjusted.
  • the second laser radar 220 may include: a signal processing circuit 221 for controlling coordination between each component of the guide cane; and a structure for generating structured light by the signal processing circuit 221.
  • the light emitting circuit 222; and the structured light reflection signal emitted from the object to be measured is collected, and the structured light reflection signal is transmitted to the image acquisition circuit 223 of the signal processing circuit 221.
  • the signal processing circuit 221 processes the structured light reflection signal collected from the image acquisition circuit 223, and obtains the position information of the measured object within the range of the structured light illumination by using the triangulation principle.
  • the exiting light of the second laser radar 220 exhibits a certain angle.
  • the angle of the light emitted by the second laser radar 220 is between 0° and 180°.
  • the laser light emitted by the second laser radar 220 can be formed in a detection area formed by the user's forward direction.
  • the detection area is a sector-shaped area, and the sector-shaped area is large, and the detection accuracy of the object information is high, thereby ensuring the safety of the user during the traveling.
  • the angle of the outgoing light of the second laser radar 220 is 10° to 120°.
  • Second laser radar The detection range of the laser beam emitted by the 220 in the forward direction of the user is greater than the angle of the exiting light of the second laser radar 220 by 1° to 10° and 120° to 180°. The area is larger, the detection accuracy of the object information is higher, and the safety of the user during the traveling process is improved.
  • the angle of the exiting light of the second laser radar 220 is 60° to 110°.
  • the laser beam emitted by the second laser radar 220 is in the range of the detection area formed by the user's forward direction, and the angle of the emitted light of the second laser radar 220 is 0° to 60° and 110° to 180°.
  • the detection area formed by the direction is larger, and the detection accuracy of the object information is higher, which improves the safety of the user during the traveling process.
  • the controller 300 includes a data receiving module 310 , a data processing module 320 , a data conversion module 330 , and a signal transmission module 340 .
  • the data receiving module 310 communicates with the laser radar system 200 and receives distance information of the measured object transmitted by the laser radar system 200.
  • the data processing module 320 communicates with the data receiving module 310 to process the distance information of the measured object to form a distance information.
  • the data conversion module 330 is in communication with the data processing module 320 to convert the navigation instructions into navigation signals recognizable by the navigation device 400.
  • the signal transmission module 340 is in communication with the data conversion module 330 to transmit the navigation signal to the navigation device 400.
  • the data receiving module 310 can receive the measured object position information sent by the laser radar system 200, and output the measured object position information to the data processing module 320; the data processing module 320 can determine the position information of the measured object. Performing an analysis process to form a navigation command; the data conversion module 330 converts the navigation command into a navigation signal recognizable by the navigation device 400, and outputs the navigation signal to the signal output module 340; the signal output module 340 receives the navigation signal and transmits the navigation signal The navigation device 400 performs playback output. After receiving the prompt information, the user makes an independent judgment to generate a corresponding action to avoid an accident.
  • the cane body 100 can include a first fixed structure 130 that secures the first laser radar 210; a second fixed structure 140 that secures the second laser radar 220; and a hollow internal structure.
  • the line of the first laser radar 210 and the line of the second laser radar 220 pass through a hollow internal structure, so that the laser radar system 200 is communicatively connected with the controller 300.
  • the handheld guide device 10 of the present embodiment may further include: a positioning module 500 that can position the handheld guide device 10, and can acquire the positioning of the positioning module.
  • the information is sent to the wireless communication module 600 on the background server or associated terminal device.
  • the positioning module 500 can be a Global Positioning System (GPS) positioning device.
  • GPS Global Positioning System
  • the current position information of the handheld guide device 10 can be obtained by the positioning module 500 performing real-time positioning on the handheld guide device 10, and the wireless communication module 600 sends the current location information to the background server or related by wireless communication.
  • the terminal device is connected so that the user's family members can know the current location information of the user, and when the user has an accident, the current location information of the user can be provided to facilitate timely rescue, thereby ensuring the safety of the user.
  • the hand-held blinding device 10 is further provided with a vibration sensing module 700.
  • the vibration sensing module 700 receives the navigation signal outputted by the controller 300, and the navigation signal controls the cane body 100 to vibrate, so that the user can still perceive the surrounding environment information in a noisy environment, ensuring that User security.
  • the hand-held blinding device 10 further includes an emergency light 800 disposed on the cane body 100, which may be an illumination light.
  • the pedestrians around the emergency light 700 can be used to remind the pedestrians to avoid collision and ensure the safety of the user.
  • the hand-held guide device 10 further includes a reflective film 900 disposed on the cane body 100.
  • the reflective film 900 can be a fluorescent film.
  • the reflective light of the vehicle can be reflected by the reflective film 800 to perform a reflective warning reminder to avoid accidents and ensure user safety.
  • the hand-held blinding device 10 is further provided with a waterproof structure to ensure that the hand-held blinding device 10 can be used normally under rain and snow.
  • the waterproof structure may be a waterproof and breathable film.
  • the navigation mode of the navigation device 400 may be one or more of voice navigation, tactile feedback navigation, and vibration navigation.
  • the navigation device 400 may be an audio playback device, a tactile feedback navigation device, and a vibration sensing device. One or more of the devices.
  • the navigation device may be an audio playback device, for example, a Bluetooth headset, scan and detect the surrounding environment of the blind through the laser radar system 200, and pass the lidar through the controller 300.
  • the environmental status information scanned by the system is subjected to corresponding system analysis processing.
  • the processing may include: relative distance information between the user and the obstacle, relative orientation information between the user and the obstacle, relative speed information between the user and the obstacle, and analysis processing of the obstacle position information. Converting the result of the system analysis decision into a voice signal recognizable by the Bluetooth headset, and transmitting the above voice signal to the Bluetooth headset for voice broadcast, after the user hears the voice prompt Conduct self-determination and take appropriate actions to prevent accidents and ensure the safety of users.
  • the hand-held guide device 10 is further provided with a power source for ensuring that all components can work normally.
  • the hand-held guide blind device provided by the above embodiment is connected to each other through a laser radar system, a controller, and a navigation device, and detects a surrounding road condition through a laser radar system, and passes the detected position information of the measured object through the controller. Processing, generating and transmitting navigation information to the navigation device to play output navigation information to the user through the navigation device, the data obtained by the handheld guide device has high precision, high practicability and high reliability, and the user can avoid the navigation information according to the navigation information. Obstacles ensure the safety of the user during the journey.
  • the handheld guide blind device provided by the above embodiment has high precision, high practicability and high reliability, and the user can avoid obstacles according to the navigation information, thereby ensuring the safety of the user during the travel process.

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Abstract

一种手持导盲设备，包括：手杖本体（100）；设于所述手杖本体（100）上对路况进行探测的激光雷达系统（200）；与激光雷达系统（200）通信连接将激光雷达系统（200）探测到的被测物体的位置信息进行处理并形成导航信号的控制器（300）；以及根据控制器（300）的导航指令输出提示信息的导航装置（400）。该手持导盲设备获取的数据精度高，使用可靠性强，保障了用户在行进过程中的安全。

Description

手持导盲设备 技术领域
本公开属于安全设备领域，例如涉及一种手持导盲设备。
背景技术
据相关机构调查，中国已约有盲人1000万，占世界盲人总数的18％，而且未来有持续增加的趋势，到2020年，中国盲人数量预估可达5000万。盲人作为社会上的一个特殊群体，需要社会给予他们更多的关爱和照顾，使他们能够更好的独立生活。如何安全行走，是盲人生活中面临的最大问题。
相关技术中，手持导盲设备通常由自动传感器、拐杖体、控制电路、拐杖把和橡胶体等部件组合而成，通过自动传感器捕捉路面的坑洼或障碍物，在发现危险时，可通过佩戴于用户手上的震动环震动提醒用户前方方向有危险。此外，手持导盲设备上还装有语音装置，会在探测到危险情况时通过语音装置“告诉”使用者，让其选择合适的路径。
但是，相关技术中，手持导盲装置装配复杂，且使用传感器作为探测手段时，数据精度不高，探测距离和探测范围有限，可靠性不高。
发明内容
本实施例提供一种手持导盲设备，装配简单，数据精度高，探测距离远，探测范围大，可靠性高。
一种手持导盲设备，包括：
手杖本体；
设于所述手杖本体上，对路况进行探测的激光雷达系统；
与所述激光雷达系统通信连接，将所述激光雷达系统探测到的被测物体的位置信息进行处理，并形成导航信号的控制器；以及
根据所述控制器的导航指令输出提示信息的导航装置。
本实施例提供的一种手持导盲设备，通过激光雷达系统对周围路况进行探 测，并将所探测到的被测物体距离信息经控制器进行处理，生成并发送导航信息至导航装置，以通过导航装置向用户播放输出导航信息，该手持导盲装置获取的数据精度高，实用性高，可靠性强，用户能够根据该导航信息避开障碍物，保障了用户在行进过程中的安全。
附图说明
图1是一实施例提供的手持导盲设备的结构图；
图2是一实施例提供的手持导盲设备的模块图；
图3是一实施例提供的手持导盲设备的工作原理图；
图4是一实施例提供的激光雷达系统的模块图；
图5是一实施例提供的TOF激光雷达结构图；
图6是一实施例提供的结构光激光雷达结构图；
图7是一实施例提供的激光雷达系统的第二激光雷达的模块图；
图8是一实施例提供的控制器的功能模块图；
图9是一实施例提供的手持导盲设备的手杖本体结构图；以及
图10是一实施例提供的具有定位与应急报警功能的手持导盲设备的模块图。
具体实施方式
为了使本公开的技术方案更加清楚明白，以下结合附图及实施例，对本公开进行详细说明。在不冲突的情况下，以下实施例以及实施例中的技术特征可以相互任意组合。
本实施例中所述的方向，均是以指手持导盲设备正常使用时的状态作为参考基准。
本实施例提供的一种手持导盲设备，通过激光雷达系统、控制器、导航装置相互之间通信连接，并通过激光雷达系统对周围路况进行探测，将所探测到的被测物体距离信息经控制器进行处理，生成并发送导航信息至导航装置，以通过导航装置向用户播放输出导航信息，该手持导盲装置获取的数据精度高， 实用性高，可靠性强，用户能够根据该导航信息避开障碍物，保障了用户在行进过程中的安全。
如图1和2所示，在本实施例中，一种手持导盲设备10，包括：手杖本体100；设于手杖本体100上，对路况进行探测的激光雷达系统200；与激光雷达系统200通信连接，将激光雷达系统200探测到的被测物体的距离信息进行处理，并形成导航信号的控制器300；以及与控制器300通信连接，并根据控制器300的导航指令输出提示信息的导航装置400。其中，手杖本体100可为拐杖，可以包括杖柄与杖杆。本实施例中激光雷达系统200可以设于手杖本体100上，当用户持手杖本体100前进时，可通过激光雷达系统200对用户前方及周边的环境进行探测。
在本实施例中，上述提示信息可以为语音提示信息、振动提示信息以及触觉反馈提示信息中的一种或多种组合。
在本实施例中，通过激光雷达系统200、控制器300、导航装置400相互之间通信连接，并通过激光雷达系统200对周围路况进行探测，将所探测到的被测物体距离信息经控制器300进行处理，生成并发送导航信息至导航装置400，以通过导航装置400向用户播放输出导航信息，该手持导盲装置获取的数据精度高，实用性高，可靠性强，用户能够根据该导航信息避开障碍物，保障了用户在行进过程中的安全。
在本实施例中，激光雷达系统200与手杖本体100可通过可拆卸的方式连接，连接方式可以为插接、卡接、粘贴或磁吸等，可拆卸的连接方式便于激光雷达的维护与更换。
在本实施例中，上述激光雷达系统200、控制器300，及导航装置400之间的通信连接方式可以为无线连接方式或者有线连接方式，其中，无线连接方式可以为蓝牙、无线保真(Wireless Fidelity，WIFI)、ZigBee、红外线、声波和射频中的一种或多种组合，无线连接方式可以根据用户的实际需求或者实际的应用场景灵活配置。
在一个实施例中，如图3所示，可以通过激光雷达系统200对用户周围环境状况进行扫描探测，用户周围环境状况如障碍物、路面起伏等被测物体，将激光雷达系统200扫描探测的环境状况信息传输至控制器300，并进行数据处理。数据处理可以包括：对用户与障碍物之间的相对距离信息，用户与障碍物之间 的相对方位信息，用户与障碍物之间的相对速度信息，以及障碍物位置信息的分析处理。控制器300可以将系统分析决策的结果转换成导航信号，并将该导航信号通过无线或有线的方式传输至导航装置400进行播放输出。用户在接收到提示信息自主判断并采取相应的行动，避免在行进过程中发生意外。手持导盲设备装配简单，操作方便，可靠性高，确保了用户在行进过程中的安全。
如图4、5和6所示，在本实施例中，激光雷达系统200可以包括：可沿水平方向进行360度扫描探测的第一激光雷达210，以及可通过结构光对前进方向的路况进行探测的第二激光雷达220。该第一激光雷达210可通过激光发射与返回的时间差来测量被测物体的距离信息，以及该结构光的光束平面与第一激光雷达210的扫描平面呈一定的夹角。其中，第一激光雷达210探测被测物体的距离信息以手杖本体100处于正常使用状态作为参考基准，正常使用状态可以是手杖本体100处于直立状态。
在本实施例中，上述结构光的光束平面可以为通过激光器发出激光，经过设于第二激光雷达220内的柱面镜汇聚成的线性激光。
在一个实施例中，如图5所示，第一激光雷达210可为一种基于飞行时间(Time of Flight，TOF)原理的TOF激光雷达，安装在第二激光雷达220的上方，通过计算调制激光发射和返回的时间差得到光程进而得到测量物体的距离信息，可对用户周围环境状况进行360度全方位扫描探测，并获取预设范围的二维平面内被测物体与用户的相对距离信息和被测物体的方位信息，测量频率高，数据更新速率快，还可通过单线或者多线的方式进行扫描探测，装配简单，使用方便，实用性高和实时性强。其中，第一激光雷达210可以为基于三角测距原理的激光雷达。
在本实施例中，上述预设范围的大小可根据用户需要或应用场景的需求进行调节，例如：距离用户6m、10m、30m、50m、100m、200m等。
在本的一个实施例中，如图6所示，第二激光雷达220可为结构光激光雷达。该结构光激光雷达可通过激光器发出激光，经过设于该结构光激光雷达内的透镜汇聚成光束平面，可探测前进方向预设范围内的物体信息，探测精度高，装配简单，使用方便。
在本实施例中，上述前进方向预设范围的大小可根据用户需要或应用场景的需求进行调节，例如：距离用户2米、距离用户4米、或者距离用户6米。
一个可选实施例中，结构光的光束平面与第一激光雷达210的扫描平面可呈0度～90度的夹角。在0度～90度的夹角时，结构光的光束平面与第一激光雷达210的扫描平面可在用户前进方向形成扫描探测区域，可对该扫描探测区域内物体进行扫描探测，确保了用户在行进过程中的安全。
可选的，结构光的光束平面与第一激光雷达210的扫描平面可呈20度～80度的夹角。夹角为20度～80度时，结构光的光束平面与第一激光雷达210的扫描平面在用户前进方向形成的探测区域面积，比0～20度和80～90度的夹角时结构光的光束平面与第一激光雷达210的扫描平面在用户前进方向形成的探测区域面积大，扫描探测范围较广，扫描探测距离较远，能够获取较远位置的被测物体信息，提高了用户在行进过程中的安全。
可选的，结构光的光束平面与第一激光雷达210的扫描平面可呈30度～45度的夹角。在30度～45度的夹角时，结构光的光束平面与第一激光雷达210的扫描平面在用户前进方向形成的扫描探测区域面积，比0～30度和45～90度的夹角时结构光的光束平面与第一激光雷达210的扫描平面在用户前进方向形成的探测区域面积大，扫描探测范围更广，扫描探测距离更远，能够获取更远位置的被测物体信息，提高了用户在行进过程的安全。
在本实施例中，激光雷达系统200设于手杖本体100上的安装位置可以进行适当的调整。
如图7所示，在本实施例中，第二激光雷达220可以包括：控制导盲手杖的每个部件间进行协调工作的信号处理电路221；由信号处理电路221控制，产生结构光的结构光发射电路222；以及对被测物体发射来的结构光反射信号进行采集，并将所述结构光反射信号传输至信号处理电路221的图像采集电路223。其中，信号处理电路221对来自图像采集电路223所采集的结构光反射信号进行处理，利用三角测距原理得到结构光照射范围内的被测物体的位置信息。
在一可选实施例中，第二激光雷达220的出射光呈现一定的夹角。
作为本实的一个可选实施例，第二激光雷达220出射光的夹角为0°～180°。第二激光雷达220所发射的激光可在用户前进方向形成的探测区域，该探测区域是个扇形区域，该扇形区域大，对物体信息探测精度高，确保了用户在行进过程中的安全。
可选的，第二激光雷达220的出射光的夹角为10°～120°。第二激光雷达 220所发射的激光在用户前进方向形成的探测区域范围，比第二激光雷达220的出射光的夹角为1°～10°和120°～180°所发射的激光在用户前进方向形成的探测区域范围更大，对物体信息探测精度更高，提高了用户在行进过程中的安全。
可选的，第二激光雷达220的出射光夹角为60°～110°。第二激光雷达220所发射的激光在用户前进方向形成的探测区域范围，比第二激光雷达220的出射光的夹角为0°～60°和110°～180°所发射的激光在用户前进方向形成的探测区域范围更为大，对物体信息探测精度更加高，提高了用户在行进过程的安全。
如图8所示，在本实施例中，控制器300包括：数据接收模块310、数据处理模块320、数据转换模块330以及信号传输模块340。数据接收模块310与激光雷达系统200通信，并接收激光雷达系统200发送的被测物体的距离信息；数据处理模块320，与数据接收模块310通信，将上述被测物体的距离信息进行处理，形成导航指令。数据转换模块330与数据处理模块320通信，将上述导航指令转换为导航装置400可识别的导航信号。信号传输模块340，与数据转换模块330通信，将所述导航信号传输至导航装置400。
在本实施例中，数据接收模块310可以接收激光雷达系统200发送的被测物体位置信息，并将上述被测物体位置信息输出至数据处理模块320；数据处理模块320对上述被测物体位置信息进行分析处理，形成导航指令；数据转换模块330将上述导航指令转换为导航装置400可识别的导航信号，并输出至信号输出模块340；信号输出模块340接收上述导航信号，并将该导航信号传输至导航装置400进行播放输出。用户接收到提示信息后进行自主判断产生相应的行动，避免发生事故。
如图9所示，在一个实施例中，手杖本体100可以包括固定第一激光雷达210的第一固定结构130；固定第二激光雷达220的第二固定结构140；以及中空的内部结构。其中，第一激光雷达210的线路与第二激光雷达220的线路通过中空的内部结构，以便激光雷达系统200与控制器300进行通信连接。
如图10所示，在上述实施例的基础上，本实施例的手持导盲设备10还可以包括：可对手持导盲设备10进行定位的定位模块500，以及可获取所述定位模块的定位信息，并将所述定位信息发送至后台服务器或相关联的终端设备上的无线通信模块600。其中，定位模块500可为全球定位系统(Global Positioning System，GPS)定位装置。
在本实施例中，可通过定位模块500对手持导盲设备10进行实时定位获取手持导盲设备10当前位置信息，无线通信模块600将该当前位置信息通过无线通信的方式发送至后台服务器或相关联的终端设备，以便用户家人知晓用户当前位置信息，并且在用户发生事故时，可提供用户当前位置信息便于及时施救，确保了用户的安全。
在一个可选实施例中，手持导盲设备10上还设有振动感应模块700。
在本实施例中，振动感应模块700通过接收控制器300输出的导航信号，所述导航信号控制手杖本体100进行振动，以使用户在外界嘈杂的环境下依然可以及时感知周围环境信息，确保了用户安全。
在一个可选实施例中，手持导盲设备10还包括：设于手杖本体100上的应急灯800，该应急灯800可以为照明灯。
在本实施例中，当在无光或光线不好的情况下，可通过应急灯700提醒周围行人，避免发生碰撞，确保用户安全。
在一个可选实施例中，手持导盲设备10还包括：设于手杖本体100上的反光膜900，该反光膜900可以为荧光薄膜。
在本实施例中，当用户在行进过程中遇有车辆照射时，可通过反光膜800反射车辆照射光线进行反光警示提醒，避免发生意外事故，确保用户安全。
在一个可选实施例中，手持导盲设备10上还设有防水结构，确保该手持导盲设备10在雨雪天气下能够正常使用。其中，该防水结构可以为防水透气膜。
在本实施例中，导航装置400的导航方式可为语音导航、触觉反馈导航及振动导航中的一种或多种，其中，导航装置400可以为音频播放设备，触觉反馈导航设备及振动传感设备的一种或多种。
例如，当该导航装置的导航方式为语音导航时，该导航装置可以为音频播放设备，例如，蓝牙耳机，通过激光雷达系统200对盲人周围环境状况进行扫描探测，并通过控制器300将激光雷达系统扫描到的环境状况信息进行相应的系统分析处理。处理过程可以包括：对用户与障碍物之间的相对距离信息，用户与障碍物之间的相对方位信息，用户与障碍物之间的相对速度信息以及障碍物位置信息的分析处理。将系统分析决策的结果转换成蓝牙耳机可识别的语音信号，并将上述语音信号传递给蓝牙耳机进行语音播报，用户听到语音提示后 进行自主判断并采取相应的行动，防止意外的发生，保证了用户的安全。
在本实施例中，手持导盲设备10上还设有保证所有部件能够正常工作的电源。
上述实施例提供的手持导盲设备，通过激光雷达系统、控制器、导航装置相互之间通信连接，并通过激光雷达系统对周围路况进行探测，将所探测到的被测物体位置信息经控制器进行处理，生成并发送导航信息至导航装置，以通过导航装置向用户播放输出导航信息，该手持导盲装置获取的数据精度高，实用性高，可靠性强，用户能够根据该导航信息避开障碍物，保障了用户在行进过程中的安全。
工业实用性
以上实施例提供的手持导盲设备，获取的数据精度高，实用性高，可靠性强，用户能够根据导航信息避开障碍物，保障了用户在行进过程中的安全。

Claims (10)

  1. 一种手持导盲设备，包括：
    手杖本体；
    设于所述手杖本体上，对路况进行探测的激光雷达系统；
    与所述激光雷达系统通信连接，将所述激光雷达系统探测到的被测物体的位置信息进行处理，并形成导航信号的控制器；以及
    根据所述控制器的导航指令输出提示信息的导航装置。
  2. 如权利要求1所述的设备，其中，所述激光雷达系统包括可沿水平方向进行360度扫描探测的第一激光雷达，以及
    可通过结构光对前进方向的路况进行探测的第二激光雷达；
    所述第一激光雷达通过激光发射与返回的时间差来测量被测物体的位置信息，以及所述结构光的光束平面与所述第一激光雷达的扫描平面呈一定的夹角。
  3. 如权利要求2所述的设备，其中，所述结构光的光束平面与所述第一激光雷达的扫描平面的夹角为20～80度。
  4. 如权利要求2所述的设备，其中，所述第二激光雷达包括：
    控制所述手持导盲设备多个部件间进行协调工作的信号处理模块；
    由所述信号处理模块控制，产生结构光的结构光发射模块；以及
    对被测物体发射来的结构光反射信号进行采集，并将所述结构光反射信号信息传输至所述信号处理模块的图像采集模块；
    所述信号处理模块对来自所述图像采集模块的所述结构光反射信号信息进行处理，利用三角测距原理得到结构光照射范围内的所述被测物体的位置信息。
  5. 如权利要求4所述的设备，其中，所述第二激光雷达的镜头法向与所述第一激光雷达的扫描平面呈一定的夹角，以及所述第二激光雷达的镜头法向指向地面。
  6. 如权利要求5所述的设备，其中，所述第二激光雷达的出射光的夹角为10～120度。
  7. 如权利要求2所述的设备，其中，所述控制器包括：
    数据接收模块，设置为接收所述激光雷达系统发送的被测物体的位置信息；
    数据处理模块，设置为将所述被测物体的位置信息进行处理，形成导航指令；
    数据转换模块，设置为将所述导航指令转换为所述导航装置可识别的导航信号；以及
    将所述导航信号输出至所述导航装置的信号传输模块。
  8. 如权利要求2所述的设备，其中，所述手杖本体包括：固定所述第一激光雷达的第一固定结构；固定所述第二激光雷达的第二固定结构；以及中空的内部结构；
    所述第一激光雷达的线路与第二激光雷达的线路通过所述中空的内部结构，分别与所述控制器连接。
  9. 如权利要求1所述的设备，还包括：
    对所述手持导盲设备进行定位的定位模块；以及
    获取所述定位模块的定位信息，并将所述定位信息发送至后台服务器或相关联的终端设备上的无线通信模块。
  10. 如权利要求1所述的设备，其中，所述导航装置的导航方式为语音导航、触觉反馈导航及振动导航中的一种或多种组合。
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