WO2018072719A1

WO2018072719A1 - Electronic walking aid trolley for blind and walking aid method for blind

Info

Publication number: WO2018072719A1
Application number: PCT/CN2017/106760
Authority: WO
Inventors: 张磊
Original assignee: 张磊
Priority date: 2016-10-21
Filing date: 2017-10-18
Publication date: 2018-04-26
Also published as: CN106344357A; CN106344357B

Abstract

An electronic walking aid trolley for the blind and a walking aid method for the blind. The electronic walking aid trolley for the blind comprises: a hand trolley, a distance measuring device, and a camera. The hand trolley comprises a trolley body (2). A lower end of the trolley body (2) is provided with a wheel (1). The trolley body (2) is provided with a height-adjustable vertical pole (3). An upper end of the vertical pole (3) is provided with a probe box (5) and a handle (4). The distance measuring device comprises a plurality of distance measuring probes. The distance measuring probes are divided into an upper probe, a lower probe, and a ground probe. The upper probe is provided on the probe box (5). The lower probe and the ground probe are provided in front of the trolley body. The camera is provided at a front end of the probe box (5). The camera is electrically connected to the trolley body (2). Two speakers are respectively provided at two sides at the rear of a bottom base of the trolley body (2). Two speakers are respectively provided at two sides at the rear of the probe box (5). The four speakers form a stereo surround sound arrangement. The combination of the electronic distance measuring device and the hand trolley enables a blind person to perceive a distance towards an obstacle, road conditions, and depressions or bumps in the ground, thereby guiding the blind person to walk around and achieving real utility.

Description

Electronic guide blind cart and guiding method

[Technical Field]

The invention relates to a blind guiding device, in particular to an electronic guided blind cart.

【Background technique】

Traditional methods of guiding blindness are only blind canes and guide dogs. So far, there is no practical electronic guide blind device in the world that can safely guide blind people to walk.

In 2005, a Japanese company invented the forehead guide blind, using a micro-camera to capture the information in front of the blind, and the captured image information was transmitted to the microcomputer. The microcomputer first digitizes the outline lines of the image and then converts the data into electronic pulse signals that are output from hundreds of electrodes loaded by the user's forehead. The user perceives these output signals through the tactile sense of the forehead, thereby forming an awareness of the contour lines of the object in the brain. In fact, its inventors have no doubt about the limitations of this device. The camera it carries must capture the image in a well-lit area, so it can't be used in a dimly lit room or on a road where the street lights are not bright enough at night. In the hot summer weather, when the forehead sweats, the stimulation of the pulse signal will become weaker, or even not. Only the sweat can be used to dry it. Therefore, the forehead guide is not suitable for blind people who need strenuous exercise. Moreover, the most important thing is that the forehead guide can't sense the obstacles and bumps on the ground, so it can't be used to guide blindness.

The tongue guide that has been put into production abroad is to capture the image of the user's eyes through a miniature camera mounted on the sunglasses. The image information is transmitted to a manual controller. The controller first converts the information into low-resolution black-and-white gray. The picture is converted to the corresponding electronic pulse signal. At this time, the pulse signal of the "recreated picture" is stimulated by the electrode sensor, and the pulse intensity is determined according to the black and white color of the image - white has a strong pulse signal, and black has no pulse signal. The electrode sensor has about 400 contacts. The pulse signal stimulates the tongue and is transmitted to the brain through the nerve. The “visual area” of the brain helps restore the contours of the image in the picture. In this way, blind people can feel different electrical impulses through the tongue and “see” something. However, for the role of the tongue guide, some experts have questioned that if the user is walking, It can affect the perception function of the tongue touch, so it is difficult to apply in daily life. Moreover, it is also unable to perceive obstacles and bumps on the ground, and thus cannot be practically guided.

At present, there are many patents for blinding devices using electronic distance measuring devices at home and abroad, but most of them follow the idea of wearable devices. No one is installing the distance measuring device on the trolley, and cannot detect the road surface condition, so it is not practical, so To date, there is no electronic blinding device that can be used safely to guide blind people to walk.

[Summary of the Invention]

In order to solve the problem that the wearable guide blind product design in the prior art cannot effectively solve the problem of sensing the ground condition, the present invention provides an electronic guide blind cart and a guide blind method, which are combined with the trolley by the electronic distance measuring device. Blind people perceive the distance of obstacles, road conditions and the unevenness of the ground, thus guiding the blind to walk, thus truly practical.

The object of the present invention is achieved by the following technical solutions:

An electronic guide blind cart comprising: a trolley, a distance measuring device and a camera;

The trolley comprises a vehicle body, and the lower end of the vehicle body is provided with three wheels, three wheels are arranged in a finished word, the front wheel is a universal wheel; the height is adjustable on the body, and the upper end of the pole is arranged There is a probe box and a handle; the wheel comprises a roller and a tire arranged coaxially, the tire is arranged in the middle of the drum, and the diameter of the tire is larger than the diameter of the drum;

The distance measuring device comprises a plurality of distance measuring probes, wherein the distance measuring probe is divided into an upper probe, a lower probe and a ground probe; the upper probe is arranged on the probe box to detect an obstacle in front of the blind upper body; the lower probe and the ground probe are arranged at The front end of the vehicle body detects the obstacles in front of the vehicle body and the depressions on the ground;

The camera is disposed at a front end of the probe box;

The trolley is provided with a prompting device for reminding the blind person, and the prompting device is electrically connected to the distance measuring device and the camera.

The prompting device is a horn, two horns are mounted on the rear sides of the base of the vehicle body, two horns are mounted on the rear sides of the probe box, and four speakers are arranged in a surround sound arrangement; the distance measuring device detects the distance of the obstacle, and the camera takes an image after shooting After the image recognition obstacle type, the horn voice broadcasts the type, orientation and distance of the obstacle and the depression of the ground.

The prompting device is a power needle array device, and the electric needle array device is mounted on the handle with different needles, Different degrees of expansion and contraction stimulate the skin of the blind person to express the distance of obstacles in different orientations to the blind.

The distance measuring device is an ultrasonic ranging probe, an electromagnetic wave ranging probe or a laser ranging probe; when using an ultrasonic ranging probe, each probe is set to five; when using an electromagnetic wave or a laser ranging probe, one rotating probe per layer Continuous scanning.

The detection coverage angle of the upper probe is a scalloped surface with a front angle of 180°; the detection coverage angle of the lower probe is a scalloped surface of 180° ahead; the detection coverage angle of the ground probe is a scalloped surface of 180° obliquely downward.

The front part of the bottom surface of the vehicle body is provided with two exposed electrodes, and the two electrodes are connected to the alarm circuit. When the two electrodes are turned on, the alarm circuit alarms through the horn.

The top of the probe box is equipped with a rotating lamp; a beam is arranged directly above the pole to facilitate the blind person to lift the car; the handle is a "U" type, forming a "mouth" shape structure with the beam; the handle has a rubber anti-slip sleeve; The rear wheel is provided with a brake device, and the handle is provided with a hand brake matched with the brake device; the vehicle body is provided with a battery for supplying electric energy to the electronic device, and the battery is charged by the charging interface or the wheel drives the generator to charge the battery by itself.

The handle can be folded back and down, and the upright can be folded forward and upward.

A method for guiding blindness of an electronic guide blind cart includes the following steps:

The distance measuring device detects the distance of the obstacle in front of the trolley, specifically: the upper probe detects the obstacle distance in front of the upper body of the blind, the lower probe detects the obstacle in front of the vehicle body, and the ground probe detects the depression on the ground in front of the vehicle body;

The camera recognizes the type of obstacle after capturing the image in front of the trolley;

The horn simultaneously reports the type, orientation and distance of the obstacle and the ground depression by voice; the method of informing the detection orientation is: the upper probe, the lower probe and the ground probe are broadcast by different horns and different timbres, and the upper probe ranging value is from the upper horn. Pronunciation, the ground probe ranging value is pronounced by the lower speaker, the lower probe ranging value is sent by the upper and lower speakers; the corresponding three probes are measured, the positive left direction is measured by the corresponding left speaker, the right direction The ranging value is pronounced by the corresponding right horn, and the ranging values of the front front, the left front, and the right front direction are reflected by the time difference of the corresponding left and right horns;

Or the electric needle array device is mounted on the handle to stimulate the distance of the obstacles of different orientations to the blind by different needles and different degrees of expansion and contraction to stimulate the skin of the blind person.

Further, when the upper and lower probes detect the distance of the obstacle in front of the vehicle body, the corresponding speakers are pronounced once every 2s, the closer the distance is, the higher the pronunciation frequency is, the sound is pronounced once every 0.5s at a short distance; the continuous sound becomes a continuous sound when the distance is closest; When the ground probe detects the ground depression within 5cm, it will not sound. The ground depression is 6-10cm, 11-15cm, 16-20cm with different tones. When the ground depression exceeds 20cm, it will give a sharp warning beep and report with a sharp voice. .

Compared with the prior art, the present invention has the following advantages:

The electronic guide blind cart of the invention mainly installs the electronic distance measuring device and the camera on a special trolley, and the ranging information collected by the probe sensor of the distance measuring device is converted into a voice or buzzer or other sensory stimulation signal by the controller. The distance measurement is to inform the blind person; the electronic distance measuring device can sense the distance of the obstacle in front of the blind body and the side of the road and the unevenness of the road surface, and convert the measurement value into a voice or a buzzer sound or other sensory stimulation signal to inform the blind person of the distance measurement value. . After the camera captures the image, it passes the image recognition obstacle type, and finally broadcasts the type, orientation and distance of the obstacle and the ground depression through the speaker voice, thereby helping the blind person to know the distance of the obstacle, the road condition and the unevenness of the ground, thereby guiding the blind person to walk. It is the third kind of guide thing that can guide the blind people to walk after the blind cane and the guide dog. It is also a kind of electronic guide blind device that can be put into practical use.

Further, the drum is a cylinder, the cylinder waist is a tire with a larger diameter, and when a small convex and concave surface appears on the ground, the blind person can perceive through the bump of the drum and the tire.

Further, multiple probe sensors are evenly distributed, covering all directions in front of the detection, and minimizing detection errors.

Further, by setting an electrode connected to the alarm circuit, it is possible to detect whether there is a water accumulation area on the ground in real time, and promptly remind the user.

Further, the handle and the pole can be folded to facilitate carrying when not in use. The handlebars and poles are adjustable in height and are available to both adults and children of different heights.

The blind guiding method of the invention detects the distance of the obstacle in front of the trolley through the distance measuring device, and the camera recognizes the type of the obstacle after capturing the image in front of the trolley; the speaker simultaneously broadcasts the type, orientation and distance of the obstacle and the ground depression through the voice; the blind person can know the obstacle The distance of the object, the road conditions and the unevenness of the ground, thus guiding the blind to walk. Through four orientations of the horn structure Stereo, broadcast in different directions to remind the blind to judge the position of the obstacle. It is also possible to mount a motorized needle array device on the handle (4), and use different needles and different degrees of expansion and contraction to stimulate the skin of the blind person to express the distance of obstacles in different orientations to the blind person.

[Description of the Drawings]

Figure 1 is a front view of the electronic guide blind cart of the present invention (person standing direction);

Figure 2 is a rear view of the electronic guide blind cart of the present invention (in front of the trolley);

Figure 3 is a right side view of the electronic guide blind cart of the present invention;

Figure 4 is a top plan view of the electronic guide blind cart of the present invention;

Figure 5 is a bottom plan view of the electronic guide blind cart of the present invention;

Among them: 1, wheel, 2, body, 3, pole, 4, handle, 5, probe box, 6, tires, 7, roller.

【detailed description】

The specific embodiments of the present invention are explained in detail below with reference to the accompanying drawings, but the invention is not limited to the embodiments. In order to provide the general public with a thorough understanding of the present invention, specific details are described in detail in the preferred embodiments of the invention.

As shown in FIGS. 1 to 5, an electronic guide blind cart of the present invention is mainly designed to mount a distance measuring device and a camera on a trolley, and the distance measuring device detects an obstacle distance, and the image is recognized by the camera after the image is captured. The software identifies the type of obstacle and uses voice to report the type, orientation, and distance of the obstacle and the large depression on the ground. The wheel of the trolley 1 senses that the small convex and concave of the ground creates a bump to warn the blind. The distance measuring device can adopt any one of ultrasonic ranging, electromagnetic wave ranging, and laser ranging, and can realize the use requirement.

Specifically, the overall shape of the product of the present invention is a three-wheeled cart, about 30 cm wide, and one front wheel is a universal wheel. The three wheels 1 have the same shape and size. Each wheel 1 consists of two parts: a drum 7 and a tire 6. The shape of a single wheel is a cylindrical drum 7, the drum 7 has a raised rubber ring tire 6 at the waist, the drum 7 is a cylinder, and the material is plastic surface coated with rubber, the diameter is about 11 cm, the column height is about 15 cm, and the cylindrical waist is diameter. A larger tire 6, the tire 6 is about 15 cm in diameter and about 3 cm wide. The tire 6 is a rubber material, which has good shock absorption, quietness and wear resistance. The rear wheel track (the distance between the two rollers) is about 15 cm. The three rollers are arranged in 7 characters, which can cover the width of the blind person's footsteps about 45cm. When small bumps appear on the ground, the blind can be perceived by the bumps of the drum 7 and the tire 6. When the ground is flat, only the tire 6 touches the ground, which can reduce the area of the touch, thereby reducing the resistance. Under the premise of ensuring the stability of the vehicle body, the wheelbase of the front and rear wheels should not be too large. The two rear wheels 1 have a brake device, and the hand brake is mounted on the handle 4. The cart handle 4 is height-adjustable and has a maximum height of about 120 cm from the ground. Both adults and children are available.

The body 2 of the trolley of the present invention has a charging interface, is rechargeable, and is equipped with a 220V charger. It is also possible to drive the generator to charge the battery by the wheel 1 , and the motor power is slightly larger than the power consumption of the product. The power supply provides power to the electronics on the cart.

In order to solve the problem of water accumulation on the ground, there are two exposed electrodes at the front of the bottom of the car body 2cm away from the ground. If the ground water depth exceeds 2cm, the water will be connected to the circuit, and the speaker will give a special alarm sound: "The ground has water".

As shown in FIG. 3, FIG. 4 and FIG. 5, the distance measuring device comprises a plurality of ranging probes, and the ranging probe is divided into three layers: an upper layer, a lower layer and a ground layer. The ranging distance is about 1-400cm, and the ranging error is no more than 10cm. A total of 180 degrees of fan shape is covered facing the front.

If using ultrasonic ranging: 5 probes per layer. The detection angle of each probe is about 45°, and the five probes detect the distances of the front, the front left 45°, the right front 45°, the right left, and the right direction.

If using electromagnetic waves or laser ranging: a 180° fan-shaped continuous scan of one rotating probe per layer.

Two layers of probes are mounted on the base of the body 2 to detect obstacles in front of the lower layer and large depressions on the ground. The lower edge of the obstacle probe detection angle is parallel to the ground and can detect obstacles about 5 cm above the ground. The ground probe is directed obliquely downward, and the ground is sunken when it is about 5 cm or more.

The upper probe is mounted on the probe box 5 at the waist height of the human body to detect obstacles in front of the upper body of the blind person, and the vertical direction is substantially in contact with the detection range of the bottom probe, and the upper portion can cover a height of 190 cm.

Behind the base of the car body 2, two speakers are installed for the blind, and two speakers are installed behind the probe box 5, facing the blind person, and the four speakers use the stereo sound to inform the blind of the distance in a certain direction. A total of 15 probes on the three layers report different sounds at the same time, and the left and right stereos are used to inform the detected position. The specific method for informing the detection of the orientation is: the distance measurement value in the left direction is pronounced by the left speaker, the distance measurement value in the right direction is pronounced by the right speaker, and the distance measurement values in the front, front left, and right front directions are the time difference between the left and right speakers ( That is, stereo) reflects its angle. The upper distance measurement value is pronounced by the upper speaker, and the ground depression measurement value is The pronunciation of the horn, the lower ranging value is sent by the upper and lower speakers. The speaker volume is adjustable, and the volume knob is also a rangefinder switch button. The maximum volume of the speaker should be audible in noisy environments. The distance measuring device, the camera, and the speaker are electrically connected to the host; the host is disposed on the probe box 5 or the vehicle body 2.

It is also possible to install a power needle array device on the handle, and use different needles and different degrees of expansion and contraction to stimulate the skin of the blind person to express the distance of the obstacles in different orientations to the blind person.

In addition, a small rotating light similar to a warning light can be installed at the top of the probe box 5 to remind pedestrians and vehicles to avoid, and the warning light has a switch.

There is a beam directly above the pole 3, which is convenient for the blind to lift the car. The handle 4 is of a "U" shape and forms a "mouth" shape of about 30*45 cm with the beam. (The blind person's body is at a distance behind the car to avoid the foot touching the rear wheel when walking, and the wheel 1 reflects the small bump on the ground, and the blind person needs a certain amount of time to adjust the movement). The handle 4 has a rubber slip sleeve. The handle 4 can be folded back and down. The upright 3 of the body can be folded forward and upward.

The upper probe height follows the height adjustment of the handle 4 and the upright 3 . A storage pocket can be placed in the middle of the upper and lower layers of the pole 3. A collapsible cane is fixed in parallel on the upright 3 . The body 2 is a plastic or metal casing. The crossbar and the upright 3 are made of metal. The probe box 5 is provided with a mobile phone audio input interface and an audio output interface.

Several embodiments are specifically given below to further illustrate the present invention:

Example 1

The ultrasonic distance measuring device is mounted on the trolley, and the distance value is converted into a voice or a buzzer sound or an electric needle array to stimulate the blind human palm skin to express the distance of the obstacles in different orientations to the blind person. Perceive the ground bumps with special wheels.

Example 2

The laser distance measuring device is mounted on the trolley, and the distance value is converted into a voice or a buzzer sound or an electric needle array to stimulate the blind human palm skin to express the distance of the obstacles in different orientations to the blind person. Perceive the ground bumps with special wheels.

Example 3

The electromagnetic wave distance measuring device is mounted on the trolley, and the distance value is converted into a voice or a buzzer sound or a power needle array to stimulate the blind human palm skin to express the distance of the obstacles in different orientations to the blind person. Perceive the ground bumps with special wheels.

There is a rangefinder tone selection switch on the left side of the probe box 5. There are 3 ways to choose: vocal, buzzer or both. The broadcast method is: obstacle + orientation + distance.

1. Vocals: 5 different vocals (tones) in 5 directions. The pronunciation design should minimize the number of words.

Lower probe: It is pronounced once every 2s at a long distance. The closer the distance is, the higher the pronunciation frequency is, and the sound is pronounced once every 0.5s at close distance. The pronunciation report ranging value is in decimeters, such as "one" for 0.1 meters and "two for three" for 2.3 meters. Not more than 4 meters.

Upper probe: The tone is different from the lower probe, and the “upper” word is added before the distance measurement value is reported, such as “previous one, “upper two three”.

Ground probe: The tone is different from the upper and lower probes, and the word “ground” is added before the measurement of the distance cm number, such as “ground one” and “ground two three”. When the ground is recessed within 5cm, it will not sound. When the recess is more than 20cm, it will give a sharp warning beep and report with a sharp human voice, such as: "Danger! Earth 2".

Image recognition: Covers the following types within 180 degrees and 4 meters in front and broadcasts by voice: adults, children, dogs, cats, animals; carts, cars, tricycles, two-wheelers; roads, corridors, flats, grasslands, Water surface; tree, grass, light pole, pillar, wall; upper road, lower road, upper step, upper multi-step, lower step, lower multi-step, elevator, hand-held elevator, lower elevator Well, pit, ditch. Other "obstacle" that cannot be identified is summarized.

When the voice broadcasts, the recognized image should be combined with its distance and broadcast, such as "Adult Two or Three" and "Wall One Zero".

2. Beep: The three-layer probe uses 3 different tones, and the 5 directions use 5 different tones.

Up and down probe: It is pronounced once every 2s at a long distance. The closer the distance is, the higher the pronunciation frequency is, and the nearest distance becomes continuous sound.

Ground probe: no sound is emitted when the ground is recessed within 5cm, and different tones are used for 6-10cm, 11-15cm and 16-20cm respectively. When the depression is more than 20cm, a sharp warning beep sounds and is reported with a sharp vocal, such as: "Danger! Ground 2".

The sound feedback speed should meet the normal pace use requirements.

Every time you turn on the self-test, if you find a probe is damaged, it will sound warning: "There is a fault, please check."

There is a help switch, which can be repeated when you turn it on: "Hello, can you help me?" Preset presets for men, women and children. It can be used to ask for help when a blind person needs to cross the road or other unexpected situations.

The types of common ground and obstacles and their judgment methods for electronic distance measuring guide vehicles (excluding image recognition) are as follows:

Upper path or first step: When approaching, the upper probe distance value does not change, and the lower probe distance measurement value gradually decreases. When the distance measurement is a few centimeters, the blind person lowers the handle of the vehicle and raises the front wheel. The distance measurement value of the lower probe is greater than 400. The ground probe reports the normal distance measurement value, which is known as the edge. Push the front wheel over the edge of the road, then lift the rear wheel over the edge of the road and step forward. If the front wheel is raised and the ground probe reports a large range of measurements, the track is next to the other side and is a deep pit. The guide will sound an alarm.

Downline or first step: When the edge is reached, the ground probe starts to report the normal range value, which is known as the edge. The blind person pushes the front of the car and places the front wheel on the ground. The lower probe and the ground probe both report the normal distance measurement value, and it is known that the front ground is safe. The rear wheel is placed on the ground, and the distance measurement value is normal. It can be known that the ground in front is safe. Stepping down the road.

Upper multi-step: When approaching, the upper and lower probe ranging values are gradually reduced. When the distance measurement is a few centimeters, the blind person lowers the handle of the car and lifts the front wheel. The ground probe reports the normal distance measurement value, increases the front wheel lifting angle, and the lower probe distance measurement value gradually increases, which is known to be a multi-stage step. Push the front wheel on the step and push it forward, then lift the rear wheel to step up the step. Repeatedly, the front and rear wheels and the probe can be used to know the condition of the front step and step up.

Multiple steps: When the edge is reached, the ground probe begins to report the normal range value, which is known as the step. Repeat the front and rear wheels and step down the steps. You can use the front and rear wheels and the probe to know the front step.

Upper steep slope: When approaching, the upper and lower probes report different ranging values that are close to each other and gradually decrease. When going uphill, the probe detects the same value as the flat ground.

Lower steep slope: When the slope edge is reached, the ground probe reports the normal range value. When going downhill, the probe detects the same value as the flat ground.

Small bumps: bricks, stones, etc. within 5cm of height, the probe may not be detected, when the front or rear wheel is rolled to the bulge Raised, the blind person knows the approximate position of the bump through the vibration of the body and the back tilt of the handle. When walking, avoid the bump or carefully walk forward. A bump within a height of 2 cm does not have a large effect on the footstep.

Small depression: small pits within 5cm depth, the probe may not be detected, the front or rear wheels will settle, and the blind person will know the approximate position of the depression through the vibration of the vehicle body and the forward tilt of the handle, avoiding the depression or carefully exploring when walking. Step forward.

Uncovered well: When the lower probe is over 20cm, it will suddenly make a sharp warning beep and report with a sharp vocal, such as: “Danger! One hundred and two”. The blind person stops, listens to the direction of the warning, then rotates the body left and right, and then listens to the distance measurement value of the probe to know the safe position. Two steps back, turning to a safe angle.

Large pits or ditches: When the ground probe is over 20cm, it will suddenly emit a sharp warning beep and be reported with a sharp human voice, such as: “Danger! One hundred and two”. The blind person stops, listens to the direction of the warning, then rotates the body to the left and right, and then listens to the distance measurement value of the probe. If the dangerous distance measurement value is reported about 180 degrees ahead, turn left and right 90 degrees and walk away from the edge of the pit or ditch. .

Walking parallel to the edge of the depression: if the edge of the road, the step, the ditch, etc., the ground probe on one side will report the distance measurement value, and the distance measurement value will be greater than 20, the alarm will be issued, and the blind person will turn to the other side in time to move away from the edge. .

The sidewalk to the intersection needs to be turned: when the blind person goes up to the intersection on the sidewalk, the ground probe detects the edge, turns the car to 90 degrees, detects that the front is flat, and continues to walk along the sidewalk.

Crossing the road: blind people do not cross the road with cars at non-road crossings. When you cross the road at the intersection, you must turn on the help switch: "Hello, can you help me?" Ask others to help cross the road.

Roads where sidewalks are occupied or unmanned, and people and vehicles are mixed: roadsides are roadsides, walls, greening trees, vehicles parked on the side of the road, etc., and the distance measurement of the right lower probe is about 10cm, which can maintain a straight line along the roadside. Walking, avoiding the danger of getting to the middle of the road. If the outside of the road is a flat grass or land, the blind person can sense the landscape through the wheels 1 and feet and adjust the angle to walk back to the road.

Interval slab road on the landscape grass: Since the wheel 1 has a large diameter, most of it can pass. If the front wheel is caught, lift the front wheel and push the cart forward.

Grassland: The resistance of the cart is increased, and the foot can be used to know the grass.

Uneven land: The body will be bumpy, and a raised part may hold the front wheel, and lifting the front wheel is feasible.

Mud, sand, and gravel: Resistance will increase. Some grounds may not be able to move forward and should be bypassed.

Swamps and quicksands: May cause blind people to get trapped and unable to extricate themselves. Friends and relatives should ensure that blind people do not step into this dangerous terrain.

Elevator: It is known that the elevator opens the door through the change of the sound of the elevator door and the distance measurement value of the probe. It is known whether there is someone or someone coming out of the elevator through the distance measurement value of the probe. Access to the elevator when accessibility is ahead.

Rolling elevator: When you reach the elevator door, you can know the position of the armrest through the probe, so that the car is aligned with the center of the elevator. The wheel 1 is pulled forward by the elevator and the steps follow. When the exit is reached, the body posture is flattened, the resistance is increased, and the cart is advanced.

Subway: Arriving at the platform, open the help voice: "Hello, can you help me?" Ask others to help get on and off the subway.

Corridor: The distance between the two walls is sensed by the probe, and the straight walk is maintained. When the side probe distance is increased, it is known that the turn is reached.

Columns and utility poles: The upper and lower probes in the same direction are basically the same, and the body is rotated left and right. The diameter of the column is reported by different probes and the bypass path is known.

Anti-parking piles: iron piles, stone piers, plastic bucket piles, etc. The upper probe is not detected, and the lower 3 probes report obstacles. The guess may be ground piles. The cart is close to 10-20cm. The left and right rotating body can find the gap of the pile. The gap can be passed when the gap is larger than the width of the body.

Branches with drooping trees: When approaching, a lower probe and multiple upper probes report obstacles, and the guess may be a tree. Rotate the body to know the road conditions, choose to pass or bypass.

Crowded people flow: through the ambient sound, there is a flow of people around. The high-frequency variation of the ranging value indicates that the pedestrian is close to or far away. Through the blind guide, sound and light are used to warn others to avoid, and slowly move forward. When there is an obstacle in front of the front, adjust the front angle of the vehicle to bypass.

The above is only the preferred embodiment of the present invention, and is not intended to be limited to the scope of the present invention. The equivalent changes and modifications made by the content of the invention are intended to be the technical scope of the present invention.

Claims

An electronic guide blind cart, comprising: a trolley, a distance measuring device and a camera;

The trolley comprises a vehicle body (2), the vehicle body (2) is provided with three wheels (1), three wheels (1) are arranged in a finished word, the front wheel is a universal wheel; and the vehicle body (2) is provided with a height-adjustable pole (3), the upper end of the pole (3) is provided with a probe box (5) and a handle (4); the wheel (1) comprises a coaxially disposed drum (7) and a tire (6), The tire (6) is disposed in the middle of the drum (7), and the diameter of the tire (6) is larger than the diameter of the drum (7);

The distance measuring device comprises a plurality of distance measuring probes, the distance measuring probe is divided into an upper probe, a lower probe and a ground probe; the upper probe is arranged on the probe box (5) to detect an obstacle in front of the blind upper body; the lower probe and the ground The probe is disposed at the front end of the vehicle body (2) to detect the obstacles on the front of the vehicle body (2) and the depressions on the ground;

The camera is disposed at a front end of the probe box (5);

The trolley is provided with a prompting device for reminding the blind person, and the prompting device is electrically connected to the distance measuring device and the camera.
The electronic guide blind cart according to claim 1, wherein the prompting device is a horn, two horns are mounted on the rear side of the base of the vehicle body (2), and two horns are mounted on the probe box (5 On the rear side, four speakers form a surround sound arrangement; the distance measuring device detects the obstacle distance, the image recognition obstacle type after the camera takes the image, the speaker voice broadcasts the type, orientation and distance of the obstacle and the ground depression.
The electronic guide blind cart according to claim 1, wherein the prompting device is a motorized needle array device, and the electric needle array device is mounted on the handle (4) with different needles and different The degree of expansion and contraction stimulates the skin of the blind person to express the distance of obstacles in different orientations to the blind.
The electronic guide blind cart according to claim 1, wherein the distance measuring device is an ultrasonic distance measuring probe, an electromagnetic wave ranging probe or a laser ranging probe; and each layer is used when an ultrasonic distance measuring probe is used. Five probes are set; when using an electromagnetic wave or laser ranging probe, one rotating probe per layer is continuously scanned.
The electronic guide blind cart according to claim 1, wherein the detection angle of the upper probe is a scalloped surface of 180° ahead; the detection coverage angle of the lower probe is a scalloped surface of 180° ahead; the ground probe The detection coverage angle is a scalloped surface 180° obliquely below.
The electronic guide blind cart according to claim 1, wherein the front side of the bottom surface of the vehicle body (2) is provided with two exposed electrodes, and the two electrodes are connected to an alarm circuit when the two electrodes are guided. When the time is up, the alarm circuit alarms through the horn.
The electronic guide blind cart according to claim 1, characterized in that: the top of the probe box (5) is equipped with a rotating lamp; a beam is arranged directly above the pole (3), so that the blind person can lift the vehicle The handle (4) is "U" type, forming a "mouth" shape structure with the beam; the handle (4) has a rubber anti-slip sleeve; the two rear wheels are provided with a brake device, and the handle (4) is provided with a brake device The hand brake; the vehicle body (2) is provided with a battery for supplying electric energy to the electronic device, and the battery is charged by the charging interface or the generator is driven by the wheel (1) to charge the battery.
An electronic guide blind cart according to claim 1, wherein said handle (4) is foldable rearward and downward, and the upright (3) is foldable forward and upward.
A blind guiding method for an electronic guide blind cart according to claim 1, comprising the steps of:

The distance measuring device detects the distance of the obstacle in front of the trolley, specifically: the upper probe detects the obstacle distance in front of the upper body of the blind, the lower probe detects the obstacle in front of the vehicle body, and the ground probe detects the depression on the ground in front of the vehicle body;

The camera recognizes the type of obstacle after capturing the image in front of the trolley;

The horn simultaneously reports the type, orientation and distance of the obstacle and the ground depression by voice; the method of informing the detection orientation is: the upper probe, the lower probe and the ground probe are broadcast by different horns and different timbres, and the upper probe ranging value is from the upper horn. Pronunciation, the ground probe ranging value is pronounced by the lower speaker, the lower probe ranging value is sent by the upper and lower speakers; the corresponding three probes are measured, the positive left direction is measured by the corresponding left speaker, the right direction The ranging value is pronounced by the corresponding right horn, and the ranging values of the front front, the left front, and the right front direction are reflected by the time difference of the corresponding left and right horns;

Or the electric needle array device is mounted on the handle to stimulate the distance of the obstacles of different orientations to the blind by different needles and different degrees of expansion and contraction to stimulate the skin of the blind person.
The blind guiding method for an electronic guide blind cart according to claim 9, wherein when the upper and lower probes detect a long distance of an obstacle in front of the vehicle body, the corresponding speaker is pronounced once every 2 seconds, and the closer the distance is, the higher the pronunciation frequency is. Every close distance The sound is pronounced once at intervals of 0.5s; it becomes a continuous sound when the distance is closest; the ground probe does not sound when it is within 5cm of the ground depression, and the ground depression is 6-10cm, 11-15cm, 16-20cm with different tones, and the ground depression is more than 20cm. Give a sharp warning beep and report with a sharp vocal.