CN106890067A - Indoor blind man navigation robot - Google Patents
Indoor blind man navigation robot Download PDFInfo
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- CN106890067A CN106890067A CN201710010450.2A CN201710010450A CN106890067A CN 106890067 A CN106890067 A CN 106890067A CN 201710010450 A CN201710010450 A CN 201710010450A CN 106890067 A CN106890067 A CN 106890067A
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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
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- 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)
- Rehabilitation Tools (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses indoor blind man navigation robot, including navigating robot and wearable mobile terminal two parts.Wherein, navigating robot includes camara module, walking module, central control unit, human-computer interaction module, prompting module, wireless communication module；Wearable mobile terminal includes voice module, acceleration transducer, wireless communication module.Navigating robot passes through wireless communication module and wearable communication of mobile terminal, three-dimensional environment map is obtained using camara module, current location is obtained with indoor three-dimensional scenic map match, realize detection of the robot to barrier in navigation, avoid and monitoring blind person user position, regulation walking module motion state, make it without departing from navigation way, can obtain destination by voice module or human-computer interaction module carries out route planning, real-time reminding blind person change travel direction and barrier.With easy to use, positioning precision is high, and avoidance ability is strong, the features such as application prospect is wide.
Description
Technical field
The present invention relates to automate and robot field, more particularly to blind man navigation field.
Background technology
The World Health Organization estimates that there is blind person 4,000 ten thousand to 4,500 ten thousand in the whole world, and low visual acuity is 3 times of blind person, about 1.4 hundred million
People, in life, blind person has many inconveniences relative to ordinary person, and the especially trip of blind person is greatly limited, though
So being built for blind person's trip has certain infrastructure, such as sidewalk for visually impaired people, however, for blind person, in walking, still can not
Avoid that obstacle can be run into.Usual blind person beats the sound for sending by crutch and judges, but this is for blind person, especially
Judge very difficult in noisy environment, and blind person carry out on a large scale activity when, easily get lost, limit the work of blind person
It is dynamic.It would therefore be desirable to have corresponding service type navigating robot, help blind person preferably carries out activity.
With the continuous progress of robot technology, robot can semi-autonomous or complete independently complete independently work in every,
Robot either in daily life, or all more and more important roles of performer in industry, Agricultural Activities, especially
It is that the development for servicing humanoid robot maintains growth rate faster, and people to improve the quality of living, and people are more next
More favor service humanoid robot, therefore service humanoid robot has extensive market.
The content of the invention
Present invention aim at a kind of easy to maintenance, simple structure is provided, by three-dimensional camera and sensor, can
Realize positioning, navigation and to detection of obstacles and the indoor blind man navigation robot for avoiding.
To reach above-mentioned purpose, the technical solution adopted in the present invention is as follows：
Indoor blind man navigation robot, including navigating robot and wearable mobile terminal two parts.
Navigating robot include camara module, walking module, central control unit, human-computer interaction module, prompting module,
Wireless communication module.Central control unit to obtain and be input into destination information by human-computer interaction module and camara module is shot
Partial 3 d environment photo processed, obtain and current location and plan circuit automatically, in navigation procedure if desired steering or
There is barrier, control prompting module is reminded blind person, and gait of march and directional information are sent into walking module, is controlled
Navigating robot gait of march processed and direction.
Further, three-dimensional camera has two groups, is separately mounted to the forward and backward side of robot, shoots partial 3 d environment and shines
Piece, for generating three-dimensional local environment map, realizes the detection to barrier, avoids and real-time monitoring blind person user position
Put, robot autonomous regulation travel condition.
Further, the light sensor uses E3F3-D16 types, is installed on around camera, for detecting surrounding ring
Border light intensity.
Further, lighting apparatus is installed on around each camera, is started when environment bright intensity effect image quality
Work.
Walking module carries robot body part, used as robot chassis, including microcontroller, walking mechanism.
Further, walking mechanism is trigonometric expression Athey wheel, and front-wheel liftable certain altitude.
In the housing that microcontroller is placed in the middle of the Athey wheel of walking mechanism two, for control walking mechanism direct of travel,
Speed, and front-wheel lifting is adjusted according to barrier.
Central control unit is placed in navigating robot body interior, and the three-dimensional environment for processing three-dimensional camera collection shines
Piece, carries out matching positioning, detection of obstacles and avoidance and monitors the position of blind person user with three-dimensional indoor scene map, and
Judge to be detoured for barrier robot and pass through；Receive the destination of human-computer interaction module and voice module input, and certainly
Dynamic programme path is navigated；Receive the data of light sensor collection；Control prompting module, control wireless communication module.
Further, the wireless communication module use LCX24A wireless communication modules, for robot with it is wearable
Mobile terminal sets up communication connection.
Further, the human-computer interaction module is installed on robot rear handrail, is set exclusively for blind person user
The manual input device of meter, to improve the accuracy of input.
Further, the prompting module is arranged on the handrail of navigating robot rear and around its main body, robot
Four vibrating reeds being pointed in different directions are installed, vibrating alert user turns to or barrier occurs in front, and LED exists on handrail
Show that corresponding word reminds pedestrian to note avoiding when navigating robot is used.
Wearable mobile terminal is dressed independently of navigating robot by blind person, including voice module, acceleration sensing
Device, wireless communication module, with headphone as carrier, acceleration transducer, wireless communication module are installed in earphone cavity.
Further, the wireless communication module is used for wearable mobile terminal and navigating robot sets up communication link
Connect.
Further, the voice module includes osteoacusis formula microphone and earphone, for being input into destination information and connecing
The prompting message such as the barrier sent by robot and steering.
Further, the acceleration transducer be XL403D types, real-time monitoring blind person user's gait of march, and will letter
Breath is sent to central control unit, controls navigating robot gait of march.
Beneficial effect
It is of the invention to integrate positioning, navigation, avoidance, man-machine interaction for indoor blind man navigation robot, indoors
Place provides service for blind person.Set up local environment map by robot two groups of three-dimensional cameras of forward and backward side, realize positioning,
Avoidance and monitoring user's status of action；Can by the human-computer interaction module on wearable mobile terminal or robot handrail with
User interacts, and improves blind person user and obtains the accuracy of information and the security of traveling；Crawler-type traveling machine
Structure enhances robot and passes through property；Wearable mobile terminal has acceleration transducer, and robot can be made to adjust gait of march,
Make blind person user without departing from navigation way；Osteoacusis formula microphone and earphone in voice module, improve in noisy environment
Lower phonetic entry and the accuracy of voice reminder；Installed in the LED screen of robot surrounding, pedestrian can be reminded to note avoiding.
Brief description of the drawings
Fig. 1 is the system block diagram of blind man navigation robotic embodiment of the present invention.
Fig. 2 is blind man navigation robotic embodiment simple diagram of the present invention.
Specific embodiment
In order to know more about technology contents of the invention, especially exemplified by specific embodiment and institute's accompanying drawings are coordinated to be described as follows.
As shown in figure 1, preferred embodiment of the invention, indoor blind man navigation robot, including navigating robot and
The two parts of wearable mobile terminal 201.Wherein, navigating robot includes camara module 104, walking module 102, center control
Unit processed 101, human-computer interaction module 105, prompting module 106, wireless communication module 103；Wearable mobile terminal 201 includes
Voice module 202, acceleration transducer 203, wireless communication module 204.
Camara module 104 gathers the 3-d photographs of local environment, is sent to central control unit 104, is built after treatment
Vertical local environment map, obtains robot current location, and detect barrier with monitoring blind person user position.
Walking module 102 detects the travel condition of blind person and the position of blind person and robot according to acceleration transducer 203
Put control robot gait of march and direction, it is ensured that blind person user does not depart from navigation way.
The three-dimensional environment photo of the collection of reason camara module 104 at central control unit 104, generates local after treatment
Three-dimensional environment map carries out matching positioning, detection of obstacles and avoidance and monitoring blind person user with three-dimensional indoor scene map
Position, and judge to be detoured for barrier robot and pass through, it is such as impassable, then plan circuit again；Receiving comes from
Human-computer interaction module 105 and the destination information of the input of voice module 202, automatic programme path are navigated；Control simultaneously is carried
Awake module 106, wireless communication module 103 are reminded blind person.
Alarm set 106 include be arranged on navigating robot rear handrail on four vibrating reeds being pointed in different directions and
LED display around robot body, vibrating reed reminding blind turns to and occurs barrier, and LED display shows corresponding text
Word reminds surrounding pedestrian to note avoiding.
Wireless communication module 108 sets up communication link by the wireless communication module 204 with wearable mobile terminal 201
Connect, realize that phonetic entry and Voice Navigation, barrier are reminded.
Human-computer interaction module 105 is installed on robot rear handrail, is exclusively for the manual defeated of blind person's user design
Enter device, destination information can be input into, central control unit 104 plans that circuit is led automatically according to the destination of input
Boat.
Wearable mobile terminal 201 is dressed independently of navigating robot by blind person, including voice module 202, acceleration
Sensor 203, wireless communication module 204, with bone conduction earphone as carrier, acceleration transducer 203, wireless communication module 204
It is installed in earphone cavity, is set up with navigating robot by wireless communication module 204 and communicated, transmission information.
Voice module 202 includes osteoacusis formula microphone and earphone, for phonetic entry destination information and receiving machine
Barrier that people sends and the prompting message such as turn to.
Acceleration transducer 205 is used to pick up survey blind person user's gait of march in real time, is controlled by central control unit 101
Robot gait of march.
The indoor blind man navigation robot that the present embodiment is proposed, easy to use, positioning precision is high, and avoidance ability is strong, information
Acquisition, processing speed are fast, and accuracy of judgement is practical.
Although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.Skill belonging to of the invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, protection scope of the present invention ought be defined depending on those as defined in claim.
Claims (6)
1. Shi Nei blind man navigations robot, it is characterised in that including navigating robot and wearable mobile terminal；Wherein：
Navigating robot includes camara module, walking module, central control unit, human-computer interaction module, prompting module, wireless
Communication module；
Camara module includes two groups of three-dimensional cameras, light sensor, lighting apparatus；Three-dimensional camera has two groups, pacifies respectively
Mounted in the forward and backward side of robot, partial 3 d environment photo is shot, for generating three-dimensional local environment map, realized to barrier
Detection, avoid and real-time monitoring blind person user position, robot autonomous regulation travel condition；
Light sensor is installed on around camera, for detecting surrounding environment light intensity；Lighting apparatus is installed on each shooting
Around head, started working when environment bright intensity effect image quality；
Walking module carries robot body part, used as robot chassis, including microcontroller, walking mechanism；Microcontroller
In the housing being placed in the middle of the Athey wheel of walking mechanism two, direct of travel, speed for controlling walking mechanism, and according to obstacle
Thing regulation front-wheel lifting；
Central control unit is placed in navigating robot body interior, for processing the three-dimensional environment photo of three-dimensional camera collection,
Carry out matching positioning, detection of obstacles and avoidance with three-dimensional indoor scene map and monitor the position of blind person user, and sentence
Can disconnected being detoured for barrier robot pass through；Receive the destination of human-computer interaction module and voice module input, and automatically
Programme path is navigated；Receive the data of light sensor collection；Control prompting module, control wireless communication module；It is described
Human-computer interaction module is installed on robot rear handrail；
Wireless communication module is used for wearable mobile terminal and sets up communication connection with navigating robot；
Prompting module is arranged on the handrail of navigating robot rear and around its main body, and four fingers are provided with robot handrail
To the vibrating reed of different directions, vibrating alert user turns to or barrier occurs in front, and LED shows when navigating robot is used
Show that corresponding word reminds pedestrian to note avoiding；
Wearable mobile terminal is dressed independently of navigating robot by blind person, including voice module, acceleration transducer, nothing
Line communication module, with bone conduction earphone as carrier, acceleration transducer, wireless communication module are installed in earphone cavity, are passed through
Wireless communication module is set up with navigating robot and is communicated, transmission information.
Acceleration transducer real-time monitoring blind person user's gait of march, and central control unit is sent information to, control is led
Boat robot gait of march.
2. robot as claimed in claim 1, it is characterised in that voice module includes bone in the wearable mobile terminal
Conduction-type microphone and earphone, for being input into destination information and receiving barrier and steering prompting message that machine human hair goes out.
3. robot as claimed in claim 1, it is characterised in that described, acceleration is passed in the wearable mobile terminal
Sensor is XL403D types.
4. robot as claimed in claim 1, it is characterised in that light sensor uses E3F3- in the navigating robot
D16 types.
5. robot as claimed in claim 1, it is characterised in that walking mechanism is trigonometric expression crawler belt in the navigating robot
Wheel, and front-wheel can lift certain altitude.
6. robot as claimed in claim 1, it is characterised in that wireless communication module is used in the navigating robot
LCX24A wireless communication modules.
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| CN201710010450.2A CN106890067B (en) | 2017-01-06 | 2017-01-06 | Indoor blind man navigation robot |
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|---|---|---|---|
| CN201710010450.2A CN106890067B (en) | 2017-01-06 | 2017-01-06 | Indoor blind man navigation robot |
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| CN106890067A true CN106890067A (en) | 2017-06-27 |
| CN106890067B CN106890067B (en) | 2019-05-31 |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390703A (en) * | 2017-09-12 | 2017-11-24 | 北京创享高科科技有限公司 | A kind of intelligent blind-guidance robot and its blind-guiding method |
| CN107485545A (en) * | 2017-09-11 | 2017-12-19 | 太仓博轩信息科技有限公司 | A kind of shared blind-guidance robot and its method of work based on unmanned plane |
| CN107728614A (en) * | 2017-09-21 | 2018-02-23 | 南京中高知识产权股份有限公司 | Blind person's guided robot and its method of work |
| CN107789166A (en) * | 2017-10-19 | 2018-03-13 | 南京中高知识产权股份有限公司 | Blind person is with guiding system and its method of work |
| CN107877493A (en) * | 2017-11-10 | 2018-04-06 | 南京师范大学 | Robot system and its application process are assisted in a kind of the elderly's indoor activity in |
| CN107919045A (en) * | 2017-12-11 | 2018-04-17 | 陕西数字人信息科技有限公司 | One kind mapping human pathology's demenstration method and system |
| CN108078747A (en) * | 2018-01-02 | 2018-05-29 | 成都觅瑞科技有限公司 | For the instruction system of eye disease patient use at home |
| CN108319265A (en) * | 2017-12-21 | 2018-07-24 | 山西迪迈沃科光电工业有限公司 | The control system and method for a kind of ground running robot for electric power computer room inspection |
| CN108527379A (en) * | 2018-03-29 | 2018-09-14 | 上海理工大学 | A kind of station service for blind readers robot |
| CN108555922A (en) * | 2018-03-29 | 2018-09-21 | 上海理工大学 | A kind of airport service for blind readers robot |
| CN109009908A (en) * | 2018-09-27 | 2018-12-18 | 田家炜 | A kind of electronic guide dog and its guide rope and its application method |
| CN109101022A (en) * | 2018-08-09 | 2018-12-28 | 北京智行者科技有限公司 | A kind of working path update method |
| CN109144057A (en) * | 2018-08-07 | 2019-01-04 | 上海大学 | A kind of guide vehicle based on real time environment modeling and autonomous path planning |
| CN109998873A (en) * | 2019-04-12 | 2019-07-12 | 赖振龙 | A kind of wearable blindmen intelligent positioning and blind guiding system |
| CN111035543A (en) * | 2019-12-31 | 2020-04-21 | 北京新能源汽车技术创新中心有限公司 | Intelligent blind guiding robot |
| CN111486839A (en) * | 2020-04-20 | 2020-08-04 | 珠海格力电器股份有限公司 | Indoor safety prompting method and terminal |
| CN113576855A (en) * | 2021-09-29 | 2021-11-02 | 上海豪承信息技术有限公司 | Blind guiding device and blind guiding method |
| CN113679576A (en) * | 2021-08-16 | 2021-11-23 | 深圳华昭科技有限公司 | Bracelet obstacle avoidance navigation system and method for assisting blind person in going out |
| CN114287830A (en) * | 2021-12-13 | 2022-04-08 | 珠海一微半导体股份有限公司 | Cleaning robot system for blind people and control method thereof |
| CN114714371A (en) * | 2022-03-31 | 2022-07-08 | 河南云迹智能技术有限公司 | Robot guiding method, device, equipment and medium |
| CN116158950A (en) * | 2023-03-01 | 2023-05-26 | 中航华东光电（上海）有限公司 | Intelligent navigation system with voice reminding function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107485545A (en) * | 2017-09-11 | 2017-12-19 | 太仓博轩信息科技有限公司 | A kind of shared blind-guidance robot and its method of work based on unmanned plane |
| CN107390703A (en) * | 2017-09-12 | 2017-11-24 | 北京创享高科科技有限公司 | A kind of intelligent blind-guidance robot and its blind-guiding method |
| CN107728614A (en) * | 2017-09-21 | 2018-02-23 | 南京中高知识产权股份有限公司 | Blind person's guided robot and its method of work |
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| CN107789166A (en) * | 2017-10-19 | 2018-03-13 | 南京中高知识产权股份有限公司 | Blind person is with guiding system and its method of work |
| CN107877493A (en) * | 2017-11-10 | 2018-04-06 | 南京师范大学 | Robot system and its application process are assisted in a kind of the elderly's indoor activity in |
| CN107919045A (en) * | 2017-12-11 | 2018-04-17 | 陕西数字人信息科技有限公司 | One kind mapping human pathology's demenstration method and system |
| CN108319265A (en) * | 2017-12-21 | 2018-07-24 | 山西迪迈沃科光电工业有限公司 | The control system and method for a kind of ground running robot for electric power computer room inspection |
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| CN108555922A (en) * | 2018-03-29 | 2018-09-21 | 上海理工大学 | A kind of airport service for blind readers robot |
| CN108527379A (en) * | 2018-03-29 | 2018-09-14 | 上海理工大学 | A kind of station service for blind readers robot |
| CN109144057A (en) * | 2018-08-07 | 2019-01-04 | 上海大学 | A kind of guide vehicle based on real time environment modeling and autonomous path planning |
| CN109101022A (en) * | 2018-08-09 | 2018-12-28 | 北京智行者科技有限公司 | A kind of working path update method |
| CN109009908A (en) * | 2018-09-27 | 2018-12-18 | 田家炜 | A kind of electronic guide dog and its guide rope and its application method |
| CN109998873A (en) * | 2019-04-12 | 2019-07-12 | 赖振龙 | A kind of wearable blindmen intelligent positioning and blind guiding system |
| CN111035543A (en) * | 2019-12-31 | 2020-04-21 | 北京新能源汽车技术创新中心有限公司 | Intelligent blind guiding robot |
| CN111486839A (en) * | 2020-04-20 | 2020-08-04 | 珠海格力电器股份有限公司 | Indoor safety prompting method and terminal |
| CN113679576A (en) * | 2021-08-16 | 2021-11-23 | 深圳华昭科技有限公司 | Bracelet obstacle avoidance navigation system and method for assisting blind person in going out |
| CN113576855A (en) * | 2021-09-29 | 2021-11-02 | 上海豪承信息技术有限公司 | Blind guiding device and blind guiding method |
| CN114287830A (en) * | 2021-12-13 | 2022-04-08 | 珠海一微半导体股份有限公司 | Cleaning robot system for blind people and control method thereof |
| CN114714371A (en) * | 2022-03-31 | 2022-07-08 | 河南云迹智能技术有限公司 | Robot guiding method, device, equipment and medium |
| CN116158950A (en) * | 2023-03-01 | 2023-05-26 | 中航华东光电（上海）有限公司 | Intelligent navigation system with voice reminding function |
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| CN106890067B (en) | 2019-05-31 |
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