WO2018058936A1 - Blind guiding belt - Google Patents

Blind guiding belt Download PDF

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Publication number
WO2018058936A1
WO2018058936A1 PCT/CN2017/080331 CN2017080331W WO2018058936A1 WO 2018058936 A1 WO2018058936 A1 WO 2018058936A1 CN 2017080331 W CN2017080331 W CN 2017080331W WO 2018058936 A1 WO2018058936 A1 WO 2018058936A1
Authority
WO
WIPO (PCT)
Prior art keywords
module
laser radar
waistband
lidar
belt body
Prior art date
Application number
PCT/CN2017/080331
Other languages
French (fr)
Chinese (zh)
Inventor
胡小波
张芳芳
张无忌
Original Assignee
深圳市镭神智能***有限公司
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Publication date
Application filed by 深圳市镭神智能***有限公司 filed Critical 深圳市镭神智能***有限公司
Publication of WO2018058936A1 publication Critical patent/WO2018058936A1/en

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • 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
    • A61H2003/065—Walking aids for blind persons with electronic detecting or guiding means with tactile perception in the form of braille

Definitions

  • the present disclosure relates to the field of blind guide devices, for example, to a blind guide belt.
  • blind people There are about 10 million blind people in China, accounting for 18% of the total number of blind people in the world, and there is a trend of continuous increase in the future. By 2020, the number of blind people in China is estimated to reach 50 million. As a special group in the society, 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 a problem faced by the blind people.
  • the guide products for blind people are immature. Most of them use single-point laser scanning ranging or infrared ranging sensing technology. The detection accuracy is poor and the detection distance is close.
  • the present disclosure provides a blind guiding belt, which can solve the problem that the navigation precision of the guide product is poor and the detection distance is close.
  • the embodiment provides a guide belt, which may include: a belt body; a lidar module disposed on the belt body and configured to detect a surrounding environment condition and form position information of the measured object; The body receives and processes the position information of the measured object detected by the laser radar module to form a controller for prompting instructions; and a reminding module that is controlled by the prompting instruction to output surrounding environmental condition prompt information.
  • the guide waistband provided by the embodiment adopts a lidar module to detect the surrounding environment, and has high detection precision and long detection distance.
  • the main body of the laser radar module is disposed on the belt body, and the assembly is simple, the use is convenient, the overall structure is simple, and the reliability is strong.
  • FIG. 1 is a schematic structural view of a blind belt according to Embodiment 1.
  • FIG. 2 is a schematic structural view of a blind belt according to Embodiment 1.
  • FIG. 3 is a schematic diagram showing the coverage angle of the detection plane of the first laser radar module in the blind belt of the first embodiment.
  • FIG. 4 is a schematic view showing the angle between the detection plane of the second laser radar module and the scanning plane of the first laser radar module in the blind belt of the first embodiment.
  • FIG. 5 is a schematic diagram showing the coverage angle of the detection plane of the second laser radar module in the blind belt of the first embodiment.
  • FIG. 6 is a schematic diagram of a module of a second laser radar module in a blind belt according to Embodiment 1.
  • FIG. 7 is a schematic structural view of a controller in a blind belt in the first embodiment.
  • the first laser radar module 111, the first laser radar module detection plane;
  • a second laser radar module 121, a structured light emitting module; 122, a signal acquisition module; 123, a signal processing module, 124, an emission hole; 125, an acquisition hole; 126, a second laser radar module detection plane;
  • controller 21, data receiving module; 22, data processing module; 23, data conversion module; 24, data transmission module;
  • the embodiment provides a blind belt, which may include: a laser radar system 1 .
  • a controller 2 connected to the laser radar system, a reminder module 3 connected to the controller, and a belt body 4.
  • the lidar module (or lidar system) can also be called a laser radar, or laser radar, and the reminder module can also be called a reminder or a reminder.
  • the laser radar system 1 detects the surrounding environment of the belt body 4 (ie, the user wearing the belt body), obtains the position information of the measured object, and uploads the position information to the controller 2, and the controller 2 receives and processes the measured object.
  • the location information forms a prompting instruction, and the prompting instruction is transmitted to the reminding module 3, and the reminding module 3 reminds the user of the surrounding environment.
  • the laser radar system 1 may include: a first laser radar module 11 and a second laser radar module 12, which may be referred to as a first laser radar or a first laser radar.
  • the second lidar module may also be referred to as a second lidar or a second lidar.
  • the first laser radar module 11 is arranged to scan the surrounding environment of the waist belt body 360 degrees in the horizontal direction
  • the second laser radar module 12 is disposed at the front of the waist belt body 4, and is arranged to scan the front road condition of the waist belt body at a close distance.
  • the user wears the guide belt, that is, the belt body of the guide belt is worn on the waist, and the direction in which the user advances during the walking process is defined as the front part of the belt body, and the direction in which the user retreats is defined as At the rear of the belt body, a second lidar module is disposed at the front of the belt body.
  • the road condition information using the forward direction of the person is more important than the road condition information in other directions, so the second laser radar module can be disposed at the front of the belt body, and the front portion can be a range.
  • the waistband body is equally divided into a first portion that is the front portion of the waistband body and a second portion that is the rear portion of the waistband body.
  • the second lidar module can be placed anywhere on the front of the belt body.
  • the center position of the first portion of the belt body is predetermined, and the second lidar module is disposed at a central position of the first portion of the belt body, so that the second lidar module scans the road condition of the user in the forward direction more widely.
  • the waist belt body 4 is provided with two sets of first laser radar modules 11 in front and rear, and two sets of first laser radar modules 11 work simultaneously to realize horizontal 360-degree scanning detection.
  • the function of the environment surrounding the belt body is provided with two sets of first laser radar modules 11 in front and rear, and two sets of first laser radar modules 11 work simultaneously to realize horizontal 360-degree scanning detection. The function of the environment surrounding the belt body.
  • the number of the first laser radar modules 11 may also be two or more.
  • the number of the first laser radar modules may be determined according to actual conditions, and only needs to implement a 360-degree horizontal scanning function to detect the surrounding environment of the belt body.
  • the waist belt body 4 may have a circular shape.
  • the two sets of first laser radar modules 11 are disposed opposite each other on the waist belt body, and the connection between the two can pass through the center of the waist belt body 4.
  • the horizontal scanning range of each first laser radar module 11 can be in the range of 180.
  • two sets of first laser radar modules 11 can be secured.
  • the scan range covers 360 degrees horizontally.
  • a first lidar module located at the front of the belt body is disposed at a central location of the first portion of the belt body.
  • the first laser radar module 11 is arranged to scan the surrounding environment of the waist belt body 360 degrees along the horizontal direction.
  • the above horizontal direction is only for convenience of description and is not limiting.
  • the first laser radar module detects
  • the plane 111 can be moved up and down or tilted in a small range, that is, the position of the first laser radar module detecting plane 111 can fluctuate up and down in the horizontal direction, and the scanning range depends on the actual situation.
  • the horizontal direction may refer to a direction parallel to the horizontal plane.
  • the first lidar module 11 obtains the optical path to obtain the distance information of the measured object by calculating the time difference between the modulated laser emission and the return, and uploads the distance information to the controller 2.
  • the first laser radar module 11 can realize 360-degree environmental scanning detection in a long distance (within 200 meters), high precision, fast scanning frequency, real-time data update, high reliability, and can detect detailed information of obstacles, such as azimuth and distance. And speed information, etc.
  • the first Lidar module 11 may also use other types of laser radars to obtain distance information of the measured object, such as a laser radar based on the principle of triangulation, or any combination thereof.
  • Lidar can be divided into time-of-flight (TOF)-based laser radar and triangulation-based laser radar according to different working principles.
  • the TOF-based laser radar can include single-line laser radar and multi-line laser radar.
  • single-line laser radar can refer to radar with only one transmitting signal and one receiving signal.
  • Multi-line laser radar can refer to multiple transmitting signals and multiple channels.
  • Lidars based on triangulation away can include single point measurement lidars and structured light lidars.
  • the second lidar module detection plane 126 is at an angle with the first lidar module detection plane 111 and the beam emitted by the second lidar module 12 is obliquely directed to the ground.
  • the certain angle may be an artificially preset angle.
  • the second lidar module 12 acquires information of the detection plane 126 at a preset angle.
  • the second laser radar module 12 emits a structured light detecting front road condition
  • the second laser radar module detecting plane 126 is a two-dimensional plane covering a certain angle, which can achieve higher angular resolution and scanning frequency
  • second The laser radar module 12 uses the triangulation principle to obtain the surrounding environment distance information within the range of the structured light illumination, and has high detection precision and high reliability, and can accurately detect obstacles and road surface flatness information within a short distance (within 6 meters) in front of the waistband body 4. (obstacle orientation, distance and shape and size information), real-time detection of road conditions.
  • the angle A between the second lidar module detection plane 126 and the first lidar module detection plane 111 may be 0-90 degrees, preferably 30-45 degrees.
  • the second lidar module detecting plane 126 When the angle A between the second lidar module detecting plane 126 and the first lidar module detecting plane 111 is 0 degrees, the second lidar module detecting plane 126 substantially coincides with the first lidar module detecting plane 111, and can The accurate detection of the horizontal direction in front of the belt body 4 is achieved, and the road condition detection of the front side of the belt body 4 is not good.
  • the second lidar module detection plane 126 is perpendicular to the first lidar module detection plane 111, which can be realized.
  • the detection of the road condition in front of the belt body 4 has high detection accuracy, but the detection distance is extremely short. At this time, the setting mode of the second laser radar module leads to poor performance of the guide belt.
  • the angle A between the second laser radar module detecting plane 126 and the first laser radar module detecting plane 111 is 30-45 degrees, the front road condition of the belt body 4 can be detected, the detection precision is high, and the detecting distance is long. (about 6 meters).
  • the second laser radar module detection plane 126 is a fan-shaped two-dimensional plane covering a certain angle, and the coverage angle B of the second laser radar module detection plane 126 may be 30-150 degrees, preferably 60-110 degrees.
  • the farthest detection distance is inversely proportional to the scan width.
  • the scanning width (less than 1 meter) of the second laser radar module detection plane 126 is small, that is, the structured light emitted by the second laser radar module 12 can only detect the front of the belt body. A region that is narrower (below 1 meter), although the detection distance is far away, the scan width is too small and the reliability is low.
  • the scanning area of the second laser radar module detection plane 126 is ideal.
  • the scanning width of the second laser radar module detection plane 126 (2 meters)
  • the structural light emitted by the second laser radar module 12 detects an area having a width of about 2 meters in front of the belt body, and the detection distance is long, and the detection effect is good.
  • the scanning width (about 5 meters) of the detection plane 126 of the second laser radar module is large, that is, the structural light emitted by the second laser radar module 12 detects the width of the front of the belt body about 5 meters. In a region, the detection distance is moderate and the detection effect is good.
  • the detection width of the second laser radar module detection plane 126 is about 12 meters, that is, the structural light energy emitted by the second laser radar module 12 detects an area with a width of about 12 meters in front of the waist belt body.
  • the scan width is too large, the detection distance is too close, and the effect is not obvious.
  • the detection width of the second laser radar module detection plane 126 refers to the length of the intersection line when the second lidar detection plane 126 intersects the ground (the ground is assumed to be a horizontal plane);
  • the second lidar module detection plane 126 is also based on the intersection width of the second lidar module detection plane 126 equal to the intersection of the second lidar detection plane 126 and the ground (the ground is assumed to be a horizontal plane). length.
  • the second laser radar module detection plane 126 can also be moved up or down or tilted, and only the second laser radar module 12 can implement the above functions of the embodiment or/and satisfy the above requirements in the embodiment.
  • the second laser radar module 12 may include a structured light emitting module 121, a signal collecting module 122, and a signal processing module 123.
  • the second laser radar module 12 is provided with an emission hole 124 and an acquisition hole 125.
  • the structured light emitting module 121 is disposed behind the emission hole 124, and the signal acquisition module 122 is disposed on the
  • the signal processing module 123 is disposed inside the body of the second laser radar module 12 and connected to the structured light emitting module 121 and the signal collecting module 122.
  • the controller 2 includes a data receiving module 21, a data processing module 22, and data conversion.
  • the module 23 and the data sending module 24 receive the position information of the measured object detected by the first laser radar module 11 and the second laser radar module 12 and upload the position information to the data processing module 22, and the data processing module 22 processes the laser.
  • the position information of the measured object detected by the radar module 1 and the processed position information are uploaded to the data conversion module 23, and the data conversion module 23 converts the information of the data processing module processing 22 into a prompt instruction and uploads the prompt instruction to the data transmission.
  • the module 24, the data sending module 24 uploads the prompt command converted by the data conversion module 23 to the reminder module 3.
  • the reminder module 3 can be a Bluetooth headset, and is wirelessly connected to the data sending module 24 in the controller 2 and does not need to be fixed on the belt body, so that the data sending module 24 can be
  • the sent prompt command plays the corresponding voice to remind the user of the surrounding environment.
  • the reminder module 3 can also adopt other voice reminding modules, such as a speaker, etc., and only need to be fixed on the waistband body 4.
  • the reminder module 3 can also use other reminder modules, such as a vibration reminder module or a Braille reminder module.
  • the vibration reminding module is fixed on the belt body 4, and the blind person can know the surrounding environment through the form of vibration, especially in the noisy environment outside, the surrounding environment information can still be known.
  • the Braille reminding module for example, adopts a tactile feedback screen on the belt body 4, and displays Braille on the screen.
  • the waistband body 4 can be detachably connected to the first laser radar module 11, the second laser radar module 12, and the control module 2, so that the repair and replacement can be facilitated.
  • the waistband body 4 and the first lidar module 11, the second lidar module 12, and the control module 2 may also be fixedly connected, that is, not detachable.
  • the above detachable connection may be a connection manner such as a snap connection, and the structure is simple, and is not illustrated in the embodiment.
  • the first lidar module 11 and the waist belt body 4 are connected by a buckle structure.
  • the buckle structure is similar to the belt buckle structure, that is, the buckle structure is sleeved on the waist belt body 4, and can be moved along the length direction of the waist belt body 4, and the first laser radar module 11 is fixed on the buckle structure, when the first laser is needed
  • the buckle structure can be fixed on the waist belt body only by pressing the buckle structure. Since the structure is relatively simple, it is not illustrated in the embodiment. Therefore, the guide waistband can be used by people with different waist circumferences to prevent the first Lidar module 11 from being fixed at After the belt body 4 is used, the position of the first laser radar module 11 after wearing is different from the design position due to the waist circumference or other reasons, and the horizontal 360-degree scanning cannot detect the surrounding environment of the belt body. .
  • the belt body 4 can also be provided with a Global Positioning System (GPS) positioning module, so that when the blind person uses the guide belt of the embodiment to travel, the blind family can be determined through the network anywhere.
  • GPS Global Positioning System
  • the location of the blind in order to prevent blind people from getting lost, can ensure the safety of the blind.
  • the belt body 4 can also be provided with a voice timekeeping device for the user to report the time.
  • the guiding blind belt in the embodiment can realize: detecting the surrounding environment by using the laser radar system, the detection precision is high, and the detecting distance is far; the laser radar system structure device is arranged on the waist belt body, the assembly is simple, and the use is convenient; the controller pair The position information of the measured object detected by the lidar system is processed and sent to the reminder module, the reminder module reminds the user of the surrounding environment, the overall structure is simple, and the reliability is strong; the laser radar system includes 360 degrees for horizontal direction
  • the first laser radar module for scanning the surrounding environment of the belt body and the second laser radar module for detecting the road condition in front of the belt body by the close-range scanning have high detection precision, long detection distance and high reliability; the belt body and the first laser radar
  • the module, the second laser radar module and the control module can be disassembled and connected, thereby facilitating maintenance and replacement; the first laser radar module and the belt body are connected by a buckle structure, and the structure is simple, and the first laser radar module can be adjusted according to different conditions. Location, easy to use
  • the disclosure provides a blind belt, which has a simple structure and uses a lidar module to detect the surrounding environment, has high detection precision, long detection distance and high reliability.

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Abstract

A blind guiding belt, comprising: a belt body (4); a laser radar module (1), which is arranged on the belt body (4) and which is configured to detect a surrounding environment and to form position information of a measured object; a controller (2), which is arranged on the belt body (4), which receives and processes the position information of the measured object as detected by the laser radar module (1) and which forms an alert instruction; and an alert system (3), which is controlled by the alert instruction to output alert information regarding a surrounding environment condition.

Description

导盲腰带Guide belt 技术领域Technical field
本公开涉及导盲装置领域，例如涉及一种导盲腰带。The present disclosure relates to the field of blind guide devices, for example, to a blind guide belt.
背景技术Background technique
中国大约有盲人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问题，盲人专用的导盲产品不成熟，大多是采用单点激光扫描测距或者红外测距传感技术，检测精度差，检测距离近。There are about 10 million blind people in China, accounting for 18% of the total number of blind people in the world, and there is a trend of continuous increase in the future. By 2020, the number of blind people in China is estimated to reach 50 million. As a special group in the society, 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 a problem faced by the blind people. The guide products for blind people are immature. Most of them use single-point laser scanning ranging or infrared ranging sensing technology. The detection accuracy is poor and the detection distance is close.
发明内容Summary of the invention
本公开提供了一种导盲腰带，可以解决导盲产品导航精度差、检测距离近的问题。The present disclosure provides a blind guiding belt, which can solve the problem that the navigation precision of the guide product is poor and the detection distance is close.
本实施例提供了一种导盲腰带，可以包括：腰带本体；设于所述腰带本体上，设置为探测周围环境状况、并形成被测物体的位置信息的激光雷达模块；设于所述腰带本体上，接收并处理所述激光雷达模块探测的被测物体的位置信息，形成提示指令的控制器；以及由所述提示指令控制，输出周围环境状况提示信息的提醒模块。The embodiment provides a guide belt, which may include: a belt body; a lidar module disposed on the belt body and configured to detect a surrounding environment condition and form position information of the measured object; The body receives and processes the position information of the measured object detected by the laser radar module to form a controller for prompting instructions; and a reminding module that is controlled by the prompting instruction to output surrounding environmental condition prompt information.
本实施例提供的导盲腰带，采用激光雷达模块对周围环境情况进行探测，探测精度高，探测距离远。该激光雷达模块的主体等设置在腰带本体上，装配简单，使用方便，整体结构简单，可靠性强。The guide waistband provided by the embodiment adopts a lidar module to detect the surrounding environment, and has high detection precision and long detection distance. The main body of the laser radar module is disposed on the belt body, and the assembly is simple, the use is convenient, the overall structure is simple, and the reliability is strong.
附图说明DRAWINGS
图1为本实施例1提供的一种导盲腰带的结构示意图。 FIG. 1 is a schematic structural view of a blind belt according to Embodiment 1.
图2为本实施例1提供的一种导盲腰带的结构示意图。FIG. 2 is a schematic structural view of a blind belt according to Embodiment 1.
图3为本实施例1提供的一种导盲腰带中第一激光雷达模块探测平面的覆盖角度示意图。FIG. 3 is a schematic diagram showing the coverage angle of the detection plane of the first laser radar module in the blind belt of the first embodiment.
图4为本实施例1提供的一种导盲腰带中第二激光雷达模块探测平面与第一激光雷达模块的扫描平面的夹角示意图。4 is a schematic view showing the angle between the detection plane of the second laser radar module and the scanning plane of the first laser radar module in the blind belt of the first embodiment.
图5为本实施例1提供的一种导盲腰带中第二激光雷达模块探测平面的覆盖角度示意图。FIG. 5 is a schematic diagram showing the coverage angle of the detection plane of the second laser radar module in the blind belt of the first embodiment.
图6为本实施例1提供的一种导盲腰带中第二激光雷达模块的模块示意图。FIG. 6 is a schematic diagram of a module of a second laser radar module in a blind belt according to Embodiment 1.
图7为本实施例1提供的一种导盲腰带中控制器的结构示意图。FIG. 7 is a schematic structural view of a controller in a blind belt in the first embodiment.
附图标号说明：Description of the reference numerals:
1、激光雷达***；1. Lidar system;
11、第一激光雷达模块；111、第一激光雷达模块探测平面；11. The first laser radar module; 111, the first laser radar module detection plane;
12、第二激光雷达模块；121、结构光发射模块；122、信号采集模块；123、信号处理模块，124、发射孔；125、采集孔；126、第二激光雷达模块探测平面；12, a second laser radar module; 121, a structured light emitting module; 122, a signal acquisition module; 123, a signal processing module, 124, an emission hole; 125, an acquisition hole; 126, a second laser radar module detection plane;
2、控制器；21、数据接收模块；22、数据处理模块；23、数据转换模块；24、数据发送模块；2, controller; 21, data receiving module; 22, data processing module; 23, data conversion module; 24, data transmission module;
3、提醒模块；3. Reminder module;
4、腰带本体。4, the belt body.
具体实施方式detailed description
为了使本公开的技术方案及优点更加清楚明白，以下结合附图及实施例，对本公开的技术方案作相关说明。应当理解，此处所描述的实施例仅仅用以解释本公开，并不用于限定本公开。在不冲突的情况下，以下实施例和实施例中的技术特征可相互组合。In order to make the technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be described below in conjunction with the accompanying drawings and embodiments. It is understood that the embodiments described herein are merely illustrative of the disclosure and are not intended to limit the disclosure. The technical features in the following embodiments and embodiments may be combined with each other without conflict.
实施例1Example 1
请参阅图1，本实施例提供了一种导盲腰带，可以包括：激光雷达***1， 与激光雷达***相连接的控制器2，与控制器连接的提醒模块3，以及腰带本体4。其中，激光雷达模块(或激光雷达***)又可称为激光雷达器，或者称为激光雷达，提醒模块又可称为提醒器或提示器。Referring to FIG. 1 , the embodiment provides a blind belt, which may include: a laser radar system 1 . A controller 2 connected to the laser radar system, a reminder module 3 connected to the controller, and a belt body 4. Among them, the lidar module (or lidar system) can also be called a laser radar, or laser radar, and the reminder module can also be called a reminder or a reminder.
激光雷达***1检测腰带本体4(即佩戴该腰带本体的使用人员)周围环境情况，获得被测物体的位置信息，并将位置信息上传至控制器2，控制器2接收并处理被测物体的位置信息，形成提示指令，并将提示指令传递给提醒模块3，提醒模块3提醒使用人员周围的环境情况。The laser radar system 1 detects the surrounding environment of the belt body 4 (ie, the user wearing the belt body), obtains the position information of the measured object, and uploads the position information to the controller 2, and the controller 2 receives and processes the measured object. The location information forms a prompting instruction, and the prompting instruction is transmitted to the reminding module 3, and the reminding module 3 reminds the user of the surrounding environment.
如图2所示，可选地，激光雷达***1可以包括：第一激光雷达模块11和第二激光雷达模块12，该第一激光雷达模块又可称为第一激光雷达或第一激光雷达器；该第二激光雷达模块又可称为第二激光雷达或第二激光雷达器。As shown in FIG. 2, optionally, the laser radar system 1 may include: a first laser radar module 11 and a second laser radar module 12, which may be referred to as a first laser radar or a first laser radar. The second lidar module may also be referred to as a second lidar or a second lidar.
第一激光雷达模块11设置为沿着水平方向360度扫描探测腰带本体周围环境，第二激光雷达模块12设于腰带本体4前部，设置为近距离扫描探测腰带本体前方路况。The first laser radar module 11 is arranged to scan the surrounding environment of the waist belt body 360 degrees in the horizontal direction, and the second laser radar module 12 is disposed at the front of the waist belt body 4, and is arranged to scan the front road condition of the waist belt body at a close distance.
可选地，使用人员佩戴导盲腰带，即将导盲腰带的腰带本体佩戴在腰上，可将使用人员在行走过程中前进的方向定义为腰带本体的前部，将使用人员后退的方向定义为腰带本体的后部，第二激光雷达模块设置在腰带本体的前部。在使用人员前进过程中，相较于其他方向的路况信息，使用人员前进方向的路况信息更为重要，因此可以将第二激光雷达模块设置在腰带本体的前部，该前部可以是一个范围，例如，将腰带本体平均分为第一部分和第二部分，第一部分为腰带本体的前部，第二部分为腰带本体的后部。该第二激光雷达模块可以设置在腰带本体前部的任意位置。Optionally, the user wears the guide belt, that is, the belt body of the guide belt is worn on the waist, and the direction in which the user advances during the walking process is defined as the front part of the belt body, and the direction in which the user retreats is defined as At the rear of the belt body, a second lidar module is disposed at the front of the belt body. During the advancement of the user, the road condition information using the forward direction of the person is more important than the road condition information in other directions, so the second laser radar module can be disposed at the front of the belt body, and the front portion can be a range. For example, the waistband body is equally divided into a first portion that is the front portion of the waistband body and a second portion that is the rear portion of the waistband body. The second lidar module can be placed anywhere on the front of the belt body.
可选地，预先确定腰带本体第一部分的中心位置，将该第二激光雷达模块设置在腰带本体第一部分的中心位置处，使得该第二激光雷达模块对使用人员前进方向的路况扫描范围更广。Optionally, the center position of the first portion of the belt body is predetermined, and the second lidar module is disposed at a central position of the first portion of the belt body, so that the second lidar module scans the road condition of the user in the forward direction more widely. .
如图2和图3所示，在本实施例中，腰带本体4上设有前后两组第一激光雷达模块11，两组第一激光雷达模块11同时工作，共同实现水平方向360度扫描探测腰带本体周围环境的功能。 As shown in FIG. 2 and FIG. 3, in the embodiment, the waist belt body 4 is provided with two sets of first laser radar modules 11 in front and rear, and two sets of first laser radar modules 11 work simultaneously to realize horizontal 360-degree scanning detection. The function of the environment surrounding the belt body.
可选地，第一激光雷达模块11也可为两组以上，第一激光雷达模块的数量可根据实际情况而定，只需实现水平方向360度扫描探测腰带本体周围环境的功能即可。Optionally, the number of the first laser radar modules 11 may also be two or more. The number of the first laser radar modules may be determined according to actual conditions, and only needs to implement a 360-degree horizontal scanning function to detect the surrounding environment of the belt body.
可选地，如图2所示，腰带本体4的形状可以为圆形。该两组第一激光雷达模块11在腰带本体上相对设置，二者的连线可以穿过腰带本体4的中心。通常，每个第一激光雷达模块11的水平扫描范围可在180范围内，当两组第一激光雷达模块的连线穿过腰带本体4的中心时，可保证两组第一激光雷达模块11的扫描范围覆盖水平360度。Alternatively, as shown in FIG. 2, the waist belt body 4 may have a circular shape. The two sets of first laser radar modules 11 are disposed opposite each other on the waist belt body, and the connection between the two can pass through the center of the waist belt body 4. Generally, the horizontal scanning range of each first laser radar module 11 can be in the range of 180. When the connection between the two sets of first laser radar modules passes through the center of the belt body 4, two sets of first laser radar modules 11 can be secured. The scan range covers 360 degrees horizontally.
可选地，位于腰带本体前部的第一激光雷达模块设置在腰带本体第一部分的中心位置。Optionally, a first lidar module located at the front of the belt body is disposed at a central location of the first portion of the belt body.
需要理解的是，第一激光雷达模块11设置为沿着水平方向360度扫描探测腰带本体周围环境，上述水平方向只是为了描述方便而并非起限制作用，在实际工作中，第一激光雷达模块探测平面111可以小范围的上下移动或和倾斜，即第一激光雷达模块探测平面111位置可以是在该水平方向上下波动，扫描范围视实际情况而定。It should be understood that the first laser radar module 11 is arranged to scan the surrounding environment of the waist belt body 360 degrees along the horizontal direction. The above horizontal direction is only for convenience of description and is not limiting. In actual work, the first laser radar module detects The plane 111 can be moved up and down or tilted in a small range, that is, the position of the first laser radar module detecting plane 111 can fluctuate up and down in the horizontal direction, and the scanning range depends on the actual situation.
可选地，所述水平方向可以是指与水平面平行的方向。Alternatively, the horizontal direction may refer to a direction parallel to the horizontal plane.
可选地，第一激光雷达模块11通过计算调制激光发射和返回的时间差得到光程得到被测物体的距离信息并上传至控制器2。该第一激光雷达模块11可实现远距离(200米范围内)360度环境扫描探测，精度高，扫描频率快，数据实时更新，可靠性强，可探测障碍物的详细信息，例如方位，距离以及速度信息等。可选地，第一激光雷达模块11也可采用其它类型的激光雷达来得到被测物体的距离信息，比如基于三角测距原理的激光雷达，或者其任意组合。激光雷达按照工作原理不同可分为基于时间飞行法(Time of Fight，TOF)的激光雷达和基于三角测量原理的激光雷达。基于TOF的激光雷达可以包括单线激光雷达和多线激光雷达，其中，单线激光雷达可以是指只有一路发射信号和一路接收信号的雷达，多线激光雷达可以是指有多路发射信号和多路接收信号的雷达。基于三角测量远离的激光雷达可以包含单点测量激光雷达和结构光激光雷达。 Optionally, the first lidar module 11 obtains the optical path to obtain the distance information of the measured object by calculating the time difference between the modulated laser emission and the return, and uploads the distance information to the controller 2. The first laser radar module 11 can realize 360-degree environmental scanning detection in a long distance (within 200 meters), high precision, fast scanning frequency, real-time data update, high reliability, and can detect detailed information of obstacles, such as azimuth and distance. And speed information, etc. Alternatively, the first Lidar module 11 may also use other types of laser radars to obtain distance information of the measured object, such as a laser radar based on the principle of triangulation, or any combination thereof. Lidar can be divided into time-of-flight (TOF)-based laser radar and triangulation-based laser radar according to different working principles. The TOF-based laser radar can include single-line laser radar and multi-line laser radar. Among them, single-line laser radar can refer to radar with only one transmitting signal and one receiving signal. Multi-line laser radar can refer to multiple transmitting signals and multiple channels. The radar that receives the signal. Lidars based on triangulation away can include single point measurement lidars and structured light lidars.
如图2和图4所示，第二激光雷达模块探测平面126与第一激光雷达模块探测平面111成一定的夹角且第二激光雷达模块12发射的光束斜向射往地面。As shown in FIG. 2 and FIG. 4, the second lidar module detection plane 126 is at an angle with the first lidar module detection plane 111 and the beam emitted by the second lidar module 12 is obliquely directed to the ground.
可选地，该一定夹角可以是人为预先设定的夹角。该第二激光雷达模块12以预先设定的夹角采集探测平面126的信息。如图5所示，第二激光雷达模块12发射结构光检测前方路况，第二激光雷达模块探测平面126为覆盖一定角度的二维平面，可实现更高的角度分辨率和扫描频率，第二激光雷达模块12利用三角测距原理得到结构光照射范围内的周围环境距离信息，检测精度高，可靠性强，可准确探测腰带本体4前方近距离内(6米内)障碍物以及路面平整度信息(障碍物方位，距离以及形状和尺寸信息)，可实时探测路况。Optionally, the certain angle may be an artificially preset angle. The second lidar module 12 acquires information of the detection plane 126 at a preset angle. As shown in FIG. 5, the second laser radar module 12 emits a structured light detecting front road condition, and the second laser radar module detecting plane 126 is a two-dimensional plane covering a certain angle, which can achieve higher angular resolution and scanning frequency, and second The laser radar module 12 uses the triangulation principle to obtain the surrounding environment distance information within the range of the structured light illumination, and has high detection precision and high reliability, and can accurately detect obstacles and road surface flatness information within a short distance (within 6 meters) in front of the waistband body 4. (obstacle orientation, distance and shape and size information), real-time detection of road conditions.
如图2和图4所示，第二激光雷达模块探测平面126与第一激光雷达模块探测平面111之间的夹角A可为0-90度，优选30-45度。As shown in FIGS. 2 and 4, the angle A between the second lidar module detection plane 126 and the first lidar module detection plane 111 may be 0-90 degrees, preferably 30-45 degrees.
当第二激光雷达模块探测平面126与第一激光雷达模块探测平面111之间的夹角A为0度时，第二激光雷达模块探测平面126与第一激光雷达模块探测平面111基本重合，能实现腰带本体4前方水平方向较精准的检测，对腰带本体4前方近距离的路况检测效果不佳。When the angle A between the second lidar module detecting plane 126 and the first lidar module detecting plane 111 is 0 degrees, the second lidar module detecting plane 126 substantially coincides with the first lidar module detecting plane 111, and can The accurate detection of the horizontal direction in front of the belt body 4 is achieved, and the road condition detection of the front side of the belt body 4 is not good.
当第二激光雷达模块探测平面126与第一激光雷达模块探测平面111之间的夹角A为90度时，第二激光雷达模块探测平面126与第一激光雷达模块探测平面111垂直，能实现对腰带本体4前方路况的检测，检测精度高，但检测距离极短，此时第二激光雷达模块的设定方式，导致导盲腰带的性能较差。When the angle A between the second lidar module detection plane 126 and the first lidar module detection plane 111 is 90 degrees, the second lidar module detection plane 126 is perpendicular to the first lidar module detection plane 111, which can be realized. The detection of the road condition in front of the belt body 4 has high detection accuracy, but the detection distance is extremely short. At this time, the setting mode of the second laser radar module leads to poor performance of the guide belt.
当第二激光雷达模块探测平面126与第一激光雷达模块探测平面111之间的夹角A为30-45度时，能实现对腰带本体4前方路况的检测，检测精度高，检测距离较远(6米左右)。When the angle A between the second laser radar module detecting plane 126 and the first laser radar module detecting plane 111 is 30-45 degrees, the front road condition of the belt body 4 can be detected, the detection precision is high, and the detecting distance is long. (about 6 meters).
如图5所示，第二激光雷达模块探测平面126为覆盖一定角度的扇形二维平面，第二激光雷达模块探测平面126的覆盖角度B可为30-150度，优选60-110度。一般的做法是，最远探测距离与扫描宽度成反比。As shown in FIG. 5, the second laser radar module detection plane 126 is a fan-shaped two-dimensional plane covering a certain angle, and the coverage angle B of the second laser radar module detection plane 126 may be 30-150 degrees, preferably 60-110 degrees. As a general rule, the farthest detection distance is inversely proportional to the scan width.
当覆盖角度B小于30度时，第二激光雷达模块探测平面126的扫描宽度(1米以下)较小，即第二激光雷达模块12发射的结构光只能检测到腰带本体前方 较窄(1米以下)的一个区域，虽然此时探测距离较远，但是扫描宽度过小，可靠性低。When the coverage angle B is less than 30 degrees, the scanning width (less than 1 meter) of the second laser radar module detection plane 126 is small, that is, the structured light emitted by the second laser radar module 12 can only detect the front of the belt body. A region that is narrower (below 1 meter), although the detection distance is far away, the scan width is too small and the reliability is low.
当覆盖角度B在60-110度范围内时，第二激光雷达模块探测平面126的扫描面积较理想，当覆盖角度B为60度时，第二激光雷达模块探测平面126的扫描宽度(2米左右)较好，即第二激光雷达模块12发射的结构光能检测到腰带本体前方宽度为2米左右的一个区域，探测距离较远，检测效果良好。When the coverage angle B is in the range of 60-110 degrees, the scanning area of the second laser radar module detection plane 126 is ideal. When the coverage angle B is 60 degrees, the scanning width of the second laser radar module detection plane 126 (2 meters) Preferably, the structural light emitted by the second laser radar module 12 detects an area having a width of about 2 meters in front of the belt body, and the detection distance is long, and the detection effect is good.
当覆盖角度B为110度时，第二激光雷达模块探测平面126的扫描宽度(5米左右)较大，即第二激光雷达模块12发射的结构光能检测到腰带本体前方宽度5米左右的一个区域，探测距离适中，检测效果较好。When the coverage angle B is 110 degrees, the scanning width (about 5 meters) of the detection plane 126 of the second laser radar module is large, that is, the structural light emitted by the second laser radar module 12 detects the width of the front of the belt body about 5 meters. In a region, the detection distance is moderate and the detection effect is good.
当覆盖角度B为150度时，第二激光雷达模块探测平面126的探测宽度为12米左右，即第二激光雷达模块12发射的结构光能检测到腰带本体前方宽度为12米左右的一个区域，扫描宽度过大，探测距离过近，效果不明显。When the coverage angle B is 150 degrees, the detection width of the second laser radar module detection plane 126 is about 12 meters, that is, the structural light energy emitted by the second laser radar module 12 detects an area with a width of about 12 meters in front of the waist belt body. The scan width is too large, the detection distance is too close, and the effect is not obvious.
需要理解的是，在本实施例中，上述第二激光雷达模块探测平面126的探测宽度是指第二激光雷达探测平面126与地面(地面假设为水平面)相交时相交线的长度；相对应的，在本实施例中，上述第二激光雷达模块探测平面126也是基于第二激光雷达模块探测平面126的探测宽度等于第二激光雷达探测平面126与地面(地面假设为水平面)相交时相交线的长度。It should be understood that, in this embodiment, the detection width of the second laser radar module detection plane 126 refers to the length of the intersection line when the second lidar detection plane 126 intersects the ground (the ground is assumed to be a horizontal plane); In this embodiment, the second lidar module detection plane 126 is also based on the intersection width of the second lidar module detection plane 126 equal to the intersection of the second lidar detection plane 126 and the ground (the ground is assumed to be a horizontal plane). length.
可选地，第二激光雷达模块探测平面126也是可以上下移动或者倾斜的，只需第二激光雷达模块12能实现本实施例上述功能或/和满足本实施例中上述要求即可。Alternatively, the second laser radar module detection plane 126 can also be moved up or down or tilted, and only the second laser radar module 12 can implement the above functions of the embodiment or/and satisfy the above requirements in the embodiment.
如图6所示，第二激光雷达模块12可以包括：结构光发射模块121，信号采集模块122和信号处理模块123。As shown in FIG. 6, the second laser radar module 12 may include a structured light emitting module 121, a signal collecting module 122, and a signal processing module 123.
如图2和6所示，第二激光雷达模块12的本体上设有发射孔124和采集孔125，相对应的，结构光发射模块121设于发射孔124的后面，信号采集模块122设于采集孔125的后面，信号处理模块123设于第二激光雷达模块12的本体内部且与结构光发射模块121以及信号采集模块122相连接，As shown in FIG. 2 and FIG. 6 , the second laser radar module 12 is provided with an emission hole 124 and an acquisition hole 125. Correspondingly, the structured light emitting module 121 is disposed behind the emission hole 124, and the signal acquisition module 122 is disposed on the The signal processing module 123 is disposed inside the body of the second laser radar module 12 and connected to the structured light emitting module 121 and the signal collecting module 122.
如图7所示，控制器2包括数据接收模块21、数据处理模块22、数据转换 模块23以及数据发送模块24，数据接收模块21接收第一激光雷达模块11和第二激光雷达模块12检测的被测物体的位置信息并上传给数据处理模块22，数据处理模块22处理所述激光雷达模块1检测的被测物体的位置信息并处理好的位置信息上传至数据转换模块23，数据转换模块23将所述数据处理模块处理22的信息转换成提示指令并将提示指令上传至数据发送模块24，数据发送模块24将数据转换模块23转换的提示指令上传至提醒模块3。As shown in FIG. 7, the controller 2 includes a data receiving module 21, a data processing module 22, and data conversion. The module 23 and the data sending module 24 receive the position information of the measured object detected by the first laser radar module 11 and the second laser radar module 12 and upload the position information to the data processing module 22, and the data processing module 22 processes the laser. The position information of the measured object detected by the radar module 1 and the processed position information are uploaded to the data conversion module 23, and the data conversion module 23 converts the information of the data processing module processing 22 into a prompt instruction and uploads the prompt instruction to the data transmission. The module 24, the data sending module 24 uploads the prompt command converted by the data conversion module 23 to the reminder module 3.
如图1或图2所示，在本实施例中，提醒模块3可以为蓝牙耳机，与控制器2中的数据发送模块24无线连接且无需固定在腰带本体上，从而可根据数据发送模块24发送的提示指令播放相应的语音，提醒使用人员周围环境情况。可选地，提醒模块3也可采用其他语音提醒模块，例如音箱等，只需固定在腰带本体4上即可。提醒模块3还可采用其它的提醒模块，例如，震动提醒模块或者盲文提醒模块等。震动提醒模块，固定在腰带本体4上，通过震动的形式，让盲人得知周围的环境情况，特别是在外界嘈杂的环境下依然可以得知周围环境信息。盲文提醒模块，比如采用在腰带本体4上设有触觉反馈屏幕，在屏幕上显示盲文等。As shown in FIG. 1 or FIG. 2, in the embodiment, the reminder module 3 can be a Bluetooth headset, and is wirelessly connected to the data sending module 24 in the controller 2 and does not need to be fixed on the belt body, so that the data sending module 24 can be The sent prompt command plays the corresponding voice to remind the user of the surrounding environment. Optionally, the reminder module 3 can also adopt other voice reminding modules, such as a speaker, etc., and only need to be fixed on the waistband body 4. The reminder module 3 can also use other reminder modules, such as a vibration reminder module or a Braille reminder module. The vibration reminding module is fixed on the belt body 4, and the blind person can know the surrounding environment through the form of vibration, especially in the noisy environment outside, the surrounding environment information can still be known. The Braille reminding module, for example, adopts a tactile feedback screen on the belt body 4, and displays Braille on the screen.
可选地，腰带本体4与第一激光雷达模块11、第二激光雷达模块12、控制模块2均可拆卸连接，从而可以方便维修更换。可选地，腰带本体4与第一激光雷达模块11、第二激光雷达模块12、控制模块2也可均为固定连接，即不可拆卸。Optionally, the waistband body 4 can be detachably connected to the first laser radar module 11, the second laser radar module 12, and the control module 2, so that the repair and replacement can be facilitated. Optionally, the waistband body 4 and the first lidar module 11, the second lidar module 12, and the control module 2 may also be fixedly connected, that is, not detachable.
上述可拆卸连接可为卡扣连接等连接方式，由于其结构简单，在本实施例中未另作图注明。The above detachable connection may be a connection manner such as a snap connection, and the structure is simple, and is not illustrated in the embodiment.
可选地，第一激光雷达模块11与所述腰带本体4通过带扣结构连接。Optionally, the first lidar module 11 and the waist belt body 4 are connected by a buckle structure.
上述带扣结构类似于皮带扣结构，即带扣结构套接在腰带本体4上，可沿着腰带本体4长度方向移动，带扣结构上固定第一激光雷达模块11，当需要把第一激光雷达模块11固定在腰带本体4上时，只需通过按压带扣结构将带扣结构固定在腰带本体上即可，由于结构较为简单，在本实施例中未另作图注明。从而可以适应不同腰围的人使用该导盲腰带，避免第一激光雷达模块11固定在 腰带本体4上后，使用人员使用时由于腰围原因或其它原因，出现第一激光雷达模块11佩戴后位置与设计时的位置不一样而出现无法实现水平方向360度扫描探测腰带本体周围环境的功能。The buckle structure is similar to the belt buckle structure, that is, the buckle structure is sleeved on the waist belt body 4, and can be moved along the length direction of the waist belt body 4, and the first laser radar module 11 is fixed on the buckle structure, when the first laser is needed When the radar module 11 is fixed on the waist belt body 4, the buckle structure can be fixed on the waist belt body only by pressing the buckle structure. Since the structure is relatively simple, it is not illustrated in the embodiment. Therefore, the guide waistband can be used by people with different waist circumferences to prevent the first Lidar module 11 from being fixed at After the belt body 4 is used, the position of the first laser radar module 11 after wearing is different from the design position due to the waist circumference or other reasons, and the horizontal 360-degree scanning cannot detect the surrounding environment of the belt body. .
可选地，腰带本体4上还可设置有全球定位***(Global Positioning System，GPS)定位模块，从而当盲人使用本实施例的导盲腰带出行时，该盲人的家人可以在任何地方通过网络确定盲人的位置，以防盲人迷路走丢，可确保盲人安全。Optionally, the belt body 4 can also be provided with a Global Positioning System (GPS) positioning module, so that when the blind person uses the guide belt of the embodiment to travel, the blind family can be determined through the network anywhere. The location of the blind, in order to prevent blind people from getting lost, can ensure the safety of the blind.
所述腰带本体4上还可设有语音报时装置，为使用人员报时。The belt body 4 can also be provided with a voice timekeeping device for the user to report the time.
本实施例中的导盲腰带可以实现：采用激光雷达***对周围环境情况进行检测，检测精度高，检测距离远；激光雷达***结构装置设置在腰带本体上，装配简单，使用方便；控制器对激光雷达***检测的被测物体的位置信息进行处理并发送指令到提醒模块，提醒模块提醒使用人员周围的环境情况，整体结构简单，可靠性强；激光雷达***包括用于沿着水平方向360度扫描探测腰带本体周围环境情况的第一激光雷达模块和用于近距离扫描探测腰带本体前方路况的第二激光雷达模块，检测精度高，检测距离远，可靠性强；腰带本体与第一激光雷达模块、第二激光雷达模块、控制模块均可拆卸连接，从而可以方便维修更换；第一激光雷达模块与腰带本体通过带扣结构连接，结构简单，可根据不同的情况调整第一激光雷达模块的位置，方便使用，市场认可度高。The guiding blind belt in the embodiment can realize: detecting the surrounding environment by using the laser radar system, the detection precision is high, and the detecting distance is far; the laser radar system structure device is arranged on the waist belt body, the assembly is simple, and the use is convenient; the controller pair The position information of the measured object detected by the lidar system is processed and sent to the reminder module, the reminder module reminds the user of the surrounding environment, the overall structure is simple, and the reliability is strong; the laser radar system includes 360 degrees for horizontal direction The first laser radar module for scanning the surrounding environment of the belt body and the second laser radar module for detecting the road condition in front of the belt body by the close-range scanning have high detection precision, long detection distance and high reliability; the belt body and the first laser radar The module, the second laser radar module and the control module can be disassembled and connected, thereby facilitating maintenance and replacement; the first laser radar module and the belt body are connected by a buckle structure, and the structure is simple, and the first laser radar module can be adjusted according to different conditions. Location, easy to use, market acceptance .
工业实用性Industrial applicability
本公开提供了一种导盲腰带，该导盲腰带结构简单，采用激光雷达模块对周围环境情况进行探测，探测精度高，探测距离远，可靠性强。 The disclosure provides a blind belt, which has a simple structure and uses a lidar module to detect the surrounding environment, has high detection precision, long detection distance and high reliability.

Claims (10)

  1. 一种导盲腰带，包括：A blind belt, including:
    腰带本体；Belt body;
    设于所述腰带本体上，设置为探测周围环境状况、并形成被测物体的位置信息的激光雷达模块；Provided on the belt body, a lidar module configured to detect a surrounding environment condition and form position information of the object to be measured;
    设于所述腰带本体上，接收并处理所述激光雷达模块探测的被测物体的位置信息，形成提示指令的控制器；以及Provided on the belt body, receiving and processing position information of the measured object detected by the lidar module to form a controller for prompting instructions;
    由所述提示指令控制，输出周围环境状况提示信息的提醒模块。The reminder module that outputs the surrounding environmental condition prompt information by the prompt instruction.
  2. 如权利要求1所述的导盲腰带，其中，所述激光雷达模块包括：The guide waistband of claim 1 wherein said lidar module comprises:
    第一激光雷达模块，所述第一激光雷达模块至少为两组，分别设置在所述腰带本体上以用于沿着水平方向360度探测腰带本体周围环境。The first laser radar module has at least two groups of the first laser radar modules respectively disposed on the waist belt body for detecting the environment around the waist belt body 360 degrees in a horizontal direction.
    第二激光雷达模块，所述第二激光雷达模块发射的激光的探测平面与所述第一激光雷达模块发射的激光的探测平面成预设夹角且斜向射往地面。The second laser radar module has a detection plane of the laser light emitted by the second laser radar module at a predetermined angle with the detection plane of the laser light emitted by the first laser radar module and obliquely directed to the ground.
  3. 如权利要求2所述的导盲腰带，其中，所述第二激光雷达模块发射的激光的探测平面与所述第一激光雷达模块发射的激光的探测平面的预设夹角为20-60度。The guide waistband according to claim 2, wherein a predetermined angle between a detection plane of the laser light emitted by the second laser radar module and a detection plane of the laser light emitted by the first laser radar module is 20-60 degrees .
  4. 如权利要求2所述的导盲腰带，其中，所述第二激光雷达模块为发射结构光的激光雷达，包括：The guide blind belt of claim 2, wherein the second lidar module is a laser radar that emits structured light, comprising:
    发射结构光的结构光发射模块；a structured light emitting module that emits structured light;
    接收被测物体反射回来的结构光信号的信号采集模块；a signal acquisition module for receiving a structured optical signal reflected by the measured object;
    接收并处理所述信号采集模块采集的被测物体的位置信息，以及控制所述第二激光雷达模块中结构光发射模块和信号采集模块之间进行协调工作的信号处理模块，所述信号处理模块将处理好的被测物体的位置信息上传至所述控制器。Receiving and processing position information of the measured object collected by the signal acquisition module, and controlling a signal processing module for performing coordination between the structured light emitting module and the signal collecting module in the second lidar module, the signal processing module Uploading the position information of the processed object to be measured to the controller.
  5. 如权利要求4所述的导盲腰带，其中，所述第二激光雷达模块发射的结构光的探测平面的覆盖角度为30-150度。The guide waistband of claim 4, wherein the detection plane of the structured light emitted by the second lidar module has a coverage angle of 30-150 degrees.
  6. 如权利要求2所述的导盲腰带，其中，所述腰带本体与所述第一激光雷 达模块、所述第二激光雷达模块、所述控制器均可拆卸连接。The guide waistband of claim 2, wherein the waistband body and the first laser ray The module, the second lidar module, and the controller are all detachably connectable.
  7. 如权利要求6所述的导盲腰带，其中，所述第一激光雷达模块与所述腰带本体通过带扣结构连接。The guide waistband of claim 6 wherein said first lidar module is coupled to said waistband body by a buckle structure.
  8. 如权利要求1所述的导盲腰带，其中，所述控制器包括：The guide waistband of claim 1 wherein said controller comprises:
    接收所述激光雷达模块检测的被测物体的位置信息的数据接收模块；a data receiving module that receives position information of the measured object detected by the laser radar module;
    处理所述激光雷达模块检测的被测物体的位置信息的数据处理模块；a data processing module for processing position information of the measured object detected by the laser radar module;
    将所述数据处理模块处理的信息转换成提示指令的数据转换模块；Converting the information processed by the data processing module into a data conversion module that prompts the instruction;
    将数据转换模块转换的提示指令上传至提醒模块的数据发送模块。The prompt instruction converted by the data conversion module is uploaded to the data sending module of the reminder module.
  9. 如权利要求1所述的导盲腰带，其中，所述提醒模块包括以下至少一种：语音提醒模块，震动提醒模块和盲文提醒模块。The guide waistband of claim 1, wherein the reminder module comprises at least one of the following: a voice reminder module, a vibration reminder module, and a Braille reminder module.
  10. 如权利要求1所述的导盲腰带，还包括全球定位***GPS定位模块，所述GPS定位模块设置在腰带本体上。 The guide waistband of claim 1 further comprising a global positioning system GPS positioning module, said GPS positioning module being disposed on the waistband body.
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