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Blind navigating and walking aid car for large indoor public places and its positioning method

A technology for blind navigation and public places, which is applied in directions such as navigation, mapping and navigation, two-dimensional position/channel control, etc., can solve problems such as cost increase, and achieve the effects of low cost, cost reduction, and improved positioning accuracy.

Active Publication Date: 2017-01-11
安徽臣诺机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the current service robots used for guiding the blind increase the cost of laying ultrasonic beacons too densely while ensuring the positioning accuracy. The present invention provides a navigation aid for the blind used in large indoor public places. Carriage and its positioning method

Method used

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  • Blind navigating and walking aid car for large indoor public places and its positioning method
  • Blind navigating and walking aid car for large indoor public places and its positioning method
  • Blind navigating and walking aid car for large indoor public places and its positioning method

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specific Embodiment approach 1

[0044] Specific implementation mode one: combine figure 1 , figure 2 , image 3 and Figure 4 Describe this embodiment, the blind navigation and walking aid car for large indoor public places described in this embodiment, the blind navigation and walking aid car includes a car body 7, an ultrasonic obstacle avoidance module, an obstacle avoidance control module, a micro-seismic motor 3, an ultrasonic emission Head 6, the first ultrasonic control module, the second ultrasonic control module, radio frequency module, ultrasonic receiving array, main control module, voice system, 2 encoders, encoder connection board and electronic compass;

[0045] The ultrasonic obstacle avoidance module, the obstacle avoidance control module, the ultrasonic transmitting head 6, the first ultrasonic control module, the main control module and the prompt system are all arranged on the car body 7, wherein the ultrasonic obstacle avoidance module is installed on the front end of the car body 7, a...

specific Embodiment approach 2

[0073] Specific embodiment two: This embodiment is a further limitation of the blind navigation and walking aid car for large indoor public places described in the first specific embodiment. The blind navigation and walking aid car includes 3 ultrasonic obstacle avoidance modules, No. 1 ultrasonic obstacle avoidance module The obstacle module 12 is arranged on the left side of the front end of the car body 7, the No. 2 ultrasonic obstacle avoidance module 11 is arranged on the front side of the front end of the car body 7, and the No. 3 ultrasonic obstacle avoidance module 10 is arranged on the right side of the front end of the car body 7 , the obstacle avoidance signals detected by the three ultrasonic obstacle avoidance modules are all sent to the obstacle avoidance control module.

specific Embodiment approach 3

[0074] Specific embodiment three: This embodiment is a further limitation of the blind navigation and walking aid car for large indoor public places described in the second specific embodiment. The blind navigation and walking aid car includes two micro-vibration motors 3. When the obstacle avoidance module 12 detects an obstacle, the obstacle avoidance control module controls the No. 1 microvibration motor 3 to vibrate. When the No. 3 ultrasonic obstacle avoidance module 10 detects an obstacle, the obstacle avoidance control module controls the No. 2 microvibrator motor 3 to vibrate. The obstacle module 11 detects an obstacle, and the obstacle avoidance control module controls No. 1 micro-vibration motor 3 and No. 2 micro-vibration motor 3 to vibrate simultaneously;

[0075] 2 microvibration motors 3 are installed on the left and right armrests of the car body 7 respectively.

[0076] The ultrasonic obstacle avoidance module needs to monitor the surrounding obstacles in real ...

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Abstract

The invention provides a blind person navigation walking-aiding trolley used in a large indoor public place and a positioning method thereof, belongs to the technical field of blind person walking-aiding navigation and aims at solving the problem that at present, the cost is increased due to over dense ultrasonic beacon laying while a guiding service robot ensures the positioning accuracy. The small-range high-accuracy positioning of the walking-aiding trolley is achieved through ultrasonic receiving arrays arranged in an indoor ceiling, large-range low-accuracy inertial navigation is achieved by combining encoders installed on rear wheels of the trolley and track plotting of an electronic compass, and data fusion is performed through extension Kalman filtering. If the trolley encounters an obstacle in the running process, the orientation of the obstacle is prompted to a user through an obstacle avoiding system, interaction can be further performed to inquire the current position and a designated destination through voice and a master control system, and the master control system prompts navigation paths through voice broadcasting. The blind person navigation walking-aiding trolley is used for blind person navigation.

Description

technical field [0001] The invention relates to the technical field of walking aid navigation for the blind. Background technique [0002] Aging has become a global problem, and according to the latest estimate of the World Health Organization, there are about 45 million blind people in the world. With the development of society and the advancement of science and technology, many public facilities and special equipment have been applied, but the difficulty of traveling is still the most troublesome problem for the elderly and the blind. In order to facilitate the travel of the elderly and the blind, the walking aid system with functions such as assisted walking, rehabilitation training, and blind guidance has gradually become a research hotspot in the field of robotics and rehabilitation medicine at home and abroad. [0003] A service robot is a semi-autonomous or fully autonomous robot that can help humans complete service work. According to data, there is a wide market f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01C21/00
Inventor 刘文涛罗阳
Owner 安徽臣诺机器人科技有限公司