A closed-loop guidance control method for blind walking based on preview tracking

Abstract

Provided is a method for blind person walking closed-loop induction control based on preview tracking. In the blind person walking process, the current position and a walking direction angle are continuously obtained, a preview point is searched in a given path according to a preview radius to serve as a tracking target, the connected line from the current position to the preview point serves as the preview direction, the deviation of the blind person's walking direction with respect to the preview direction angle is calculated, the walking direction angle controlling quantity is calculated and output according to the control law, the blind person is controlled to adjust the walking direction, and the induction control of blind person walking tending to the given path is achieved. The preview tracking mechanism is introduced, the walking direction angle of the blind person is continuously detected and controlled, the closed-loop continuous induction of the blind person's walking is achieved, the accuracy of the blind person's walking tending to the given path is improved, and the method is favorable for improving safety and reliability of a blind person guiding algorithm and more suitable for being popularized and applied.

Description

technical field [0001] The invention relates to a walking closed-loop induction control method for blind people based on preview tracking, which is used in blind guide equipment to guide blind people to walk along a given path, and is especially suitable for wearable blind guide equipment. Background technique [0002] Difficulty in traveling has always been the primary problem for the blind and visually impaired. To provide an effective method or system for guiding the blind and provide a convenient and reliable way for the visually impaired to travel has always been a hot issue in the field of social and scientific research. [0003] In order to solve the travel problem of the blind, some blind guide devices have emerged in recent years, which can be roughly classified into open-loop control blind guide systems and closed-loop control blind guide systems. The existing open-loop control blind guide system has functions such as real-time positioning of the blind person's pos...

AI Technical Summary

Problems solved by technology

The existing open-loop control blind guide system has the advantages of simple device, strong reliability, and wide application range. However, this system can only provide environmental information around the blind person, but cannot give sensitive and direct control signals to guide the blind person to walk. The real-time and convenience of the blind-guiding effect are reduced

The existing closed-loop control blind guide system realizes complete closed-loop control and human-computer interaction, but the discrete logic control signal provided by the system can only control the walking direction of the blind person, but cannot adjust the steering angle, resulting in Poor control accuracy

Due to the defects and limitations of these methods, precise blind guidance cannot be realized

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