Blind-guiding robot, blind-guiding system, and blind-guiding method

Abstract

The present invention discloses a guide robot, a guide system, and a guide method. The guide robot comprises a chassis equipped with a navigation unit for collecting information about the guide robot's surroundings; a robot body fixedly connected to the chassis, wherein a mechanical arm for opening doors or pressing elevator buttons is fixedly mounted within the robot body; and a handle fixedly connected to the upper portion of the robot body, wherein a pressure sensor is fixedly mounted. The present invention has the beneficial effect of enabling the guide robot to have autonomous navigation capabilities. The navigation unit fixed to the guide robot can collect data about the user's surroundings, enabling real-time updates of the travel path and ensuring the user's safety. The guide robot also has an extendable mechanical arm internally that can automatically click elevator buttons to automatically call an elevator or press the desired floor within the elevator.

Description

Technical Field

[0001] The present invention relates to the technical field of blind-guiding robots, in particular to a blind-guiding robot, a blind-guiding system and a blind-guiding method. Background Art

[0002] In the prior art, guide robots can be used to assist in guiding the blind. Chinese invention patent: CN107440891A, patent name: An intelligent shared guide robot based on data analysis and its working method. The present invention relates to an intelligent shared guide robot based on data analysis and its working method, including a robot body, a control room and a mobile device. The robot body includes a camera, a radar ranging sensor, a traction device and a warning device. The control room includes a processor, a drive device, a positioning device and a navigation device. The positioning device is used to obtain the user's geographic location, the navigation device is used to generate the walking route of the guide robot, the camera is used to capture the image of the guide robot's forward direction, the radar ranging sensor is used to scan and measure the distance between the guide robot and the obstacle, the traction device is used to tow the blind user, and the warning device is used to emit a warning sound to alert passing vehicles and pedestrians.

[0003] In the above solution, the user adopts a flexible connection between the traction device and the robot body during use, and the user must follow the traction device during use. At the same time, the guide robot is not ideal when encountering special occasions. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems, and to design a blind-guiding robot, a blind-guiding system and a blind-guiding method.

[0005] The guide robot comprises a chassis, wherein the chassis is provided with a navigation unit, and the navigation unit is used to collect information about the surrounding environment of the guide robot;

[0006] A robot body, fixedly connected to the chassis, wherein a mechanical arm for opening doors or pressing elevator buttons is fixed inside the robot body;

[0007] The handle is fixedly connected to the upper part of the robot body, and the handle is fixed with a pressure sensor.

[0008] Furthermore, the navigation unit includes a laser sensor, an ultrasonic sensor and a driving wheel. The driving wheel is rotatably provided on the chassis, and the laser sensor and the ultrasonic sensor are fixed on the chassis along the circumference.

[0009] Furthermore, a plurality of depth cameras are installed on the robot body, and the depth cameras are used to collect information about the surrounding environment of the current guide robot. The depth cameras are distributed along the circumference of the robot body, and one of the depth cameras is arranged tilted upward.

[0010] The blind guide system includes the above-mentioned blind guide robot, and also includes a wristband, a server, a positioning unit, a voice announcer and an audible and visual alarm. The blind guide robot is electrically connected to the wristband, and the wristband is used for the user to call the blind guide robot to come to the side through the wristband. The positioning unit is used to determine the distance between the blind guide robot and the wristband. The blind guide robot is fixed with a voice announcer and an audible and visual alarm, and the voice announcer and the audible and visual alarm are respectively electrically connected to the blind guide robot. The positioning unit is used to obtain the user's geographic location information.

[0011] Furthermore, the positioning unit includes multiple UWB locators, a UWB locator is installed on the wristband, and a UWB locator is installed on the left and right sides of the robot body respectively.

[0012] The blind guiding method, applied to the above-mentioned blind guiding system, includes:

[0013] Step 1: The user sends a request signal to the server through the wristband. The request signal includes the destination. After the server receives the request signal, the robot body obtains the user's geographic location through the positioning unit and sends it to the server. The server automatically generates a walking route.

[0014] Step 2: The robot body periodically receives the location information determined by the positioning unit, and the navigation unit, depth camera and server update the navigable path based on the surrounding environment information of the guide robot on the walking route until it reaches the target point. During the driving process, the elevator button operation is realized by the robotic arm when it is necessary to take the elevator.

[0015] The surrounding environment information includes one or more of road sign information, crosswalk information, traffic light position information, front obstacle information, passable door position information, elevator position information, and elevator button position information.

[0016] In step 2, if the user drives to the crosswalk beside the road, the navigation unit obtains the remaining time of the current traffic light and the distance information of the crosswalk line, and the server determines whether it can pass, specifically including: according to the formula

[0017] t=d / v (1)

[0018] Calculate the time it takes for the user to pass through the crosswalk, where t is the time it takes for the user to pass through the crosswalk (s), d is the width of the crosswalk (m), and v is the user's running speed (m / s). According to the formula

[0019] Δt=t1-t (2)

[0020] Determine whether the user can pass through the crosswalk, where t1 is the remaining time of the current green light (s). If Δt>3s, it is determined that the user can pass through the crosswalk. If Δt≤3s, it is determined that the user cannot pass through the crosswalk.

[0021] In step 2, if the user drives to the elevator, the robot arm touches the elevator button with its end arm to call the elevator and touch the button of the floor to be reached, including

[0022] S1: The depth camera collects elevator button image information, and the server converts the image information into a 2D contour image for point cloud segmentation;

[0023] S2: Train the point cloud semantic segmentation model to obtain the point cloud set of the elevator door and elevator button, where the point cloud set of the elevator door is C w , the point cloud set of the elevator button is C wk .

[0024] S3: Formulas expressed based on planes in three-dimensional space

[0025] (P-P0)*n=0, (3) The plane corresponding to the fitted point cloud set of the elevator door

[0026] (P w -P w0 )*n w =0, (4)

[0027] Among them, P is the coordinate of any point on the plane, P0 is the coordinate of a known point on the plane, n is the normal vector, P w is the coordinate of any point on the elevator door plane, P w0 is the known point coordinate on the elevator door plane, n w is the normal vector on the elevator door plane;

[0028] S4: Point cloud set C based on elevator buttons wk Find the center of gravity of the elevator button

[0029] S5: The robotic arm should move from top to bottom along a plane parallel to the elevator door until the end of the robotic arm touches the elevator button.

[0030] 10. The blind guiding method according to claim 7, wherein the step of the wristband calling the blind guiding robot to come to the user comprises:

[0031] a1: The wristband sends a call command and current geographic location information to the server. The server forwards the call command and geographic location information to the guide robot. The guide robot autonomously navigates to the vicinity of the wristband based on the geographic location information. When the user is in an outdoor environment and the straight-line distance between the wristband and the guide robot is less than 500 meters, it will automatically connect to the UWB locator signal and determine whether the guide robot and the user are on the same floor based on the altitude detection data. According to the formula:

[0032] H1=44300*(1-(P1 / P0)^(1 / 5.256)) (5)

[0033] H2=44300*(1-(P2 / P0)^(1 / 5.256) (6)

[0034] Where: H1 is the altitude of the bracelet (m), H2 is the altitude of the guide robot (m), P0 is the atmospheric pressure (0℃, 101.325kPa), P1 is the ambient pressure of the bracelet, and P2 is the ambient pressure of the guide robot.

[0035] Calculate ΔH=H2-H1, where ΔH is the height difference between the wristband and the guide robot. If ΔH is less than 1, it is determined that the two are on the same floor. If ΔH is greater than 1, it is determined that the two are not on the same floor.

[0036] The blind-guiding robot, blind-guiding system, and blind-guiding method produced using the technical solution of the present invention have the following beneficial effects:

[0037] (1) The guide robot has an autonomous navigation function. The fixed navigation unit on the guide robot can collect data about the user's surrounding environment and update the driving path in real time to ensure the user's driving safety. The guide robot has an extendable mechanical arm inside that can automatically click the elevator button to automatically call the elevator or press the desired floor in the elevator.

[0038] (2) The guide robot has a handle, and the user can just touch the handle and follow the guide robot. The handle is also equipped with a pressure sensor to determine whether the user has achieved reliable contact with the guide robot;

[0039] (3) The blind guide system has a UWB locator, which can be used to call the blind guide robot through the wristband. When calling, the nearest blind guide robot can be called based on the location of the user and the guide robot;

[0040] (4) In the blind guidance method, the robotic arm can accurately press the elevator buttons. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 1 is a schematic structural diagram of the guiding robot according to the present invention;

[0042] Figure 2 Schematic diagram of the internal structure of the guide robot for the blind according to the present invention;

[0043] Figure 3 It is a schematic diagram of the principle of the triangulation method of the present invention;

[0044] In the figure, 1. chassis; 2. robot body; 3. handle; 4. pressure sensor; 5. navigation unit; 51. laser sensor; 52. ultrasonic sensor; 53. driving wheel; 6. depth camera; 7. lifting device; 8. robotic arm. DETAILED DESCRIPTION

[0045] In order to better understand the present invention, the present invention will be further described below in conjunction with specific embodiments and drawings. The blind guide robot, such as Figure 1 and Figure 2 As shown, the guide robot comprises a chassis 1, mounted with a navigation unit 5 for collecting information about the guide robot's surroundings; a robot body 2, fixedly connected to the chassis 1, with a mechanical arm 8 fixed inside for opening doors or pressing elevator buttons; and a handle 3, fixedly connected to the upper portion of the robot body 2, with a pressure sensor 4 fixed to the handle 3. The entire guide robot consists of two major modules: an upper robot body module and a chassis autonomous navigation module. The chassis 1 contains a lithium battery pack that powers the entire navigation robot. The upper robot body service module is primarily a structural component used to assist the blind person's movements and provides safe navigation for the chassis 1. During the guidance process, the blind person simply grasps the handle 3 and follows the guide robot.

[0046] The navigation unit 5 includes a laser sensor 51, an ultrasonic sensor 52, and a drive wheel 53. The chassis 1 is rotatably provided with the drive wheel 53, and the chassis 1 is circumferentially fixed with the laser sensor 51 and ultrasonic sensor 52. The chassis 1 module includes the laser sensor 51, ultrasonic sensor 52, and drive wheel 53. The drive wheel 53 primarily enables the autonomous movement of the navigation robot, while the laser sensor 51 and ultrasonic sensor 52 collect environmental information surrounding the guide robot.

[0047] The robot body 2 is equipped with multiple depth cameras 6, which are used to collect information about the current environment surrounding the guide robot. The depth cameras 6 are distributed around the robot body 2, with one depth camera 6 tilted upward. Depth cameras 6 are installed on the four sides and top of the robot body 2's upper structure. These cameras provide 360-degree monitoring of the guide robot, collecting information about the surrounding environment, which is then uploaded to a server for processing and real-time route updates. A tilted depth camera 6 is installed on the top of the robot body 2 to guide the robot arm 8 in its movements. These depth cameras 6 can also identify various signs and dangerous conditions in the current environment, providing better navigation support for the blind.

[0048] The top of the robot body 2 is provided with an extension opening of a robotic arm 8, and the robotic arm 8 can extend out of the robot body 2 along the extension opening of the robotic arm 8. A lifting device 7 is fixed between the robotic arm 8 and the bottom of the robot body 2, and the lifting device 7 is used to adjust the extension height of the robotic arm 8. The lifting device 7 can be selected as an electric telescopic rod, a lifting cylinder or a scissor structure to achieve adjustment of the height of the robotic arm 8 and expand the working range of the robotic arm 8. The robotic arm 8 mainly includes an upper arm, a lower arm and a manipulator terminal. The upper arm and the lower arm are rotatably connected, and the lower arm and the manipulator terminal are rotatably connected. The upper arm, the lower arm and the manipulator terminal are all fixed with a drive motor, and each drive motor drives the upper arm, the lower arm and the manipulator terminal to rotate respectively. The manipulator terminal is used to contact the door handle 3 or the elevator button to realize the door opening or elevator operation.

[0049] The guide pole is rigidly connected to the blind person, assisting them in turning and moving backward. It can detect whether it is being held and control its speed based on the twisting force. The guide pole handle 3 has three built-in speed settings: slow, normal, and fast. These speeds are adjustable by rotating the different gears to achieve different speeds.

[0050] The robot has built-in voice and visual warning functions. It provides clear voice announcements and warnings when passing through dangerous sections of road or crossing the road. It also provides voice notifications to blind people when turning, avoiding obstacles, and entering and leaving doors.

[0051] The guide robot can communicate with the blind person through voice, or the blind person can give the guide robot action commands. For example, in an elevator, the robot arm 8 can press the elevator button for the next floor. Pressure sensors are installed in the guide robot's handle 3 to detect whether the blind person is holding the robot. A top-mounted depth camera 6 can predict various mid-air hazards and provide navigation support, providing voice feedback. Voice recognition control means the bracelet uses voice recognition technology to identify the user's speech and then transmit corresponding commands to the guide robot, such as navigating to a certain location, stopping, moving forward, turning left or right, etc.

[0052] The present invention also discloses a guide system, comprising the above-mentioned guide robot, and also comprising a wristband, a server, a positioning unit, a voice announcer and an audible and visual alarm. The guide robot is electrically connected to the wristband, and the wristband is used for the user to call the guide robot to come to the side through the wristband. The positioning unit is used to determine the distance between the guide robot and the wristband. The guide robot is fixed with a voice announcer and an audible and visual alarm, and the voice announcer and the audible and visual alarm are respectively electrically connected to the guide robot. The positioning unit is used to obtain the user's geographic location information.

[0053] The positioning unit includes multiple UWB locators, one mounted on the wristband and one on each side of the robot body 2. A UWB locator is placed on each side of the guide robot, and one on the wristband. Triangulation is used to measure the wristband's relative position to the guide robot.

[0054] The specific algorithm is as follows: Given the lengths of three sides a, b, and c, A(X0, Y0) and B(X1, Y1) are the point coordinates of the two UWB locators on the guide robot. According to the formula, the point coordinates C(X2, Y2) of the bracelet can be obtained.

[0055]

[0056]

[0057] The present invention also discloses a blind-guiding method, which is applied to the above-mentioned blind-guiding system and comprises:

[0058] Step 1: The user sends a request signal to the server through the wristband. The request signal includes the destination. After the server receives the request signal, the robot body 2 obtains the user's geographic location through the positioning unit and sends it to the server. The server automatically generates a walking route.

[0059] Step 2: The robot body 2 periodically receives the position information determined by the positioning unit, and the navigation unit 5, depth camera 6 and server update the passable path based on the surrounding environment information of the guide robot on the walking route until it reaches the target point. During the driving process, the elevator button operation is realized by the robotic arm 8 when it is necessary to take the elevator.

[0060] The surrounding environment information includes one or more of road signs, crosswalks, traffic light locations, obstacles ahead, accessible doors, elevator locations, and elevator button locations. Landmark information includes landmarks, restroom signs, elevator signs, subway station signs, and subway line identification. After identifying this type of sign information, the guide robot can announce it to the user via voice.

[0061] In step 2, if the user drives to the crosswalk beside the road, the navigation unit obtains the remaining time of the current traffic light and the distance information of the crosswalk line, and the server determines whether it can pass, specifically including: according to the formula

[0062] t=d / v (1)

[0063] Calculate the time it takes for the user to pass through the crosswalk, where t is the time it takes for the user to pass through the crosswalk (s), d is the width of the crosswalk (m), and v is the user's running speed (m / s). According to the formula

[0064] Δt=t1-t (2)

[0065] Determine whether the user can pass through the crosswalk, where t1 is the remaining time of the current green light (s). If Δt>3s, it is determined that the user can pass through the crosswalk. If Δt≤3s, it is determined that the user cannot pass through the crosswalk.

[0066] In step 2, if the user drives to the elevator, the robot arm 8 touches the elevator button at its end to call the elevator and touches the button of the floor to be reached, including

[0067] S1: The depth camera collects elevator button image information, and the server converts the image information into a 2D contour image for point cloud segmentation;

[0068] S2: Train the point cloud semantic segmentation model to obtain the point cloud set of the elevator door and elevator button, where the point cloud set of the elevator door is C w , the point cloud set of the elevator button is C wk .

[0069] S3: Formulas expressed based on planes in three-dimensional space

[0070] (P-P0)*n=0, (3) The plane corresponding to the fitted point cloud set of the elevator door

[0071] (P w -P w0 )*n w =0, (4)

[0072] Among them, P is the coordinate of any point on the plane, P0 is the coordinate of a known point on the plane, n is the normal vector, P w is the coordinate of any point on the elevator door plane, P w0 is the known point coordinate on the elevator door plane, n w is the normal vector on the elevator door plane;

[0073] S4: Point cloud set C based on elevator buttons wk Find the center of gravity of the elevator button

[0074] S5: The robotic arm should move from top to bottom along a plane parallel to the elevator door until the end of the robotic arm touches the elevator button.

[0075] The bracelet calling the guide robot to come to the user includes:

[0076] a1: The wristband sends a call command and current geographic location information to the server. The server forwards the call command and geographic location information to the guide robot. The guide robot autonomously navigates to the vicinity of the wristband based on the geographic location information. When the user is in an outdoor environment and the straight-line distance between the wristband and the guide robot is less than 500 meters, it will automatically connect to the UWB locator signal and determine whether the guide robot and the user are on the same floor based on the altitude detection data. According to the formula:

[0077] H1=44300*(1-(P1 / P0)^(1 / 5.256)) (5)

[0078] H2=44300*(1-(P2 / P0)^(1 / 5.256) (6)

[0079] Where: H1 is the altitude of the bracelet (m), H2 is the altitude of the guide robot (m), P0 is the atmospheric pressure (0℃, 101.325kPa), P1 is the ambient pressure of the bracelet, and P2 is the ambient pressure of the guide robot.

[0080] Calculate ΔH=H2-H1, where ΔH is the height difference between the wristband and the guide robot. If ΔH is less than 1, it is determined that the two are on the same floor. If ΔH is greater than 1, it is determined that the two are not on the same floor.

[0081] The one-button call command of the bracelet sends the call command and current GPS location information to the background server through the 4G network. The server forwards the command and GPS location to the guide robot. The guide robot navigates autonomously to the vicinity of the bracelet based on the GPS information. When the straight-line distance between the bracelet and the guide robot is less than 500 meters, it will automatically connect to the UWB signal to obtain the straight-line distance between the bracelet and the guide robot. If the blind person is indoors and the GPS error is large, the robot can navigate to the location of the bracelet through the built-in map (a map of indoor scenes frequented by the blind is established in advance) and UWB distance positioning. At the same time, the altitude detection data is used to determine whether the two are on the same floor. If not, the elevator can be found at a location where the horizontal distance between the two is close, and then the elevator can be moved up and down to find a floor with a similar altitude.

[0082] In step 2, if the user drives to a passable door, the SSD or YOLO visual detection model is used to find the location of the door handle 3 and identify the type of door handle 3. Then, according to the preset door opening methods built into the robot, such as rotation, lateral movement, push-pull, electronic, etc., the robot arm 8 grasps the door handle 3 and rotates, pushes, pulls, or presses it to open the door.

[0083] Danger warning: By combining laser sensors, depth cameras 6 and ultrasonic sensors, the robot can determine whether there are rapidly approaching objects around, such as moving cars. At this time, the robot will activate sound and light alarms to alert pedestrians and vehicles. If necessary, the robot will choose to retreat. At this time, the warning is transmitted to the blind through the hard connection of the guide pole.

[0084] The robot can detect a rapidly decreasing distance from a certain angle and calculate the speed of an approaching object to determine whether a collision is likely to occur, thereby providing an early warning and avoiding the problem.

[0085] When the distance is 10-12m, and the direction is facing the robot, and the speed is greater than 8m / s, an audible and visual warning will be issued. When the distance is 4-6m, and the direction is facing the robot, and the speed is greater than 2m / s, an audible and visual warning will be issued and the vehicle will retreat in the opposite direction.

[0086] This guide robot can mainly realize the following functions:

[0087] 1. Identify common blind paths, traffic lights, traffic signs, crosswalks, etc. through deep neural network learning; use vision-based recognition methods such as YOLO, SSD, and other detection and recognition models;

[0088] 2. Use the depth camera 6 to collect real-time video information around the current guide robot to determine the robot's environment;

[0089] 3. Through the fusion of multiple sensors such as the laser sensor 51, the depth camera 6 and the ultrasonic sensor 52, the surrounding environment is modeled, the distance to obstacles is determined, and collisions with obstacles are avoided;

[0090] 4. Depth camera 6 collects the remaining time of the current traffic light and the distance to the crosswalk to determine whether it is possible to pass. This is achieved using vision-based technology. Traffic light counting is achieved using OCR-based technology;

[0091] 5. Using the robot arm 8 button means that through the fusion algorithm of the camera and the robot arm 8, the robot arm 8 can realize the elevator call and the desired floor button by touching the elevator button with the finger;

[0092] 6. Based on the type of door handle 3, preset different door opening methods for the door handle 3, such as rotary, sliding, push-pull, electronic, etc. The robot arm 8 opens and closes the door by identifying the door type through a camera and then using the robot arm 8 to open and close the door according to the built-in door opening method.

[0093] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Any changes that may be made to certain parts thereof by those skilled in the art all reflect the principles of the present invention and fall within the scope of protection of the present invention.

Claims

1. A guide robot, characterized in that: The robot comprises a chassis (1), wherein a navigation unit (5) is mounted on the chassis (1), and the navigation unit (5) is used to collect information about the surrounding environment of the guide robot; A robot body (2) is fixedly connected to the chassis (1), and a mechanical arm (8) for pressing elevator buttons is fixed inside the robot body (2); A handle (3) is fixedly connected to the upper part of the robot body (2), and a pressure sensor (4) is fixed to the handle (3); If the user drives to the elevator, the robot arm (8) touches the elevator button at the end of its arm to call the elevator and touches the button of the floor to be reached, including S1: The depth camera (6) collects the image information of the elevator button, and the server converts the image information into a 2D contour image and performs point cloud cutting; S2: Train the point cloud semantic segmentation model to obtain the point cloud set of the elevator door and elevator button, where the point cloud set of the elevator door is , the point cloud set of the elevator button is ; S3: Formulas expressed based on planes in three-dimensional space ，（3） The plane corresponding to the fitted point cloud set of the elevator door ，（4） Where P is the coordinate of any point on the plane. is the known point coordinate on the plane, n is the normal vector, is the coordinate of any point on the elevator door plane, are the known coordinates of points on the elevator door plane, is the normal vector on the elevator door plane; S4: Point cloud collection based on elevator buttons Find the center of gravity of the elevator button ; S5: The robotic arm should move from top to bottom along a plane parallel to the elevator door until the end of the robotic arm touches the elevator button.

2. The guiding robot according to claim 1, characterized in that: The navigation unit (5) comprises a laser sensor (51), an ultrasonic sensor (52) and a driving wheel (53); the driving wheel (53) is rotatably provided on the chassis (1); and the laser sensor (51) and the ultrasonic sensor (52) are fixed to the chassis (1) along the circumference.

3. The guiding robot according to claim 1, characterized in that: A plurality of depth cameras (6) are installed on the robot body (2), and the depth cameras (6) are used to collect information about the surrounding environment of the current guide robot. The depth cameras (6) are distributed along the circumference of the robot body (2), and one of the depth cameras (6) is arranged tilted upward.

4. The blind guide system is characterized by: The invention comprises a guide robot as described in any one of claims 1 to 3, and further comprises a wristband, a server, a positioning unit, a voice announcer and an audible and visual alarm, wherein the guide robot is electrically connected to the wristband, the wristband is used for the user to call the guide robot to come to the side through the wristband, the positioning unit is used to determine the distance between the guide robot and the wristband, the guide robot is fixed with a voice announcer and an audible and visual alarm, the voice announcer and the audible and visual alarm are respectively electrically connected to the guide robot, and the positioning unit is used to obtain the user's geographic location information.

5. The blind guiding system according to claim 4, characterized in that: The positioning unit includes a plurality of UWB locators, a UWB locator is installed on the wristband, and a UWB locator is installed on the left and right sides of the robot body (2).

6. A blind guiding method, characterized in that: The blind guide system according to claim 5 comprises: Step 1: The user sends a request signal to the server through the wristband, and the request signal includes the destination. After the server receives the request signal, the robot body (2) obtains the user's geographical location through the positioning unit and sends it to the server, and the server automatically generates a walking route; Step 2: The robot body (2) periodically receives the position information determined by the positioning unit, and the navigation unit (5), the depth camera (6) and the server update the traversable path according to the surrounding environment information of the guide robot on the walking route until the guide robot reaches the target point. During the driving process, when it is necessary to take the elevator, the robot arm (8) realizes the elevator button operation.

7. The blind guiding method according to claim 6, wherein: The surrounding environment information includes one or more of road sign information, crosswalk information, traffic light position information, front obstacle information, passable door position information, elevator position information, and elevator button position information.

8. The blind guiding method according to claim 7, wherein: In the second step, if the user drives to the crosswalk beside the road, the navigation unit (5) obtains the remaining time of the current traffic light and the distance information of the crosswalk line, and the server determines whether it can pass, specifically including: according to the formula t=d / v(1) Calculate the time it takes for a user to pass through the crosswalk, where t is the time it takes for a user to pass through the crosswalk, d is the width of the crosswalk, and v is the user's running speed. According to the formula =t1-t(2) Determine whether the user can pass the crosswalk, where t1 is the remaining time of the current green light. >3s, the user is considered to be able to cross the crosswalk. 3s, it is judged that the user cannot cross the crosswalk.

9. The blind guiding method according to claim 7, characterized in that: The bracelet calling the guide robot to come to the user includes: a1: The wristband sends a call command and current geographic location information to the server. The server forwards the call command and geographic location information to the guide robot. The guide robot autonomously navigates to the vicinity of the wristband based on the geographic location information. When the user is in an outdoor environment and the straight-line distance between the wristband and the guide robot is less than 500 meters, it will automatically connect to the UWB locator signal and determine whether the guide robot and the user are on the same floor based on the altitude detection data. According to the formula: H1=44300*(1-(P1 / P0)^(1 / 5.256))(5) H2=44300*(1-(P2 / P0)^(1 / 5.256)(6) Where: H1 is the altitude of the wristband, H2 is the altitude of the guide robot; P0 is the atmospheric pressure of 101.325 kPa at a temperature of 0°C; P1 is the ambient air pressure of the wristband; P2 is the ambient air pressure of the guide robot; calculate =H2-H1, where is the height difference between the bracelet and the guide robot, if If it is less than 1, then it is judged that the two are on the same floor. If it is greater than 1, it is determined that the two are not on the same floor.

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