A shoulder cover for push-type assistive steering and guidance for the blind and its guidance method

Abstract

This invention discloses a push-type assistive steering guide shoulder cover, comprising a shoulder cover, a guide assembly, and a guide sensor. The shoulder cover includes a buckle, a D-ring, a shoulder strap, and a chest strap. The shoulder strap is sewn onto the chest strap and has a guide hole. The chest strap has a ring-shaped structure, with its two ends connected by the buckle and the D-ring. The guide sensor is mounted on the chest strap and includes a camera located on the front of the chest, housing a microcontroller, an IMU positioning device, and a battery. The guide assembly consists of a servo motor and a right-angle transmission rod. The servo motor is connected to a short rod of the right-angle transmission rod, with one end of the short rod perpendicular to one end of the long rod. The other end of the long rod has a push-type component, which is horizontally aligned with the guide hole. This invention also discloses a guide method applied to the shoulder cover, simulating the natural turning habits of sighted people to complete the guide, effectively reducing the cognitive load of blind people when using assistive devices. This more direct, continuous push-type guide makes the interaction more natural.

Description

Technical Field

[0001] This invention relates to the field of assistive guiding devices, specifically to a push-type assistive steering guide shoulder sleeve and its guiding method. Background Technology

[0002] The lives and mobility of visually impaired people worldwide have always been a major concern. Traditional guide methods include human assistance and guide dogs, but both have limitations. Although the guidance is relatively effective, they require significant human and time costs, especially training guide dogs, which demands enormous effort and time.

[0003] Existing technologies include various guidance methods and devices for the blind. For example, guide canes rely on the passive reactions of the blind and cannot provide active navigation. Modern wearable devices such as guide glasses and helmets improve some aspects, but their functionality primarily relies on voice prompts, increasing cognitive burden. Traditional methods and modern devices cannot simulate the navigation habits of sighted people, further increasing the cognitive burden on the blind. Therefore, there is an urgent need for a new solution that simulates natural human navigation habits, reduces the cognitive burden on the blind, and provides direct information transmission to improve their travel experience and independence. To this end, this invention provides a push-type assistive steering guide shoulder strap and its guidance method, which can effectively assist blind navigation, reduce cognitive burden, and improve travel experience and independence. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings and deficiencies of the prior art and provide a push-type assistive steering guide shoulder sleeve and its guiding method. By simulating the natural turning habits of normal people, it reduces the cognitive load of blind people when using assistive devices for guiding, improves their travel experience, frees the hands of visually impaired people during guiding, improves their hand freedom and flexibility, and enables them to use their hands for other daily activities. This improves the autonomy and independence of visually impaired people, as well as their quality of life and social skills, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A push-type assistive steering guide shoulder sleeve includes a shoulder sleeve, a guide assembly, and a guide sensor;

[0007] The shoulder cover includes a buckle, a D-ring, shoulder straps, and a chest binder. The shoulder straps are sewn onto the chest binder, and each shoulder strap has a guide hole near the shoulder. The chest binder has a ring-shaped structure, with both ends connected by a buckle and a D-ring. The buckle and D-ring are located near the back. The guide sensor is located on the chest binder, on the front of the chest. The guide sensor includes a camera located on the front of the chest, and contains a microcontroller, an IMU positioning device, and a battery. Guide components are provided on both sides of the guide sensor, and on both sides of the buckle and D-ring. Each guide component consists of a servo motor and a right-angle transmission rod. The servo motor is connected to the short rod of the right-angle transmission rod. The short rod and one end of the long rod are perpendicular to each other, forming a right angle. The other end of the long rod has a pusher, which is horizontally aligned with the guide hole.

[0008] The microcontroller drives the right-angle transmission rod to rotate towards the shoulder of the human body via a servo motor. The pushing part of the right-angle transmission rod contacts and applies a pushing force to the shoulder of the human body. When turning or avoiding obstacles is required, the microcontroller drives the guide components at the front and rear diagonal positions of the visually impaired person to construct a pair of forces with different axes and opposite directions for steering guidance.

[0009] Furthermore, the short shaft of the right-angle transmission rod is fixedly connected to the transmission shaft of the servo motor. The first position is when the right-angle transmission rod is parallel to the shoulder strap. When the servo motor rotates, the right-angle transmission rod rotates with the short rod as the axis. The pushing part gradually approaches the shoulder strap and directly contacts the human shoulder when it passes through the guide hole, and gradually applies a pushing force. The second position is when the angle between the right-angle transmission rod and the shoulder strap is an acute angle.

[0010] Furthermore, the microcontroller drives the guide components at the front and rear diagonally opposite positions of the visually impaired person to construct a pair of forces with different axes and opposite directions for steering guidance. Specifically, the microcontroller simultaneously controls the servo motors on the left side of the chest and the right side of the back to drive the push-pull components to apply a thrust to the visually impaired person, providing a left-turning thrust; the microcontroller simultaneously controls the servo motors on the right side of the chest and the left side of the back to drive the push-pull components to apply a thrust to the visually impaired person, providing a right-turning thrust.

[0011] Furthermore, the camera connects to the microcontroller via USB or a serial interface, transmitting real-time captured image data to the microcontroller for processing; the IMU positioning device connects to the microcontroller via I2C or SPI standard communication protocols, transmitting the user's direction and motion status data to the microcontroller; the microcontroller receives and processes the image data provided by the camera, and if an obstacle is detected, it calls the A* search algorithm for dynamic path planning, while simultaneously processing the user's direction and motion status data provided by the IMU positioning device, and combining GPS information and navigation route information provided by the mobile phone to calculate the required rotation angle, and controls the servo motor to rotate to achieve the required steering thrust; the battery provides power to the camera, IMU positioning device, and microcontroller.

[0012] Furthermore, the pushing member has a flat disc-shaped structure with a circular cross-section, and the maximum diameter of the cross-section is smaller than the diameter of the guide hole.

[0013] Furthermore, the chest binder can be stretched or shortened by pulling it left and right with a D-ring buckle, thereby adjusting the tightness of the chest binder.

[0014] Furthermore, the portion of the shoulder strap that contacts the upper surface of the human shoulder is made of an elastic material, while the remaining portion is made of a non-elastic material.

[0015] Furthermore, the shoulder straps are sewn parallel to both sides of the chest binder, and the shoulder straps are spaced apart by the guide sensors. The guide holes on the shoulder straps overlap when the shoulder straps are folded back and forth.

[0016] This invention proposes a method for guiding the blind using a push-type assistive steering shoulder sleeve, comprising:

[0017] In use, visually impaired individuals put on the shoulder straps and adjust the buckles to fit their shoulders. They then turn on the power, start the microcontroller, connect to their mobile phone via Bluetooth, set the destination on the phone, and start navigation. The phone provides the user with navigation direction and distance via voice. When turning or avoiding obstacles, the shoulder straps are used for assisted steering and guidance. The IMU positioning device, combined with the phone's GPS navigation information, continuously senses the visually impaired individual's position and direction, transmitting this information to the microcontroller for processing. It calculates the required turning direction and angle based on the pre-set navigation route on the phone. The camera continuously monitors the surrounding environment. If obstacles are detected on the navigation route, the A* search algorithm is used for dynamic path planning. The phone's navigation information is adjusted in real time, and the route is dynamically planned. The microcontroller then calculates the required turning direction and angle.

[0018] Four guide components are positioned at the front and back of the shoulders. During normal forward movement, the two servo motors on the back, controlled by a microcontroller, work in conjunction with a right-angle transmission rod to rotate towards the body. The pushing component of the right-angle transmission rod contacts the body and applies a pushing force, guiding the user forward. At this time, the two pushing components on the chest are in the first position, and the two pushing components on the back are in the second position. When it is necessary to stop forward movement, the two pushing components on the back stop applying a pushing force. The two servo motors on the chest, controlled by a microcontroller, work in conjunction with the right-angle transmission rod to apply a pushing force, preventing the user from moving forward. At this time, the two pushing components on the chest are in the second position, and the two pushing components on the back are in the first position.

[0019] When a turn is required, the microcontroller controls a left turn. The guide components on the left side of the chest and the right side of the back apply a driving force, which, together with the pushing component of the right-angle transmission rod, applies a pushing force to the shoulder, forming a pair of opposing forces on opposite axes. The visually impaired person senses this and performs the left turn accordingly. At this time, the pushing components on the left side of the chest and the right side of the back are in the second position, and the pushing components on the right side of the chest and the left side of the back are in the first position. Conversely, when the microcontroller controls a right turn, the guide components on the right side of the chest and the left side of the back apply a driving force, which, together with the pushing component of the right-angle transmission rod, applies a pushing force to the shoulder, forming a pushing force in a different direction. The visually impaired person senses this and performs the right turn accordingly. At this time, the pushing components on the right side of the chest and the left side of the back are in the second position, and the pushing components on the left side of the chest and the right side of the back are in the first position.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] The push-type assistive steering shoulder sleeve proposed in this invention guides the blind by mimicking the natural turning habits of sighted individuals, effectively reducing the cognitive load on blind people using assistive devices. This more direct, continuous push-type guidance makes interaction more natural. Compared to traditional assistive devices, this invention drives passive navigation by pushing on the shoulders of visually impaired individuals, combined with camera-based obstacle recognition and route replanning. This more direct, continuous push-type guidance reduces uncertainty in guidance, increases turning accuracy, and lowers psychological burden. Furthermore, the shoulder sleeve not only frees the hands of visually impaired individuals, allowing them to perform other daily activities while ensuring their guiding needs are met, effectively improving their independence, but also, with all components concentrated on the shoulder, the invention is compact and can be integrated with blind clothing, effectively enhancing comfort when using wearable assistive devices and improving their social acceptance and social skills. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the shoulder sleeve for the push-type auxiliary steering guide proposed in this invention;

[0023] Figure 2 This is a front view of the shoulder sleeve for the push-type auxiliary steering guide proposed in this invention;

[0024] Figure 3 This is a rear view of the shoulder sleeve for the push-type auxiliary steering guide proposed in this invention;

[0025] Figure 4 This is a side view of the shoulder sleeve for the push-type auxiliary steering guide proposed in this invention;

[0026] Figure 5 This is a partially enlarged view of the shoulder sleeve for the push-type auxiliary steering guide proposed in this invention;

[0027] Figure 6 This is a schematic diagram of the guide component of the shoulder sleeve of the push-type auxiliary steering guide proposed in this invention when it is in the second position;

[0028] Figure 7 This is a schematic diagram of the right-angle transmission rod of the push-type auxiliary steering guide proposed in this invention;

[0029] In the diagram: 1. Shoulder sleeve; 10. Buckle; 11. D-ring; 12. Shoulder strap; 13. Chest strap; 2. Guide assembly; 20. Servo motor; 21. Right-angle transmission rod; 211. Short rod; 212. Long rod; 213. Pushing component; 3. Guide sensor; 30. Camera. Detailed Implementation

[0030] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0031] Example 1

[0032] Please see Figure 1 This embodiment relates to a push-type assisted steering shoulder cover for the blind: it includes a shoulder cover 1, a guide assembly 2, and a guide sensor 3; the shoulder cover 1 includes a buckle 10, a D-ring buckle 11, a shoulder strap 12, and a chest strap 13, the shoulder strap 12 being sewn onto the chest strap 13, and each shoulder strap 12 having a guide hole near the shoulder; the chest strap 13 is a ring structure, with both ends connected by the buckle 10 and the D-ring buckle 11, the buckle 10 and the D-ring buckle 11 being close to the back; the guide sensor 3 is disposed on the chest strap 13, located on the front of the chest, and includes a camera 30 located on the front of the chest, containing a microcontroller, an IMU positioning device, and a battery; the guide sensor 3 has guide holes on both sides. The buckle 10 and the swivel buckle 11 are equipped with guide components 2 on both the left and right sides. The guide components 2 consist of a servo motor 20 and a right-angle transmission rod 21. The servo motor 20 is connected to the short rod 211 of the right-angle transmission rod 21. The short rod 211 and one end of the long rod 212 are set perpendicularly to form a right angle. The other end of the long rod 212 is equipped with a pusher 213, which is horizontally aligned with the guide hole. The microcontroller drives the right-angle transmission rod 21 to rotate towards the shoulder of the human body through the servo motor 20. The pusher 213 of the right-angle transmission rod 21 contacts and applies a pushing force to the shoulder of the human body. When turning or avoiding obstacles is required, the microcontroller drives the guide components 2 at the front and rear diagonally opposite positions of the visually impaired person to construct a pair of forces with different axes and opposite directions for steering guidance.

[0033] In this embodiment, the guide component 2 is provided in four sets, which are respectively arranged on the left and right sides of the guide sensor 3, the buckle 10 and the D-ring buckle 11, that is, one set on each side of the front chest and shoulders of the visually impaired person, and one set on each side of the back and shoulders. The purpose is to apply a pushing force through the guide component 2 at the diagonal position so that the shoulders of the visually impaired person naturally have a turning action, thereby guiding the visually impaired person to turn.

[0034] The following explanation, using myself as an example as a visually impaired person, further illustrates the four sets of guide components 2:

[0035] The guide assembly 2 located on the left shoulder of the front chest is the first guide assembly, including a first servo, a first right-angle transmission rod, and a first pusher; the guide assembly 2 located on the right shoulder of the front chest is the second guide assembly, including a second servo, a second right-angle transmission rod, and a second pusher; the guide assembly 2 located on the left shoulder of the back is the third guide assembly, including a third servo, a third right-angle transmission rod, and a third pusher; the guide assembly 2 located on the right shoulder of the back is the fourth guide assembly, including a fourth servo, a fourth right-angle transmission rod, and a fourth pusher.

[0036] The first and third guide components are positioned diagonally opposite each other. When the first and third guide components work together to apply a thrust, the visually impaired person turns their shoulders to the left, thus guiding them to turn left. The second and fourth guide components are positioned diagonally opposite each other. When the second and fourth guide components work together to apply a thrust, the visually impaired person turns their shoulders to the right, thus guiding them to turn right.

[0037] In this embodiment, guide components 2 are provided on the left and right sides of the guide sensor 3, and on the left and right sides of the buckle 10 and the D-ring buckle 11. The guide components 2 consist of a servo motor 20 and a right-angle transmission rod 21. The microcontroller drives the guide components 2 at the front and rear diagonal positions of the visually impaired person to construct a pair of forces with different axes and opposite directions for steering guidance, simulating the natural turning habits of a normal person to complete the guidance, effectively reducing the cognitive load of the blind person when using assistive devices. This more direct continuous push-type guidance makes the interaction more natural; it not only frees the hands of the visually impaired person, allowing them to carry out other daily activities while ensuring the guidance needs are met, effectively improving the independence of the visually impaired person in life, but also, in this embodiment, all the components of the shoulder cover 1 are concentrated on the shoulder, with a small volume, which can be integrated with the blind person's clothing, effectively improving the comfort of the visually impaired person in using wearable assistive guidance devices and improving their acceptance of the outside world when traveling, enhancing their social ability.

[0038] See Figure 4 In this embodiment, the short shaft of the right-angle transmission rod 21 is fixedly connected to the transmission shaft of the servo motor 20, and the first position is when the right-angle transmission rod 21 is parallel to the shoulder strap 12. Figure 4 The right-angle transmission rod 21 is in the first position; see also Figure 6When the servo motor 20 rotates, the right-angle transmission rod 21 rotates around the short rod 211 as an axis, and the pushing member 213 gradually moves closer to the shoulder strap 12. When it passes through the guide hole, it directly contacts the human shoulder and gradually applies a pushing force. The second position is when the angle between the right-angle transmission rod 21 and the shoulder strap 12 is an acute angle. Figure 6 The right-angle transmission rod 21 is in the second position.

[0039] In this embodiment, the shoulder strap 1 can guide visually impaired individuals to move forward, stop moving forward, and turn left and right. During normal forward movement, the two servo motors 20 on the back, controlled by a microcontroller, work in conjunction with the right-angle transmission rod 21 to rotate towards the body. The pushing member 213 of the right-angle transmission rod 21 contacts the back and applies a pushing force, guiding the user forward. When stopping forward, the two pushing members 213 on the back cease applying a pushing force, and the two servo motors 20 on the chest, controlled by a microcontroller, work in conjunction with the right-angle transmission rod 21, with the pushing member 213 contacting the chest... The microcontroller contacts and applies a thrust to prevent the user from moving forward. When turning left or right, the microcontroller drives the guide components 2 at the front and rear diagonally opposite positions of the visually impaired person to construct a pair of forces with different axes and opposite directions for steering guidance. Specifically, the microcontroller simultaneously controls the servo motors 20 on the left side of the chest and the right side of the back to drive the pusher 213 to apply a thrust to the visually impaired person, providing a left-turning thrust; the microcontroller simultaneously controls the servo motors 20 on the right side of the chest and the left side of the back to drive the pusher 213 to apply a thrust to the visually impaired person, providing a right-turning thrust.

[0040] To enhance the steering accuracy of the shoulder strap 1 in this embodiment, the camera 30 is connected to the microcontroller via USB or a serial interface, transmitting real-time captured image data to the microcontroller for processing. The IMU positioning device is connected to the microcontroller via I2C or SPI standard communication protocols, transmitting the user's direction and motion status data to the microcontroller. The microcontroller receives and processes the image data provided by the camera 30. If an obstacle is detected, it calls the A* search algorithm for dynamic path planning. Simultaneously, it processes the user's direction and motion status data provided by the IMU positioning device, and calculates the required rotation angle by combining GPS information and navigation route information provided by the mobile phone. It then controls the servo motor 20 to rotate, achieving the required steering thrust. The battery provides power to the camera 30, the IMU positioning device, and the microcontroller. Compared to traditional guide assist devices, this invention drives passive navigation by pushing on the shoulders of visually impaired individuals. Combined with the camera 30's obstacle identification and route replanning, this more direct, continuous push-type guide reduces the uncertainty of guidance, increases steering accuracy, and reduces psychological burden.

[0041] In this embodiment, when using the I2C protocol, the microcontroller acts as the master, sending a read request to the IMU positioning device (slave). The IMU then responds to the request and transmits the data back to the microcontroller. When using the SPI protocol, the microcontroller first activates the IMU positioning device via the chip select line (CS), and then uses the clock line (SCK) to generate a synchronization signal to achieve full-duplex data exchange on the MOSI and MISO lines. These two communication strategies ensure the high efficiency and reliability of the navigation function.

[0042] In this embodiment, the specific steps of calling the A* search algorithm for dynamic path planning are as follows:

[0043] When camera 30 detects an obstacle on the navigation route, the microcontroller invokes the path planning module based on the A* search algorithm. This module first represents the surrounding environment as a discrete grid map, where areas containing obstacles are marked as impassable. Next, using the A* search algorithm, based on the current user location, obstacle location, and destination location, the module calculates a new path that avoids the obstacle. This process considers the turning costs in each direction and the estimated distance cost to the destination, thus finding a new path that is both safe and efficient. Finally, the newly calculated path information is transmitted to the mobile navigation application in real time, dynamically updating the navigation route. The microcontroller further calculates the required turning direction and angle, controlling the guide component 2 to perform the corresponding turning operation.

[0044] To provide clear navigation feedback, the system calculates the angular deviation Δθ between the user and the predetermined path, and uses formula F turn = k × Δθ, where k is the maximum force F applied by the servo motor. max Maximum angular deviation θ max relation The steering force provided by the rotation of the servo motor 20 is adjusted accordingly. Through this integrated strategy, this embodiment provides real-time, intuitive navigation guidance for blind users, ensuring walking safety and comfort.

[0045] Where Δθ is the angular deviation between the user and the predetermined path, F turn F represents the steering force required by the servo motor, where k is a constant representing the force required by the servo motor for each degree of angle difference. max For the maximum force applied by the servo motor, θ max This represents the maximum angular deviation.

[0046] See Figure 7 The pusher 213 has a flat disc-shaped structure with a circular cross-section. The maximum diameter of the cross-section is smaller than the diameter of the guide hole, so as to ensure that the pusher 213 can penetrate the guide hole and touch the visually impaired person, providing clear guidance to the visually impaired person.

[0047] In order to make the shoulder strap 1 suitable for visually impaired people of different sizes, the chest binder 13 can be stretched or shortened by pulling left and right with the D-ring buckle 11, thereby adjusting the tightness of the chest binder 13.

[0048] To ensure the comfort of visually impaired individuals, the portion of the shoulder strap 12 that contacts the upper surface of the shoulder is made of elastic material, while the remaining portion is made of non-elastic material. This embodiment not only ensures the comfort of visually impaired individuals but also protects their self-esteem. The shoulder cover 1 in this embodiment is concentrated on the shoulder, has a small volume, and can be integrated with clothing for the blind. It can effectively improve the comfort of visually impaired individuals using wearable assistive devices and enhance their social skills by increasing their acceptance of the outside world when traveling.

[0049] To further provide clear guidance for visually impaired individuals, the shoulder straps 12 are sewn parallel to both sides of the chest binder 13, and the shoulder straps 12 are spaced apart by the guide sensors 3. The guide holes on the shoulder straps 12 overlap when the shoulder straps 12 are folded back and forth.

[0050] Based on the above technical solution, this embodiment also proposes a method for providing a push-type auxiliary steering guide shoulder sleeve for the blind, including the following steps:

[0051] In use, the visually impaired person puts on the shoulder sleeve 1 and adjusts the D-ring 11 to fit the shoulder, turns on the power, starts the microcontroller, connects to the mobile phone via Bluetooth, sets the destination on the mobile phone and starts navigation. The mobile phone provides the user with navigation direction and distance via voice, and uses the shoulder sleeve 1 for assisted turning and guidance when turning and avoiding obstacles are needed. The IMU positioning device, combined with the mobile phone's GPS navigation information, continuously senses the position and direction of the visually impaired person and transmits it to the microcontroller for processing. It calculates the required turning direction and angle based on the predetermined navigation route of the mobile phone. The camera 30 continuously detects the surrounding environment information. If it finds obstacles on the navigation route, it calls the A* search algorithm for dynamic path planning, adjusts the mobile phone navigation information in real time and dynamically plans the route, and then the microcontroller calculates the required turning direction and angle.

[0052] Four guide components 2 are respectively arranged at the front and back of the shoulders. When moving forward normally, the two servo motors 20 on the back are controlled by a microcontroller and work in conjunction with the right-angle transmission rod 21 to rotate towards the body. The pushing part 213 of the right-angle transmission rod 21 contacts the back and applies a pushing force to guide the user forward. At this time, the two pushing parts 213 on the front chest are in the first position and the two pushing parts 213 on the back are in the second position. When it is necessary to stop moving forward, the two pushing parts 213 on the back stop applying a pushing force. The two servo motors 20 on the front chest are controlled by a microcontroller and work in conjunction with the right-angle transmission rod 21. The pushing parts 213 contact the front chest and apply a pushing force to stop the user from moving forward. At this time, the two pushing parts 213 on the front chest are in the second position and the two pushing parts 213 on the back are in the first position.

[0053] When a turn is required, the microcontroller controls a left turn. The guide components 2 on the left side of the chest and the right side of the back apply driving force, which, together with the pushing component 213 of the right-angle transmission rod 21, applies a pushing force to the shoulder, forming a pushing force in different directions. The visually impaired person perceives this and performs a left turn accordingly. At this time, the pushing component 213 on the left side of the chest and the right side of the back is in the second position state, and the pushing component 213 on the right side of the chest and the left side of the back is in the first position state. Conversely, when the microcontroller controls a right turn, the guide components 2 on the right side of the chest and the left side of the back apply driving force, which, together with the pushing component 213 of the right-angle transmission rod 21, applies a pushing force to the shoulder, forming a pushing force in different directions. The visually impaired person perceives this and performs a right turn accordingly. At this time, the pushing component 213 on the right side of the chest and the left side of the back is in the second position state, and the pushing component 213 on the left side of the chest and the right side of the back is in the first position state.

[0054] In this embodiment, in addition to the shoulder strap 1 providing steering guidance, voice navigation information further assists in guiding visually impaired individuals. The camera 30 continuously detects surrounding environmental information and uses an A* search algorithm for dynamic path planning, adjusting the mobile phone navigation information in real time and dynamically planning routes, thus enhancing the safety and feasibility of walking for the blind. This method provides a more intuitive and sensitive perception mechanism, making it easier and more natural for visually impaired individuals to respond to navigation commands during daily walking. Through the above innovative design and implementation methods, the guide experience for the blind is made more intelligent and humanized, providing more intuitive and convenient navigation services for the blind.

[0055] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A push-type auxiliary steering blind guiding shoulder pad, characterized in that, The shoulder sleeve, the blind guiding assembly and the blind guiding sensor are included. The shoulder sleeve includes a plug buckle, a grommet, a shoulder strap and a chest band, the shoulder strap is sewn on the chest band, and the shoulder strap is provided with blind guiding holes near the human body shoulder; the chest band is a ring structure, and the two ends of the chest band are connected through the plug buckle and the grommet, the plug buckle and the grommet are close to the human back, the blind guiding sensor is arranged on the chest band and is located on the front chest of the human body, the blind guiding sensor includes a camera arranged on the front chest, and a single-chip microcomputer, an IMU positioning device and a battery are arranged in the blind guiding sensor; the blind guiding assembly is arranged on the left and right sides of the blind guiding sensor and the plug buckle and the grommet, the blind guiding assembly is composed of a steering engine and a right-angle transmission rod, the steering engine is connected with a short rod of the right-angle transmission rod, the short rod and a long rod are arranged perpendicularly to form a right angle, and a pushing piece is arranged on the other end of the long rod and horizontally overlaps with the blind guiding hole. The single-chip microcomputer drives the right-angle transmission rod to rotate towards the human shoulder through the steering engine, the pushing piece of the right-angle transmission rod contacts and applies a pushing force to the human shoulder, when turning or avoiding obstacles, the single-chip microcomputer drives the blind guiding assemblies at the opposite diagonal positions of the front and back of the visually impaired person to construct a pair of different shafts and opposite directions to guide the turning.

2. The push-to-turn assisted blind guiding shoulder harness of claim 1, wherein, The short rod of the right-angle transmission rod is fixedly connected with a transmission shaft of the steering engine, when the right-angle transmission rod is parallel to the shoulder strap, it is a first position, when the steering engine rotates, the right-angle transmission rod rotates with the short rod as the shaft, the pushing piece gradually approaches the shoulder strap, directly contacts the human shoulder when penetrating into the blind guiding hole, and gradually applies a pushing force, when the right-angle transmission rod and the shoulder strap form an acute angle, it is a second position.

3. The push-to-turn assisted blind guiding shoulder harness of claim 1, wherein, The single-chip microcomputer drives the blind guiding assemblies at the opposite diagonal positions of the front and back of the visually impaired person to construct a pair of different shafts and opposite directions to guide the turning, specifically, the single-chip microcomputer controls the steering engines at the left side of the front chest and the right side of the back to drive the pushing pieces to apply a pushing force to the visually impaired person to provide a left turning pushing force, and controls the steering engines at the right side of the front chest and the left side of the back to drive the pushing pieces to apply a pushing force to the visually impaired person to provide a right turning pushing force.

4. The push-to-turn assisted directional blind shoulder harness of claim 1, wherein, The camera is connected with the single-chip microcomputer through a USB or serial interface, and transmits real-time captured image data to the single-chip microcomputer for processing, the IMU positioning device is connected with the single-chip microcomputer through an I2C or SPI standard communication protocol, and transmits the direction and motion state data of the user to the single-chip microcomputer, the single-chip microcomputer receives and processes the image data provided by the camera, if an obstacle is identified, an A* search algorithm is called to perform dynamic path planning, the direction and motion state data of the user provided by the IMU positioning device are processed, GPS information and navigation route information provided by a mobile phone are combined to calculate a required turning angle, and the steering engine is controlled to rotate to realize the required turning pushing force, and the battery provides power for the camera, the IMU positioning device and the single-chip microcomputer.

5. The push-to-turn assisted directional blind shoulder harness of claim 1, wherein, The pushing piece is a flat pie-shaped structure, the cross section is circular, and the maximum diameter in the cross section is smaller than the diameter of the blind guiding hole.

6. The push-to-turn assisted directional blind shoulder harness of claim 1, wherein, The chest band is pulled left and right through the grommet to lengthen or shorten the length of the chest band, so as to adjust the tightness of the chest band.

7. The push-to-turn assisted directional blind shoulder harness of claim 1, wherein, The shoulder strap is made of elastic material on the surface of the human shoulder, and the rest is made of non-elastic material.

8. The push-to-turn assisted directional blind shoulder harness of claim 1, wherein, The shoulder strap is parallel to the two sides of the chest band, and the blind guide sensor is spaced between the shoulder straps. The blind guide holes on the shoulder straps are overlapped when the shoulder straps are folded in front and back.

9. A method for guiding the blind using the shoulder pad of any one of claims 1 to 8. The method comprises the following steps: In use, the visually impaired person wears the shoulder set and adjusts the grommet to fit the shoulder, turns on the power, starts the single-chip microcomputer, connects the mobile phone through Bluetooth, sets the destination on the mobile phone and starts navigation, the mobile phone provides the user with navigation direction and distance through voice, and uses the above-mentioned shoulder set to assist in turning and guiding the blind when turning and avoiding obstacles; the IMU positioning device combines the mobile phone GPS navigation information to continuously perceive the position and direction of the visually impaired person and transmits it to the single-chip microcomputer for processing, and combines the mobile phone's predetermined navigation route to calculate the required turning direction and angle; the camera continuously detects the surrounding environment information, and if an obstacle is found on the navigation route, the A* search algorithm is called to dynamically plan the path, the mobile phone navigation information is adjusted in real time and the route is dynamically planned, and then the required turning direction and angle are calculated by the single-chip microcomputer; When the user needs to stop advancing, the two pushers on the back stop applying the pushing force, and the two rudders on the front chest are controlled by the single-chip microcomputer to cooperate with the right-angle transmission rod, the pushers contact the front chest and apply the pushing force to prevent the user from advancing, at this time, the two pushers on the front chest are in the second position state, and the two pushers on the back are in the first position state. When turning, the single-chip microcomputer controls the left turning operation, the blind guide components on the left side of the front chest and the right side of the back apply driving force, cooperate with the pushers of the right-angle transmission rod, and jointly apply pushing force to the shoulder to form pushing force in different directions, and the visually impaired person senses and executes left turning, at this time, the pushers on the left side of the front chest and the right side of the back are in the second position state, and the pushers on the right side of the front chest and the left side of the back are in the first position state; conversely, when the single-chip microcomputer controls the right turning operation, the blind guide components on the right side of the front chest and the left side of the back apply driving force, cooperate with the pushers of the right-angle transmission rod, and jointly apply pushing force to the shoulder to form pushing force in different directions, and the visually impaired person senses and executes right turning, at this time, the pushers on the right side of the front chest and the left side of the back are in the second position state, and the pushers on the left side of the front chest and the right side of the back are in the first position state.

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