Intelligent interaction system and intelligent guide stick for the blind

Abstract

The application discloses an intelligent interaction system and an intelligent guide stick for the blind, which has the function of sensing the road condition in front and conveying the road condition information to the user through the rotating direction of the touch ball, helping the user to avoid obstacles. In addition, the stick can remind the user of the current walking direction through the up-and-down movement of the touch ball when the user goes up and down the stairs, thereby improving the safety and convenience of the blind walking.

Description

Technical Field

[0001] This application relates to the field of cane technology, and more specifically, to an intelligent interactive system and an intelligent guide cane. Background Technology

[0002] A white cane, also known as a blind cane, is an effective assistive tool for blind people when walking. Its main functions are to help blind people explore the road ahead, protect their bodies from injuries, and let others know that the user is visually impaired.

[0003] Most existing canes for the blind can only provide basic assistance for walking. When going up or down stairs or when there are obstacles in front of them, the blind person needs to touch the cane to notice them. They cannot promptly remind the blind person which direction to walk, which makes them quite inconvenient to use.

[0004] Therefore, there is a desire for better intelligent interactive systems and intelligent guide canes to assist blind people in their activities. Summary of the Invention

[0005] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide an intelligent interactive system that can assist blind people in perceiving information.

[0006] This application provides an intelligent interactive system, including a drive component, a spherical track, and a ball track. The spherical track has an internal cavity containing a drive ball that can roll within it. The outer surface of the drive ball is provided with a friction layer. The drive component includes a first drive motor and a second drive motor, the output shafts of which both contact the friction layer of the drive ball, driving the drive ball to rotate in a first direction and a second direction respectively. The ball track contains tactile balls, each in contact with the friction layer. When the drive ball rotates in the first direction, at least two tactile balls rotate in a third direction; when the drive ball rotates in the second direction, at least two tactile balls rotate in a fourth direction.

[0007] The intelligent exchange system provided in this application embodiment drives a drive ball set in a spherical track to rotate in a first direction or a second direction through a first drive motor and a second drive motor, respectively, and drives at least two tactile balls to rotate. In this way, certain information can be transmitted through the rotation of the tactile balls. Blind people can obtain corresponding information by touching the tactile balls and identifying the different rotation directions of the tactile balls. For example, blind people can obtain information about which direction there is an obstacle in front, behind, left, or right, and thus avoid the obstacle.

[0008] Preferably, a connecting plate is provided between every two tactile balls in the ball track to limit the movement of the tactile balls.

[0009] Preferably, the system further includes two motor plates, each of which is provided with a motor mounting hole. The first drive motor and the second drive motor are respectively mounted on one of the motor plates, and the mounting hole is an oblong hole.

[0010] Preferably, the system further includes a sensing mechanism, which includes a controller, a camera, and an infrared sensor. The camera and the infrared sensor are both connected to the controller via signal connection. The controller is also connected to the first drive motor and the second drive motor via signal connection.

[0011] Preferably, when the infrared sensor determines that the obstacle is located in the front-back direction, the controller controls the first drive motor to start. The first drive motor can drive the left rotating shaft and friction sleeve to rotate. Under the action of friction, the rotation of the friction sleeve can drive the friction layer and drive ball to rotate back and forth. The back-and-forth rotation of the friction layer and drive ball can drive the tactile ball and connecting plate to rotate back and forth, thereby sensing whether to move forward or backward.

[0012] Preferably, when the infrared sensor determines that the obstacle is located in the left or right direction, the controller can control the second drive motor to start. The second drive motor can drive the rotating shaft and friction sleeve below to rotate. Under the action of friction, the rotation of the friction sleeve can drive the friction layer and drive ball to rotate left and right. The left and right rotation of the friction layer and drive ball can drive the tactile ball and the connecting plate to rotate left and right, thereby sensing whether to move left or right.

[0013] According to one aspect of this application, a smart guide cane is provided, including a pole and a grip, characterized in that: the grip is mounted on the top of the pole, the grip has a cavity, the smart exchange system is disposed in the cavity, and the tactile ball protrudes outside the cavity.

[0014] Preferably, the cavity is equipped with two first mounting plates, a second mounting plate, and a battery; each of the two first mounting plates is equipped with an electric actuator, and the telescopic ends of the two electric actuators are fixedly connected to a straight plate, and the sides of the two straight plates that are close to each other are fixedly connected to a spherical track; a controller, a camera, and an infrared sensor are installed on the side of the second mounting plate that is close to the outside.

[0015] Preferably, the top of the cavity is provided with a clearance groove that is adapted to the spherical track and allows the spherical track to pass through.

[0016] Preferably, the battery is electrically connected to all electrical components within the cavity, and the grip is provided with a charging port adapted to the battery.

[0017] Compared with existing technologies, this cane for the blind has the following advantages:

[0018] During use, this solution can identify the road conditions ahead through a sensing mechanism, and then control the tactile ball to rotate forward and backward or left and right based on the road condition information. By sensing the direction of rotation of the tactile ball, blind people can know which direction to walk to avoid obstacles. When blind people go up or down stairs, the tactile ball can be controlled to move up or down or down and up by one stroke to remind them whether to go up or down, thus making it more convenient for blind people to use.

[0019] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0020] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0021] Figure 1 This is a side perspective view of the driving component and the spherical track in the intelligent interactive system according to an embodiment of this application;

[0022] Figure 2 This is a cross-sectional view of the driving component and the spherical track in the intelligent interactive system according to an embodiment of this application;

[0023] Figure 3 This is a schematic diagram showing the connection between the tactile ball and the ball track in an intelligent interactive system according to an embodiment of this application;

[0024] Figure 4 This is a structural diagram of the waist-shaped hole in the intelligent interactive system according to an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the overall structure of the smart guide cane according to an embodiment of this application;

[0026] Figure 6 This is a cross-sectional view of the internal structure of the handle in an intelligent guide cane according to an embodiment of this application;

[0027] Figure 7 This is an enlarged view of the structure at point A of the handle in the overall structural schematic diagram of the smart guide cane according to an embodiment of this application;

[0028] Figure 8 This is the control flowchart of the present invention;

[0029] Figure 9 This is a control flowchart of the sensing mechanism of the present invention;

[0030] Figure 10 This is a control flowchart of the identification module of the present invention;

[0031] Figure 11 This is a control flowchart of the trigger module of the present invention;

[0032] Figure 12 This is a control flowchart of the transmitting and receiving module (vertical movement part) of the present invention;

[0033] Figure 13 This is a control flowchart of the transmitting and receiving module (the forward, backward, left, and right moving parts) of the present invention.

[0034] In the picture:

[0035] 1. Grounding part; 2. Rod body; 3. Connecting rod; 4. Hand grip; 5. Cavity; 6. Drive assembly; 601. Motor board; 602. Drive motor; 603. Rotating shaft; 604. Friction sleeve; 7. Spherical track; 8. Drive ball; 9. Ball track; 10. Tactile ball; 11. Connecting plate; 12. Electric actuator; 13. First mounting plate; 14. Straight plate; 15. Friction layer; 16. Second mounting plate; 17. Controller; 18. Camera; 19. Infrared sensor; 20. Transparent protective shell; 21. Battery. Detailed Implementation

[0036] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0037] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0038] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed description. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0040] This application provides an intelligent interactive system for transmitting information to blind people through tactile feedback, such as indicating the presence of obstacles affecting their passage in front, behind, to the left, and to the right. The intelligent interactive system provided can be mounted on a cane to form an intelligent guide cane. It is primarily located on the grip of the cane, allowing blind people to perceive the rotation direction of a tactile ball and obtain corresponding information. The intelligent interactive system provided can also be mounted on a wheelchair to form an intelligent wheelchair for the blind. The intelligent interactive system provided can be mounted on the armrests of the wheelchair.

[0041] Please see Figure 1 - Figure 13 The present invention provides the following technical solution:

[0042] An intelligent interactive system includes a drive assembly 6, a spherical track 7, and a ball track 9. The spherical track 7 has an internal cavity containing a drive ball 8 that can roll within it. The outer surface of the drive ball 8 is provided with a friction layer 15. The drive assembly 6 includes a first drive motor and a second drive motor. The output shafts of both motors contact the friction layer of the drive ball, driving the ball to rotate in a first direction and a second direction respectively. At least two tactile balls 10 are rotatably mounted inside the ball track 9. Each ball ball 10 contacts the friction layer 15. When the drive ball rotates in the first direction, the at least two tactile balls rotate in a third direction; when the drive ball rotates in the second direction, the at least two tactile balls rotate in a fourth direction. Accordingly, the first direction is forward or backward rotation, and the corresponding third direction is backward or forward rotation, with all tactile balls forming a straight line when rotating; the second direction is left or right rotation, and the corresponding fourth direction is right or left rotation, with all tactile balls rotating parallel to each other. Specifically, a connecting plate 11 is provided between every two tactile balls in the ball track 9 to limit the movement of the tactile balls.

[0043] Specifically, the drive assembly 6 includes two motor plates 601, each with a motor mounting hole. The first drive motor and the second drive motor are respectively mounted on one of the motor plates, and the mounting holes are oblong-shaped. The output ends of both drive motors 602 are fixedly connected to rotating shafts 603. When the drive motors 602 are started, they drive the rotating shafts 603 to rotate. One rotating shaft 603 is located below the drive ball 8, and the other rotating shaft 603 is located to the left of the drive ball 8. The drive assembly 6 drives the drive ball 8 to rotate.

[0044] It is understandable that the drive motor 602 can be installed by passing the screw through the mounting hole and the oblong hole on the drive motor 602 in sequence and then tightening the nut on the screw. Since the screw can slide along the oblong hole, the installation position of the drive motor 602 can be finely adjusted, so that the friction sleeve 604 can be tightly attached to the friction layer 15 on the drive ball 8.

[0045] Furthermore, the sensing mechanism includes a controller 17, a camera 18, and an infrared sensor 19. The camera 18 can identify obstacles and transmit the identification results to the infrared sensor 19. Then, the infrared sensor 19 can determine whether the obstacle is within the set range and transmit the identified command to the controller 17.

[0046] Furthermore, it should be understood that camera-based obstacle recognition technology is existing and widely used in fields such as autonomous driving, robot navigation, and drone obstacle avoidance systems. Cameras typically identify objects in front of them using image processing techniques and computer vision algorithms. Specific methods include image analysis; cameras can capture real-time images and then use image analysis to identify whether objects in front are obstacles. The system can analyze brightness variations, edge detection, and shape matching in the image to identify whether there are obstructions. This technology can handle differences between organic objects (such as pedestrians and animals) and inorganic objects (such as steps and walls). The advantage of cameras is that they can directly identify the appearance of objects through visual information, thus extending beyond the detection of living organisms.

[0047] Infrared sensors detect inorganic objects. While typically used to detect living organisms because they emit infrared radiation, infrared sensors can also detect other objects in the environment, particularly by determining distance through reflected infrared light signals. These sensors may employ methods to detect inorganic obstacles such as: active infrared detection, which determines the presence and distance of an obstacle by emitting infrared light and measuring the signal reflected back from it. Whether organic or inorganic, anything that reflects infrared light can be detected by the sensor; and infrared lidar, a technology widely used in autonomous vehicles to detect surrounding objects. Infrared lidar determines the distance and position of objects by emitting infrared light pulses and measuring the reflection time. Because infrared lidar can detect any type of object (organic or not), it excels at obstacle detection.

[0048] Because cameras and infrared sensors have significant advantages in processing inorganic obstacles, combining them can be even more effective in identifying obstacles posed by inorganic living organisms. First, cameras can identify the type and shape of obstacles, while infrared sensors provide precise distance data. This combination helps the system, upon detecting an obstacle, not only determine its nature (organic or inorganic) but also its distance from the cane. Next, for inorganic obstacles (such as walls or roadblocks), after the infrared sensor detects a change in distance, the camera can assist in confirming the object's outline, edges, and other features, further clarifying whether the object poses a real threat (e.g., whether avoidance is necessary).

[0049] Furthermore, a drive ball 8 is rotatably installed inside the spherical track 7, and a friction layer 15 is provided on the outer surface of the drive ball 8; tactile balls 10 are rotatably installed inside the ball track 9, each tactile ball 10 is in contact with the friction layer 15, and the top of each tactile ball 10 extends out of the top of the cavity 5; under the action of friction, when the drive ball 8 rotates and the friction layer 15 rotates, it can drive the tactile balls 10 to rotate in the opposite direction, which can drive the connecting plate 11 and the tactile balls 10 to move accordingly as the spherical track 7 moves.

[0050] Accordingly, at least two tactile balls 10 are fixed to the connecting plate 11 and rotate back and forth, left and right, and up and down in the track 9. It should be understood that the reason why at least two tactile balls 10 are fixed to the connecting plate 11 and each tactile ball is fixed in each track 9 by the connecting plate 11 is to connect multiple tracks into a whole body to enhance stability.

[0051] Furthermore, the presence of at least two tactile balls is understandably intended to increase tactile finesse: two balls provide more tactile feedback points compared to a single ball, resulting in greater subtlety. By touching multiple balls with their fingers, users can perceive more tactile changes and obtain more precise road condition information, helping them make better judgments, especially in complex terrain or environments. It also adapts to different gestures and grip styles: when holding a cane, the handle may not always be gripped in the same way. Multiple tactile balls distributed in different positions ensure that the direction of ball rotation can still be perceived under different grip styles, without requiring special adjustments to hand posture to perceive road conditions, improving the flexibility and comfort of the user experience. Finally, it covers a wider contact area: multiple balls can cover a larger contact area, meaning the user's palm or fingers can simultaneously contact multiple balls. This not only makes the feedback more explicit but also improves the coordination between the balls, helping users perceive changes in the environment more quickly.

[0052] Furthermore, when the infrared sensor 19 determines that the obstacle is in the forward or backward direction, the controller 17 can control the first drive motor to turn on. The first drive motor can drive the left rotating shaft 603 and friction sleeve 604 to rotate. Under the action of friction, the rotation of the friction sleeve 604 can drive the friction layer 15 and drive ball 8 to rotate back and forth. The back and forth rotation of the friction layer 15 and drive ball 8 can drive the tactile ball 10 and connecting plate 11 to rotate back and forth, thus prompting the user to move forward or backward. When the infrared sensor 19 determines that the obstacle is in the left or right direction, the controller 17 can control the second drive motor to turn on. The second drive motor can drive the lower rotating shaft 603 and friction sleeve 604 to rotate. Under the action of friction, the rotation of the friction sleeve 604 can drive the friction layer 15 and drive ball 8 to rotate left and right. The left and right rotation of the friction layer 15 and drive ball 8 can drive the tactile ball 10 and connecting plate 11 to rotate left and right, thus prompting the user to move left or right.

[0053] A smart guide cane includes a pole body 2 and a grip part 4. The grip part is installed at the top of the pole body and has a cavity. The smart exchange system described above is installed in the cavity, and the tactile ball protrudes outside the cavity. A grounding part 1 is installed at the bottom of the pole body 2, and a connecting rod 3 is installed at the top of the pole body 2. The end of the connecting rod 3 away from the pole body 2 is fixedly connected to the grip part 4. A cavity 5 is provided inside the grip part 4. Two first mounting plates 13, a second mounting plate 16, a battery 21, and a spherical track 7 are installed inside the cavity 5. The bottom of the grounding part 1 is provided with an anti-slip layer to increase the grip of the cane. The pole 2 can be replaced by a telescopic pole in the prior art to increase the overall height of the cane and adapt to blind people of different heights. The two straight plates 14 are symmetrical about the spherical track 7. The electric push rod 12 can drive the straight plates 14 to move up and down. The movement of the straight plates 14 can drive the spherical track 7 to move accordingly. The battery 21 is electrically connected to all electrical components in the cavity 5. The hand grip 4 is provided with a charging port that is compatible with the battery 21.

[0054] Electric actuators 12 are mounted on both first mounting plates 13. The telescopic ends of the two electric actuators 12 are fixedly connected to straight plates 14. The sides of the two straight plates 14 that are close to each other are fixedly connected to the spherical track 7. A controller 17, a camera 18, and an infrared sensor 19 are mounted on the side of the second mounting plate 16 near the outside.

[0055] The top of the cavity 5 is provided with a clearance groove that is adapted to the spherical track 7 and allows the spherical track 7 to pass through. By providing the clearance groove, interference with the hand grip part 4 can be avoided when the spherical track 7 and the tactile ball 10 move up and down.

[0056] The trigger module controls the on / off state of all electrical components inside the cane. When the main switch is pressed, the cane's indicator light will flash. If the connection is successful, the light turns green, indicating that the identification module is ready to start; otherwise, the connection will continue, and the light will turn red.

[0057] The recognition module, consisting of camera 18 and infrared sensor 19, operates simultaneously to monitor road conditions ahead in real time. The camera captures images, and the infrared sensor detects the distance and position of obstacles, transmitting the data to controller 17. The controller processes and analyzes the data to determine the presence, location, and nature of obstacles ahead, and finally issues a control signal.

[0058] In the front-back and left-right directions, the drive motor 602 starts operating after receiving a signal from the controller, driving the rotating shaft 603 to rotate. The rotation of the rotating shaft causes the friction sleeve 604 to rotate, and the friction sleeve contacts the friction layer 15 on the surface of the drive ball 8, causing the drive ball to rotate in the spherical track through friction. Ultimately, this drives the tactile ball 10 to rotate, transmitting feedback information to the blind person. In the up-down direction, when the electric push rod 12 receives a signal from the controller, it begins to extend and retract, moving the straight plate 14 along the first mounting plate 13. When the infrared sensor 19 determines that the obstacle is located in the up-down direction (e.g., going up or down stairs), the controller 17 can control the electric push rod 12 to perform the corresponding extension and retraction movement. This allows the tactile ball 10 to move up or down or down and up by one stroke, reminding the blind person whether to go up or down, thus making it more convenient for the blind person to use.

[0059] Specifically, conveying feedback to blind people can be understood as follows: First, when a blind person approaches stairs and needs to go up, the tactile roller will move upwards to provide feedback, prompting them to lift their foot to go upstairs. This feedback, transmitted through the vertical movement of the tactile roller, helps the blind person know they are approaching stairs and should take the appropriate action. Similarly, when a blind person needs to go downstairs, the tactile roller will move downwards to indicate that they are about to step onto a slope or stairs. This prompt helps the blind person adjust their pace in advance to avoid falls or mistakes.

[0060] Correspondingly, the most common scenario for up-and-down prompts is stairs. Through tactile feedback from moving up and down, blind people can distinguish whether to go up or down, avoiding accidents caused by not being able to see the height of the steps. When blind people encounter ramps, similar up-and-down feedback can also help them adjust their pace, ensuring they can walk steadily. The up-and-down prompt function of the white cane, by sensing changes in the environment of stairs or ramps and providing timely tactile feedback, can significantly improve the safety and convenience of blind people's walking. This design eliminates the need for blind people to directly bump into stairs with their canes to determine their existence; instead, they rely on the intelligent feedback system to anticipate the height difference, thus walking more safely and confidently.

[0061] Friction sleeves 604 are fixedly fitted at the ends of the two rotating shafts 603. Both friction sleeves 604 are in contact with the friction layer 15. The bottom and one side of the spherical track 7 are provided with slots that are adapted to the friction sleeves 604. The rotation of the rotating shafts 603 can drive the friction sleeves 604 to rotate accordingly. Under the action of friction, the rotation of the friction sleeves 604 can drive the driving ball 8 to rotate in the opposite direction.

[0062] The head of the cavity 5 is provided with a transparent protective shell 20, which is used to protect the internal structure of the grip part 4. The transparent protective shell 20 can prevent dust and debris from entering the inside of the grip part 4 and damaging the electrical components inside the grip part 4.

[0063] When using the cane, the blind person first grasps the grip part 4 and makes their fingers contact the tactile ball, then turns on the main switch. When the camera 18 detects an obstacle, it transmits the detection result to the infrared sensor 19. The infrared sensor 19 then determines whether the obstacle is within the set range and transmits the detected command to the controller 17. When the infrared sensor 19 determines that the obstacle is in the forward or backward direction, the controller 17 can control the first drive motor to start. The first drive motor can drive the left rotating shaft 603 and friction sleeve 604 to rotate. Under the action of friction, the rotation of the friction sleeve 604 can drive the friction layer 15 and the drive ball 8 to rotate back and forth. The back and forth rotation of the friction layer 15 and the drive ball 8 can drive the tactile ball 10 to rotate back and forth, thus prompting the blind person to move forward or backward. When the infrared sensor 19 determines that the obstacle is located in the left or right direction, the controller 17 can control the second drive motor to start. The second drive motor can drive the lower rotating shaft 603 and friction sleeve 604 to rotate. Under the action of friction, the rotation of friction sleeve 604 can drive friction layer 15 and drive ball 8 to rotate left and right. The left and right rotation of friction layer 15 and drive ball 8 can drive tactile ball 10 to rotate left and right, thus reminding the blind person to walk left or right. When the infrared sensor 19 determines that the obstacle is located in the up or down direction (such as going up or down stairs), the controller 17 can control the electric push rod 12 to perform corresponding extension and retraction movements. Thus, by controlling the tactile ball 10 to move up or down or down and up by one stroke, it can remind the blind person whether to go up or down stairs, thus making it more convenient for the blind person to use.

[0064] In summary, the intelligent interactive system and intelligent guide cane described in the embodiments of this application can identify the road conditions ahead through the sensing mechanism during use, and then control the tactile ball to rotate forward and backward or left and right according to the road condition information. The blind person can know which direction to walk to avoid obstacles by sensing the rotation direction of the tactile ball. When the blind person is going up or down stairs, the tactile ball can be controlled to move up or down or down and up by one stroke to remind the blind person whether to go up or down, thus making it more convenient for the blind person to use.

[0065] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An intelligent interactive system, characterized in that, It includes a drive assembly (6), a spherical track (7) and a ball track (9). The interior of the spherical track (7) forms a receiving cavity, in which a drive ball (8) that can roll is installed. The outer surface of the drive ball (8) is provided with a friction layer (15). The drive assembly (6) includes two motor plates (601), a first drive motor and a second drive motor. Each motor plate (601) is provided with a waist-shaped motor mounting hole. The first drive motor and the second drive motor are respectively mounted on one of the motor plates (601). The output shafts of the first drive motor and the second drive motor are in contact with the friction layer (15) of the drive ball (8) for driving the drive ball (8) to rotate in the first direction and the second direction respectively through the friction layer (15). At least two tactile balls (10) are rotatably mounted inside the ball track (9). A connecting plate (11) is provided between each pair of tactile balls (10) to limit the movement of the tactile balls (10). Each tactile ball (10) is in contact with the friction layer (15). When the driving ball (8) rotates in the first direction, the at least two tactile balls (10) rotate in the third direction and all the tactile balls (10) form a straight line when they rotate. When the driving ball (8) rotates in the second direction, the at least two tactile balls (10) rotate in the fourth direction and all the tactile balls (10) are parallel to each other when they rotate. A connecting plate (11) is provided between every two tactile balls in the ball track (9) to limit the movement of the tactile balls; It also includes two motor plates, each of which is provided with motor mounting holes. The first drive motor and the second drive motor are respectively mounted on one of the motor plates, and the mounting holes are oblong holes. It also includes a sensing mechanism, which includes a controller (17), a camera (18) and an infrared sensor (19). The camera (18) and the infrared sensor (19) are both signal-connected to the controller (17), and the controller (17) is also signal-connected to the first drive motor and the second drive motor. When the infrared sensor (19) determines that the obstacle is in the front-back direction, the controller (17) controls the first drive motor to start. The first drive motor can drive the rotating shaft (603) and friction sleeve (604) on the left to rotate. Under the action of friction, the rotation of the friction sleeve (604) can drive the friction layer (15) and drive ball (8) to rotate back and forth. The rotation of the friction layer (15) and drive ball (8) can drive the tactile ball (10) and connecting plate (11) to rotate back and forth, so as to sense whether to move forward or backward. When the infrared sensor (19) determines that the obstacle is located in the left or right direction, the controller (17) can control the second drive motor to start. The second drive motor can drive the rotating shaft (603) and friction sleeve (604) below to rotate. Under the action of friction, the rotation of the friction sleeve (604) can drive the friction layer (15) and drive ball (8) to rotate left and right. The left and right rotation of the friction layer (15) and drive ball (8) can drive the tactile ball (10) and connecting plate (11) to rotate left and right, so as to sense whether to move left or right.

2. A smart guide cane, comprising a pole (2) and a grip (4), characterized in that: The grip portion is installed on the top of the rod body, and the grip portion is provided with a cavity (5). The intelligent interactive system as described in claim 1 is disposed in the cavity, and the tactile ball protrudes outside the cavity.

3. The intelligent guide cane according to claim 2, characterized in that: The cavity (5) is equipped with two first mounting plates (13), a second mounting plate (16), and a battery (21). Each of the two first mounting plates (13) is equipped with an electric push rod (12). The telescopic ends of the two electric push rods (12) are fixedly connected to straight plates (14). The sides of the two straight plates (14) that are close to each other are fixedly connected to the spherical track (7). The electric push rods (12) are used to drive the straight plates (14) to move up and down, thereby driving the spherical track (7) to move accordingly. The second mounting plate (16) is equipped with a controller (17), a camera (18), and an infrared sensor (19) on the side close to the outside.

4. The intelligent guide cane according to claim 3, characterized in that: The top of the cavity (5) is provided with a clearance groove that is adapted to the spherical track (7) and allows the spherical track (7) to pass through.

5. The intelligent guide cane according to claim 4, characterized in that: The battery (21) is electrically connected to all electrical components in the cavity (5), and the hand grip (4) is provided with a charging port that is compatible with the battery (21).

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