Intelligent blind guiding device and blind guiding system for blind person walking navigation

Abstract

The invention provides an intelligent blind guiding device and system for blind person walking navigation, and belongs to the technical field of blind guiding, the intelligent blind guiding device comprises a blind guiding stick, the blind guiding stick comprises a stick body, a rubber mat, a camera and a ranging radar, a grip is fixed to the upper end of the stick body, the rubber mat is arranged at the bottom end of the stick body, the camera is embedded in the front end of the grip, and the ranging radar is arranged in the grip. The distance measuring radar is embedded in the position close to the bottom end of the rod body, an insole is arranged in the blind guiding shoe and comprises a contact layer, a buffer layer and a supporting layer, a protruding block is arranged between the buffer layer and the supporting layer, a miniature vibration motor adheres to the bottom of the protruding block, a mounting groove is formed in the upper surface of the supporting layer, and a battery adheres to the interior of the mounting groove. The mobile terminal APP plans the route based on the image acquired by the blind guiding stick and controls the insole of the blind guiding shoe to prompt the route, so that the problem that the traditional blind guiding stick and the traditional blind guiding shoe lack real-time performance and strain capacity and are difficult to effectively help the blind to avoid obstacles during walking is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of blind guide technology, and in particular, relates to an intelligent blind guide device and a blind guide system for walking navigation of the blind. Background Art

[0002] A blind person is one with visual impairment. The methods for blind people to solve the problem of not being able to see the road when walking usually include using a guide dog to lead the way or using a cane to explore the way. However, using a cane to explore the way can only detect the road conditions ahead, which requires coordination with the road, and it is also unable to navigate the auxiliary route. Guide dogs, on the other hand, have the problems of being difficult to train and difficult to popularize.

[0003] As society pays more attention to the disabled, the demand for assistive devices continues to rise. There are already some guide sticks and guide shoes on the market, but most of them lack real-time performance and adaptability, and it is difficult to effectively help the blind avoid obstacles while walking. Therefore, an intelligent guide device and guide system for blind walking navigation is designed, which can provide effective navigation services in real time according to the environment. Summary of the invention

[0004] The embodiments of the present invention provide an intelligent blind guide device and a blind guide system for walking navigation for the blind, which solves the problem that traditional blind guide sticks and blind guide shoes lack real-time performance and adaptability and are difficult to effectively help the blind avoid obstacles during walking.

[0005] In view of the above problems, the technical solution proposed by the present invention is:

[0006] The present invention provides an intelligent blind-guiding device for walking navigation of a blind person, comprising a blind-guiding stick, wherein the blind-guiding stick comprises a stick body, a rubber pad, a camera and a ranging radar, wherein a grip is fixed to the upper end of the stick body, the rubber pad is arranged at the bottom end of the stick body, the camera is embedded at the front end of the grip, and the ranging radar is embedded near the bottom end of the stick body;

[0007] A functional block, wherein the functional block is arranged on the outside of the rod body, and an indicator light and a speaker are embedded on the outside of the functional block;

[0008] Guide shoes for the blind, wherein an insole is arranged inside the guide shoes, the insole comprises a contact layer, a buffer layer and a support layer, a bump is arranged between the buffer layer and the support layer, a micro vibration motor is bonded to the bottom of the bump, an installation groove is opened on the upper surface of the support layer, and a battery is bonded inside the installation groove.

[0009] As a preferred technical solution of the present invention, the functional block is plugged into the rod body, the internal screws of the functional block are connected to a battery, the output end of the battery is electrically connected to the camera, the ranging radar, the indicator light and the speaker through a power cord, and the ranging radar is selected from one of a laser radar, an ultrasonic sensor or an infrared sensor.

[0010] As a preferred technical solution of the present invention, the contact layer is made of polyester fiber, the buffer layer is made of high-density foam material, a breathable layer is arranged between the contact layer and the buffer layer, the breathable layer is made of a material selected from mesh cloth or perforated foam, and the support layer is made of a material selected from rubber or polyurethane.

[0011] As a preferred technical solution of the present invention, the upper surface of the buffer layer is provided with an active groove for the movement of the protrusion, the upper surface of the support layer is provided with the active groove for installing the micro vibration motor, the output end of the micro vibration motor is bonded to the protrusion, the bottom of the micro vibration motor is bonded to the support layer through the active groove, and silicone is filled between the micro vibration motor and the active groove.

[0012] As a preferred technical solution of the present invention, the sole area of ​​the buffer layer is provided with a plurality of protrusions, and the plurality of protrusions are equally divided into four areas of front, rear, left and right, the protrusions in each area operate independently, the output end of the battery is electrically connected to the micro vibration motor through a power line, and a pressure sensor is embedded inside the buffer layer.

[0013] On the other hand, a guide system of an intelligent guide device for walking navigation for the blind includes a mobile APP, the mobile APP is wirelessly connected with the guide pole and the guide shoes, the mobile APP plans a route based on the image collected by the guide pole, and controls the insole of the guide shoes to provide route prompts, and the mobile APP includes an image processing module, a path planning module, a navigation module, a voice interaction module and a wireless communication module;

[0014] The image processing module identifies obstacles around the route based on the image captured by the camera;

[0015] The path planning module performs route navigation of the starting point and the end point based on the navigation software, and plans an obstacle avoidance route using the obstacles identified by the image processing module;

[0016] The navigation module controls the operation of the micro vibration motor in the corresponding direction zone in the insole based on the path plan given by the path planning module, and transmits the vibration brought by the micro vibration motor in cooperation with the convex block to the user's foot to provide a prompt of the moving direction;

[0017] The voice interaction module is used for the user to input the starting point and destination through voice commands;

[0018] The wireless communication module is used to transmit the data collected by the guide pole to the mobile APP, and use the mobile APP to send control instructions to the guide shoes.

[0019] As a preferred technical solution of the present invention, the image processing module includes an obstacle recognition unit, which uses a practical target detection algorithm to extract obstacles from the image data taken by the camera, classifies the obstacles into static and dynamic categories, and distinguishes the volume of the obstacles according to the number of pixels, calculates the distance to the obstacles based on the data monitored by the radar, and obtains the obstacle data.

[0020] As a preferred technical solution of the present invention, the path planning module includes an obstacle avoidance scheme preset unit and a common route storage unit;

[0021] The obstacle avoidance scheme preset unit plans different obstacle avoidance schemes according to different obstacle situations based on the obstacle image values ​​preset in the obstacle recognition unit, and continuously monitors the positions of the obstacles and the user during obstacle avoidance, and adjusts the obstacle avoidance schemes in real time according to the actual movement of the obstacles and the behavior of the user;

[0022] The frequently used route storage unit is used to establish a frequently used route database, record the starting point, end point, waypoints and time information of each navigation of the user, provide a counter for each route, set a threshold of the number of frequently used routes, and when the number of the route reaches the threshold, set the route as a frequently used route.

[0023] As a preferred technical solution of the present invention, the specific steps of navigation by the navigation module are:

[0024] Step A, firstly, using voice input through navigation software on the mobile terminal APP to establish a walking route from the starting point to the end point for the user;

[0025] Step B: During the walking process, the camera of the guide stick acquires environmental information in real time and feeds it back to the mobile APP. The mobile APP adjusts the walking route based on obstacle recognition and obstacle avoidance solutions and provides obstacle avoidance prompts.

[0026] Step C, according to the prompt of the mobile terminal APP, by controlling the vibration of the bumps on the micro vibration motor in different areas of the front, back, left and right, prompting the user to turn in different directions of the front, back, left and right;

[0027] Step D, using the camera to obtain changes in the external environment in real time during the turning process, and to change the obstacle avoidance plan in time and plan a corresponding navigation route.

[0028] Compared with the prior art, the beneficial effects of the present invention are:

[0029] (1) The present invention uses the camera of the guide stick to scan the road conditions ahead and transmit them to the mobile phone APP in real time. The mobile phone APP identifies obstacles based on the captured images and provides obstacle avoidance solutions. The micro-vibration motor in the corresponding direction area is wirelessly controlled to drive the convex block to vibrate, providing the user with turning prompts, ensuring that the user can obtain navigation information in a timely manner, thereby improving the safety and convenience of blind people's walking.

[0030] (2) The present invention adds a functional block to the guide stick. When a turn is required or the distance to an obstacle is close, prompts are given synchronously through the convex block of the insole and the speaker, thereby enhancing the accuracy and effectiveness of navigation.

[0031] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of an intelligent blind guide device for walking navigation of the blind disclosed in the present invention;

[0033] Figure 2 This is a schematic diagram of the overall structure of a guide pole of an intelligent guide device for blind people's walking navigation disclosed in the present invention;

[0034] Figure 3 It is a schematic diagram of the disassembled structure of an insole of an intelligent guide device for blind people's walking navigation disclosed in the present invention;

[0035] Figure 4 This is a block diagram of a guide system of an intelligent guide device for blind people's walking navigation disclosed in the present invention;

[0036] Description of reference numerals: 100, guide stick; 101, rod body; 102, handle; 103, rubber pad; 104, camera; 105, ranging radar; 106, function block; 107, indicator light;

[0037] 200, guide shoes; 201, insole; 2011, contact layer; 2012, buffer layer; 2013, support layer; 2014, breathable layer; 2015, bump; 2016, micro vibration motor; 2017, movable slot; 2018, battery; 2019, installation slot; 2010, pressure sensor;

[0038] 300. User;

[0039] 400, blind guide system; 401, mobile APP; 4011, image processing module; 40111, obstacle recognition unit; 4012, path planning module; 40121, obstacle avoidance scheme preset unit; 40122, common route storage unit; 4013, navigation module; 4014, voice interaction module; 4015, wireless communication module. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] Embodiment 1

[0046] See attached Figure 1-3 As shown, the present invention provides a technical solution: an intelligent blind guide device for walking navigation of a blind person, comprising a blind guide stick, the blind guide stick comprising a rod body 101, a rubber pad 103, a camera 104 and a ranging radar 105, a handle 102 is fixed to the upper end of the rod body 101, the rubber pad 103 is arranged at the bottom end of the rod body 101, the camera 104 is embedded in the front end of the handle 102, and the ranging radar 105 is embedded near the bottom end of the rod body 101;

[0047] Function block 106, which is arranged on the outside of the rod body 101, and an indicator light 107 and a speaker are embedded on the outside of the function block 106;

[0048] The guide shoe 200 has an insole 201 disposed therein, the insole 201 includes a contact layer 2011, a buffer layer 2012 and a support layer 2013, a bump 2015 is disposed between the buffer layer 2012 and the support layer 2013, a micro vibration motor 2016 is bonded to the bottom of the bump 2015, a mounting groove 2019 is provided on the upper surface of the support layer 2013, a battery 2018 is bonded inside the mounting groove 2019.

[0049] The embodiment of the present invention is also implemented through the following technical solutions.

[0050] In an embodiment of the present invention, the function block 106 is plugged into the rod body 101, which is convenient for disassembly and assembly of the function block 106 and for expanding the function of the function block 106. The internal screws of the function block 106 are connected with a battery 2018. The output end of the battery 2018 is electrically connected to the camera 104, the ranging radar 105, the indicator light 107 and the speaker through a power line. The camera 104, the ranging radar 105, the indicator light 107 and the speaker on the guide pole are powered by the battery 2018. The ranging radar 105 uses one of a laser radar, an ultrasonic sensor or an infrared sensor. Different radars or sensors can be selected according to the use environment to achieve better scanning effects.

[0051] In an embodiment of the present invention, the contact layer 2011 is made of polyester fiber, and the material of the contact layer 2011 can provide a comfortable foot feel. The buffer layer 2012 is a high-density foam material, and the material of the buffer layer 2012 can absorb the force applied during walking. A breathable layer 2014 is provided between the contact layer 2011 and the buffer layer 2012. The breathable layer 2014 is made of a material selected from mesh cloth or perforated foam, and the breathable layer 2014 improves the breathability of the insole 201. The support layer 2013 is made of a material selected from rubber or polyurethane, and the support layer 2013 can provide stable support to the insole 201 to prevent the insole 201 from excessive bending.

[0052] In an embodiment of the present invention, an active groove 2017 for the movement of the protrusion 2015 is provided on the upper surface of the buffer layer 2012, and a certain vibration space is provided for the protrusion 2015 through the active groove 2017. An active groove 2017 for installing a micro vibration motor 2016 is provided on the upper surface of the support layer 2013, and the micro vibration motor 2016 is installed on the support layer 2013 through the active groove 2017. The output end of the micro vibration motor 2016 is bonded to the protrusion 2015, and the bottom of the micro vibration motor 2016 is bonded to the support layer 2013 through the active groove 2017. Silicone is filled between the micro vibration motor 2016 and the active groove 2017 to provide cushioning and reduce the feeling of hard objects, maintain the comfort of the insole 201, and transmit vibration at the same time. The design of the insole 201 should be ergonomic to ensure that the position of the protrusion and the vibration mode match the natural gait and foot pressure distribution of the human body, so as to provide effective tactile feedback without interfering with normal walking.

[0053] In an embodiment of the present invention, a plurality of bumps 2015 are provided in the sole area of ​​the cushioning layer 2012, and the plurality of bumps 2015 are equally divided into four areas, namely, front, rear, left and right. The bumps 2015 in each area operate independently. After the bumps 2015 are installed, the height of the contact layer 2011 is flush with or slightly raised from the overall surface of the insole 201, so as to ensure that tactile feedback is provided without sacrificing the foot feel. The vibration of each bump 2015 can be controlled by an independent micro-vibration motor 2016 to achieve vibration modes and intensities at different positions. The output end of the battery 2018 is electrically connected to the micro-vibration motor 2016 through a power line, and the micro-vibration motor 2016 is supplied with power by the battery 2018. 016 provides power, and a pressure sensor 2010 is embedded in the buffer layer 2012. The pressure sensor 2010 detects the change of the center of gravity of the footstep, and can perform gait analysis and walking condition analysis on the user 300. By detecting the change of footstep pressure, the various stages of the footstep, such as the support period, the swing period, etc., can be identified. Through statistical analysis, the step frequency and stride length can be calculated. Combining the step frequency and stride length, the average walking speed can be calculated. By analyzing the pressure distribution of the footstep, the user's balance ability can be evaluated. By observing the pressure distribution pattern, the user's walking habits and force methods can be understood. By comparing the pressure distribution of the normal gait, abnormal gait, such as inversion and eversion, can be detected.

[0054] Embodiment 2

[0055] See attached Figure 4 As shown, an embodiment of the present invention further provides a guide system 400 of an intelligent guide device for blind walking navigation, including a mobile terminal APP 401, the mobile terminal APP 401 is wirelessly connected with a guide stick and a guide shoe 200, the mobile terminal APP 401 plans a route based on the image collected by the guide stick, and controls the insole 201 of the guide shoe 200 to provide route prompts, and the mobile terminal APP 401 includes an image processing module 4011, a path planning module 4012, a navigation module 4013, a voice interaction module 4014 and a wireless communication module 4015;

[0056] The image processing module 4011 identifies obstacles around the route based on the images captured by the camera 104;

[0057] The path planning module 4012 performs route navigation of the starting point and the end point based on the navigation software, and plans an obstacle avoidance route using the obstacles identified by the image processing module 4011;

[0058] The navigation module 4013 controls the operation of the micro vibration motor 2016 in the corresponding direction zone in the insole 201 based on the path plan given by the path planning module 4012, and transmits the vibration brought by the micro vibration motor 2016 and the protrusion 2015 to the foot of the user 300 to provide a prompt of the moving direction;

[0059] The voice interaction module 4014 is used for the user 300 to input the starting point and the destination through voice commands, and input the starting point and the destination through voice based on the navigation software;

[0060] The wireless communication module 4015 is used to transmit the data collected by the guide stick to the mobile APP 401, and use the mobile APP 401 to send control instructions to the guide shoes 200, including wireless connection methods such as 5G network, WiFi, and Bluetooth.

[0061] The embodiment of the present invention is also implemented through the following technical solutions.

[0062] In the embodiment of the present invention, the image processing module 4011 includes an obstacle recognition unit 40111. The obstacle recognition unit 40111 uses a target detection algorithm to extract obstacles from the image data taken by the camera 104, and classifies the obstacles into static and dynamic categories, specifically: selecting two consecutive frames in the image sequence, calculating the optical flow field between the two frames, that is, the displacement vector of each pixel point, analyzing the optical flow field, and if the obstacle pixel point has a significant motion vector, it is determined to be a dynamic obstacle;

[0063] The volume of obstacles is distinguished according to the number of pixels. Specifically, the pixels in the obstacle image are analyzed, and the volume of obstacles is determined according to the number and distribution of pixels. According to the volume, obstacles are classified into small, medium, large and other categories;

[0064] The distance to the obstacle is calculated based on the data monitored by the radar, and the obstacle data is obtained. Specifically, the radar transmits a radio wave signal, and the signal is reflected when it encounters an obstacle. The radar receives the reflected signal and calculates the time required for the signal to travel back and forth by measuring the time difference between signal transmission and reception. Based on the signal speed and time difference, the distance between the obstacle and the radar is calculated.

[0065] In an embodiment of the present invention, the path planning module 4012 includes an obstacle avoidance scheme preset unit 40121 and a common route storage unit 40122;

[0066] The obstacle avoidance scheme preset unit 40121 plans different obstacle avoidance schemes according to different obstacle situations based on the obstacle image values ​​preset in the obstacle recognition unit 40111. When encountering a static obstacle, if the obstacle is large and immovable, a detour strategy is selected. If the obstacle completely blocks the path, the system will instruct the user to stop and re-plan the path. When encountering a dynamic obstacle, if the obstacle is moving, its future position is predicted and an avoidance path is planned. If the obstacle moves to one side, the system may instruct the user to wait. When encountering obstacles of different sizes and shapes, for obstacles of smaller volume, you can choose to directly cross or detour. For obstacles of larger volume, you usually need to detour. According to the obstacle avoidance strategy, an algorithm is used to plan a new path to avoid the obstacle, and the path planning result is converted into specific navigation instructions, such as "turn left", "go forward", "stop", etc., and when avoiding obstacles, the position of the obstacle and the user 300 is continuously monitored, and the obstacle avoidance scheme is adjusted in real time according to the actual movement of the obstacle and the user's behavior;

[0067] The frequently used route storage unit 40122 is used to establish a frequently used route database, record the starting point, end point, waypoints and time information of each navigation of the user 300, provide a counter for each route, and set a threshold for the number of frequently used routes. For example, a route is considered a frequently used route if the number of navigations exceeds 5 times. When the number of such routes reaches the threshold, the route is set as a frequently used route. The user can make voice selections between frequently used routes and new routes during navigation, thereby improving convenience.

[0068] In addition, the obstacle avoidance route planning is processed using the RRT algorithm, specifically:

[0069] Set the start node and the target node, and add the start node to the tree. Randomly select a point in the environment as a potential new node. Calculate the direction vector from the start point to the randomly sampled point. Based on the new direction vector, calculate the position of the new node according to the expansion step size. If the new node is already in the tree, select the nearest node as the current node. Check whether the new node is in the environment. If the new node is in the environment, add it to the tree and set its parent node as the current node. Starting from the new node, try to find a path connecting the new node and the end point. If a path connecting the new node and the end point is found, try to optimize the path to make it shorter or smoother. Based on the optimized path, execute a new path plan.

[0070] In the embodiment of the present invention, the specific steps of navigation by the navigation module 4013 are:

[0071] Step A, firstly, using the navigation software on the mobile terminal APP 401 to use voice input to establish a walking route from the starting point to the end point for the user 300;

[0072] Step B, during the walking process, the camera 104 of the guide stick 100 obtains environmental information in real time and feeds it back to the mobile APP 401. When an obstacle is identified, the mobile APP 401 adjusts the walking route based on the identification information of the obstacle and the obstacle avoidance plan, provides obstacle avoidance prompts, and combines the obstacle avoidance plan with the navigation route. The navigation software shares the current position of the user 300 to the path planning module 4012 in real time, and simultaneously processes the obstacle information through the image processing module 4011. While avoiding obstacles, the navigation software replans the path according to the real-time position of the user 300, and when the obstacle preset by the obstacle avoidance plan preset unit 40121 is consistent with the identified obstacle, the preset obstacle avoidance plan is quickly given and responded in time.

[0073] Step C, according to the obstacle avoidance prompt instruction given by the mobile terminal APP 401, the vibration of the bumps 2015 on the micro vibration motors 2016 in different areas of the front, back, left and right is controlled, and the pulse width modulation algorithm is used to control the micro vibration motors 2016 to control the intensity and frequency of the vibration motors. By adjusting the duty cycle and frequency of the pulse width modulation signal, the vibration intensity and mode of the bumps 2015 are controlled, thereby achieving accurate tactile feedback at different positions, prompting the user 300 to turn in different directions of the front, back, left and right;

[0074] Step D, using the camera 104 to obtain changes in the external environment in real time during the turning process, and to change the obstacle avoidance plan in time and plan a corresponding navigation route.

[0075] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0076] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to a specific order or hierarchy.

[0077] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0078] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0079] For software implementation, the technology described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions of this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

Claims

1. An intelligent guide device for blind people to walk and navigate, characterized in that: The guide stick comprises a guide stick for the blind, the guide stick comprising a stick body (101), a rubber pad (103), a camera (104) and a distance measuring radar (105), the upper end of the stick body (101) is fixed with a handle (102), the rubber pad (103) is arranged at the bottom end of the stick body (101), the camera (104) is embedded at the front end of the handle (102), and the distance measuring radar (105) is embedded near the bottom end of the stick body (101); A functional block (106), the functional block (106) being arranged on the outside of the rod body (101), and an indicator light (107) and a speaker being embedded on the outside of the functional block (106); A guide shoe (200) for the blind is provided with an insole (201) inside the guide shoe (200), the insole (201) comprising a contact layer (2011), a buffer layer (2012) and a support layer (2013), a convex block (2015) is provided between the buffer layer (2012) and the support layer (2013), a micro vibration motor (2016) is bonded to the bottom of the convex block (2015), a mounting groove (2019) is provided on the upper surface of the support layer (2013), and a battery (2018) is bonded inside the mounting groove (2019).

2. The intelligent blind guide device for walking navigation of the blind according to claim 1, characterized in that: The functional block (106) is plugged into the rod body (101), the internal screws of the functional block (106) are connected to a battery (2018), the output end of the battery (2018) is electrically connected to the camera (104), the ranging radar (105), the indicator light (107) and the speaker through a power line, and the ranging radar (105) is selected from one of a laser radar, an ultrasonic sensor or an infrared sensor.

3. The intelligent blind guide device for walking navigation of the blind according to claim 2, characterized in that: The contact layer (2011) is made of polyester fiber, the buffer layer (2012) is made of high-density foam material, a breathable layer (2014) is provided between the contact layer (2011) and the buffer layer (2012), the breathable layer (2014) is made of a material selected from mesh cloth or perforated foam, and the support layer (2013) is made of a material selected from rubber or polyurethane.

4. The intelligent blind guide device for walking navigation of the blind according to claim 3, characterized in that: The upper surface of the buffer layer (2012) is provided with an active groove (2017) for the projection (2015) to move, the upper surface of the support layer (2013) is provided with the active groove (2017) for installing the micro vibration motor (2016), the output end of the micro vibration motor (2016) is bonded to the projection (2015), the bottom of the micro vibration motor (2016) is bonded to the support layer (2013) through the active groove (2017), and silica gel is filled between the micro vibration motor (2016) and the active groove (2017).

5. The intelligent blind guide device for walking navigation of the blind according to claim 4, characterized in that: The sole area of ​​the cushioning layer (2012) is provided with a plurality of protrusions (2015), and the plurality of protrusions (2015) are equally divided into four areas, namely, front, rear, left and right. The protrusions (2015) in each area operate independently. The output end of the battery (2018) is electrically connected to the micro vibration motor (2016) via a power line, and a pressure sensor (2010) is embedded inside the cushioning layer (2012).

6. A blind guide system (400) for an intelligent blind guide device for walking navigation for the blind, applied to an intelligent blind guide device for walking navigation for the blind as claimed in any one of claims 1 to 5, characterized in that: The mobile terminal APP (401) is connected to the guide stick and the guide shoe (200) by wireless communication. The mobile terminal APP (401) plans a route based on the image collected by the guide stick and controls the insole (201) of the guide shoe (200) to provide route prompts. The mobile terminal APP (401) comprises an image processing module (4011), a path planning module (4012), a navigation module (4013), a voice interaction module (4014) and a wireless communication module (4015); The image processing module (4011) identifies obstacles around the route based on the image captured by the camera (104); The path planning module (4012) performs route navigation of the starting point and the end point based on the navigation software, and plans an obstacle avoidance route using the obstacles identified by the image processing module (4011); The navigation module (4013) controls the operation of the micro vibration motor (2016) in the corresponding direction zone in the insole (201) based on the path plan given by the path planning module (4012), and transmits the vibration brought by the cooperation between the micro vibration motor (2016) and the convex block (2015) to the foot of the user (300) to provide a prompt of the moving direction; The voice interaction module (4014) is used for the user (300) to input a starting point and a destination through voice commands; The wireless communication module (4015) is used to transmit the data collected by the guide pole to the mobile terminal APP (401), and use the mobile terminal APP (401) to send control instructions to the guide shoes (200).

7. The intelligent blind guide device for walking navigation of the blind according to claim 6, characterized in that: The image processing module (4011) comprises an obstacle recognition unit (40111), wherein the obstacle recognition unit (40111) uses a target detection algorithm to extract obstacles from the image data captured by the camera (104), classifies the obstacles into static and dynamic categories, distinguishes the volume of the obstacles according to the number of pixels, calculates the distance to the obstacles based on the data monitored by the radar, and obtains obstacle data.

8. The blind guiding system (400) of the intelligent blind guiding device for walking navigation of the blind according to claim 7, characterized in that: The path planning module (4012) comprises an obstacle avoidance scheme preset unit (40121) and a common route storage unit (40122); The obstacle avoidance scheme preset unit (40121) plans different obstacle avoidance schemes according to different obstacle situations based on the obstacle image values ​​preset in the obstacle recognition unit (40111), and continuously monitors the positions of the obstacle and the user (300) when avoiding the obstacle, and adjusts the obstacle avoidance scheme in real time according to the actual movement of the obstacle and the behavior of the user; The commonly used route storage unit (40122) is used to establish a commonly used route database, record the starting point, end point, waypoints and time information of each navigation of the user (300), provide a counter for each route, set a threshold value for the number of commonly used routes, and when the number of the route reaches the threshold value, set the route as a commonly used route.

9. The blind guiding system (400) of the intelligent blind guiding device for walking navigation of the blind according to claim 8, characterized in that: The specific steps of navigation by the navigation module (4013) are: Step A, firstly, using voice input through navigation software on the mobile terminal APP (401) to establish a walking route from a starting point to an end point for a user (300); Step B: During the walking process, the camera (104) of the guide stick (100) acquires environmental information in real time and feeds it back to the mobile terminal APP (401); the mobile terminal APP (401) adjusts the walking route based on obstacle recognition and obstacle avoidance scheme, and provides obstacle avoidance prompts. Step C, prompting the user (300) to turn in different directions, such as front, back, left, and right, by controlling the vibration of the bumps (215) on the micro vibration motors (2016) in different areas, such as front, back, left, and right, according to the prompt of the mobile terminal APP (401); Step D, using the camera (104) to obtain changes in the external environment in real time during the turning process, and to change the obstacle avoidance plan in a timely manner and plan a corresponding navigation route.

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