Continuous electromagnetic guiding blind sidewalk system and walking stick terminal equipment thereof

Abstract

The invention discloses a continuous electromagnetic guide blind sidewalk system and a walking stick terminal device thereof, and belongs to the field of intelligent travel assistance. Comprising an inductance coil composed of a plurality of electrified cables, a waterproof voltage-resistant insulation packaging material and a blind sidewalk guiding strip module formed by packaging a shell, the inductance coil is buried below a planned blind sidewalk, and a continuous low-frequency alternating magnetic field of 30-300 Hz is generated when 24V voltage is applied to the inductance coil; the intelligent induction walking stick terminal comprises a core assembly and an attached function module. The core assembly comprises a Hall sensor array, a magnetic induction coil, a vibration feedback module, a voice prompt module, a voice recognition module, a controller and a battery module. Path guiding is achieved through a continuous low-frequency alternating magnetic field, magnetic field signals are not affected by shielding, the direction judgment precision is high, a complete guiding closed loop can be formed by combining differentiated magnetic field design of four functional modules, and the problem that a traditional blind sidewalk cannot cross a motor vehicle lane is solved.

Description

Technical Field

[0001] This invention relates to the field of intelligent travel assistance, and in particular to a continuous electromagnetic guidance tactile paving system and its cane terminal device. Background Technology

[0002] The issue of independent travel for visually impaired individuals has always been a key focus of social accessibility initiatives. Traditional tactile paving, as the mainstream assistive infrastructure, uses a surface material with tactile features to allow visually impaired individuals to identify their path through the feel of their feet or canes. However, in practical applications, it suffers from many insurmountable shortcomings:

[0003] The installation area is limited and can only be deployed on sidewalks. It cannot cross the motor vehicle lane to form a complete guidance loop. The accompanying street speakers can only indicate that they are there and cannot guide the direction. Their actual effectiveness is limited and they are prone to causing noise pollution.

[0004] Construction and maintenance costs are high, paving is limited by ground materials, and it is easily damaged frequently due to factors such as pedestrians stepping on it, vehicles running over it, and natural wear and tear, resulting in long maintenance cycles.

[0005] The information delivery capability is insufficient, only providing basic path tactile information, and failing to clearly convey "path logic" information such as turns, destinations, and waiting areas;

[0006] It is easily affected by the external environment and is often blocked by electric vehicles, billboards, and debris, causing the path to be interrupted;

[0007] Lacking active navigation capabilities, it can only passively provide tactile feedback and cannot guide visually impaired people to complete complex travel routes.

[0008] To address the aforementioned issues, existing technologies have developed "electronic tactile paving" solutions, which attempt to guide pathways using infrared transmitters and camera combinations. However, these solutions have significant drawbacks: high power consumption and insufficient device battery life; susceptibility to weather conditions such as rain, snow, and strong light, resulting in poor reliability; reliance on cameras to collect environmental data, posing a risk of privacy leaks; and high deployment costs, making them difficult to widely implement in urban areas or large public spaces.

[0009] Therefore, there is a need for a low-cost, highly reliable, low-power, easy-to-construct and maintain technical solution that can continuously output identifiable path signals to replace traditional tactile paving and ordinary white canes, supporting the safe and independent travel of visually impaired people. Summary of the Invention

[0010] Purpose of the invention: The purpose of this invention is to provide a continuous electromagnetic guidance tactile paving system and its cane terminal device; which can solve the problems mentioned in the background art.

[0011] Technical solution: To solve the above-mentioned technical problems, according to one aspect of the present invention, more specifically, a continuous electromagnetic guidance tactile paving system, including a ground continuous electromagnetic guidance path module and an intelligent sensing cane terminal;

[0012] The ground continuous electromagnetic guidance path module includes an inductor coil composed of multiple energized cables, a waterproof and pressure-resistant insulating encapsulation material, and a tactile guide strip module formed by an outer shell. The inductor coil is buried under the planned tactile paving and generates a 30~300Hz continuous low-frequency alternating magnetic field when energized with 24V.

[0013] The ground continuous electromagnetic guidance path module is divided into at least three types according to different walking functions: walking tactile paving module, prompting tactile paving module, crossing tactile paving module, and no-entry tactile paving module. Different types of tactile paving modules form different magnetic field characteristics that can be distinguished and identified by the smart sensing cane terminal through the different series connection method, winding method or power supply characteristics of the inductor coil.

[0014] The tactile paving guide strip module is a flexible paving strip with a regular width and uniform length. At intersections, turns, ends, and crossings along the path, there are logical nodes with changes in magnetic field frequency or direction. Each logical node corresponds to a functional module (the logical nodes at intersections and turns correspond to the tactile paving prompt module, the zebra crossing area corresponds to the pedestrian crossing tactile paving module, and the danger zone corresponds to the no-entry tactile paving module).

[0015] The tactile paving guide strip module adopts a safe low-voltage power supply system and has the ability to ensure path integrity and status identification.

[0016] The intelligent sensing cane terminal includes core components and auxiliary functional modules. The core components include a Hall sensor array, a magnetic coil, a vibration feedback module, a voice prompt module, a voice recognition module, a controller, and a battery module. The auxiliary functional modules include a GPS / BeiDou + IMU module, a Bluetooth communication module, and an ultrasonic obstacle detection module.

[0017] The controller is a low-power MCU chip used for magnetic field analysis and feedback logic control, and the battery module is a lithium battery with a battery life of no less than 12 hours.

[0018] Furthermore, the standard length of the tactile paving guide strip module of the ground continuous electromagnetic guidance path module is 500mm or 1000mm, and the insulating encapsulation material is rubber or EPDM. The encapsulation material also has the function of preventing electric shock isolation.

[0019] The tactile paving guide strip module is fixed on the sidewalk bonding layer and below the surface layer. The installation range can be marked above the path with paint or other coatings.

[0020] Furthermore, the power supply methods for the ground-based continuous electromagnetic guidance path module include two types:

[0021] Municipal power supply: Connect to municipal low-voltage power supply, road lighting power supply or building low-voltage system to meet the long-term operation needs of urban roads;

[0022] Solar power supply: Includes solar energy collection unit and energy storage unit, suitable for areas without municipal power supply or inconvenient to connect to municipal power supply, such as parks, campuses, squares, rural roads or temporary guidance areas, to ensure continuous magnetic field output.

[0023] Furthermore, the specific settings and magnetic field characteristics of each functional module are as follows:

[0024] Tactile paving module: It is installed on the main passageway of the sidewalk. Its inductor coils are connected in series with the same direction and regular arrangement. After being energized, it generates a stable and continuous low-frequency alternating magnetic field to provide a continuous path reference signal for the smart sensor cane terminal.

[0025] Tactile paving module: It is installed at turns, intersections, building entrances or in front of functional areas. Its inductor coil changes the local winding direction, coil spacing or magnetic field characteristic parameters to make the magnetic field generated by it change in a identifiable way relative to the tactile paving module.

[0026] Tactile paving module for pedestrian crossings: It is installed under zebra crossings or other pedestrian crossing areas. Its inductor coils are continuously laid along the direction of crossing and form a magnetic field characteristic different from that of the pedestrian tactile paving module through a specific series connection.

[0027] No-entry tactile paving module: installed in dangerous areas, construction areas, the edge of motor vehicle lanes or other locations where passage is not permitted. Its inductor coil generates a magnetic field signal that is significantly different from the normal guidance path through an abnormal series connection method or characteristic magnetic field design.

[0028] Furthermore, the Hall sensor array of the intelligent sensing cane terminal is used to sense changes in the direction of the magnetic field of the inductor coil, and the magnetic coil is used to supplement the direction recognition accuracy. Together, they can distinguish the magnetic field characteristics of different functional modules.

[0029] The vibration feedback module adjusts the vibration frequency based on path deviation, the voice prompt module broadcasts action guidance at logical nodes, and the voice recognition module is used for users to input their destination to start navigation.

[0030] Furthermore, the GPS / BeiDou + IMU module is used to provide location compensation and map navigation path matching, and the Bluetooth communication module is used to connect to a smartphone App to expand the navigation function.

[0031] Furthermore, the vibration frequency of the vibration feedback module is precisely matched with the path sensing state and magnetic field characteristics:

[0032] When a stable magnetic field (normal path) is detected in the tactile paving module, a low-frequency vibration (1-2Hz) is output as a confirmation of safe walking.

[0033] When the magnetic guide bar is deviated from, or the magnetic field signal weakens or disappears, it immediately switches to high-frequency vibration (5-8Hz) as a path deviation warning.

[0034] When the special magnetic field of the no-entry tactile paving module is sensed or an obstacle is detected by the ultrasonic obstacle detection module, an ultra-high frequency vibration (frequency above 10Hz) is output as a mandatory warning.

[0035] Furthermore, the controller uses a low-power MCU chip, and the entire device has no camera component and does not collect environmental data, thus avoiding the risk of privacy leakage at the source.

[0036] Furthermore, the ultrasonic obstacle detection module is used to detect obstacles within a range of 0.5 to 3 meters, and the smart sensor cane terminal is linked with a general navigation app through an electronic map, which can recognize traffic signs such as traffic lights and zebra crossings.

[0037] According to another aspect of the present invention, more specifically, a smart sensor cane terminal is applied to a continuous electromagnetic guidance tactile paving system, comprising:

[0038] Hall sensor array, configured to sense changes in the direction of the magnetic field generated by the ground inductor coil, and work with the magnetic inductor coil to distinguish the magnetic field characteristics of different functional modules;

[0039] Magnetic induction coils are configured to supplement the accuracy of magnetic field direction recognition.

[0040] The vibration feedback module is configured to output vibration signals of different frequencies based on the path deviation and magnetic field characteristics.

[0041] The text-to-speech (TTS) module is configured to broadcast action prompts at logical nodes;

[0042] The voice recognition module is configured to receive voice input from the user regarding their destination.

[0043] The controller is configured to analyze magnetic field signals, control the operation of the feedback module, and coordinate the linkage of various components. It uses a low-power MCU chip.

[0044] The battery module is configured to provide at least 12 hours of power for continuous operation.

[0045] It also includes a GPS / BeiDou + IMU module, a Bluetooth communication module, and an ultrasonic obstacle detection module, which are respectively configured for positioning compensation, mobile phone interconnection, and obstacle detection;

[0046] Beneficial effects:

[0047] Accurate and continuous path recognition: Path guidance is achieved through a continuous low-frequency alternating magnetic field. The magnetic field signal is not affected by obstruction and the direction judgment accuracy is high. Combined with the differentiated magnetic field design of four functional modules, a complete guidance closed loop can be formed, solving the problem that traditional blind paths cannot cross motor vehicle lanes.

[0048] Strong adaptability to multiple scenarios: The tactile paving guide strip module adopts a flexible encapsulation design, which can be firmly buried on the bonding layer below the sidewalk surface, compatible with the existing sidewalk paving system; it can also be continuously buried through cross-street passages (such as under zebra crossings, pedestrian overpasses / underpasses), breaking through the traditional limitation of tactile paving deployment being limited to sidewalks, realizing a closed-loop guidance between sidewalks and cross-street passages, allowing visually impaired people to complete the complete path navigation from "sidewalk-cross-street-destination" without relying on external assistance;

[0049] Outstanding stability when buried across streets: The tactile paving guide strip module in the cross-street area is reinforced with waterproof and pressure-resistant encapsulation (rubber / EPDM material), which can resist vehicle running, pedestrian trampling and rain water soaking. At the same time, its magnetic field signal is not affected by the road surface material (asphalt, concrete, etc.). The cross-street section can still maintain a stable output of a continuous low-frequency alternating magnetic field of 30~300Hz, ensuring uninterrupted path guidance.

[0050] Significant cost and maintenance advantages: It uses low-cost materials such as conventional cables and rubber / EPDM. The modular design makes construction simple and quick. During maintenance, faulty modules can be replaced individually, resulting in short replacement cycles and low costs.

[0051] Comprehensive privacy protection: The cane terminal has no camera device and does not collect any environmental image data, thus avoiding the risk of privacy leakage at the source and resolving the privacy disputes of existing electronic blind paths;

[0052] Low power consumption and long battery life: The cane terminal uses a low-power MCU chip and a high-efficiency lithium battery, with a battery life of more than 12 hours, supporting visually impaired people to travel all day without the need for frequent charging;

[0053] Strong environmental adaptability: The magnetic field signal is not affected by environmental factors such as light, rain, snow, and dust, and has the ability to resist electromagnetic interference, and can work stably in complex weather and urban electromagnetic environments.

[0054] Clear logical information delivery: By setting the correspondence between logical nodes and four types of functional modules, accurate voice guidance for turning, destination, waiting, and no-entry is achieved, solving the defect of traditional blind paths that cannot convey path logic and improving the convenience and safety of navigation. Attached Figure Description

[0055] Figure 1 This is a flowchart of the process of the present invention. Detailed Implementation

[0056] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] Reference Figure 1 A continuous electromagnetic guidance tactile paving system and its cane terminal device are disclosed, comprising two parts: a ground continuous electromagnetic guidance path module and an intelligent sensing cane terminal. The two work together to achieve complete path guidance and navigation functions.

[0058] (a) Ground-based continuous electromagnetic guidance path module

[0059] 1. Structural Composition

[0060] Inductor coil: It is made of multiple energized cables and buried under the planned area according to the preset tactile paving path. When a safe low-voltage power is supplied, it generates a continuous low-frequency alternating magnetic field of 30~300Hz, forming a stable and reliable electromagnetic guidance path, providing a recognition benchmark for the smart sensor cane terminal.

[0061] Insulation encapsulation layer: Waterproof and pressure-resistant insulating materials are used to completely encapsulate and seal the inductor coil, achieving all-round protection against moisture, pressure, and wear. It also has good electric shock isolation performance. Combined with the low-voltage power supply design, it structurally ensures the safety of pedestrians when they come into contact with the ground.

[0062] Tactile paving guide strip module: The inductor coil wrapped with insulation is encapsulated into a standardized shell structure to form a flexible laying strip with regular width and uniform length. Two standard lengths are available, which facilitates modular mass production, rapid construction and laying, and later maintenance and replacement.

[0063] Installation and Marking: The installation depth of the tactile paving guide strip module is controlled at 3~5cm. It is fixed on the sidewalk bonding layer and below the surface layer, which is perfectly compatible with the existing sidewalk paving system and does not affect the normal use of the road surface. On the ground above the path, the installation range can be marked by painting or other special coatings to facilitate the identification of construction and maintenance personnel, while not affecting the normal passage of visually impaired people.

[0064] 2. Functional Module Design

[0065] The tactile paving module is installed on the main passageway of the sidewalk as the core guidance path. Its inductor coils are connected in series with the same direction and regular arrangement. After being energized, it generates a stable and continuous low-frequency alternating magnetic field, which provides a continuous and clear path reference signal for the smart sensor cane terminal, ensuring that visually impaired people can walk steadily in the correct direction.

[0066] The tactile paving module is deployed at locations where visually impaired individuals need to be informed in advance of changes in their walking status, such as at turns, intersections, building entrances, or in front of functional areas. Its inductor coils change the local winding direction, adjust the coil spacing, or optimize the magnetic field characteristic parameters to create a clearly identifiable change in the magnetic field relative to the tactile paving module. This provides a trigger signal to the smart sensor cane terminal, alerting visually impaired individuals that they are about to face an adjustment in walking direction or a change in scene.

[0067] Tactile paving module for pedestrian crossings: Specifically installed under zebra crossings or other pedestrian crossing areas, the inductor coil is continuously laid along the direction of crossing. Through a specific series connection, it forms a magnetic field characteristic that is significantly different from that of the pedestrian tactile paving module. During the crossing process of visually impaired people, it continuously provides clear directional guidance and position correction signals. Even if there is a slight deviation in navigation and positioning, it can help visually impaired people to stay in the crossing passage safely.

[0068] No-entry tactile paving module: Installed in dangerous areas, construction areas, the edge of motor vehicle lanes, or other locations where visually impaired people are not allowed to pass, its inductor coil generates a magnetic field signal that is significantly different from the normal guidance path through an abnormal series connection method or a special characteristic magnetic field design. When the smart sensor cane terminal senses this signal, it immediately triggers an alarm feedback, prompting the visually impaired person to stop moving forward or return to a safe area to avoid entering a dangerous environment.

[0069] 3. Power Supply System Design

[0070] Low-voltage power supply core: The entire ground continuous electromagnetic guidance path module adopts a safe low-voltage power supply system. The working voltage is within a safe low-voltage range. The generated low-frequency alternating magnetic field poses no risk of electric shock to pedestrians and the surrounding environment. The power supply head ensures the safety of the system in public roads and public spaces, and it can be deployed with confidence in densely populated areas.

[0071] Municipal power supply: As the main power supply mode, the ground continuous electromagnetic guidance path module can be directly connected to the municipal low-voltage power supply, road lighting power supply or building low-voltage system for power supply. With the help of the mature and stable urban power supply network, it can ensure that the inductor coil can continuously and stably generate the guiding magnetic field, which fully meets the needs of long-term and uninterrupted operation in urban roads, large public spaces and other scenarios.

[0072] Solar power supply: To solve the power supply problem in areas without municipal power or where it is inconvenient to connect to municipal power, the system also supports solar power supply. This power supply consists of a solar energy acquisition unit and an energy storage unit. The solar energy acquisition unit is responsible for capturing solar energy and converting it into electrical energy, while the energy storage unit is responsible for storing electrical energy. It stores energy when there is sufficient sunlight and releases electrical energy when there is insufficient sunlight or at night, ensuring a continuous and stable power supply for the inductor coil and ensuring that the guiding magnetic field is not interrupted.

[0073] Power supply application scenarios: Municipal power supply is suitable for areas with dense populations and complete municipal facilities, such as main urban roads, commercial streets, large business districts, and urban parks; solar power supply is suitable for scenarios where municipal power supply is not available or the cost of access is high, such as deep in parks, campuses, city squares, rural roads, or temporary guidance areas. The two power supply methods can be flexibly combined, which greatly improves the flexibility and applicability of system deployment and can meet the usage needs of different scenarios.

[0074] 4. Logical Nodes and Status Monitoring

[0075] Logic node settings: In key scenarios such as intersections, turns, endpoints, and pedestrian crossings, the direction or frequency of the magnetic field changes characteristically by adjusting the winding direction or power supply frequency of the inductor coil, forming logic nodes. Each logic node corresponds one-to-one with a functional module. For example, the logic nodes at intersections and turns correspond to the tactile paving module, the logic nodes in zebra crossing areas correspond to the pedestrian crossing tactile paving module, and the logic nodes in dangerous areas correspond to the no-entry tactile paving module. The corresponding functions of the smart sensor cane terminal are triggered by the changes in the magnetic field of the logic nodes.

[0076] Status monitoring capability: All tactile paving guide strip modules are connected through a unified power supply and control system. The system has the ability to detect path integrity and status identification, and can monitor the working status of each module in real time, including whether the power supply is normal and whether the magnetic field output is stable. Once a fault is detected in a module, an alarm can be issued in time, which makes it convenient for maintenance personnel to quickly locate the fault location and carry out repair and replacement, ensuring the overall reliability of the system operation.

[0077] (ii) Intelligent sensor cane terminal

[0078] 1. Core Components and Functions

[0079] Hall sensor array: As a core sensing component, it is specifically designed to accurately capture changes in the direction of the magnetic field generated by the ground inductor coil, providing basic data support for path determination and functional module identification, and is a key component for realizing magnetic field sensing.

[0080] Magnetic induction coil: As an auxiliary sensing component, it works in conjunction with the Hall sensor array to further supplement and improve the accuracy of magnetic field direction recognition, effectively avoid the recognition error that may occur with a single sensor, and ensure the accuracy of magnetic field recognition.

[0081] Vibration feedback module: It adopts a miniature vibration actuator to accurately output vibration signals of different frequencies based on the path sensing status and magnetic field characteristics, providing visually impaired people with intuitive tactile feedback and helping them perceive their current walking status.

[0082] The text-to-speech (TTS) module integrates text-to-speech conversion and can accurately broadcast action prompts at logical nodes, such as "Turn left ahead," "Crossing the street soon, please be careful," "Destination reached," and "No entry ahead, please turn back," clearly conveying the logical information of the route.

[0083] Voice recognition module: Integrates voice acquisition and recognition functions, allowing users to quickly start navigation by inputting their destination via voice without manual operation, which is in line with the usage habits of visually impaired people.

[0084] GPS / BeiDou + IMU Module: The GPS / BeiDou module is used to obtain the user's current precise location, and the IMU (Inertial Measurement Unit) is used to monitor the user's motion status in real time. The two work together to achieve precise matching of location compensation and map navigation path, thereby improving navigation accuracy.

[0085] Bluetooth communication module: Used to establish a stable wireless connection with a smartphone app, enabling navigation data synchronization, route updates, and function expansion, thus facilitating information exchange between the cane terminal and mobile devices.

[0086] Controller: The controller uses a low-power chip as the core control unit, which is responsible for analyzing magnetic field signals, controlling the operation of the feedback module, coordinating the linkage between various components, and ensuring the overall low-power operation of the device to extend the battery life. The device has no camera components and does not collect environmental image data, thus avoiding the risk of privacy leakage from the root.

[0087] Battery module: It adopts a high-efficiency lithium battery with optimized capacity design, which can provide the cane terminal with a power supply of no less than 12 hours, meeting the all-weather travel needs of visually impaired people without the need for frequent charging.

[0088] Ultrasonic obstacle detection module: Integrates ultrasonic transmitter and receiver, can accurately detect obstacles within a range of 0.5 to 3 meters in front, including common obstacles such as pedestrians, walls, and railings, and promptly trigger the alarm mechanism.

[0089] 2. System Operation Flow

[0090] (1) Navigation Start-up Phase

[0091] Users input their destination via voice recognition. After receiving the destination information, the smartphone app combines electronic map data with GPS / BeiDou positioning data to quickly calculate the optimal navigation route from the user's current location to the destination. The app then synchronizes the complete route information (including the functional modules and logical nodes along the way) to the smart sensor cane terminal, completing the navigation startup preparation.

[0092] (2) Magnetic field induction and path judgment stage

[0093] After the smart sensor cane terminal is activated, the Hall sensor array and magnetic coil enter a continuous working state, sensing the magnetic field signal generated by the ground electromagnetic guidance path module in real time. The controller analyzes the characteristics of the magnetic field such as direction, intensity and frequency in real time to determine whether the user is moving along the electromagnetic guidance path and the current functional module (moving, prompting, crossing the street, prohibiting movement).

[0094] (3) Feedback control stage

[0095] When the controller detects a stable magnetic field (normal path) from the tactile paving module, it controls the vibration feedback module to output low-frequency vibration as a confirmation of safe walking, informing the visually impaired person that the current walking direction is correct.

[0096] When the user deviates from the magnetic guide bar, or when the magnetic field signal weakens or disappears, the controller immediately determines that the path has been deviated and quickly switches the vibration frequency of the vibration feedback module to a high frequency as a path deviation warning, reminding the visually impaired person to adjust the direction of travel in time.

[0097] When the controller senses the special magnetic field of the no-entry tactile paving module or the ultrasonic obstacle detection module detects an obstacle ahead, it triggers ultra-high frequency vibration and simultaneously activates the voice prompt module to issue a mandatory warning voice, reminding visually impaired people to stop or avoid the obstacle.

[0098] (4) Logical node interaction stage

[0099] When a user moves to a logical node, the controller identifies the node type by changes in magnetic field characteristics and immediately triggers the voice prompt module to broadcast the corresponding action guidance information. At the same time, it controls the vibration feedback module to briefly stop vibrating to enhance the effect of the voice prompt and ensure that visually impaired people can clearly receive key guidance. For example, at a turning node, it broadcasts "Turn right ahead", at a street crossing node, it broadcasts "You are about to cross the street, please go straight in the current direction", and at the destination node, it broadcasts "Destination has been reached".

[0100] (5) Auxiliary function linkage stage

[0101] The ultrasonic obstacle detection module continuously monitors the environment ahead. Once an obstacle is detected, it immediately issues a dual warning through ultra-high frequency vibration and voice prompts such as "Obstacle ahead, please avoid it." Through the Bluetooth communication module, it links with a universal navigation app to accurately identify traffic signs such as traffic lights, crosswalks, and pedestrian overpasses using electronic map data. It then broadcasts timely prompts such as "Please wait at the red light," "You can cross at the green light," and "Crosswalk ahead, please be careful when crossing the street," ensuring the safety of visually impaired individuals in all aspects of their travel.

[0102] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A continuous electromagnetic guidance tactile paving system, comprising a ground-based continuous electromagnetic guidance path module and an intelligent sensing cane terminal, characterized in that: The ground continuous electromagnetic guidance path module includes an inductor coil composed of multiple energized cables, a waterproof and pressure-resistant insulating encapsulation material, and a tactile guide strip module formed by an outer shell. The inductor coil is buried under the planned tactile paving and generates a 30~300Hz continuous low-frequency alternating magnetic field when energized with 24V. The ground continuous electromagnetic guidance path module is divided into at least three types according to different walking functions: walking tactile paving module, prompting tactile paving module, crossing tactile paving module, and no-entry tactile paving module. Different types of tactile paving modules form different magnetic field characteristics that can be distinguished and identified by the smart sensing cane terminal through the different series connection method, winding method or power supply characteristics of the inductor coil. The tactile paving guide strip module is a flexible paving strip with a regular width and uniform length. At intersections, turns, ends, and crossings along the path, there are logical nodes with changes in magnetic field frequency or direction. Each logical node corresponds to a functional module (the logical nodes at intersections and turns correspond to the tactile paving prompt module, the zebra crossing area corresponds to the pedestrian crossing tactile paving module, and the danger zone corresponds to the no-entry tactile paving module). The tactile paving guide strip module adopts a safe low-voltage power supply system and has the ability to ensure path integrity and status identification. The intelligent sensing cane terminal includes core components and auxiliary functional modules. The core components include a Hall sensor array, a magnetic coil, a vibration feedback module, a voice prompt module, a voice recognition module, a controller, and a battery module. The auxiliary functional modules include a GPS / BeiDou + IMU module, a Bluetooth communication module, and an ultrasonic obstacle detection module. The controller is a low-power MCU chip used for magnetic field analysis and feedback logic control, and the battery module is a lithium battery with a battery life of no less than 12 hours.

2. The continuous electromagnetic guidance tactile paving system according to claim 1, characterized in that, The standard length of the tactile paving guide strip module of the ground continuous electromagnetic guidance path module is 500mm or 1000mm, and the insulating encapsulation material is rubber or EPDM. The encapsulation material also has the function of preventing electric shock isolation. The tactile paving guide strip module is fixed on the sidewalk bonding layer and below the surface layer. The installation range can be marked above the path with paint or other coatings.

3. The continuous electromagnetic guidance tactile paving system according to claim 1, characterized in that, The power supply methods for the ground continuous electromagnetic guidance path module include two types: Municipal power supply: Connect to municipal low-voltage power supply, road lighting power supply or building low-voltage system to meet the long-term operation needs of urban roads; Solar power supply: Includes solar energy collection unit and energy storage unit, suitable for areas without municipal power supply or inconvenient to connect to municipal power supply, such as parks, campuses, squares, rural roads or temporary guidance areas, to ensure continuous magnetic field output.

4. A continuous electromagnetic guidance tactile paving system according to claim 1, characterized in that, The specific settings and magnetic field characteristics of each functional module are as follows: Tactile paving module: It is installed on the main passageway of the sidewalk. Its inductor coils are connected in series with the same direction and regular arrangement. After being energized, it generates a stable and continuous low-frequency alternating magnetic field to provide a continuous path reference signal for the smart sensor cane terminal. Tactile paving module: It is installed at turns, intersections, building entrances or in front of functional areas. Its inductor coil changes the local winding direction, coil spacing or magnetic field characteristic parameters to make the magnetic field generated by it change in a identifiable way relative to the tactile paving module. Tactile paving module for pedestrian crossings: It is installed under zebra crossings or other pedestrian crossing areas. Its inductor coils are continuously laid along the direction of crossing and form a magnetic field characteristic different from that of the pedestrian tactile paving module through a specific series connection. No-entry tactile paving module: installed in dangerous areas, construction areas, the edge of motor vehicle lanes or other locations where passage is not permitted. Its inductor coil generates a magnetic field signal that is significantly different from the normal guidance path through an abnormal series connection method or characteristic magnetic field design.

5. A continuous electromagnetic guidance tactile paving system according to claim 1, characterized in that, The Hall sensor array of the intelligent induction cane terminal is used to sense changes in the direction of the magnetic field of the inductor coil, and the magnetic coil is used to supplement the direction recognition accuracy. Together, they can distinguish the magnetic field characteristics of different functional modules. The vibration feedback module adjusts the vibration frequency based on path deviation, the voice prompt module broadcasts action guidance at logical nodes, and the voice recognition module is used for users to input their destination to start navigation.

6. A continuous electromagnetic guidance tactile paving system according to claim 5, characterized in that, The GPS / BeiDou + IMU module is used to provide location compensation and map navigation path matching, and the Bluetooth communication module is used to connect to a smartphone App to expand the navigation function.

7. A continuous electromagnetic guidance tactile paving system according to claim 5, characterized in that, The vibration frequency of the vibration feedback module is precisely matched with the path sensing state and magnetic field characteristics: When a stable magnetic field (normal path) is detected in the tactile paving module, a low-frequency vibration (1-2Hz) is output as a confirmation of safe walking. When the magnetic guide bar is deviated from, or the magnetic field signal weakens or disappears, it immediately switches to high-frequency vibration (5-8Hz) as a path deviation warning. When the special magnetic field of the no-entry tactile paving module is sensed or an obstacle is detected by the ultrasonic obstacle detection module, an ultra-high frequency vibration (frequency above 10Hz) is output as a mandatory warning.

8. A continuous electromagnetic guidance tactile paving system according to claim 1, characterized in that, The controller uses a low-power MCU chip, and the entire device has no camera component and does not collect environmental data, thus avoiding the risk of privacy leakage at the source.

9. A continuous electromagnetic guidance tactile paving system according to claim 1, characterized in that, The ultrasonic obstacle detection module is used to detect obstacles within a range of 0.5 to 3 meters. The smart sensor cane terminal is linked with a general navigation app through an electronic map and can recognize traffic signs such as traffic lights and zebra crossings.

10. A smart sensor cane terminal, applied to a continuous electromagnetic guidance tactile paving system as described in any one of claims 1-9, characterized in that, include: Hall sensor array, configured to sense changes in the direction of the magnetic field generated by the ground inductor coil, and work with the magnetic inductor coil to distinguish the magnetic field characteristics of different functional modules; Magnetic induction coils are configured to supplement the accuracy of magnetic field direction recognition. The vibration feedback module is configured to output vibration signals of different frequencies based on the path deviation and magnetic field characteristics. The text-to-speech (TTS) module is configured to broadcast action prompts at logical nodes; The voice recognition module is configured to receive voice input from the user regarding their destination. The controller is configured to analyze magnetic field signals, control the operation of the feedback module, and coordinate the linkage of various components. It uses a low-power MCU chip. The battery module is configured to provide at least 12 hours of power for continuous operation. It also includes a GPS / BeiDou + IMU module, a Bluetooth communication module, and an ultrasonic obstacle detection module, which are configured for positioning compensation, mobile phone interconnection, and obstacle detection, respectively.

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