Auxiliary blind guiding device for handicapped based on Uda robot

Abstract

The utility model relates to the technical field of blind guiding devices, and provides an auxiliary blind guiding device for the disabled based on a Uda robot, which comprises a support frame, two cameras are fixedly connected to two side walls of the support frame respectively, external trusses and walking mechanisms are mounted on two side walls of each camera, and the walking mechanisms are arranged at two ends of the two cameras. The walking mechanism comprises four Uda motors, the four Uda motors are installed and connected to the two ends of the two cameras correspondingly, the output ends of the four Uda motors are fixedly connected with two transmission rods correspondingly, and the outer side walls of the transmission rods are rotationally connected with hinge plates; as a replicable mechanical product, the number of the intelligent blind guiding dogs can be greatly increased through industrial production, and therefore the defect that the number of traditional blind guiding dogs is limited is greatly overcome. Therefore, more people with visual impairment can be helped, the life quality of the people is improved, and the travel ability of the people is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of blind guide devices, in particular to a blind guide device for the disabled based on a Yushu robot. Background Art

[0002] With the rapid development of science and technology, robotics technology has shown broad application prospects in many fields. Among them, service robots, as an important branch, are increasingly receiving widespread attention from the society in terms of their design and application. In terms of assisting people with disabilities, service robots play a particularly prominent role. By integrating advanced navigation, sensing, human-computer interaction and other technologies, service robots can provide safe and efficient auxiliary services for people with disabilities, helping them to better integrate into society.

[0003] However, the number of existing guide dogs is limited: the number of traditional guide dogs is far from meeting market demand, and many visually impaired people cannot get help from guide dogs.

[0004] Functional limitations of guide dogs: Although guide dogs play an important role in helping the visually impaired, they are unable to complete complex tasks such as autonomous navigation and route planning.

[0005] To this end, those skilled in the art have proposed a robot-assisted guide device for the disabled based on the Yushu robot to solve the problems raised by the background technology. Utility Model Content

[0006] In order to solve the above technical problems, the utility model provides a Yushu robot-assisted guide device for the disabled to solve the problems in the prior art that the number of guide dogs is small, it is impossible to serve more blind people, and the guide dogs cannot automatically locate the end point.

[0007] A Yushu robot-assisted blind guide device for the disabled comprises a support frame, two side walls of the support frame are respectively fixedly connected with two cameras, and both side walls of the cameras are installed with external trusses;

[0008] A walking mechanism is arranged at two ends of the two cameras.

[0009] Preferably, the walking mechanism includes a Yushu motor, and the Yushu motor is in four forms and is respectively installed and connected to the two ends of the two cameras. The output ends of the four Yushu motors are respectively fixedly connected to two transmission rods, and the outer side wall of the transmission rod is rotatably connected to a hinge plate, and the inner side wall of the hinge plate is rotatably connected to a walking rod. The two walking rods are installed together through a rotating rod, and the outer side wall of the rotating rod is also fixedly connected to a foot-end force sensor.

[0010] Preferably, the two transmission rods are symmetrically installed at the output end of the Yushu motor, a triangle is formed between the transmission rod and the walking rod, and the foot-end force sensor is used to connect to the ground for support.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] 1. As a replicable mechanical product, the number of intelligent "guide dogs" can be greatly increased through industrial production, which greatly makes up for the defect of the limited number of traditional guide dogs. This means that more people with visual impairments can get help, improve their quality of life, and enhance their ability to travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0014] Figure 2 For this utility model Figure 1 Schematic diagram of the structure viewed from above.

[0015] In the figure: 1. support frame; 11. external truss; 12. Yushu motor; 13. transmission rod; 14. hinge plate; 15. walking rod; 16. foot end force sensor; 17. camera. DETAILED DESCRIPTION

[0016] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0017] As attached Figure 1 To Attachment Figure 2 As shown:

[0018] Embodiment 1: The utility model provides a device for assisting the disabled blind based on the Yushu robot, comprising a support frame 1, two side walls of the support frame 1 are respectively fixedly connected with two cameras 17, and both side walls of the camera 17 are installed with external trusses 11;

[0019] The walking mechanism is arranged at two ends of the two cameras 17 .

[0020] Specifically, by setting the external truss 11, the surrounding environment can be photographed and identified.

[0021] The walking mechanism includes a Yushu motor 12, and the Yushu motor 12 is divided into four parts and respectively installed and connected to the two ends of two cameras 17. The output ends of the four Yushu motors 12 are respectively fixedly connected to two transmission rods 13. The outer wall of the transmission rod 13 is rotatably connected to a hinge plate 14, and the inner wall of the hinge plate 14 is rotatably connected to a walking rod 15. The two walking rods 15 are installed together through a rotating rod, and the outer wall of the rotating rod is also fixedly connected to a foot-end force sensor 16.

[0022] Specifically, by disposing the hinge plate 14 , it is convenient to adjust the angle between the walking rod 15 and the transmission rod 13 .

[0023] The two transmission rods 13 are symmetrically installed at the output end of the Yushu motor 12, and a triangle is formed between the transmission rod 13 and the walking rod 15. The foot-end force sensor 16 is used to connect with the ground for support.

[0024] As can be seen from the above, when this device needs to be used, the two transmission rods 13 can be driven to work by turning on the Yushu motor 12. Through the alternating operation of the two transmission rods 13 and the setting of the hinged plate 14, the angle between the walking rod 15 and the transmission rod 13 can be changed, so that the walking rod 15 can be moved forward or lifted, and the diagonal swing can be set to simulate the walking form of an animal.

[0025] The invention provides an intelligent guide dog system and a motion control method thereof. The system comprises a robot body, a visual recognition module, a path planning module, a motion control module and a communication module.

[0026] The robot body adopts a quadruped structure design, which has high mobility and stability. The visual recognition module captures the surrounding environment information through the camera to realize obstacle detection and road condition recognition. The path planning module plans a safe and effective travel path based on the information provided by the visual recognition module. The motion control module controls the movement of the robot body according to the path planning results to realize the navigation function. The communication module is used to interact with the user, receive the user's instructions and feedback the robot's status information.

[0027] In terms of motion control, the present invention uses the torque control VMC algorithm for leg simulation and motion control. By creating a virtual spring, a virtual force is obtained and converted to torque at each joint. Using the kinematics forward solution and Jacobian matrix, the position and velocity in space are converted to each joint to achieve precise motion control.

[0028] In actual applications, users can send instructions to the intelligent guide dog system through the communication module, such as setting the destination, starting / stopping navigation, etc. After receiving the instructions, the system starts the visual recognition module and the path planning module to start navigation. During the movement, the motion control module adjusts the movement state of the robot body according to the path planning results and real-time environmental information to achieve smooth and safe movement. At the same time, the communication module will feedback the robot's status information to the user in real time, such as the current position, speed, power, etc., so that the user can understand the robot's working conditions.

[0029] In addition, the invention also improves the environmental adaptability and safety of the intelligent guide dog system by optimizing algorithms and sensor technology. The system can automatically avoid obstacles and adjust the speed and direction according to road conditions to ensure the safety of users.

[0030] The standard parts used in this utility model can be purchased from the market, and the special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0031] In the description of the present utility model, the terms "first" and "second" are used for descriptive purposes only and cannot 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. The meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without contradiction.

[0035] In the drawings of the embodiments disclosed in the present utility model, only the structures related to the embodiments disclosed in the present utility model are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present utility model can be combined with each other.

[0036] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot-assisted blind guide device for the disabled based on Yushu, characterized in that: It comprises a support frame (1), two side walls of the support frame (1) are respectively fixedly connected to two cameras (17), and the two side walls of the camera (17) are both installed with external trusses (11); A walking mechanism is arranged at two ends of the two cameras (17).

2. The device for guiding the blind based on the Yushu robot as claimed in claim 1, characterized in that: The walking mechanism comprises a Yushu motor (12), wherein the Yushu motor (12) is in the form of four motors respectively installed and connected at the two ends of two cameras (17), the output ends of the four Yushu motors (12) are respectively fixedly connected to two transmission rods (13), the outer side wall of the transmission rod (13) is rotatably connected to a hinge plate (14), the inner side wall of the hinge plate (14) is rotatably connected to a walking rod (15), the two walking rods (15) are installed together via a rotating rod, and the outer side wall of the rotating rod is also fixedly connected to a foot end force sensor (16).

3. The device for guiding the blind based on the Yushu robot as claimed in claim 2, characterized in that: The two transmission rods (13) are symmetrically mounted at the output end of the Yushu motor (12), a triangle is formed between the transmission rod (13) and the walking rod (15), and the foot end force sensor (16) is used to connect with the ground for support.

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