Intelligent blind guiding stick

Abstract

An intelligent blind guiding stick relates to the technical field of blind guiding sticks. The problem that the blind cannot travel autonomously is solved. A multifunctional system is integrated on the blind guiding stick, a traction assembly is arranged at the bottom of the blind guiding stick, and the multifunctional system comprises an information acquisition assembly, a data processing module and a positioning module. The information acquisition assembly comprises a voice interaction module and an image acquisition module; a map is embedded in the data processing module, target position coordinates are determined according to the information collected by the voice interaction module, different travel routes are formulated according to the current position coordinates of the blind guiding stick and sent to the voice interaction module for broadcasting, and the traction assembly is driven according to the travel routes to drive the blind guiding stick to move; traffic light recognition and license plate recognition are further embedded in the data processing module and used for recognizing traffic light information and license plate information in the image information, so that the traction assembly is driven to drive the blind guiding stick to move forwards or stop, autonomous travel is achieved, and the intelligent blind guiding stick is suitable for autonomous travel of low-vision blind persons.

Description

Technical Field

[0001] The utility model relates to the technical field of blind guide sticks. Background Art

[0002] The blind are a special social group, and daily travel and independent travel are the biggest problems they face. Traditionally, the blind travel with the help of walking sticks and blind paths on the road. However, due to the occupation of blind paths and unreasonable blind path laying, although the government has invested a lot of financial and material resources, it still cannot solve the practical problems of blind travel. When there are obstacles approaching from a distance, the blind are unable to actively perceive them, which poses a great danger.

[0003] In response to the above problems, existing guide sticks have added pathfinding and obstacle exploration functions, allowing the blind to avoid obstacles in time. However, due to the control of road traffic lights and the complexity of travel routes, the blind are still unable to travel long distances like ordinary people. Although they have pathfinding functions, they cannot achieve the same travel efficiency as ordinary people, and cannot enable the blind to travel independently. Utility Model Content

[0004] The utility model provides a smart guide stick for the blind, which is used to solve the problem that the blind cannot travel independently, so that the blind can go anywhere they want to go like ordinary people, enjoy a more intelligent and convenient way of travel, can enter and exit various places more conveniently, and enjoy the fast and safe travel brought by the new technology of the new era, and are no longer limited to their own small space.

[0005] To achieve the above purpose, the utility model provides the following solutions:

[0006] The utility model provides a smart blind guide stick, which comprises a blind guide stick, a multifunctional system and a traction system;

[0007] The multifunctional system is integrated on the guide stick for the blind, and the traction component is arranged at the bottom of the guide stick for the blind;

[0008] The multifunctional system includes an information acquisition component, a data processing module and a positioning module;

[0009] The information acquisition component includes a voice interaction module and an image acquisition module;

[0010] The trigger end of the voice interaction module is arranged at the grip of the guide stick, and is used to collect voice information and send it to the data processing module;

[0011] The image acquisition module is used to collect image information around the guide stick and send it to the data processing module;

[0012] The display end of the data processing module is set on the rod of the blind cane;

[0013] The positioning module is used to collect the current position coordinates of the blind cane in real time and send them to the data processing module;

[0014] A map is embedded in the data processing module, which is used to determine the target position coordinates according to the voice information, and is also used to formulate different travel routes according to the current position coordinates of the blind cane and send them to the voice interaction module for broadcasting, and is also used to drive the traction component to drive the blind cane to move according to the travel route;

[0015] The data processing module is also embedded with a traffic light recognition function, which is used to recognize the traffic light information in the image information, so as to drive the traction component to drive the blind cane to move forward or stop;

[0016] The data processing module is also embedded with a license plate recognition function, which is used to recognize the vehicle information in the image information. The vehicle information includes the vehicle movement state, license plate information and bus number, and drives the traction component to drive the blind cane to move or stop according to the travel route, and at the same time broadcasts the recognition information through the voice interaction module.

[0017] Furthermore, there is a preferred embodiment. The trigger end of the above voice interaction module includes an activation end and a plurality of button ends, and the plurality of button ends are arranged on the rod of the blind cane;

[0018] The activation end is used to trigger the start of the voice interaction module, and the plurality of button ends are common position trigger ends.

[0019] Furthermore, there is a preferred embodiment. The above data processing module is implemented by Raspberry Pi 4B.

[0020] Furthermore, there is a preferred embodiment. The above voice interaction module and image acquisition module are implemented by an integrated C310 perception layer camera.

[0021] Furthermore, there is a preferred embodiment. The above multifunctional system further includes an item recognition module;

[0022] The item recognition module is used to recognize the item information in the image information and broadcast it through the voice interaction module.

[0023] Furthermore, there is a preferred embodiment. The above multifunctional system further includes a gyroscope, and the gyroscope is used to monitor whether there is abnormal acceleration in real time.

[0024] Furthermore, there is a preferred embodiment. The above multifunctional system further includes an ultrasonic ranging module,

[0025] The ultrasonic ranging module is used to realize obstacle avoidance and distance measurement functions.

[0026] Furthermore, there is also a preferred embodiment in which the above-mentioned multi-functional system further includes a data encryption module,

[0027] and the data encryption module is used to provide an encryption function for the data in the data processing module.

[0028] Furthermore, there is also a preferred embodiment in which the above-mentioned multi-functional system further includes a trajectory information query module;

[0029] The trajectory information query module is used to view the travel routes and real-time locations of the guardian in the last 7 days.

[0030] The beneficial effects of the present utility model are as follows:

[0031] 1. The intelligent blind stick provided by the present utility model combines the map navigation function with the traditional blind stick, breaks the inherent thinking, and leads a new round of technological iteration; combines the traditional blind stick with the concept of driverless, realizes the autonomous guidance of the blind stick and discriminates traffic conditions; encrypts and stores the location information to protect the user privacy to the greatest extent; introduces the monitoring and video call functions into the blind stick, reducing the need for blind people to carry other communication products when traveling.

[0032] 2. The main functions of the traditional blind stick are to explore the road and detect obstacles. The intelligent blind stick provided by the present utility model has functions such as autonomous navigation and obstacle avoidance, and guides the blind to walk by means of traction by a tractor. It can better realize the autonomous travel of the blind. The blind can determine the route they need to walk through the traction of the tractor without subjective discrimination on their own. Moreover, in the form of a tractor, it can better avoid obstacles compared with traditional manual probing or ultrasonic fixed-point monitoring.

[0033] The present utility model is applicable to the autonomous travel of people with low vision and the blind. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is the schematic diagram of the intelligent blind stick described in the present utility model;

[0035] Figure 2 is the structural diagram of the intelligent blind stick described in the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The following further describes in detail the specific embodiments of the present utility model in conjunction with the drawings and embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several changes and improvements can still be made, and these all belong to the protection scope of the present utility model.

[0037] Embodiment 1. Refer toFigure 1 and Figure 2 To illustrate this embodiment, this embodiment provides a smart blind cane, which includes a blind cane, a multi-functional system, and a traction system;

[0038] The multi-functional system is integrated on the blind cane, and the traction component is arranged at the bottom of the blind cane;

[0039] The multi-functional system includes an information acquisition component, a data processing module, and a positioning module;

[0040] The information acquisition component includes a voice interaction module and an image acquisition module;

[0041] The trigger end of the voice interaction module is arranged at the grip of the blind cane, and is used to collect voice information and send it to the data processing module;

[0042] The image acquisition module is used to collect image information around the blind cane and send it to the data processing module;

[0043] The display end of the data processing module is arranged on the rod of the blind cane;

[0044] The positioning module is used to collect the current position coordinates of the blind cane in real time and send them to the data processing module;

[0045] A map is embedded in the data processing module, which is used to determine the target position coordinates according to the voice information, and is also used to formulate a travel route according to the current position coordinates of the blind cane and send it to the voice interaction module for broadcasting, and is also used to drive the traction component to drive the blind cane to move according to the travel route;

[0046] A traffic light recognition is also embedded in the data processing module, which is used to recognize the traffic light information in the image information, so as to drive the traction component to drive the blind cane to move forward or stop;

[0047] A license plate recognition is also embedded in the data processing module, which is used to recognize vehicle information in the image information. The vehicle information includes vehicle movement status, license plate information, and bus number, and drives the traction component to drive the blind cane to move or stop according to the travel route, and at the same time broadcasts the recognition information through the voice interaction module.

[0048] In actual application of this embodiment, as Figure 1 and Figure 2 shown, the smart blind cane includes a blind cane, a multi-functional system, and a traction system;

[0049] Among them, the traction system is set at the bottom of the blind cane. During application, the traction system is realized by a tractor. The tractor is fixed at the bottom of the blind cane and drives the blind cane to move, thereby driving the blind person forward, making the blind person seem to have a relative guiding their walking, and enabling the blind user to adapt to the intelligent blind cane faster. The chassis of the tractor is made of 3mm thick steel plate, the traction wheels are 130mm large-foot tires, the traction power is a JGA25-370 12V DC reduction motor, and the drive board is an L298N drive board, so that this drive board can control the rotation direction and speed of the motor through different PWM signals, thereby enabling the tractor to drive the blind cane to move in different directions and at different speeds. At the same time, the tractor can carry a load of 7kg and can withstand the downward pressure when the blind person holds the blind cane.

[0050] The multifunctional system is integrated on the body of the blind cane and is used to realize the multifunction of the blind cane. The multifunctional system includes an information acquisition component, a data processing module, and a positioning module. The information acquisition component includes a voice interaction module and an image acquisition module. Among them, the trigger end of the voice interaction module is set at the grip of the blind cane. The trigger end includes an activation end and multiple button ends. The activation end is used to trigger the start of the voice interaction module, and the multiple button ends are common position trigger ends, enabling the voice interaction module to realize the voice assistant function and the trigger end to realize the voice assistant button function. When the blind person presses the voice assistant button on the blind cane, the voice assistant will listen to the needs of the blind person, that is, the travel needs of the blind person can be collected through the voice interaction module, or the travel needs can be determined by setting common positions at the button ends and pressing the button, and the needs are sent to the data processing module. When the blind person needs to travel, a navigation map is embedded in the data processing module, so that the data processing module determines the target position coordinates according to the travel needs of the blind person. At the same time, the positioning module real-time collects the current position coordinates of the blind cane. The data processing module formulates different travel routes according to the current position coordinates and target position coordinates of the blind cane and broadcasts them through the voice assistant, enabling the blind person to select the optimal travel mode according to the distance. The data processing module drives the traction system to move according to the travel route, thereby driving the blind cane forward.

[0051] Furthermore, the travel modes include walking, taking the bus, and taking a taxi.

[0052] When the walking mode is selected, the image acquisition module collects the surrounding image information of the blind cane. A traffic light recognition method is embedded in the data processing module to recognize the current state of the traffic light in the image information. While broadcasting through the voice interaction module, it drives the blind cane to move forward or stop, thereby ensuring the safer travel of the blind person and being able to handle it with ease in complex urban traffic. The traffic light recognition method can be realized by using the existing Hough circle detection method.

[0053] When choosing to travel by bus, the data processing module determines the bus stop according to the travel route and drives the traction system to lead the blind person to the bus stop. The image acquisition module acquires the bus status at the bus stop. At the same time, a license plate recognition method is embedded in the data processing module. The license plate recognition method is used to recognize the bus number and the movement status of the bus, and the blind person is informed whether it is the bus they want to take through the voice interaction module. The blind person is informed whether they can board the bus according to the vehicle movement status. After the blind person boards the bus, they can pay through the display terminal of the data processing module. The license plate recognition method can be implemented by an existing license plate detection and positioning method based on shape features.

[0054] When choosing to travel by taxi, the data processing module drives the taxi software to search for nearby online car-hailing services, reserves a taxi travel order, recognizes the license plate information through the license plate recognition method, and informs the blind person whether the vehicle is the one they reserved through the voice interaction module. After arriving at the destination, payment is made through the data processing module.

[0055] In application, a weather module and a music module can also be added to the multi-functional system, so that blind users can query the weather, time and play music.

[0056] Embodiment 2: This embodiment is an example of the data processing module in a smart guiding cane described in Embodiment 1;

[0057] The data processing module is implemented using a Raspberry Pi 4B.

[0058] In actual application of this embodiment, a Raspberry Pi 4B is used as the data processing module. The Raspberry Pi 4B is equipped with a 1.5GHz 64-bit quad-core processor, full-throughput gigabit Ethernet, supports Bluetooth 5.0, multimedia multi-channel high-definition output, and can run the Linux system and can run Python or C++ languages. The parameters of the Raspberry Pi 4B are shown in the following table:

[0059]

[0060] Embodiment 3: This embodiment is an example of the voice interaction module and the image acquisition module in a smart guiding cane described in Embodiment 1;

[0061] The voice interaction module and the image acquisition module are implemented using an integrated C310 perception layer camera.

[0062] In actual application, the voice interaction module and the image acquisition module are implemented by an integrated Logitech C310 perception layer camera, which has 8 million pixels and a microphone, and has the functions of image acquisition and voice acquisition. The video frame rate can reach up to 60fps at most. At the same time, video monitoring and two-way communication are realized through the integrated perception layer camera. Through video monitoring and two-way communication, the guardian can view the environment around the blind person to ensure the safety of the blind person, and can communicate with the blind person in real time.

[0063] Embodiment 4: This embodiment gives an example of the positioning module in a smart blind stick described in Embodiment 1;

[0064] The positioning module is implemented by an ATK-S1216F8-BD GPS / Beidou module.

[0065] In actual application, the positioning module is implemented by an ATK-S1216F8-BD GPS / Beidou module. The ATK-S1216F8-BD GPS / Beidou module is a high-performance GPS / Beidou module produced by ALIENTEK. The core of the module uses the S1216F8-BD module of SkyTraq Company, which has 167 channels, a tracking sensitivity as high as -165dBm, and a measurement output frequency of up to 20Hz at most. The ATK-S1216F8-BD GPS / Beidou module has the following characteristics:

[0066] (1) The module uses the S1216F8-BD module, which is small in size and excellent in performance.

[0067] (2) The module can set various parameters through the serial port and can be saved in the internal FLASH, which is convenient to use.

[0068] (3) The module comes with an IPX interface and can be connected to various active antennas (it is recommended to use a GPS / Beidou dual-mode antenna for better positioning effect), and has strong adaptability.

[0069] (4) The module is compatible with 3.3V / 5V levels and is convenient to connect to various single-chip microcomputer systems.

[0070] (5) The module comes with a rechargeable backup battery and can retain ephemeris data when powered off.

[0071] The module is connected to the external system through the serial port. The serial port baud rate supports different rates such as 4800, 9600, 19200, 38400 (default), 57600, 115200, 230400, etc., and is compatible with 5V / 3.3V single-chip microcomputer systems, and can be very conveniently connected to the product. The parameters of this module are shown in the following table:

[0072]

[0073]

[0074] Embodiment 5. Refer to Figure 1 This embodiment will be described. This embodiment adds an item recognition module on the basis of the intelligent blind cane described in Embodiment 1;

[0075] The item recognition module is used to recognize the item information in the image information and broadcast it through the voice interaction module.

[0076] In the actual application of this embodiment, as Figure 1 shown, the image information collected by the image acquisition module is sent to the item recognition module for recognition. The item recognition module sends the recognition result to the data processing module, and then broadcasts it through the voice interaction module, which is convenient for the blind to recognize items. The item recognition module can be implemented by using the existing K210 chip module. The K210 chip module is based on a dual-core RISC-V 64-bit processor, which is simple and efficient. The main frequency of the dual-core is as high as 600MHZ, which can handle various business scenarios and computing tasks. Hardware floating-point instruction acceleration: Both cores support double-precision instruction acceleration, which can make simple rendering up to 100fps. This chip also independently developed a KPU for edge computing to accelerate neural networks. Some vision tasks such as face detection, image recognition, and image classification are provided in the official Demo. The classification network inference speed of the classification task can reach up to 240fps at most; in the detection task under the QVGA network, the model frame rate can reach up to 35fps at most.

[0077] Embodiment 6. Refer to Figure 1 This embodiment will be described. This embodiment adds a gyroscope on the basis of the intelligent blind cane described in Embodiment 1;

[0078] The gyroscope is used to monitor whether there is abnormal acceleration in real time.

[0079] In the actual application of this embodiment, as Figure 1 shown, due to vision reasons, the blind are more likely to fall, and the probability of danger is greater. Therefore, a gyroscope is designed in the blind cane. The upper computer terminal remotely receives the gyroscope attitude message, and the web page terminal can remotely obtain the device online information to monitor whether there is abnormal acceleration in real time and obtain the information that the blind person has fallen in time. After the blind person falls, an alarm can also be issued in time to seek help, and the guardian can also care about the blind person's situation in time when knowing that the blind person has fallen.

[0080] Embodiment 7. Refer to Figure 1 This embodiment will be described. This embodiment adds an ultrasonic ranging module on the basis of the intelligent blind cane described in Embodiment 1;

[0081] The ultrasonic ranging module is used to implement obstacle avoidance and distance measurement functions.

[0082] In actual application of this embodiment, as Figure 1 shown, the ultrasonic ranging module is used to measure whether there are obstacles in front of the blind stick and the distance to the obstacles, so as to implement obstacle avoidance and distance measurement functions. The ultrasonic ranging module selects the existing HCSR04 ultrasonic sensor. This sensor uses IO to trigger ranging and gives a high-level signal of at least 10 us; the module automatically sends 8 square waves of 40 kHz, automatically detects whether there is a signal return. If there is a signal return, a high level is output through IO, and the duration of the high level is the time for the ultrasonic wave to travel from transmission to return. The test distance = (high-level time * speed of sound (340 m / s)) / 2. The ultrasonic sensor mainly uses the direct reflection detection mode. The object to be detected in front of the sensor reflects part of the emitted sound wave back to the receiver of the sensor, so that the sensor can detect the object to be measured.

[0083] Embodiment Eight. Refer to Figure 1 To describe this embodiment, this embodiment adds a data encryption module on the basis of the intelligent blind stick described in Embodiment One. The data encryption module is used to provide an encryption function for the data in the data processing module.

[0084] In actual application of this embodiment, as Figure 1 shown, a data encryption module is added. A data encryption method is embedded inside the module, which effectively protects user privacy. The data encryption method uses the existing Rijndael encryption method.

[0085] Embodiment Nine. Refer to Figure 1 To describe this embodiment, this embodiment adds a trajectory information query module on the basis of the intelligent blind stick described in Embodiment One;

[0086] The trajectory information query module is used to view the travel routes and real-time positions of the blind person in the recent 7 days.

[0087] In actual application of this embodiment, as Figure 1 shown, a trajectory information query module is added, enabling the guardian to view the travel routes of the ward in the recent 7 days through the trajectory information query module to achieve historical trajectory query; the guardian can also view the real-time position, current travel destination and transportation mode used by the ward through the trajectory information query module. In case of an emergency, it helps the family members to find the blind person faster; the guardian can also view the data transmitted by the gyroscope through the trajectory information query module, identify the generation of abnormal angular velocity, and thus judge whether the blind person has an accident and timely detect the occurrence of situations such as falling.

[0088] Embodiment Ten. Refer to Figure 1This embodiment is based on the intelligent blind cane described in Embodiment 1 and adds a complex scene perception module. The complex scene perception module is used to perform scene perception on the image information collected by the image acquisition module and broadcast the perception result through the voice interaction module.

[0089] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0090] In the description of this specification, the description with reference to terms such as "an embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0091] The above are only the embodiments of the present invention and do not limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. The intelligent blind cane is characterized in that, The intelligent blind cane includes a blind cane, a multi-functional system, and a traction component; The multi-functional system is integrated on the blind cane, and the traction component is arranged at the bottom of the blind cane; The multi-functional system includes an information acquisition component, a data processing module, and a positioning module; The information acquisition component includes a voice interaction module and an image acquisition module; The trigger end of the voice interaction module is arranged at the grip of the blind cane, and is used for collecting voice information and sending it to the data processing module; The trigger end of the voice interaction module includes an activation end and a plurality of key ends, and the plurality of key ends are arranged on the rod body of the blind cane; The activation end is used for triggering the start of the voice interaction module, and the plurality of key ends are common position trigger ends; The image acquisition module is used for collecting image information around the blind cane and sending it to the data processing module; The display end of the data processing module is arranged on the rod body of the blind cane; The positioning module is used for collecting the current position coordinates of the blind cane in real time and sending them to the data processing module; A map is embedded in the data processing module, which is used for determining the target position coordinates according to the voice information, and is also used for formulating different travel routes according to the current position coordinates of the blind cane and sending them to the voice interaction module for broadcasting, and is also used for driving the traction component to drive the blind cane to move according to the travel route; A traffic light recognition is also embedded in the data processing module, which is used for recognizing the traffic light information in the image information, so as to drive the traction component to drive the blind cane to move forward or stop; A license plate recognition is also embedded in the data processing module, which is used for recognizing vehicle information in the image information. The vehicle information includes vehicle motion state, license plate information, and bus number, and drives the traction component to drive the blind cane to move or stop according to the travel route, and at the same time broadcasts the recognition information through the voice interaction module.

2. The intelligent blind cane according to claim 1, characterized in that, The data processing module is implemented by Raspberry Pi 4B.

3. The intelligent blind cane according to claim 1, characterized in that The voice interaction module and the image acquisition module are implemented by an integrated C310 perception layer camera.

4. The intelligent blind cane according to claim 1, characterized in that The positioning module is implemented by an ATK-S1216F8-BDGPS / Beidou module.

5. The intelligent blind stick according to claim 1, characterized in that, The multi-functional system further includes an item recognition module; the item recognition module is used for recognizing item information in the image information and broadcasting it through the voice interaction module.

6. The intelligent blind cane according to claim 1, characterized in that, The multi-functional system further includes a gyroscope, and the gyroscope is used for real-time monitoring of whether there is abnormal acceleration.

7. The intelligent blind cane according to claim 1, characterized in that, The multi-functional system further includes an ultrasonic ranging module, and the ultrasonic ranging module is used for realizing obstacle avoidance and distance measurement functions.

8. The intelligent blind stick according to claim 1, wherein, The multi-functional system further includes a data encryption module, and the data encryption module is used for providing an encryption function for the data in the data processing module.

9. The intelligent blind stick according to claim 1, characterized in that The multi-functional system further includes a trajectory information query module; The trajectory information query module is used for viewing the travel route and real-time position of the guardian in the recent 7 days.

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