Blind guiding device

Abstract

The utility model discloses a blind guiding device which comprises a stick head arranged at the top of a stick body, a handle arranged on one side of the stick head and used for being supported by a user, a moving module arranged at the bottom of the stick body, a positioning module arranged in the stick head, an inertia measurement module and a data processing module arranged in the stick body, and a data processing module arranged in the stick body. The power module, the camera and the laser radar are arranged on the outer side face of the stick body, the camera and the laser radar are arranged at the positions, close to the stick head, of the stick body and are arranged in the direction opposite to the extending direction of the handle, and the data processing module is used for conducting SLAM mapping and obstacle information detection. The navigation module is used for receiving the SLAM mapping result and generating navigation data capable of avoiding obstacles based on the SLAM mapping result and the obstacle information, and the moving module is used for receiving the navigation data and moving according to the navigation data. By the adoption of the embodiment, real-time movement in a complex environment can be achieved, the blind person can go out only by following traction walking of the blind guiding device, and the going-out efficiency of the blind person is improved.

Description

Technical Field

[0001] This utility model relates to the field of navigation and positioning technology, and in particular to a guide device for the blind. Background Technology

[0002] Blind people face numerous difficulties when traveling due to their visual impairment. Because they cannot visually identify landmarks or physical obstacles such as steps, curbs, and construction sites, they are prone to falls or collisions. Furthermore, the urban traffic environment is unpredictable; sidewalks, crosswalks, traffic lights, and other road users (such as vehicles and bicycles) can all pose risks.

[0003] While navigation and sensory assistance devices in related technologies, such as electronic guide dogs and wearable sensors, can help blind people travel, these devices are expensive and require certain skills and training to use. Blind people need to spend extra time and energy to learn and adapt to them.

[0004] Currently, guide products specifically designed for the blind are not very mature. Existing technologies mostly use infrared ranging sensing technology, depth cameras, single-point or single-line lidar, millimeter-wave radar, etc., which have small detection range, short detection distance, and low accuracy.

[0005] Therefore, it is necessary to design a new guide device to improve the efficiency and convenience of travel for blind people. Utility Model Content

[0006] The purpose of this invention is to provide a guide device for the blind, so as to solve the technical problems of existing guide devices being costly, difficult to use, and unable to guarantee the efficiency and convenience of blind people's travel.

[0007] To achieve the above objectives, this utility model provides a guide device for the visually impaired, comprising: a cane head, a cane body, a mobility module, a camera, a lidar, a power module, a data processing module, a positioning module, and an inertial measurement module;

[0008] The cane head is located at the top of the cane body, and one side of the cane head is a handle for the user to use for support;

[0009] The moving module is located at the bottom of the cane, the positioning module is located inside the cane head, and the inertial measurement module and the data processing module are located inside the cane.

[0010] The power module, the camera, and the lidar are respectively disposed on the outer side of the cane body. The camera and the lidar are disposed on the cane body near the cane head and are oriented in the opposite direction to the extension direction of the handle. The power module is electrically connected to the data processing module, the motion module, the camera, the lidar, the positioning module, and the inertial measurement module.

[0011] The data processing module is used to perform SLAM mapping based on the data collected by the lidar, the positioning module, and the inertial measurement module, and to detect obstacle information based on the data collected by the camera and the lidar, so as to generate navigation data for obstacle avoidance based on the SLAM mapping results and the obstacle information. The obstacle information includes obstacle category information, location information, size information, and speed information, and the navigation data includes navigation direction and navigation speed.

[0012] The mobile module is used to receive the navigation data and move according to the navigation data.

[0013] In this embodiment of the invention, the guide device further includes a network connection module and a Bluetooth module, which are respectively disposed inside the cane head;

[0014] The network connection module is used to call navigation data from the navigation application for global navigation;

[0015] The Bluetooth module is used to connect to a Bluetooth broadcasting device to send the obstacle information to the Bluetooth broadcasting device for playback.

[0016] In this embodiment of the invention, the guide device further includes a network antenna, which is disposed inside the cane head and connected to the network connection module.

[0017] The network antenna is used to receive wireless network communication signals, which are then used by the network connection module to download network resources.

[0018] In this embodiment of the invention, the guide device further includes a speaker, which is disposed on the outer side of the cane and connected to the data processing module.

[0019] The speaker is used to receive and broadcast the voice signals transmitted by the data processing module.

[0020] In this embodiment of the invention, the guide device further includes a microphone, which is used to receive voice data input by the user and to broadcast the voice signal generated after interactive processing by the data processing module through the speaker.

[0021] In this embodiment of the invention, the guide device further includes a warning light, which is used to provide a warning function.

[0022] In this embodiment of the invention, the indicator light includes an LED light.

[0023] In this embodiment of the invention, the cane is a telescopic and adjustable cane.

[0024] In this embodiment of the invention, the moving module includes electric wheels.

[0025] In this embodiment of the utility model, the guide device further includes an emergency help button, which is disposed on the handle and is connected to the speaker and the network connection module respectively. When the emergency help button is triggered, the emergency help button is used to send a preset alarm signal to the speaker for broadcasting and to send a preset help signal to the network connection module for emergency communication assistance to emergency contacts through the network connection module.

[0026] This utility model provides a guide device for the blind. A data processing module performs SLAM mapping on data collected by a lidar, positioning, and inertial measurement modules, and detects obstacle information from data collected by a camera and lidar. Based on the SLAM mapping results and obstacle information, navigation data for obstacle avoidance is generated. This navigation data is then sent to a mobile module at the bottom of the guide device, controlling the module to move accordingly. This enables real-time movement of the guide device in complex environments, allowing blind people to travel simply by following the device's guidance, thus improving their travel efficiency. Attached Figure Description

[0027] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0028] Figure 1 This is a schematic diagram of a guide device for the visually impaired provided in an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram illustrating the working principle of the guide device for the visually impaired provided in this embodiment of the utility model.

[0030] The labels in the attached diagram are as follows:

[0031] 100. Guiding device for the visually impaired; 101. Cane head; 102. Cane body; 103. Mobility module; 104. Camera; 105. LiDAR; 106. Power module; 107. Data processing module; 108. Positioning module; 109. Inertial measurement module; 110. Network connection module; 111. Bluetooth module; 112. Network antenna; 113. Speaker; 114. Microphone; 115. Indicator light; 116. Emergency help button. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] It should be noted that the directional terms used in this application, such as [up], [down], [front], [back], [left], [right], [inside], [outside], and [side], are only for reference to the accompanying drawings. Therefore, the directional terms used are for the purpose of explaining and understanding this application, and not for limiting this application. In the drawings, structurally similar units are represented by the same reference numerals. Furthermore, the thickness and shape in the accompanying drawings of this application do not reflect actual proportions, and are only intended to illustrate the embodiments of this application.

[0034] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] Blind people face numerous difficulties when traveling due to their visual impairment. Because they cannot visually identify landmarks or physical obstacles such as steps, curbs, and construction sites, they are prone to falls or collisions. Furthermore, the urban traffic environment is unpredictable; sidewalks, crosswalks, traffic lights, and other road users (such as vehicles and bicycles) can all pose risks.

[0036] While navigation and sensory assistance devices in related technologies, such as electronic guide dogs and wearable sensors, can help blind people travel, these devices are expensive and require certain skills and training to use. Blind people need to spend extra time and energy to learn and adapt to them.

[0037] Currently, guide products specifically designed for the blind are not very mature. Existing technologies mostly use infrared ranging sensing technology, depth cameras, single-point or single-line lidar, millimeter-wave radar, etc., which have small detection range, short detection distance, and low accuracy.

[0038] Therefore, it is necessary to design a new guide device to improve the efficiency and convenience of travel for blind people.

[0039] To solve the above-mentioned technical problems, this utility model provides a guide device 100, which will be described in detail below.

[0040] Please see Figure 1 , Figure 1 This is a schematic diagram of a guide device for the visually impaired provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the guide device 100 includes: a cane head 101, a cane body 102, a movement module 103, a camera 104, a lidar 105, a power module 106, a data processing module 107, a positioning module 108, and an inertial measurement module 109.

[0041] The cane head 101 is located at the top of the cane body 102, and one side of the cane head 101 is a handle for the user to use for support. The movement module 103 is located at the bottom of the cane body 102, the positioning module 108 is located inside the cane head 101, and the inertial measurement module 109 and the data processing module 107 are located inside the cane body 102. The power module 106, the camera 104, and the lidar 105 are respectively located on the outer side of the cane body 102. The camera 104 and the lidar 105 are located on the cane body 102 near the cane head 101 and are oriented in the opposite direction to the extension direction of the handle. The power module 106 is connected to the data processing module 107 and the movement module 108. Module 103, camera 104, lidar 105, positioning module 108, and inertial measurement module 109 are electrically connected; the data processing module 107 is used to perform SLAM mapping based on the data collected by lidar 105, positioning module 108, and inertial measurement module 109, and to detect obstacle information based on the data collected by camera 104 and lidar 105, so as to generate navigation data for obstacle avoidance based on the SLAM mapping results and the obstacle information. The obstacle information includes obstacle category information, location information, size information, and speed information. The navigation data includes navigation direction and navigation speed; the movement module 103 is used to receive the navigation data and move according to the navigation data.

[0042] In this embodiment, the lidar 105 can be a 3D lidar 105, the camera 104 can be a high-definition camera 104, the positioning module 108 can be a GPS positioning device, the inertial measurement module 109 can be an IMU inertial detection unit, the power module 106 can be a dry cell battery or a lithium battery, and the data processing module 107 can be a PLC controller or an embedded processor RK3588. Specifically, the lidar 105 in this embodiment collects three-dimensional point cloud data, the camera 104 collects image data, the positioning module 108 collects positioning data of the guide device 100, and the inertial measurement module 109 collects attitude data such as three-axis angle data and velocity data of the guide device 100.

[0043] In this embodiment, the data processing module 107 is mainly used to perform joint calibration on the data collected by each sensor module (the camera 104, the lidar 105, the positioning module 108, and the inertial measurement module 109), including time synchronization and spatial synchronization processing; then, laser SLAM mapping and positioning are performed, and the data collected by lidar 105 and camera 104 are fused to detect the environment around the guide cane, thereby providing a passable area and generating corresponding navigation data to send to the mobile module 103 to control the mobile module 103 to move forward or turn, so as to guide the blind person forward.

[0044] To better illustrate the working principle of the guide device 100 provided in this embodiment of the invention, please refer to [link / reference]. Figure 2 , Figure 2 This is a schematic diagram illustrating the working principle of the guide device for the visually impaired provided in this embodiment of the invention. Figure 2 As shown, the working principle of the guide device 100 provided in this embodiment of the present invention is as follows:

[0045] (1) Sensor initialization: This includes the process of initial calibration and verification of sensors such as lidar 105, camera 104, GPS, and IMU;

[0046] (2) Data acquisition: The surrounding environment is scanned by the lidar 105 to generate high-resolution 3D point cloud data; the image data of the surrounding environment is captured by the camera 104; the location information of the guide device 100 is acquired by the GPS; and the attitude information of the guide device 100 is acquired by the IMU.

[0047] (3) Data preprocessing: Denoise the data collected by each sensor to improve the accuracy of subsequent processing;

[0048] (4) Synchronous calibration of lidar 105 and camera 104: including time synchronization and spatial synchronization, projecting the point cloud of lidar 105 into the image so that each point cloud has the RGB information of the image in addition to the XYZ coordinate information;

[0049] (5) Feature extraction and fusion: Extract the point cloud geometric features of the lidar 105 in the environment and the visual features of the image, and perform information fusion to enhance the recognition capability;

[0050] (6) Object detection: Deep learning models are used to detect objects in the fused data, identifying obstacles and key objects in the surrounding environment, such as pedestrians, vehicles, non-motorized vehicles, tactile paving, guardrails, etc. Specifically, image recognition technology can be used for object detection or pedestrian detection, thus providing rich visual information. Real-time object detection and recognition can also be performed using deep learning models such as the YOLOv10 model.

[0051] (7) Output obstacle perception results: Perform multi-target tracking on the detected objects, and output the detection results after determining whether the objects are dynamic or static; specifically, the dynamic and static objects can be determined by the speed of the detected objects.

[0052] (8) Feature extraction: For mapping, feature points such as corner points, edges and planes need to be extracted from the point cloud data of the LiDAR 105.

[0053] (9) Map building: Based on the absolute position of GPS, the relative position change of IMU and the 3D environment scan of LiDAR 105, the map is gradually built and updated;

[0054] (10) Optimization and updating: Perform loop closure detection, identify and correct the positional errors of repeated areas, and further optimize and update the map using graph optimization algorithms;

[0055] (11) Map output: Outputs an optimized 3D map that can be used for multiple application scenarios such as navigation and obstacle recognition;

[0056] (12) Path planning and navigation: Based on the target detection output results of LiDAR 105 and visual fusion, as well as the mapping results of GPS, IMU and LiDAR 105 fusion, the guide device 100 is given the passable area in the current environment. Then, path planning is performed to generate navigation data of the optimal path planning and provide safe navigation guidance.

[0057] (13) Control execution and prompts: The generated navigation data is sent to the actuator, i.e. the mobile module 103, to move in order to navigate and avoid obstacles for the guide device 100, and the identified and planned information is broadcast in real time to remind the user.

[0058] Thus, by fusing the LiDAR 105 and camera 104 with deep learning detection in the guide device 100, static and dynamic obstacles in the surrounding environment can be accurately detected, and specific objects such as pedestrians, signs, road surfaces, and other obstacles can be identified and classified. Simultaneously, the deep learning model can learn complex object features from the images captured by the camera 104, improving the accuracy of object detection and classification. Combined with data from the LiDAR 105, more precise spatial location recognition and motion prediction can be achieved.

[0059] Furthermore, by using GPS, IMU, and LiDAR 105 for SLAM mapping, the advantages of the sensors can be complemented, enabling the guide device 100 to maintain good positioning accuracy during long-term operation, reducing error accumulation, and making it suitable for various complex indoor and outdoor environments. It has strong scene adaptability and can also update the map in real time to adapt to dynamic environments.

[0060] Therefore, the guide device 100 provided in this embodiment of the present invention can achieve real-time movement in complex environments. Blind people only need to follow the traction of the guide device 100 to complete their travel, which effectively improves the travel efficiency of blind people.

[0061] In this embodiment of the utility model, please continue to refer to Figure 1 The guide device 100 provided in this embodiment may further include a network connection module 110 and a Bluetooth module 111, which are respectively disposed inside the cane head 101; the network connection module 110 is used to call navigation data of a navigation application for global navigation; the Bluetooth module 111 is used to connect to a Bluetooth broadcasting device to send the obstacle information to the Bluetooth broadcasting device for playback.

[0062] The Bluetooth module 111 can connect to Bluetooth headphones to broadcast information about the surrounding environment, and the network connection module 110 can call navigation applications, such as the API of XX Map, for global navigation to meet the application needs in different scenarios.

[0063] Optionally, the guide device 100 provided in this embodiment may further include a network antenna 112, which is disposed inside the cane head 101 and connected to the network connection module 110. The network antenna 112 is used to receive wireless network communication signals for the network connection module 110 to download network resources.

[0064] In other embodiments, the guide device 100 provided in this embodiment may further include a speaker 113 and a microphone 114. The speaker 113 is disposed on the outer side of the cane 102 and connected to the data processing module 107. The speaker 113 is used to receive and broadcast the voice signal transmitted by the data processing module 107. The microphone 114 is used to receive voice data input by the user and broadcast the voice signal generated after interactive processing by the data processing module 107 through the speaker 113. In this way, the speaker 113 and microphone 114 can realize the voice interaction function between the user and the device, improving the user experience.

[0065] In some embodiments, the guide device 100 provided in this embodiment may further include an indicator light 115, which is used to provide a warning function. Through the indicator light, a warning function can be provided to surrounding pedestrians or vehicles during the use of the guide device 100, reminding them that the user of the guide device 100 is currently moving, thus ensuring the user's safety.

[0066] Specifically, the indicator light 115 provided in this embodiment may include an LED light. The color of the LED light may be red, yellow, or other colors that have a warning effect. Any color that can remind pedestrians or vehicles around to pay attention is acceptable, and no specific limitation is made here.

[0067] As an optional embodiment, the cane 102 provided in this embodiment can be a telescopic and adjustable cane 102. In this way, by setting the cane 102 as a telescopic and adjustable structure, the guide device 100 provided in this embodiment can be adapted to users of different heights and different application scenarios, thereby effectively improving the user experience.

[0068] In this embodiment, existing guide devices for the visually impaired use omnidirectional wheels at the bottom. However, omnidirectional wheels lack stability and require manual pushing when used on slopes or uneven surfaces. Furthermore, they are difficult to use in confined or complex environments for precise positioning. Therefore, the moving module 103 provided in this embodiment can use electric wheels. These electric wheels automatically control the direction and speed of the guide wheels based on the passable area provided by the data processing module 107, thus guiding the visually impaired person safely and effortlessly.

[0069] In this embodiment, the mobile module 103 can be equipped with a motor and a servo system. In this way, the A* algorithm can be used to plan the path based on the perception and mapping results data, and the direction and speed of the electric wheel can be adjusted in real time to achieve the purpose of precise navigation.

[0070] Specifically, the mobile module 103 provided in this embodiment may include two electric wheels. Thus, navigation via the dual electric wheels can improve the stability and accuracy of the guide device 100 when guiding users, further enhancing the user's travel efficiency and experience.

[0071] It should be noted that the number of electric wheels used in the mobile module 103 provided in this embodiment is not limited to one or two, but can also be three, four or more electric wheels, as long as they can improve the stability of the guide device 100 when guiding the user, and no specific limitation is made here.

[0072] In this embodiment of the invention, the guide device 100 may further include an emergency help button 116, which is disposed on the handle. The emergency help button 116 is connected to the speaker 113 and the network connection module 110 respectively. When the emergency help button 116 is triggered, it sends a preset alarm signal to the speaker 113 for broadcasting and sends a preset help signal to the network connection module 110 for emergency communication assistance to emergency contacts through the network connection module 110.

[0073] It should be noted that the emergency contact provided in this embodiment can be one or more pre-set contacts, such as one or more family members of the user, or the police. Thus, by setting an emergency help button 116 on the handle, an emergency help function can be provided to the user, allowing the user to quickly trigger it in case of an emergency, and then request help via voice broadcast or alarm, effectively improving the safety of the guide device 100 provided in this embodiment.

[0074] In summary, this utility model embodiment provides a guide device for the blind, including a cane head, a cane body, a movement module, a camera, a lidar, a power module, a data processing module, a positioning module, and an inertial measurement module. The cane head is located at the top of the cane body, and one side of the cane head is a handle for the user to support. The movement module is located at the bottom of the cane body, the positioning module is located inside the cane head, and the inertial measurement module and the data processing module are located inside the cane body. The power module, the camera, and the lidar are respectively located on the outer side of the cane body. The camera and the lidar are located on the cane body near the cane head and are oriented in the opposite direction to the extension direction of the handle. The power module is electrically connected to the data processing module, the motion module, the camera, the lidar, the positioning module, and the inertial measurement module, respectively. The data processing module is used to perform SLAM mapping based on the data collected by the lidar, the positioning module, and the inertial measurement module, and to detect obstacle information based on the data collected by the camera and the lidar. Based on the SLAM mapping results and the obstacle information, navigation data for obstacle avoidance is generated. The obstacle information includes obstacle category information, location information, size information, and speed information. The navigation data includes navigation direction and navigation speed. The motion module is used to receive the navigation data and move according to the navigation data.

[0075] By employing the embodiments of this utility model, the following beneficial effects can be achieved:

[0076] 1. Compared with the perception scheme based on cameras and ultrasound, the deep learning detection algorithm that combines lidar point cloud and camera on the guide device can achieve all-weather operation and is not affected by light. It can output accurate three-dimensional information of objects around the guide device, including position, size, speed, type and road surface smoothness, which is conducive to accurate positioning, navigation and obstacle avoidance.

[0077] 2. Electric wheels offer better guidance stability, are more adaptable to road environments, and provide more accurate navigation and obstacle avoidance, guiding blind people forward. Compared to traditional universal wheels that still require physical effort to propel, the guide device provided in this embodiment is labor-saving and worry-free, effectively improving the travel efficiency and experience of blind people.

[0078] In addition to the embodiments described above, this application may have other implementation methods. All technical solutions formed by equivalent substitutions or equivalent replacements fall within the protection scope claimed by this application.

[0079] Although the preferred embodiments have been disclosed above in this application, the above preferred embodiments are not intended to limit this application. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of this application. Therefore, the scope of protection of this application shall be determined by the scope defined in the claims.

Claims

1. A guide device for the visually impaired, characterized in that, include: The cane head, cane body, motion module, camera, lidar, power module, data processing module, positioning module, and inertial measurement module; The cane head is located at the top of the cane body, and one side of the cane head is a handle for the user to use for support; The moving module is located at the bottom of the cane, the positioning module is located inside the cane head, and the inertial measurement module and the data processing module are located inside the cane. The power module, the camera, and the lidar are respectively disposed on the outer side of the cane body. The camera and the lidar are disposed on the cane body near the cane head and are oriented in the opposite direction to the extension direction of the handle. The power module is electrically connected to the data processing module, the motion module, the camera, the lidar, the positioning module, and the inertial measurement module. The data processing module is used to perform SLAM mapping based on the data collected by the lidar, the positioning module, and the inertial measurement module, and to detect obstacle information based on the data collected by the camera and the lidar, so as to generate navigation data for obstacle avoidance based on the SLAM mapping results and the obstacle information. The obstacle information includes obstacle category information, location information, size information, and speed information, and the navigation data includes navigation direction and navigation speed. The mobile module is used to receive the navigation data and move according to the navigation data.

2. The guide device for the visually impaired according to claim 1, characterized in that, The guide device for the visually impaired also includes a network connection module and a Bluetooth module, which are respectively disposed inside the cane head; The network connection module is used to call navigation data from the navigation application for global navigation; The Bluetooth module is used to connect to a Bluetooth broadcasting device to send the obstacle information to the Bluetooth broadcasting device for playback.

3. The guide device for the visually impaired according to claim 2, characterized in that, The guide device also includes a network antenna, which is disposed inside the cane head and connected to the network connection module; The network antenna is used to receive wireless network communication signals, which are then used by the network connection module to download network resources.

4. The guide device for the visually impaired according to claim 1, characterized in that, The guide device also includes a speaker, which is disposed on the outer side of the cane and connected to the data processing module. The speaker is used to receive and broadcast the voice signals transmitted by the data processing module.

5. The guide device for the visually impaired according to claim 4, characterized in that, The guide device also includes a microphone, which is used to receive voice data input by the user and broadcast the voice signal generated after interactive processing by the data processing module through the speaker.

6. The guide device for the visually impaired according to claim 1, characterized in that, The guide device also includes a warning light, which is used to provide a warning.

7. The guide device for the visually impaired according to claim 6, characterized in that, The indicator light includes an LED light.

8. The guide device for the visually impaired according to claim 1, characterized in that, The cane is retractable and adjustable.

9. The guide device for the visually impaired according to claim 1, characterized in that, The mobility module includes electric wheels.

10. The guide device for the visually impaired according to claim 4, characterized in that, The guide device for the visually impaired also includes an emergency help button, which is located on the handle. The emergency help button is connected to the speaker and the network connection module. When the emergency help button is triggered, the emergency help button is used to send a preset alarm signal to the speaker for broadcasting and to send a preset help signal to the network connection module for emergency communication assistance to emergency contacts through the network connection module.

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