A portable obstacle avoidance device for assisting blind people in travel

Abstract

The utility model relates to the technical field of barrier avoidance device, concretely is a portable barrier avoidance device for assisting blind people to travel, including the casing, the second outer wall of casing is provided with first ranging module, the inclined surface of casing is provided with second ranging module, is provided with host computer and vibration module in the casing. The utility model discloses, aiming at the problem that the privacy of blind user is neglected because of voice broadcast for the prior art product, the device provides the feedback mode of non - voice through vibration module, avoids causing the attention of others or the psychological discomfort of user, improves the use experience while protecting the privacy, overcomes the voice failure problem of prior art product in noisy environment, even under complex scene, user can also know that the barrier appears in the front or the front lower side through vibration prompt, ensures the product stability and practicality. Still with braille button, automatic adjusting function is combined, reduces the learning cost and psychological stress, improves the acceptance of user to product.

Description

[0001] Priority application

[0002] This application claims priority to Chinese invention patent application filed on December 9, 2024 [Application No.: 2024118056804] [A Portable Obstacle Avoidance Device for Assisting Blind People to Travel], which is incorporated herein by reference in its entirety. Technical Field

[0003] This utility model relates to the field of obstacle avoidance technology, specifically a portable obstacle avoidance device for assisting blind people in their travel. Background Technology

[0004] In recent years, the number of visually impaired people has been increasing. Due to their physical limitations, blind people often experience psychological problems such as a lack of security, which can lead to delays in their actions and responses. This can result in interpersonal communication barriers and even social isolation for the blind. The main obstacles blind people encounter when traveling include public transportation, intersections, and object recognition. Assistive devices for the blind typically need to be safe, accurate, real-time, and easy to use, while also providing basic identification and prompting functions.

[0005] For example, utility model patent application CN113520811A discloses an intelligent obstacle avoidance device for the blind, including a microcontroller main control chip, a ranging module, a compass positioning module, a GSM SMS module, a voice broadcast system, and an automatic light-following system. The ranging module uses ultrasonic ranging, the compass positioning module locates the current position in real time, the GSM SMS module connects to a specific mobile phone, and the automatic light-following system detects ambient light intensity, detects obstacles through the ranging module, and alerts the blind person to avoid them via the voice broadcast system. The GSM SMS module also allows for timely notification of guardians for rescue in complex situations. Furthermore, the automatic light-following system and LED lights ensure the blind person is in a well-lit environment, making them more easily noticed.

[0006] However, this device uses voice prompts to alert blind users. On the one hand, this completely ignores the feelings of blind users, who typically do not want to be stared at or scrutinized. On the other hand, in noisy environments, users cannot hear the voice prompts at all. Therefore, existing technologies have proposed various obstacle avoidance devices that use vibration to alert blind users.

[0007] For example, Chinese utility model patent application CN202096415U discloses a guide device for the blind, including a protective sleeve for detecting obstacles and alerting blind people, and a power module for powering the entire device. The protective sleeve is equipped with an ultrasonic obstacle avoidance device, which includes a sonar sensor, a microcontroller, a vibration adjustment circuit, and a vibration motor connected in sequence. The sonar sensor sends the detected obstacle information to the microcontroller to calculate and determine the distance to the obstacle. Based on the distance to the obstacle, the microcontroller adjusts the vibration adjustment circuit, which controls the vibration frequency of the vibration motor to alert the user.

[0008] For example, Chinese utility model patent application CN114265415A discloses a system for obstacle avoidance in travel for the blind, including a direction navigation wristband, a distance navigation wristband, and an environmental acquisition device. The environmental acquisition device includes an image acquisition module and an infrared obstacle detection module, used to acquire environmental images and detect obstacle distances via infrared light, respectively. The environmental acquisition device integrates a data processing module and a signal transmission module. The data processing module receives the acquired image information, analyzes and identifies obstacles in the environment, records obstacle distances, and finally converts the analyzed obstacle information into electrical signals, which are transmitted to the direction navigation wristband and the distance navigation wristband. Upon receiving the signal, the direction navigation wristband controls a first vibration module to vibrate in a specific direction to indicate the obstacle avoidance direction. Upon receiving the signal, the distance navigation wristband controls a second vibration module to vibrate; the faster the vibration frequency, the closer the user is to the obstacle. This system uses vibration signals from different wristbands to effectively guide the user to avoid obstacles, and is simple, convenient, and reliable.

[0009] However, the existing obstacle avoidance devices mentioned above all need to be worn on the user's limbs, such as the waist, legs, or arms. This can cause discomfort for the user, and the movement of the user's arms and legs when worn on the limbs can lead to more interference data being collected by the sensors. Therefore, we propose another portable obstacle avoidance device to assist blind people in their travel. Utility Model Content

[0010] The purpose of this utility model is to provide a portable obstacle avoidance device for assisting blind people in their travel. It uses vibration to remind users, which to some extent solves or alleviates the problem of existing products neglecting blind users' concerns about privacy and voice failure in noisy environments, resulting in insufficient user experience. On the other hand, it is more convenient to carry and can also reduce a large amount of interference data caused by wearing it on the arm or leg.

[0011] To solve the aforementioned technical problems, the present invention specifically adopts the following technical solution:

[0012] A portable obstacle avoidance device for assisting blind people in traveling includes a housing. The housing includes a first outer wall that fits against the wearer's body and a second outer wall that is disposed opposite to the first outer wall. A first ranging module is disposed on the second outer wall. An inclined surface is disposed between the first outer wall and the second outer wall. A second ranging module is disposed on the inclined surface. A switch button is disposed on one side of the housing. A main unit and a vibration module are disposed inside the housing. The housing is provided with a clamp, magnetic clamp, or suspension rope for mounting the obstacle avoidance device on the wearer's body.

[0013] The clamp includes a clamping plate rotatably mounted on the second outer wall;

[0014] Alternatively, the clamp includes a front pressing member disposed on the second outer wall, a fixed connecting disc fixedly connected to the first outer wall, a connecting disc frame covering the fixed connecting disc, one end of an elastic element one fixedly connected to the inner wall of the fixed connecting disc, the other end of the elastic element one fixedly connected to the connecting disc frame, a connecting plate parallel to the first outer wall fixedly connected to the connecting disc frame, one end of an elastic element two fixedly connected to the outer wall of the connecting disc frame away from the housing, a clamping plate fixedly connected to the other end of the elastic element two, the clamping plate rotatably connected to the connecting disc frame, a wedge block fixedly connected to the outer wall of the fixed connecting disc, a connecting column fixedly connected to the inner wall of the connecting disc frame, a ball bearing rotatably connected to the side of the connecting column near the fixed connecting disc, and a front ball bearing rotatably connected to the side of the connecting disc frame near the housing.

[0015] Preferably, the middle part of the front pressing member is a cylindrical block, the bottom of the front pressing member is a bearing, the outer ring of the bearing of the front pressing member is fixedly connected to the housing, and the inner ring of the bearing of the front pressing member is fixed to the cylindrical block.

[0016] Preferably, the wedge block is a block with a pointed tip on its surface, and a plurality of fixed connecting disks are provided, with the wedge blocks arranged in a circumferential array on the fixed connecting disks.

[0017] Preferably, there are a plurality of front ball bearings arranged in an array.

[0018] Preferably, a power module electrically connected to the host is disposed inside the housing.

[0019] Preferably, an image acquisition module is provided on the second outer wall.

[0020] Preferably, a shortcut button is provided on the other side of the housing, and the shortcut button has three-dimensional Braille on its button.

[0021] Preferably, the switch button has 3D Braille on its button.

[0022] Preferably, the first ranging module is an ATK-MS53L2M model, and the second ranging module is a TOF400C laser ranging module.

[0023] Preferably, the image acquisition module uses an ixm219 fisheye lens to capture a wide-angle scene in front of the user.

[0024] Beneficial Effects: 1. This utility model addresses the issue of existing products neglecting the privacy of blind users due to voice broadcasting. This device provides non-voice feedback through a vibration module, avoiding attracting attention or causing psychological discomfort to the user. It enhances the user experience while protecting privacy. By using vibration feedback instead of voice broadcasting, this device overcomes the problem of voice failure in noisy environments. Even in complex scenarios, users can accurately perceive obstacle information through vibration prompts, ensuring product stability and practicality. This device not only meets the privacy protection needs of blind users but also combines with Braille buttons and automatic adjustment functions, reducing learning costs and psychological pressure, and increasing user acceptance of the product.

[0025] 2. This utility model, through a simple pressing mechanical design, allows the user to automatically adjust the angle of the second ranging module under the action of gravity simply by pressing the front pressing part and the connecting disc frame with their thumb and forefinger respectively (for example, see...). Figure 1 When the shell hangs down naturally under the action of gravity, the first outer wall and the second outer wall are located in a vertical plane, and the angle of the inclined surface between the first outer wall and the second outer wall is 35°-45°. It is precisely fixed to ensure that the module always faces the ground, which is convenient for detecting obstacles such as steps or potholes in front and below, and significantly improves the convenience of use and obstacle avoidance accuracy for blind users. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0028] Figure 2 This is a schematic diagram of the front pressing component in this utility model;

[0029] Figure 3 This is a schematic diagram of the structure of the clamping plate in this utility model;

[0030] Figure 4 This is a cross-sectional structural diagram of the connecting disc frame in this utility model;

[0031] Figure 5 This is a schematic diagram of the connecting column in this utility model;

[0032] Figure 6 This is a schematic diagram of the switch button in this utility model;

[0033] Figure 7 This is a cross-sectional structural diagram of the shell in this utility model;

[0034] Figure 8 This is a schematic diagram of the shortcut button in this utility model.

[0035] In the diagram: 1. First ranging module; 2. Image acquisition module; 3. Switch button; 4. Second ranging module; 5. Main unit; 6. Power module; 7. Shortcut button; 8. Vibration module; 10. Clamp; 11. Housing; 31. Front pressing component; 32. Fixed connecting disc; 33. Elastic component one (e.g., spring); 34. Connecting disc frame; 35. Connecting plate; 36. Elastic component two (e.g., spring); 37. Clamping plate; 38. Wedge block; 39. Connecting column; 310. Front ball bearing. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0037] In this document, suffixes such as "module," "part," or "unit" used to denote elements are used only for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, "module," "part," or "unit" can be used interchangeably.

[0038] In this document, the terms "upper," "lower," "inner," "outer," "front," "rear," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In this document, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0041] In this article, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0042] Please see Figure 1 - Figure 8 As shown, the present invention provides a technical solution: a portable obstacle avoidance device for assisting blind people in traveling, comprising a housing 11. Preferably, the housing 11 has a trapezoidal cross-section, including a first outer wall (corresponding to the base of the trapezoid) that fits against one side of the wearer's body, and a second outer wall (corresponding to the top of the trapezoid) that is opposite to the first outer wall. A first ranging module 1 is provided on the second outer wall. An inclined surface (i.e., a side wall between the first and second outer walls, corresponding to the inclined side of the trapezoid) is provided between the second outer wall and the first outer wall of the housing 11. A second ranging module 4 is provided on the inclined surface. A switch button 3 is provided on one side of the housing 11 (i.e., the other side wall between the first outer wall and the second outer wall), and a shortcut button 7 is provided on the other side of the housing 11 (i.e., the other side wall between the first outer wall and the second outer wall). The main unit 5, the power module 6, and the vibration module 8 are provided inside the housing 11. The first ranging module 1, the second ranging module 4, and the vibration module 8 are all electrically connected to the main unit 5, and the power module 6 is electrically connected to the main unit 5, the first ranging module 1, the second ranging module 4, and the vibration module 8.

[0043] Furthermore, the housing 11 is provided with a clamp 10 for mounting the housing 11 on a wearer (e.g., on clothing).

[0044] In some embodiments, the clamp 10 includes a front pressing member 31 disposed on the second outer wall of the housing 11. A fixed connecting disc 32 is fixedly connected to the first outer wall of the housing 11. One end of an elastic member 33 is fixedly connected to the inner side of the fixed connecting disc 32, and the other end of the elastic member 33 is fixedly connected to a connecting disc frame 34. The connecting disc frame 34 covers the fixed connecting disc 32. A connecting plate 35 (preferably parallel to the first outer wall of the housing 11 and with a certain distance between it and the first outer wall) is fixedly connected to the connecting disc frame 34. One end of an elastic member 36 is fixedly connected to the outer wall of the connecting disc frame 34, and the other end of the elastic member 36 is fixedly connected to a clamping plate 37. The clamping plate 37 is rotatably connected to the outer wall of the connecting disc frame 34 (preferably, the clamping plate 37 includes a first body and a second body that are fixedly connected, and the first body and the second body are set at an obtuse angle. Under the premise of no external action, since the other end of the elastic member 36 abuts against the second body, the first body is parallel to the connecting plate 35 and forms a clamping structure with it). The outer wall of the fixed connecting disc 32 is fixedly connected with a plurality of wedge blocks 38 (evenly arranged along the circumference). The inner wall of the connecting disc frame 34 is fixedly connected with a connecting column 39. A ball is rotatably connected to the side of the connecting column 39 near the fixed connecting disc 32. A front ball 310 is rotatably connected to the side of the connecting disc frame 34 near the housing 11.

[0045] In some embodiments, the center of the front pressing member 31 is a cylindrical block, and the bottom of the front pressing member 31 is a bearing. The outer ring of the bearing of the front pressing member 31 is fixedly connected to the housing 11, and the inner ring of the bearing of the front pressing member 31 is fixed to the cylindrical block, so that the housing 11 can rotate freely when the cylindrical block of the front pressing member 31 is pressed. The wedge block 38 is a block with a pointed tip on its surface. The wedge blocks 38 are arranged in a circumferential array on the fixed connecting disc 32. A plurality of front ball bearings 310 are provided, and the front ball bearings 310 are arranged in an array. Preferably, each front ball bearing 310 corresponds to a connecting post 39, see [reference]. Figure 5 .

[0046] When wearing, press the side of the clip 37 closest to the elastic element 36 (such as the second body), causing the clip 37 to squeeze the elastic element 36. The side of the clip 37 away from the elastic element 36 (such as the first body) will lift up. Release the clip 37 to clip it onto clothing. Then, press the front pressing member 31 with your index finger and press the part of the clip 37 parallel to the connecting plate 35 with your thumb (i.e., press the first body with your thumb). At this time, the clip 37 squeezes the connecting disc frame 34, causing the connecting disc frame 34 to move towards the fixed connecting disc 32. At this time, the connecting post 39 on the inner wall of the connecting disc frame 34 moves towards the housing 11 until the front ball bearing 310 on the connecting disc frame 34 abuts against the first outer wall of the housing 11. At this time, the connecting post 39 is no longer engaged with the wedge block 38 (i.e., without external engagement). Under the action of force, or under normal conditions, the connecting column 39 and the wedge block 38 are engaged, and the ball bearings that abut against the fixed connecting disk 32 at the tip of the connecting column 39 allow the fixed connecting disk 32 to rotate smoothly. At this time, under the action of gravity, the housing 11 that is fixedly connected to the fixed connecting disk 32 rotates (that is, a virtual axis is formed between the cylindrical block of the front pressing member 31 and the connecting disk frame 34, so that the housing 11 can rotate around the virtual axis), so that the inclined surface of the housing 11 faces downward, and the second ranging module 4 faces the direction of the ground. Finally, by releasing the index finger and thumb, the elastic element 33 moves the connecting disc frame 34 away from the housing 11, causing the connecting disc frame 34 to engage with the connecting column 39 and the wedge block 38, thus fixing the angle of the housing 11. The purpose of this design is to allow the device to automatically adjust to the optimal working state through simple operation, ensuring that the second ranging module 4 faces the ground when in use, and better detects obstacles in front and below, such as steps or potholes. This solves the problem that blind users have difficulty adjusting the device angle due to visual limitations after holding or wearing the device, and improves the ease of use and obstacle avoidance accuracy of the device.

[0047] In some embodiments, the first ranging module 1 is used to detect obstacles in front of the user, and the second ranging module 4 is used to detect obstacles below and in front of the user.

[0048] In some embodiments, the shortcut button 7 has 3D Braille on its button, and the switch button 3 has 3D Braille on its button.

[0049] In some embodiments, the first ranging module 1 is an ATK-MS53L2M model, and the second ranging module 4 is a TOF400C laser ranging module.

[0050] In some embodiments, the host 5 uses an Arduino Nano main control board X2; the vibration module 8 uses a ring vibration motor module X2.

[0051] In some embodiments, an image acquisition module 2 is provided on the second outer wall of the housing 11. Preferably, the image acquisition module 2 uses an ixm219 fisheye lens for capturing wide-angle scenes in front of the user.

[0052] In other embodiments, the obstacle avoider also includes a voice module connected to the host 5 for voice broadcasting or reminders.

[0053] This utility model discloses a portable obstacle avoidance device for assisting blind people in their travel. When the user presses the switch button 3, the device is turned on. The first ranging module 1 and the second ranging module 4 detect obstacle information in front of and below the user, respectively, and upload it to the host 5. The host 5 can make corresponding control logic based on the detection information detected by the first ranging module 1 and the second ranging module 4. The vibration module 8 vibrates at a corresponding frequency according to the logic given by the host 5. The user makes corresponding actions according to the vibration frequency to complete one obstacle avoidance feedback. (Specifically, the principle of this control logic is existing technology. For example, existing technology CN113520811A describes that when the ranging module detects an obstacle, the ranging module will send a signal to the microcontroller system. After receiving the signal, the microcontroller will remind the user of whether there is an obstacle in front through voice broadcast. The difference is that in this application, the corresponding control logic is sent to the vibration module to vibrate to remind the user. That is, once an obstacle is detected, vibration is used to remind the user, such as CN202096415U). If the user initiates video communication with a third-party helper via shortcut button 7 (this is existing technology and will not be elaborated here), the image acquisition module 2 begins to capture road information ahead of the user and transmits it to the host 5. The host 5 then sends the captured video data to a cloud system, a third-party helper (such as family or friends), or a volunteer platform. The cloud system, based on the video footage and the user's needs, provides corresponding feedback through AI visual processing (e.g., providing voice prompts on how to walk, or indicating whether the light is green), completing a cloud-based travel assistance session. Family members or volunteers receive the video through the app platform and offer suggestions and assistance based on the video and the blind user's experience, completing a remote travel assistance session.

[0054] Compared to traditional, commercially available assistive devices for the blind, such as obstacle-avoidance glasses, hats, and bracelets, which often cost thousands to tens of thousands of yuan and come in various shapes and sizes, this new invention does not consider the psychological needs of blind users. It leaves room for improvement not only in terms of price but also in terms of psychological comfort and stress. This invention, with its compact size and low cost, allows users to choose the placement of the device according to their needs. Its small size allows it to be clipped onto clothing such as the chest, trouser cuffs, or outer arm, eliminating the need to wear it on the limbs and significantly reducing the psychological stress associated with using assistive devices.

[0055] Compared to existing technologies (obstacle avoidance glasses, obstacle avoidance hats, etc.) commonly found on the market, which average around 2000 yuan, the hardware cost of this invention in the prototype stage is less than 800 yuan. If mass production is achieved later, the price could be even lower.

[0056] Compared to existing obstacle avoidance devices (obstacle avoidance glasses, helmets, etc.) on the market, which vary in shape and focus solely on functionality, resulting in extremely high learning costs for blind people and discomfort and fatigue from prolonged wear, this obstacle avoidance device employs numerous "easy-to-use" features. For example, blind people can quickly confirm road conditions through stereoscopic Braille, voice feedback, and vibration feedback—the most sensitive sensory systems besides vision. Furthermore, family members or volunteers can remotely assist blind people based on real-time images captured by the image acquisition module. Users can avoid the hassle of taking out their phones to capture images; they can directly capture images using the image acquisition module within the obstacle avoidance device worn on the chest.

[0057] In this embodiment, the ranging module uses a lidar module, but it can also be replaced with a millimeter-wave radar that consumes less power.

[0058] In other embodiments, see Figure 7 and Figure 8 The clamp includes a clamp 37 that is directly rotatably mounted on the second outer wall. Specifically, the obstacle avoidance device is worn on the chest using the clamp 10. Alternatively, a magnetic necklace can be used, and the clamp 10 can be attached to the magnetic necklace.

[0059] In other embodiments, the clamp 10 may also employ the magnetic clamp. Specifically, it includes a first magnetic element fixedly disposed on the second outer wall of the housing 11, and a second magnetic element magnetically connected to the first magnetic element, so that when the user's clothing is held between the first and second magnetic elements, the obstacle avoidance device can be installed on the user's clothing. Preferably, the obstacle avoidance device can be installed at the user's collarbone or chest.

[0060] Of course, in other embodiments, a hanging hole may be provided on the housing 11 so that the user can wear the obstacle avoidance device using a hanging rope.

[0061] Furthermore, to improve user experience, the obstacle avoidance device can be optimized by employing a multi-level vibration feedback alert method, such as increasing the vibration frequency as the distance to the obstacle increases (e.g., CN202096415U). Preferably, the vibration frequency of the vibration module 8 increases as the obstacle gets closer to the user. For example, taking the first ranging module 1 as an example, when the host 5 determines that the obstacle in front or below is 4-8m away from the user, the vibration module 8 vibrates once at a preset time interval (e.g., once every 500ms); if the distance is 1.5-4m away from the user, the vibration module 8 vibrates once at a preset time interval (e.g., once every 400ms); if the distance is 10cm-1.5m away from the user, the vibration module 8 vibrates continuously. Of course, the second ranging module 4 also has a corresponding distance threshold range.

[0062] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0063] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A portable obstacle avoidance device for assisting blind people in traveling, comprising a housing (11), characterized in that: The housing (11) includes a first outer wall that fits against the wearer's body and a second outer wall that is opposite to the first outer wall. A first ranging module (1) is provided on the second outer wall. An inclined surface is provided between the first outer wall and the second outer wall. A second ranging module (4) is provided on the inclined surface. A switch button (3) is provided on one side of the housing (11). A main unit (5) and a vibration module (8) are provided inside the housing (11). A clamp, magnetic clamp, or suspension rope for installing the obstacle avoider on the wearer's body is provided on the housing (11). The clamp includes a clamping plate (37) rotatably mounted on the second outer wall; Alternatively, the clamp includes a front pressing member (31) disposed on the second outer wall, a fixed connecting disc (32) fixedly connected to the first outer wall, a connecting disc frame (34) covering the fixed connecting disc (32), one end of an elastic element (33) fixedly connected to the inner wall of the fixed connecting disc (32), the other end of the elastic element (33) fixedly connected to the connecting disc frame (34), a connecting plate (35) parallel to the first outer wall fixedly connected to the connecting disc frame (34), and the connecting disc frame (34) being away from the housing (11). One end of the elastic element two (36) is fixedly connected to the outer wall of one side, and the other end of the elastic element two (36) is fixedly connected to the clamping plate (37). The clamping plate (37) is rotatably connected to the connecting disc frame (34). The outer wall of the fixed connecting disc (32) is fixedly connected to the wedge block (38). The inner wall of the connecting disc frame (34) is fixedly connected to the connecting column (39). The side of the connecting column (39) near the fixed connecting disc (32) is rotatably connected to the ball. The side of the connecting disc frame (34) near the shell (11) is rotatably connected to the front ball (310).

2. The portable obstacle avoidance device for assisting blind people in traveling according to claim 1, characterized in that: The middle part of the front pressing member (31) is a cylindrical block, the bottom of the front pressing member (31) is a bearing, the outer ring of the bearing of the front pressing member (31) is fixedly connected to the housing (11), and the inner ring of the bearing of the front pressing member (31) is fixed to the cylindrical block.

3. A portable obstacle avoidance device for assisting blind people in traveling according to claim 1, characterized in that: The wedge block (38) is a block with a pointed tip on its surface. Several fixed connecting disks (32) are provided. The wedge blocks (38) are arranged in a circumferential array on the fixed connecting disks (32).

4. A portable obstacle avoidance device for assisting blind people in traveling according to claim 1, characterized in that: The front ball bearings (310) are provided in a plurality of units, and the front ball bearings (310) are arranged in an array.

5. A portable obstacle avoidance device for assisting blind people in traveling according to claim 1, characterized in that: The housing (11) contains a power module (6) that is electrically connected to the host.

6. A portable obstacle avoidance device for assisting blind people in traveling according to claim 1, characterized in that: An image acquisition module (2) is provided on the second outer wall.

7. A portable obstacle avoidance device for assisting blind people in traveling according to claim 1, characterized in that: A shortcut button (7) is provided on the other side of the housing (11), and the shortcut button (7) is provided with three-dimensional Braille.

8. A portable obstacle avoidance device for assisting blind people in traveling according to claim 1, characterized in that: The switch button (3) has 3D Braille on its button.

9. A portable obstacle avoidance device for assisting blind people in traveling according to claim 1, characterized in that: The first ranging module (1) is an ATK-MS53L2M model, and the second ranging module (4) is a TOF400C laser ranging module.

10. A portable obstacle avoidance device for assisting blind people in traveling according to claim 6, characterized in that: The image acquisition module (2) uses an ixm219 fisheye lens to capture a wide-angle scene in front of the user.

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