Blind guiding robot device and visual recognition navigation system

Abstract

The utility model discloses a blind guiding robot device and visual identification navigation system, the device includes walking robot structure, traction structure is set to the touch support platform of predetermined height, the top position of walking robot structure is equipped with the fixed connection of touch support platform, visual identification navigation system includes the blind guiding robot device, electric control structure and voice component through the circuit link. The technical problem that the blind guiding equipment of prior art excessively depends on blind person's independent judgment, and the overall functionality is relatively single is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to blind guiding robot equipment technical field, specifically, a blind guiding robot device and visual identification navigation system. BACKGROUND

[0002] At present, with the continuous development of society, the application of robot equipment is further expanded, which gradually extends from industrial production to medical treatment, family and education service, and the application of robot in medical treatment industry has been concerned, and as a kind of service robot, the development of blind guiding robot is also concerned.

[0003] In the prior art, the equipment for guiding blind people on the market is still generally a blind guiding stick, which can detect the road conditions in front to a certain extent, but its detection capacity is limited, still depends on the independent judgment ability of blind people, and usually needs blind people to operate independently, cannot guide blind people to act actively after detection, and the functionality is relatively single. UTILITY MODEL CONTENT

[0004] Therefore, the utility model provides a blind guiding robot device and visual identification navigation system to solve the problem that the blind guiding device in the prior art excessively depends on the independent judgment of blind people and the overall functionality is relatively single.

[0005] In order to achieve the above purpose, the utility model provides the following technical scheme:

[0006] A blind guiding robot device comprises:

[0007] Walking robot structure;

[0008] Traction structure, set as a touch handrail of predetermined height, the touch handrail is fixedly connected and assembled at the top position of the walking robot structure.

[0009] On the basis of the above technical scheme, the utility model is further described as follows:

[0010] As a further scheme of the utility model, it further comprises:

[0011] Interactive component structure, fixedly assembled at the top side position of the double-wheel foot type robot;

[0012] The interactive component structure comprises an AI visual identification interactive component and an AI voice interactive component;

[0013] The AI visual identification interactive component comprises a high-precision radar and a high-definition camera;

[0014] The AI voice interactive component is set as a voice output and recognition input component.

[0015] As a further scheme of the utility model,

[0016] The walking robot structure is arranged as a double-wheel foot type robot or a horizontal robot.

[0017] The traction structure further comprises:

[0018] The connecting rod traction assembly comprises a transmission arm assembly arranged in a direction that can be adjusted, one end of the transmission arm assembly being connected to the walking robot structure through adapter assembly.

[0019] The traction holding assembly is connected to the other end of the transmission arm assembly through adapter assembly.

[0020] As a further scheme of the utility model,

[0021] The walking robot structure comprises a camera assembly fixedly connected to the horizontal robot, and the camera assembly can serve as a visual identification detection end.

[0022] As a further scheme of the utility model,

[0023] The camera assembly comprises a close-range camera and a long-range camera.

[0024] The close-range camera and the long-range camera are respectively arranged on the walking robot structure.

[0025] As a further scheme of the utility model,

[0026] The connecting rod traction assembly further comprises an adapter shaft seat, a first joint shaft and a second joint shaft.

[0027] The transmission arm assembly comprises a first transmission arm and a second transmission arm.

[0028] The traction holding assembly comprises a holding main body.

[0029] The rotating shaft of the adapter shaft seat is arranged vertically, one end of the first transmission arm is arranged on the tail end of the walking robot structure through horizontal adapter assembly of the adapter shaft seat.

[0030] The rotating shaft of the first joint shaft and the rotating shaft of the second joint shaft are both arranged horizontally, one end of the second transmission arm is connected to the other end of the first transmission arm through the first joint shaft, and the other end of the second transmission arm is connected to the holding main body through the second joint shaft.

[0031] As a further scheme of the utility model,

[0032] The first joint shaft and the second joint shaft are both arranged as lockable shaft structures.

[0033] As a further scheme of the utility model,

[0034] The traction holding assembly further comprises a side handle rod.

[0035] The side handle rod is fixedly arranged on at least one side of the holding main body along the horizontal direction.

[0036] As a further scheme of the utility model,

[0037] The traction holding assembly further comprises a bottom handle rod.

[0038] The bottom handle rod is arranged on the bottom of the holding main body along the vertical direction.

[0039] A visual recognition navigation system comprises the blind guiding robot device.

[0040] The visual recognition navigation system further comprises:

[0041] The electric control structure comprises a mobile power supply and a control module connected through a circuit.

[0042] The camera assembly and the control input end of the control module are connected through a circuit.

[0043] The control output end of the control module is connected with the input end of a relay through a circuit, and the output end of the relay is connected with a voice assembly through a circuit.

[0044] The utility model has the following beneficial effects:

[0045] The device can effectively serve as a power base for detecting and avoiding obstacles through the walking robot structure, and can utilize the traction structure to assist the walking robot structure in active traction, thereby reducing the dependence on the blind person's self-judgment. The device can also realize real-time voice reporting of the acquired real scene road conditions through the interactive assembly structure, effectively receive voice instructions, further plan a route after self-identifying the instruction content, and cooperate with the visual recognition function to complete the path planning and reporting reminder with the help of voice. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed in the embodiments or the prior art description. The structure, proportion, size, etc. shown in the specification are only used to cooperate with the content disclosed in the specification, so as to be understood and read by those skilled in the art. Any modification of structure, change of proportion relationship or adjustment of size, which does not affect the effects and purposes of the present application, should still fall within the scope of the technical content disclosed in the present application.

[0047] Figure 1 The side view structural schematic diagram of the blind guiding robot device provided in the present application embodiment 1.

[0048] Figure 2 The overall axonometric structural schematic diagram corresponding to one side direction of the blind guiding robot device provided in the present application embodiment 2.

[0049] Figure 3 The overall axonometric structural schematic diagram corresponding to the other side direction of the blind guiding robot device provided in the present application embodiment 2.

[0050] In the drawings, the component list represented by each reference numeral is as follows:

[0051] Walking robot structure 1: double-wheel foot type robot 11, horizontal robot 12, close-range camera 13, long-range camera 14;

[0052] Traction structure 2: touch handrail 21, connecting rod traction assembly 22, first transmission arm 221, second transmission arm 222, adapter shaft seat 223, first joint rotating shaft 224, second joint rotating shaft 225, traction holding assembly 23, holding main body 231, bottom handle rod 232, side handle rod 233, voice assembly 234;

[0053] Interaction assembly structure 3. DETAILED DESCRIPTION

[0054] The embodiments of the present application will be described below by specific specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0055] The terms such as "upper", "lower", "left", "right", "middle" and the like cited in the specification are only for the convenience of clear description, and are not intended to limit the scope of the utility model that can be implemented. The change or adjustment of the relative relationship is also considered as the scope of the utility model that can be implemented without substantial change of technical content.

[0056] Embodiment 1

[0057] As Figure 1 shown, the utility model embodiment provides a blind guiding robot device, including walking robot structure 1, traction structure 2 and interactive component structure 3, wherein walking robot structure 1 is set to double-wheel foot type robot 11, traction structure 2 is set to touch handrail 21.

[0058] The height of touch handrail 21 is set to not higher than 95cm, and touch handrail 21 is fixedly connected and assembled at the top position of double-wheel foot type robot 11, so that the touch handrail 21 of specific height is more in line with the hand drop height of human body when standing behind touch handrail 21 according to the ergonomic standard.

[0059] Interactive component structure 3 is fixedly assembled at the top side position of double-wheel foot type robot 11, specifically, interactive component structure 3 includes AI vision recognition interactive component and AI voice interactive component, wherein AI vision recognition interactive component includes high-precision radar and high-definition camera, the specific model of high-precision radar can adopt but is not limited to AURORA wisdom AI integrated positioning mapping radar module, the specific model of high-definition camera can adopt but is not limited to Yingshi Insta360Link high-definition camera, to further identify navigation road conditions through high-precision radar and high-definition camera cooperation;AI voice interactive component is set to voice output and recognition input component, and its specific model can adopt but is not limited to ESP32-C2 AI voice module, to effectively realize voice prompt user report road condition through AI voice interactive component, can also recognize user instruction and independently plan route, and can realize voice guiding user following its progress.

[0060] Embodiment 2

[0061] In embodiment 2, for the same structure as in embodiment 1, the same symbol is given, and the same description is omitted, embodiment 2 is different from embodiment 1, please refer to Figure 2 and Figure 3, the walking robot structure 1 is provided as a horizontal robot 12, and the traction structure 2 further comprises a connecting rod traction assembly 22 and a traction holding assembly 23, so as to effectively assist the walking based on the active traction of the walking robot structure 1, thereby reducing the dependence on the blind person's self-judgment during walking, and improving the overall functional practicability. The specific arrangement is as follows:

[0062] Please refer to Figure 2 and Figure 3 , the walking robot structure 1 comprises a horizontal robot 12 and a camera assembly fixedly connected and assembled on the horizontal robot 12, so as to effectively serve as a visual identification detection end to obtain real-time road condition images, and then avoid obstacles based on the road condition images.

[0063] The camera assembly comprises a close-range camera 13 and a long-range camera 14, so as to significantly improve the overall obstacle avoidance identification detection accuracy by setting the close-range camera 13 and the long-range camera 14 in cooperation.

[0064] The connecting rod traction assembly 22 comprises a first transmission arm 221, a second transmission arm 222, an adapter shaft seat 223, a first joint shaft 224 and a second joint shaft 225, and the traction holding assembly 23 comprises a holding main body 231. The rotation axis of the adapter shaft seat 223 is vertically arranged, one end of the first transmission arm 221 is horizontally connected and assembled on the tail end of the horizontal robot 12 through the adapter shaft seat 223, the rotation axes of the first joint shaft 224 and the second joint shaft 225 are horizontally arranged, and the other end of the first transmission arm 221 and one end of the second transmission arm 222 are connected and arranged through the first joint shaft 224, and the other end of the second transmission arm 222 and the holding main body 231 are connected and arranged through the second joint shaft 225. The active traction of the horizontal robot 12 is sequentially transmitted through the first transmission arm 221, the second transmission arm 222 and the holding main body 231 to complete the auxiliary walking, and the first joint shaft 224 and the second joint shaft 225 are used to effectively adapt to the holding height and angle of different persons.

[0065] As a preferred embodiment of the present embodiment, the first joint shaft 224 and the second joint shaft 225 are both provided as lockable shaft structures, so as to improve the functional flexibility for different application scenarios.

[0066] Please continue to refer to Figure 1 and Figure 2The traction holding assembly 23 further comprises a bottom handle rod 32 and a side handle rod 233; the bottom handle rod 32 is arranged at the bottom of the holding main body 231 in vertical conversion connection; the side handle rod 233 is arranged at at least one side of the holding main body 231 in horizontal fixed connection, so as to effectively improve the overall holding stability by cooperation of the bottom handle rod 32 and the side handle rod 233, and reduce the possibility of holding off, and meanwhile, the relative angle change of the two hands holding the bottom handle rod 32 and the side handle rod 233 can more easily perceive the change of the overall advancing direction, and further improve the overall flexible adaptability.

[0067] The embodiment of the present application also provides a visual identification navigation system, comprising the above-mentioned blind guiding robot device and an electric control structure, wherein the electric control structure comprises a mobile power supply and a control module connected through an electric circuit, the mobile power supply can be but is not limited to a lithium battery, and the control module can be but is not limited to a single-chip microcomputer control board with a model number of AT80C51 and a microcontroller with a model number of STM32; the near-distance camera 13 and the long-distance camera 14 are respectively arranged in connection through an electric circuit between a control input end of the control module, an input end of a relay connected through an electric circuit is arranged at a control output end of the control module, an output end of the relay is connected through an electric circuit with a voice assembly 234, and the voice assembly 234 is fixedly and connectively arranged at the holding main body 231, so as to realize real-time voice reporting of acquired real scene road conditions through cooperation of the voice assembly 234 and the visual identification function, thereby more accurately reminding a next turning or advancing plan.

[0068] As another preferred scheme of the embodiment, the voice assembly 234 is arranged as an AI voice interaction assembly, so as to effectively receive voice instructions through the AI voice interaction assembly, and further autonomously plan a route after autonomously identifying instruction contents, and then complete path planning reporting and reminding through voice output.

[0069] Although the present application has been described in detail by general description and specific embodiments above, some modifications or improvements can be made on the basis of the present application, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present application all belong to the scope of protection required by the present application.

Claims

1. A guide robot apparatus, characterized by, Comprising: a walking robot structure; a traction structure arranged as a touch handrail at a predetermined height, the touch handrail being fixedly connected to the top of the walking robot structure; the traction structure further comprising: a connecting rod traction assembly comprising a transmission arm assembly arranged in a direction that can be adjusted, one end of the transmission arm assembly being connected to the walking robot structure through an adapter; a traction holding assembly connected to the other end of the transmission arm assembly through an adapter.

2. The guide robot apparatus according to claim 1, characterized by Further comprising: an interactive component structure fixedly connected to the top side of the biped robot; the interactive component structure comprising an AI visual recognition interactive component and an AI voice interactive component; the AI visual recognition interactive component comprising a high-precision radar and a high-definition camera; the AI voice interactive component being arranged as a voice output and recognition input component.

3. The blind guiding robot device according to claim 1, wherein: the walking robot structure is arranged as a biped robot or a horizontal robot.

4. The blind guiding robot device according to claim 3, wherein: the walking robot structure comprises a camera assembly fixedly connected to the horizontal robot, the camera assembly being capable of serving as a visual recognition detection end.

5. The blind guiding robot device according to claim 4, wherein: the camera assembly comprises a close-range camera and a long-range camera; the close-range camera and the long-range camera are respectively arranged on the walking robot structure.

6. The blind guiding robot device according to claim 5, wherein: the connecting rod traction assembly further comprises an adapter shaft seat, a first joint shaft and a second joint shaft; the transmission arm assembly comprises a first transmission arm and a second transmission arm; the traction holding assembly comprises a holding main body; the rotation axis of the adapter shaft seat is arranged vertically, one end of the first transmission arm is horizontally connected to the tail end of the walking robot structure through the adapter shaft seat; the rotation axes of the first joint shaft and the second joint shaft are both arranged horizontally, and the other end of the first transmission arm and one end of the second transmission arm are connected through the first joint shaft, and the other end of the second transmission arm and the holding main body are connected through the second joint shaft.

7. The blind guiding robot device according to claim 6, wherein: the first joint shaft and the second joint shaft are both arranged as lockable shaft structures.

8. The blind guiding robot device according to claim 6, wherein: the traction holding assembly further comprises a side handle rod; the side handle rod is fixedly connected to at least one side of the holding main body along the horizontal direction.

9. The blind guiding robot device according to claim 8, wherein: the traction holding assembly further comprises a bottom handle rod; the bottom handle rod is connected to the bottom of the holding main body along the vertical direction.

10. A visual recognition navigation system, characterized by The visual recognition navigation system comprising the blind guiding robot device according to any one of claims 4-9, further comprising: an electric control structure comprising a mobile power supply and a control module connected through an electric circuit; The camera assembly is connected through a circuit to the control input end of the control module; The control output end of the control module is connected through a circuit to the input end of a relay, and the output end of the relay is connected through a circuit to a voice assembly.

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