CN107328408A - Machine dog for guiding blind - Google Patents

Abstract

The invention provides a kind of machine dog for guiding blind, including shell, control module, pull rope and wireless headset, and navigation module, photographing module, range finder module, drive module, voice module and the communication module being connected with control module；The control module combines the data that photographing module and range finder module are gathered according to the control signal of navigation module, and to control drive module to change movement rate and direction, and control voice module sends voice message.Machine dog for guiding blind of the present invention, the not only function with navigation feature and avoiding barrier.And compared with seeing-eye dog, when it faces complex environment, be not easily susceptible to lure and alarm.In addition, the machine dog for guiding blind is usually also without special treatment.

Description

Guide robot dog

technical field

The invention relates to the field of blind-guiding technology, in particular to a blind-guiding robot dog.

Background technique

Some blind people usually choose to use guide dogs to identify obstacles when they go out alone. However, because the training of guide dogs is difficult and the training period is long, the price of guide dogs is relatively expensive for most blind people. And due to the nature of animals, when guide dogs walk on the street and face various complex environments, they may be tempted or disturbed. In addition, it is very inconvenient to take care of guide dogs. Therefore, it is difficult for guide dogs to be widely used in daily life.

Contents of the invention

The purpose of the present invention is to provide a blind-guiding robot dog. The blind-guiding robot dog utilizes electronic information technology to provide functions such as guiding for the blind through the design of navigation and positioning, distance measurement, and voice prompting.

In order to achieve the above object, the present invention provides the following technical solutions. A blind-guide robot dog, including a shell, a control module, a traction rope and a wireless earphone, and a navigation module connected to the control module, a camera module, a ranging module, a drive module, a voice module and a communication module;

The navigation module is used to plan the walking path; the camera module includes a camera and a grayscale sensor for photographing and identifying blind roads on the road; the distance measuring module is used for measuring the distance between the obstacle in front of the user and the user;

The driving module includes a motor and a roller, and the control module controls the driving module to walk according to the walking path provided by the navigation module, and combines the image data collected by the camera module and the distance data collected by the ranging module to control the driving module to change the movement Speed and direction, control the voice module to send voice prompts, and control the communication module to send voice prompts to the wireless headset.

When in use, the navigation module performs path planning according to the user's navigation instructions, and sends control signals to the control module in real time, and the control module controls the drive module to change the direction of motion.

When in use, the blind guide robot dog uses the characteristics of the color difference between the blind road and other road surfaces, collects the image data of the road through the camera and the grayscale sensor, and sends it to the control module for processing. The control module extracts the characteristic information of the blind road, and then controls the driving module. The direction of movement makes it move along the blind road.

When in use, the ranging module measures the distance between the obstacle in front of the user and the user, and when the distance is less than the preset safety distance, the control module controls the voice module to send a voice reminder to the user, and controls the driving module to change Movement rate and direction of movement.

Further, the traction rope includes a rope and a pull ring; the rope is a rigid rope, and a strain gauge sensor is arranged on the rope for sensing the pause and start of the user, and the strain gauge sensor is connected to the control module; the pull A pulse sensor is arranged on the ring to sense whether the pull ring is separated from the user, and the pulse sensor is connected with the control module.

When the user pauses, the strain sensor on the rope senses the tensile strain, and if the tensile strain exceeds the set range, the control module controls the driving module to stop moving. When the user starts it, the strain sensor on the rope senses the compressive strain, and if the compressive strain exceeds the set range, the control module controls the driving module to start moving.

When the pull ring is detached from the user's wrist and the pulse sensor fails to sense the user's pulse, it means that the guide robot dog has broken away from the user's control, and the control module controls the drive module to stop moving.

Further, the guide robot dog also includes a speech recognition module, which is used to recognize the speech information sent by the user; the speech recognition module is connected with the control module. The user can send voice information to the voice recognition module by language, the voice recognition module recognizes the instructions in the voice information, and transmits the instructions to the control module, and the control module controls the corresponding module to respond.

Further, the communication module is connected with the mobile phone, and is used for sending a distress signal to the mobile phone. The mobile phone is held by the user's family. When the user is in danger, the user can send a distress signal to the control module through the voice recognition module, and the control module sends the distress signal to the mobile phone through the communication module. At the same time, the control module controls the navigation module to also send the collected user's location data to the mobile phone, so that the user's family can quickly find the user who is in danger.

Further, the guide robot dog also includes a face recognition module connected to the control module. The face recognition module is used to identify the user and the user's relatives, friends, etc. When a person approaches the blind-guiding robot dog, the blind-guiding robot dog sends two different sounds according to whether the person can be identified.

Further, the left side and the right side of the casing are provided with photoelectric sensors for sensing whether the user is located on the left side or the right side of the guide robot dog. When the user is on different sides of the guide robot dog, it will affect the direction in which the robot dog chooses to bypass obstacles. For example, when the user is on the left side of the guide robot dog, the guide robot dog will choose to bypass the left side of the obstacle. At this time, the guide robot dog is between the user and the obstacle, avoiding the user and the obstacle. In the event of a collision, the safety of the user is more protected.

Compared with the prior art, the machine guide dog of the present invention has the following beneficial effects:

1. Through the navigation module, the blind-guiding robot dog has a navigation function.

2. Make the blind-guiding robot dog keep moving along the blind road through the camera module. Moreover, the blind path is flat and coherent, which is not only convenient for users to walk, but also convenient for the guide robot dog to move.

3. Through the ranging module, the blind-guiding robot dog has the function of avoiding obstacles, which ensures the safety of users.

4. Compared with guide dogs, the guide robot dog of the present invention is less prone to temptation and disturbance when facing complex environments; and compared with guide dogs, the guide robot dog does not need special care.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not It is regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

Fig. 1 shows the structure schematic diagram of the blind-guide robot dog of the present invention.

FIG. 2 is a schematic structural diagram of the wireless earphone of the present invention.

Fig. 3 shows the functional block diagram of the blind-guiding robot dog of the present invention.

Explanation of symbols in the figure:

10-traction rope; 11-rope; 12-pull ring; 13-strain sensor; 14-pulse sensor; 20-wireless earphone; 30-camera; 35-gray sensor; 40-motor; 45-roller; Shell; 55-photoelectric sensor.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

Embodiment one:

Please refer to Fig. 1 to Fig. 3, a kind of guide robot dog, a kind of guide robot dog, comprises shell 50, control module, traction rope 10 and wireless earphone 20, and the navigation module connected with control module, camera module, Distance measuring module, driving module, voice module and communication module.

In the functional block diagram shown in Figure 3, the control module can use a single-chip microcomputer to realize the control circuit, and each module shown in Figure 3 is connected to the control module by a data line for data or signal transmission.

The driving module includes a roller 45 and an electric motor 40 driving the roller 45 . The motor 40 is connected to a control module, and the control module controls the opening and closing of the motor 40 .

The navigation module performs path planning according to the user's navigation instruction, and sends a control signal to the control module in real time according to the path planning result, and the control module controls the driving module to change the moving direction. The navigation module is a prior art, and will not be described in detail.

The camera module includes a camera 30 and a grayscale sensor 35 . When in use, the guide robot dog uses the characteristics of the color difference between the blind road and other road surfaces, collects the image data of the road through the camera 30 and the grayscale sensor 35, and extracts the characteristic information of the blind road by the control module, and then determines the movement direction of the driving module, so that It moves along blind paths.

The ranging module is used to measure the distance between the obstacle in front of the user and the user. Those skilled in the art can easily understand that there are many options for the implementation of the ranging module. As an example, the distance measuring module includes a laser projector, a camera, and an operation circuit; The laser transmission rate calculates the distance between the user and obstacles.

As an example, in this embodiment, the safety distance is set to two meters. When the distance between the user and the obstacle is less than two meters, the control module controls the voice module to send a voice reminder to the user, reminding the user that there is an obstacle ahead and is ready to go around; the control module also controls the drive module to change the speed and direction of motion.

Those skilled in the art can easily understand that there are many options for implementing the speech module. As an example, the voice module is a single-chip voice playback circuit, which includes an automatic gain control circuit, a microphone preamplifier, a speaker drive circuit, an oscillator and a memory. The communication module can also have multiple options. As an example, the communication module is a 3G module.

Considering that ordinary guide dogs detect the user's pause and start by feeling the tightness of the leash. In order to make the blind-guiding robot dog described in this embodiment aware of the start of the user's pause, the traction rope 10 includes a rope 11; the rope 11 is a rigid rope, and the rope 11 is provided with a strain sensor 13 for sensing The user stops and starts, and the strain gauge sensor 13 is connected with the control module.

When the user pauses, the strain sensor 13 on the rope 11 senses the tensile strain, and if the tensile strain exceeds the set range, the control module controls the driving module to stop moving. When the user starts it, the strain sensor 13 on the rope 11 senses the compressive strain, and if the compressive strain exceeds the set range, the control module controls the driving module to start moving.

Considering that the guide robot dog in this embodiment may also be out of the user's control, in order to prevent the guide robot dog from getting lost, the traction rope 10 also includes a pull 12; the pull ring 12 is provided with a pulse sensor 14, used to sense whether the pull ring 12 has been separated from the user, and the pulse sensor 14 is connected with the control module.

When the pull ring 12 is separated from the user's wrist and the pulse sensor 14 fails to sense the user's pulse, it means that the blind-guiding robot dog is out of the user's control, and the control module controls the drive module to stop.

Embodiment two:

Please refer to Fig. 1 to Fig. 3, a robot dog for guiding the blind, including all the technical features described in the first embodiment. In addition, in order to facilitate human-computer interaction, the guide robot dog also includes a speech recognition module for recognizing the speech information sent by the user; the speech recognition module is connected with the control module. Users can directly control the movement of the guide robot dog through language.

As an example, in this embodiment, the speech recognition module is connected to the navigation module, and the user can send navigation control information to the navigation module by language.

In this embodiment, the communication module is connected to a mobile phone, and the mobile phone is used as a monitoring device and is held by the user's family. When the user is in danger, he can send a distress signal to the control module through language. After the control module receives the distress signal through the voice recognition module, it sends the signal to the mobile phone holder through the communication module. At the same time, the control module controls the navigation module to also send the collected user's location data to the mobile phone, so that the mobile phone holder can quickly find the user who is in danger.

In this embodiment, the blind-guiding robot dog further includes a face recognition module connected to a control module. The face recognition module is used to identify the user and the user's relatives, friends, etc. When a person approaches the blind-guiding robot dog, the blind-guiding robot dog sends two different sounds according to whether the person can be identified.

Embodiment three:

Please refer to Fig. 1 to Fig. 3, a robot dog for guiding the blind, including all the technical features described in the first embodiment. In addition, the left side and the right side of the housing 50 are provided with a photoelectric sensor 55, which is used to sense whether the user is located on the left side or the right side of the guide robot dog.

When the user is on different sides of the guide robot dog, it will affect the direction in which the robot dog chooses to bypass obstacles. As an example, when the user is on the left side of the guide robot dog, the guide robot dog will choose to bypass the left side of the obstacle. At this time, the guide robot dog is between the user and the obstacle, avoiding the user and the obstacle. Objects collide, which protects the safety of users more.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. All should be covered within the protection scope of the present invention.

Claims (6)

1. a kind of machine dog for guiding blind, it is characterised in that including shell, control module, pull rope and wireless headset, and with control Navigation module, photographing module, range finder module, drive module, voice module and communication module that module is connected；

The navigation module is used to plan walking path；The photographing module includes camera and gray-scale sensor, for shooting With the sidewalk for visually impaired people on identification road surface；The range finder module is used to measure the distance between user's front obstacle and user；

The drive module includes motor and roller, and the walking path that the control module is provided according to navigation module controls to drive Dynamic model block is walked, and combines the range data that photographing module acquired image data and range finder module are gathered, to control to drive Dynamic model block changes movement rate and direction, and control voice module sends voice message, and communication control module sends out voice message Deliver to wireless headset.

2. machine dog for guiding blind according to claim 1, it is characterised in that the pull rope includes rope and draw ring；The rope Rope is to be provided with strain gauge transducer on rigid cord, rope, pause and startup for sensing user, the strain-type sensing Device is connected with control module；Pulse transducer is provided with the draw ring, for sensing whether the draw ring has disengaged from user, institute Pulse transducer is stated to be connected with control module.

3. machine dog for guiding blind according to claim 1, it is characterised in that the machine dog for guiding blind also includes speech recognition mould Block, for recognizing the voice messaging that user sends；The sound identification module is connected with control module.

4. machine dog for guiding blind according to claim 3, it is characterised in that the communication module is connected with mobile phone, for hand Machine sends distress signal.

5. machine dog for guiding blind according to claim 1, it is characterised in that the machine dog for guiding blind also includes recognition of face mould Block, the face recognition module is connected with control module.

6. machine dog for guiding blind according to claim 1, it is characterised in that the left side and right side of the shell are provided with photoelectricity Sensor, is positioned at the left side or right side of the machine dog for guiding blind for sensing user.