CN107362003B - Blind guiding stick based on double ultrasonic waves and blind guiding method - Google Patents
Blind guiding stick based on double ultrasonic waves and blind guiding method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000003993 interaction Effects 0.000 claims abstract description 7
- 230000001133 acceleration Effects 0.000 claims description 25
- 230000035772 mutation Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 10
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 4
- 230000009429 distress Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/068—Sticks for blind persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
- A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
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Abstract
The invention discloses a double-ultrasonic-wave-based blind guiding stick, which comprises a handle and a stick rod, wherein the handle is arranged at the end part of the stick rod; a gyroscope, a microprocessor, an interaction device, a first ultrasonic sensor and a second ultrasonic sensor are arranged in the handle; the gyroscope measures the angular velocity and the speed of the handle and transmits the measured result to the microprocessor; the first ultrasonic sensor and the second ultrasonic sensor both transmit and receive ultrasonic waves towards the front of the blind guiding stick, and the angles of the first ultrasonic sensor and the second ultrasonic sensor are different; the microprocessor interacts with a user through an interaction device; the blind guiding stick and the blind guiding method of the invention utilize two ultrasonic waves with angles to detect the advancing road of the blind in the whole course, not only can accurately identify the obstacles and the pits in front of the road, but also can give out the specific or approximate sizes of the obstacles and the pits, thereby being convenient for the blind to more finely judge the road condition.
Description
Technical Field
The invention relates to the field of articles for daily use, in particular to a blind guiding stick for helping the blind to go out.
Background
The blind person refers to people with vision loss or serious vision impairment caused by diseases, accidents and the like. The vision disorder can bring great life difficulty to the blind, and is especially unfavorable for traveling. The blind person generally needs to be provided with a guide dog, a guide stick or other auxiliary tools when going alone. The common blind guiding stick is only a stick-shaped object, and the blind person relies on the touch feeling of the hand to cooperate with the blind guiding stick to explore the path. With the development of technology, more technological elements are added to some blind guiding sticks, such as an ultrasonic transmitter and an ultrasonic receiver are arranged on the blind guiding sticks, and ultrasonic waves are utilized to detect the front obstacle and give a prompt to the blind. The existing ultrasonic blind guiding stick only can directionally emit ultrasonic waves, detects whether an obstacle exists in front of the ultrasonic blind guiding stick, cannot identify the specific shape and size of the obstacle, and has low intelligent degree; the ultrasonic guide blind sticks can alarm various small-sized obstacles which can be spanned without difference, and a user often needs to use the guide blind sticks to further carefully explore the obstacles after the alarm; therefore, the ultrasonic guide blind sticks have very limited early warning effect and are not very popular with the blind people.
Disclosure of Invention
The invention aims to solve the technical problems that the ultrasonic blind guiding stick in the prior art cannot specifically identify the shape and the size of an obstacle, can not differently alarm various spanable and non-spanable obstacles, and has low intelligent degree.
In order to solve the technical problems, the invention adopts the following technical scheme: a blind guiding crutch based on double ultrasonic waves comprises a handle and a crutch rod, wherein the handle is arranged at the end part of the crutch rod;
a gyroscope, a microprocessor, an interaction device, a first ultrasonic sensor and a second ultrasonic sensor are arranged in the handle; the gyroscope measures the angular velocity and the speed of the handle and transmits the measured result to the microprocessor; the first ultrasonic sensor and the second ultrasonic sensor both transmit and receive ultrasonic waves towards the front of the blind guiding stick, and the angles of the first ultrasonic sensor and the second ultrasonic sensor are different; the microprocessor interacts with the user through the interaction means.
The first ultrasonic sensor and the second ultrasonic sensor are ultrasonic sensors which integrate transmission and reception, and measure the distance between an ultrasonic transmission source and an obstacle in a mode of transmitting ultrasonic wave forward and receiving ultrasonic wave, and are respectively marked as s 1 and s2 The method comprises the steps of carrying out a first treatment on the surface of the When the blind guiding stick is used, the blind guiding stick is gripped in a hand by a blind person, and the blind person inevitably swings along with the arm of the blind person to change the gesture, wherein the change leads to the continuous change of the angle of the two ultrasonic sensors, and the angle refers to the included angle between the ultrasonic rays and the vertical direction; the gyroscope dynamically measures the angle of incidence of the first and second ultrasonic waves, denoted α and β, respectively.
If the blind person walks on a normal road (road without obstacles and pits), a first ultrasonic sensor and a second ultrasonic sensorThe value s measured by the wave sensor 1 and s2 Is uniformly changed (the uniform change is caused by slight pitching motion of the blind guiding stick along with the actions of a swing arm and the like of the blind person); however, if there is an obstacle or pit in the road in front of the blind, the ultrasonic beam may have a sudden change in value while sweeping over the edge of the obstacle or pit. The obstacle and pit can be identified by using one beam of ultrasonic wave matched with the gyroscope, the pit depth is calculated, and the general height of the obstacle can be further calculated by using two beams of ultrasonic waves matched with the gyroscope, wherein the specific calculation formula is as follows:
when s is 2 When the value suddenly decreases and the mutation exceeds the first set value, the comparison s 1 and s2 ；
If s is 1 >s 2 Meaning that the blind person has an obstacle in front and the height of the obstacle is less than h;
if s is 1 <s 2 Meaning that the blind person has an obstacle in front and the height of the obstacle is greater than h;
wherein ,it can be seen that the height h is an intermediate value for comparison with the obstacle height, h is a value equal to s 2 The variable range of h can be controlled by reasonably setting the initial angles of the two ultrasonic sensors; in general, the height of small obstacles (such as stones, small protrusions of a clay road surface, branches and the like) which can be spanned on the road is not more than 100 mm, so that the value of h can be controlled to be about 150 mm as a whole;
when s is 2 When the value of (2) suddenly increases and the abrupt amount exceeds the second set value, it means that the blind person has a pit in front of the blind person, the depth of the pit is
D＝s 22 cosβ-s 21 cosβ
wherein ,s21 Is s 2 Values before mutation, s 22 Is s 2 Values after mutation.
Furthermore, the handle is hinged with the crutch rod, the crutch rod is a telescopic rod, and a user can freely adjust the inclination degree of the handle and the whole length of the blind guiding crutch.
Furthermore, the tail end of the crutch rod is provided with a universal wheel.
Further, the interaction device comprises a button, a vibrator, a voice player and a microphone; the buttons are buttons with braille, and the blind person uses the buttons and voice prompts of the blind guiding sticks to perform some operations such as route setting; the blind guiding stick synchronously triggers the vibrator and the voice player when the blind person needs to be reminded; the microphone is used for receiving the voice of the blind person, and if the microprocessor is internally provided with voice recognition software, the blind person can realize operations such as route setting and the like through the microphone.
Furthermore, the blind guiding stick also comprises a positioning module and a communication module, wherein the microprocessor acquires current position information through the positioning module, and the microprocessor is connected to the Internet through the communication module; the gyroscope can also measure the instantaneous angular acceleration and the instantaneous linear acceleration of the blind guiding stick in real time, when the instantaneous angular acceleration and/or the instantaneous linear acceleration of the blind guiding stick exceed set values, the blind person is judged to fall down, the microprocessor sends out on-site help seeking voice through the voice player, and the microprocessor sends out help seeking signals and geographical position information at the time to a preset help seeking object through the communication module.
The invention also provides a blind guiding method, which comprises the following steps:
step 1: the method comprises the steps that two ultrasonic waves with different angles are emitted obliquely to the advancing direction of the blind person, the emitting source of the ultrasonic waves moves synchronously along with limbs of the blind person, and the angle of the ultrasonic wave rays and the vertical direction is the angle;
step 2: dynamically measuring (measurement period is T) the distance between each ultrasonic wave emitting source and the object in the direction pointed by the ultrasonic wave emitting source, wherein the measured distance of the first ultrasonic wave is s 1 The distance measured by the second ultrasonic wave is s 2 The angle of the first ultrasonic wave is denoted as alpha, and the angle of the second ultrasonic wave is denoted as beta;
step 3: when s is 2 Suddenly decreasing in value andand when the mutation amount exceeds the first set value (i.e. the difference between the measured values of two adjacent measuring periods is larger than the first set value), comparing s 1 and s2 ；
If s is 1 >s 2 Reminding the blind person of having an obstacle in front, wherein the height of the obstacle is smaller than h;
if s is 1 <s 2 Reminding the blind person of having an obstacle in front, wherein the height of the obstacle is larger than h;
wherein ,
step 4: when s is 2 When the value of (a) suddenly increases and the abrupt amount exceeds a second set value (i.e. the difference between the measured values of two adjacent measuring periods is larger than the second set value), reminding the blind person of having a pit in front of the blind person, wherein the depth of the pit is
D＝s 22 cosβ-s 21 cosβ
wherein ,s21 Is s 2 Values before mutation, s 22 Is s 2 Values after mutation.
Further, the blind guiding method further includes step 5: calculating the angular acceleration and the linear acceleration of limbs of the blind person in real time when the blind person walks, wherein the angular acceleration is recorded as (alpha) x 、α y 、α z ) The linear acceleration is denoted as (a) x 、a y 、a z ) When the comprehensive acceleration a exceeds a third set value, judging that the blind person falls down and giving an alarm; wherein the method comprises the steps of
a＝ε 1 |α x |+ε 2 |α y |+ε 3 |α z |+ε 4 |a x |+ε 5 |a y |+ε 6 |a z |
ε 1 ～ε 6 The value range is 0-1 as the parameter.
The beneficial effects are that: (1) The blind guiding stick and the blind guiding method of the invention utilize two ultrasonic waves with angles to detect the advancing road of the blind in the whole course, not only can accurately identify the obstacles and the pits in front of the road, but also can give out the specific or approximate sizes of the obstacles and the pits, thereby being convenient for the blind to more finely judge the road condition. (2) The angle of the handle and the length of the crutch rod of the blind guiding crutch can be freely adjusted, and the blind guiding crutch is suitable for blind persons with different heights. (3) The tail end of the crutch rod of the blind guiding crutch is provided with the universal wheel, so that the blind person can use the blind guiding crutch to explore the road more effort-saving. (4) The blind guiding stick provided by the invention utilizes the vibrator and the voice player to provide information feedback for the blind person, and the user experience is better. (5) The blind guiding stick disclosed by the invention measures the instantaneous angular acceleration and the instantaneous linear acceleration of the blind guiding stick in real time so as to judge whether the blind person falls down, and when the blind person falls down, the interactive device is used for giving an on-site alarm, and the communication module is used for giving a distress signal and the geographical position information of the preset distress object, so that the blind person falling down has stronger safety.
Drawings
Fig. 1 is a schematic view of the structure of a blind guiding stick of the embodiment 1.
Fig. 2 is a schematic view of the handle structure of the blind guiding stick of embodiment 1.
Fig. 3 is a schematic view of the handle structure (another angle) of the blind guiding stick of example 1.
Fig. 4 is a schematic view of the blind guiding stick of example 1 detecting the size of an obstacle.
Fig. 5 is a schematic view of the size of the blind guide probe pit of example 1.
Fig. 6 is a schematic view of the blind guide of example 1 in detecting the position of an obstacle.
Wherein: 1. a handle; 2. a cane; 3. a universal wheel; 4. a button; 5. a voice player; 6. a microphone; 7. a first ultrasonic sensor; 8. and a second ultrasonic sensor.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
Example 1
As shown in fig. 1 to 3, the double-ultrasonic-based blind guiding stick of the present embodiment includes a handle 1 and a stick rod 2, the handle 1 being mounted at an end of the stick rod 2; the handle 1 is hinged with the crutch rod 2, the crutch rod 2 is a telescopic rod piece, and a user can freely adjust the inclination degree of the handle 1 and the whole length of the blind guiding crutch; the tail end of the crutch rod 2 contacted with the ground is provided with a universal wheel 3.
A gyroscope, a microprocessor, a button 4, a vibrator, a voice player 5, a microphone 6, a positioning module, a communication module, a first ultrasonic sensor 7 and a second ultrasonic sensor 8 are arranged in the handle 1; the gyroscope measures the angular velocity and speed of the handle 1 and transmits the measurement result to the microprocessor; the first ultrasonic sensor 7 and the second ultrasonic sensor 8 both transmit and receive ultrasonic waves toward the front of the blind guide stick, and the angles of the first ultrasonic sensor 7 and the second ultrasonic sensor 8 are different.
The first ultrasonic sensor 7 and the second ultrasonic sensor 8 are ultrasonic sensors which integrate transmission and reception, and the first ultrasonic sensor 7 and the second ultrasonic sensor 8 measure the distance between an ultrasonic transmission source and an obstacle by transmitting ultrasonic waves forward and receiving ultrasonic waves, and are respectively marked as s 1 and s2 The method comprises the steps of carrying out a first treatment on the surface of the The angle refers to an included angle between an ultrasonic ray and the vertical direction; the gyroscope dynamically measures the angle of incidence of the first and second ultrasonic waves, denoted α and β, respectively.
If the blind person walks on a normal road (road without obstacles and pits), the values s measured by the first ultrasonic sensor 7 and the second ultrasonic sensor 8 1 and s2 Is uniformly changed (the uniform change is caused by slight pitching motion of the blind guiding stick along with the actions of a swing arm and the like of the blind person); however, if there is an obstacle or pit in the road in front of the blind, the ultrasonic beam may have a sudden change in value while sweeping over the edge of the obstacle or pit. The obstacle and pit can be identified by using one beam of ultrasonic wave matched with the gyroscope, the pit depth is calculated, and the general height of the obstacle can be further calculated by using two beams of ultrasonic waves matched with the gyroscope, and the specific calculation method is as follows:
as shown in FIG. 4, when s 2 When the value suddenly decreases and the mutation exceeds the first set value, the comparison s 1 and s2 ；
If s is 1 >s 2 Means that the blind person has an obstacle in front of and is obstructedThe height of the object is less than h;
if s is 1 <s 2 Meaning that the blind person has an obstacle in front and the height of the obstacle is greater than h;
wherein ,height h is an intermediate value for comparison with the height of the obstacle, h is a value equal to s 2 The variable range of h can be controlled by reasonably setting the initial angles of the two ultrasonic sensors; in general, the height of small obstacles (such as stones, small protrusions of a clay road surface, branches and the like) which can be spanned on the road is not more than 100 mm, and the blind guiding stick of the embodiment needs to be debugged before being used, so that the value of h is integrally controlled to be about 150 mm;
as shown in FIG. 5, when s 2 When the value of (2) suddenly increases and the abrupt amount exceeds the second set value, it means that the blind person has a pit in front of the blind person, the depth of the pit is
D＝s 22 cosβ-s 21 cosβ
wherein ,s21 Is s 2 Values before mutation, s 22 Is s 2 Values after mutation.
The button 4 is a button 4 with braille, and the blind person uses the button 4 and voice prompts of the blind guiding stick to perform some operations such as route setting; after the microprocessor calculates and judges that the front part is provided with the barrier or the pit, the microprocessor synchronously triggers the vibrator and the voice player 5 to remind the blind of the barrier or the pit and to explain the approximate size of the barrier and the specific size of the pit; the microphone 6 is used for receiving the voice of the blind person, the microprocessor of the blind guiding stick of the embodiment is internally provided with voice recognition software, and the blind person can realize operations such as route setting and the like through the microphone 6.
The microprocessor acquires current position information through the positioning module, and is accessed to the Internet through the communication module; the built-in gyroscope of the blind guiding stick measures the instantaneous angular acceleration and the instantaneous linear acceleration of the blind guiding stick in real time, when the instantaneous angular acceleration and/or the instantaneous linear acceleration of the blind guiding stick exceed set values, the blind person is judged to fall down, the microprocessor sends out on-site help seeking voice through the voice player 5, and the microprocessor sends out help seeking signals and geographical position information of the time to a preset help seeking object through the communication module.
As shown in fig. 6, the blind guide stick of the present embodiment can also detect the orientation of a front obstacle or pit through a simple swing motion. When the blind person holds the blind guiding stick to normally advance, along with natural swinging of the blind person arms, the blind guiding stick can regularly swing leftwards and rightwards, the gyroscope measures the limit swinging angle of the blind guiding stick, and the microprocessor fits the left and right limit swinging angle and takes the middle value as the advancing direction of the blind person. On the other hand, when the blind person holds the blind guiding stick and swings left and right, based on the same principle, the measured value of any one of the first ultrasonic sensor 7 and the second ultrasonic sensor 8 suddenly changes (suddenly decreases or suddenly increases), the microprocessor determines that the front has an obstacle or pit, and the microprocessor compares the azimuth angle at the moment of the sudden change with the calculated blind person advancing direction (also an azimuth angle), so that the obstacle is positioned at the left front, the right front or the right front of the blind person advancing direction.
The microprocessor of the blind guiding stick of the embodiment calculates the angular acceleration and the linear acceleration of the blind person when walking in real time, and the angular acceleration is recorded as (alpha) x 、α y 、α z ) The linear acceleration is denoted as (a) x 、a y 、a z ) When the comprehensive acceleration a exceeds a third set value, judging that the blind person falls down and giving an alarm; wherein the method comprises the steps of
a＝ε 1 |α x |+ε 2 |α y |+ε 3 |α z |+ε 4 |a x |+ε 5 |a y |+ε 6 |a z |
ε 1 ～ε 6 The value range is 0-1 as the parameter; the means of the alarm comprises the step of using a voice player 5 to call for help in site voice and sending a distress signal and geographical position information of the time to a preset distress object by utilizing a communication module.
Although embodiments of the present invention have been described in the specification, these embodiments are presented only, and should not limit the scope of the present invention. Various omissions, substitutions and changes in the form of examples are intended in the scope of the invention.
Claims (5)
1. A guide blind stick based on two ultrasonic waves, its characterized in that: the crutch comprises a handle and a crutch rod, wherein the handle is arranged at the end part of the crutch rod;
a gyroscope, a microprocessor, an interaction device, a first ultrasonic sensor and a second ultrasonic sensor are arranged in the handle; the gyroscope measures the angular velocity and the speed of the handle and transmits the measured result to the microprocessor;
the first ultrasonic sensor and the second ultrasonic sensor both transmit and receive ultrasonic waves towards the front of the blind guiding stick, and the angles of the first ultrasonic sensor and the second ultrasonic sensor are different; the microprocessor interacts with a user through an interaction device;
the blind guiding method of the blind guiding stick based on the double ultrasonic waves comprises the following steps:
step 1: the method comprises the steps that two ultrasonic waves with different angles are emitted obliquely to the advancing direction of the blind person, the emitting source of the ultrasonic waves moves synchronously along with limbs of the blind person, and the angle of the ultrasonic wave rays and the vertical direction is the angle;
step 2: dynamically measuring the distance between the emitting source of each ultrasonic wave and an object in the direction of the ultrasonic wave, wherein the measured distance of the first ultrasonic wave is denoted as s1, the measured distance of the second ultrasonic wave is denoted as s2, the angle of the first ultrasonic wave is denoted as alpha, and the angle of the second ultrasonic wave is denoted as beta, wherein alpha is larger than beta;
step 3: when the value of s2 suddenly becomes smaller and the mutation quantity exceeds the first set value, comparing s1 with s2;
if s1> s2, reminding the blind person of having an obstacle in front, wherein the height of the obstacle is smaller than h;
if s1< s2, reminding the blind person of having an obstacle in front of the blind person, wherein the height of the obstacle is larger than h;
wherein ,；
step 4: when the value of s2 suddenly becomes larger and the abrupt quantity exceeds the second set value, reminding the blind person of having a pit in front of the blind person, wherein the depth of the pit is
；
Wherein s21 is a value before s2 mutation, and s22 is a value after s2 mutation;
step 5: calculating the angular acceleration and the linear acceleration of limbs of the blind person in real time when the blind person walks, wherein the angular acceleration is recorded asThe linear acceleration is recorded as->When the comprehensive acceleration a exceeds a third set value, judging that the blind person falls down and giving an alarm; wherein the method comprises the steps of
；
The value range is +.>。
2. The double-ultrasonic-based blind guiding stick according to claim 1, wherein: the handle is hinged with the crutch rod, and the crutch rod is a telescopic rod piece.
3. The double-ultrasonic-based blind guiding stick according to claim 1, wherein: the tail end of the crutch rod is provided with a universal wheel.
4. The double-ultrasonic-based blind guiding stick according to claim 1, wherein: the interactive device includes a button, a vibrator, a voice player, and a microphone.
5. The double-ultrasonic-based blind guiding stick according to claim 1, wherein: the system also comprises a positioning module and a communication module, wherein the microprocessor acquires current position information through the positioning module, and the microprocessor is accessed to the Internet through the communication module.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108175649B (en) * | 2018-02-23 | 2023-09-22 | 程大国 | Ultrasonic detection blind guiding stick, control system and method |
| CN110368274B (en) * | 2019-08-01 | 2024-08-20 | 温州大学瓯江学院 | Walking stick for blind person |
| CN110782626A (en) * | 2019-08-15 | 2020-02-11 | 天津中德应用技术大学 | Artificial intelligence navigation head based on thing networking |
| CN111329737A (en) * | 2020-03-17 | 2020-06-26 | 安徽工业大学 | Navigation warning walking stick for blind person |
| CN112799073B (en) * | 2020-12-30 | 2024-07-09 | 成都英萨传感技术研究有限公司 | Ultrasonic ranging sensor |
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| DE102008028222A1 (en) * | 2008-06-13 | 2009-12-17 | Volkswagen Ag | Method for determining distance of vehicle from barrier and height of barrier, involves emitting signal waves by vehicle in laterally downward manner, where distance and height are determined depending on reflections of signal waves |
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| RU141620U1 (en) * | 2013-10-04 | 2014-06-10 | Павел Игоревич Курбацкий | CANE SCANNER FOR DISABLED PERSONS |
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| CN203898662U (en) * | 2014-04-11 | 2014-10-29 | 上海工程技术大学 | Guide walking stick system for blind person |
| KR101654299B1 (en) * | 2015-04-27 | 2016-09-05 | 숭실대학교산학협력단 | Cane for blind and obstacle detection method using the same |
| EP3109668A1 (en) * | 2015-06-25 | 2016-12-28 | Gosense | Handheld apparatus for a visually impaired user |
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| CN105769517A (en) * | 2016-03-18 | 2016-07-20 | 杭州电子科技大学 | Multifunctional electronic walking stick for blind person |
| CN205494329U (en) * | 2016-03-23 | 2016-08-24 | 张耐华 | Intelligence is saved oneself and is led blind walking stick |
| CN208355727U (en) * | 2017-07-13 | 2019-01-11 | 杭州国辰机器人科技有限公司 | A kind of blind-guiding stick based on double ultrasonic waves |
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