CN115804706A - New navigation stick for the deaf and blind - Google Patents

Abstract

The invention discloses a novel navigation cane for deaf and blind persons, which comprises a cane body; a grip arranged on the upper part of the cane body for providing support, an interaction module arranged on the top of the cane body for real-time interaction with users, and an interactive module installed on the top of the cane body. A navigation module and an alarm module on the cane body are used to provide navigation to the user during walking. This cane has the advantages of simple structure, intelligence, modularization, micro-adjustment, ultra-high battery life, and multiple information transmissions; by setting a rotatable guide handle, through the actual feedback torque, it can inform the direction of movement of the audio-visual impaired people and realize effective walking. Planning; and then through the combination of Braille and vibration methods to achieve multi-in-one advance prediction measures, effectively assisting the tactile perception of the hearing-impaired; it can play an important role in helping the disabled.

Description

New navigation stick for the deaf and blind

technical field

The invention relates to a novel navigation stick for the deaf and blind.

Background technique

With the rapid advancement of urbanization, most of the sidewalks in the city are equipped with blind roads, but the phenomenon of blind roads being encroached on is very common, and the design of many blind roads is not reasonable, and there are often problems such as discontinuous or irregular arrangement of blind roads; Furthermore, in some places there are no sidewalks for the blind, so there is a big problem for deaf-blind people to travel.

With the development of science and technology, there are more and more functions of walking sticks suitable for the blind. More and more walking sticks are beginning to integrate GPS positioning, lighting, MP3 playback, emergency alarm and other functions. However, the existing walking sticks have poor interactivity and are mainly suitable for blind people, and cannot provide accurate and effective guidance for deaf-blind people who are both visually and visually impaired. Taking the vibration-based walking stick as an example, information is conveyed through vibration, but for different people, the information received by the vibration result may be different, which leads to the disorder of the guiding path.

Contents of the invention

The purpose of the present invention is to provide a new type of deaf-blind navigation cane, which can provide road conditions and route planning for the hearing and visually impaired disabled people in real time, and the interaction mode between the smart cane and the disabled is simple and efficient.

In order to solve the above technical problems, the present invention provides a novel deaf-blind navigation cane, including a cane body; a grip set on the top of the cane body for providing support, and a handle set on the top of the cane body for real-time interaction with the user. An interactive module and a navigation module installed on the cane body for providing navigation to the user during walking;

The navigation module includes a path planning unit and an environment recognition unit. The path planning unit is used to perform path planning according to the current coordinates of the user and the destination input by the user to obtain path planning information. The environment recognition unit is used to collect the current environment information in real time and based on the current environment information and path planning information to determine the user's movement direction;

The interactive module includes a guide handle installed on the top of the cane body and a Braille dot matrix module and/or a vibrator arranged on the guide handle; the guide handle is installed on the top of the cane body through a rotating drive mechanism, which is used to output information according to the navigation unit. The moving direction controls the rotation direction of the guide handle to guide the user's walking direction; the Braille dot matrix module and the vibrator are used to prompt whether the current blocking road is passable.

Further, the rotating drive mechanism includes a brushless motor controlled based on FOC.

Further, the upper part of the cane body is provided with several navigation buttons connected to the navigation unit, each navigation button corresponds to a frequently used destination, and the user inputs destination information to the navigation unit by pressing the navigation button.

Further, the cane also includes an alarm module installed on the cane body; the alarm module includes a pose sensor, a wireless communication unit and a host computer; the pose sensor is used to collect the current pose information of the cane in real time, and the wireless communication unit is used to obtain Pose information and send the pose information to the host computer. The host computer judges whether the user has fallen or been collided according to the received pose information, and sends it to the designated terminal through the wireless communication unit when it is judged that the user has fallen or been collided. Alarm.

Further, the alarm unit also includes at least one touch sensor arranged at the place where the handle is in contact with the user's hand. The touch sensor sends the collected touch information to the host computer through the wireless communication unit, and the host computer is used to judge the stick according to the received touch information. Whether it is out of the user's hand, when it is detected that the touch information instantly becomes zero, an alarm signal is sent to the designated terminal through the wireless communication unit.

Further, the cane body includes a main rod and an adjustment rod. The adjustment rod is connected to the main rod through a telescopic adjustment device. When the environment recognition unit judges that it is necessary to go up stairs according to the collected environmental information, the adjustment is controlled by sending a contraction command to the telescopic adjustment device. The rod moves inward to the main rod to shorten the cane body; when the environment recognition unit judges that it is necessary to go down the stairs according to the collected environmental information, it sends an elongation command to the telescopic adjustment device to control the adjustment rod to move outwards from the main rod to extend the cane body.

Further, the cane body is also provided with a light prompting device, which is used to remind other personnel that the user pays attention to the user's activities.

Further, the bottom of the cane body is provided with a shock-absorbing structure.

Further, the Braille dot matrix module includes a stepping motor, a lead screw and nut mechanism connected to the power output end of the stepping motor, and a moving cylinder fixedly connected to the nut of the lead screw and nut mechanism.

Further, the cane is powered by a battery, the battery is installed in the cane body, and a wireless charging receiver electrically connected to the battery is installed on the cane body.

The beneficial effects of the present invention are as follows: the cane has the advantages of simple structure, intelligence, modularization, micro-adjustment, ultra-high battery life, and multi-transmission of information; by setting a rotatable guide handle and by actual feedback torque, the audio-visual barrier can be informed The movement direction of people can be realized to realize effective walking planning; combined with Braille and vibration methods, multi-in-one advance prediction measures can be realized, which can effectively assist the tactile perception of the audio-visual impaired; it can play an important role in helping the disabled.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. In these drawings, the same reference numerals are used to indicate the same or similar parts. The illustrative embodiments of the application and their descriptions are used The purpose of explaining this application does not constitute an improper limitation of this application. In the attached picture:

Fig. 1 is a side view of an embodiment of the present invention;

Fig. 2 is the front view of an embodiment of the present invention;

Figure 3 is a rear view of one embodiment of the present invention.

Among them: 1. Braille dot matrix; 2. Navigation button; 3. Camera; 4. Function button; 5. Shock-absorbing structure; 6. Grip; 7. Rotation drive mechanism; 8. Guide handle; ; 10. Electric energy display module.

Detailed ways

The new navigation stick for the deaf-blind as shown in Figures 1-3 includes a stick body; a handle 6 arranged on the top of the stick body for providing support, and an interaction set on the top of the stick body for real-time interaction with the user module and a navigation module installed on the cane body for providing navigation to the user during walking;

The navigation module includes a path planning unit and an environment recognition unit. The path planning unit is used to perform path planning according to the current coordinates of the user and the destination input by the user to obtain path planning information. The environment recognition unit is used to collect the current environment information in real time and based on the current environment information and path planning information to determine the user's movement direction;

The interactive module includes a guide handle 8 installed on the top of the cane body and a Braille dot matrix 1 module and/or a vibrator arranged on the guide handle 8; the guide handle 8 is installed on the top of the cane body through the rotation drive mechanism 7, and the rotation drive mechanism 7 It is used to control the rotation direction of the guide handle 8 according to the movement direction output by the navigation unit to guide the user's walking direction; the Braille dot matrix 1 module and the vibrator are used to prompt whether the current blocking road is passable.

The cane has the advantages of simple structure, intelligence, modularization, micro-adjustment, ultra-high battery life, and multi-transmission of information; by setting the rotatable guide handle 8, through the actual feedback torque, the direction of movement of the audio-visual impaired is informed, and effective Walking planning; combined with Braille and vibration methods to achieve multi-in-one advance prediction measures, effectively assisting the tactile perception of the hearing-impaired; it can play an important role in helping the disabled.

According to an embodiment of the present application, the rotation driving mechanism 7 includes a brushless motor controlled based on FOC. The rotating drive mechanism 7 (power mechanism) of the guide handle 8 is a brushless motor based on FOC control, including a FOC magnetic driver and a brushless motor; wherein the FOC driver is connected with the main control part, thereby realizing the function of giving the brushless motor various adjustments, And realize the closed-loop adjustment of the brushless motor. The brushless motor part is connected to the top of the T-shaped structure of the cane, which acts as a connector and torque feedback. It is mainly used to assist people with audio-visual impairments to move in a direction. The FOC controller can make it pixel-level control and make precise movements. direction judgment. When the third function button 4 from top to bottom is turned on, the brushless motor can be locked, that is, people cannot rotate the motor independently, and the motor needs to be driven by a program.

According to an embodiment of the present application, several navigation buttons 2 connected to the navigation unit are provided on the upper part of the cane body, and each navigation button 2 corresponds to a frequently used destination, and the user inputs destination information to the navigation unit by pressing the navigation button 2 . During use, the user only needs to select the corresponding button to realize the purpose input, which greatly facilitates the interaction efficiency of the audio-visual impaired.

According to an embodiment of the present application, the cane also includes an alarm module installed on the cane body; the alarm module includes a pose sensor, a wireless communication unit and a host computer; the pose sensor is used to collect the current pose information of the cane in real time, wireless communication The unit is used to obtain the pose information and send the pose information to the host computer. The host computer judges whether the user has fallen or been collided according to the received pose information, and when it is judged that the user has fallen or been collided, it will pass through the wireless communication unit Send an alarm signal to the specified terminal. The alarm module is to let the family know the user's situation more conveniently. The posture data of the cane is collected through the posture sensor (the MPU6050 module can be used) and transmitted to the host computer through the wireless communication unit (the ATK-GM510 module can be used). Tools and algorithms for calculation and detection of human poses. When the user falls or bumps, an alarm signal can be sent to the terminal device of the designated member, and location information can be provided, so that the family can take immediate measures. At the same time, the design can also be used for simple human posture simulation. The attitude data collected by the MPU6050 and the enabling state of the TTP223 are used to monitor the user's state in all directions. It can not only assist in the detection of falls, but also use the attitude data to let the family know the movement of some users through algorithm simulation.

According to an embodiment of the present application, the alarm unit also includes at least one touch sensor arranged at the place where the handle 6 is in contact with the user's hand, the touch sensor sends the collected touch information to the host computer through the wireless communication unit, and the host computer is used to The touch information judges whether the cane is out of the user's hand, and when it is detected that the touch information instantly becomes zero, an alarm signal is sent to the designated terminal through the wireless communication unit. Specifically, five sensors attached to the fingers can be installed in the circular surface pair that is in contact with the user. If the touch disappears in an instant after touching the spherical surface for a long time, it is judged that the cane has fallen and the user has fallen.

According to an embodiment of the present application, the cane body includes a main rod and an adjustment rod, and the adjustment rod is connected to the main rod through a telescopic adjustment device. The contraction command controls the adjustment rod to move inwardly of the main rod to shorten the body of the cane; when the environment recognition unit judges that it is necessary to go down the stairs according to the collected environmental information, it sends an elongation command to the telescopic adjustment device to control the adjustment rod to move outwards of the main rod. The cane body is extended. The overall main structural parts of the cane body are made of light, strong and pressure-resistant carbon steel or aluminum-lithium alloy materials. The main pole and the adjustment rod are round tubes, the handle is made of plastic parts, and the connecting part of the legs and the adjustment rod is made of aluminum-lithium alloy material. The contact part of the supporting foot and the ground is made of rubber material. The telescopic adjustment device includes a 5V relay and a telescopic push rod 9. When there is a need to go up the stairs, the 5V relay drives the telescopic push rod 9 upward to prompt the audio-visual impaired to go up the stairs. guidance. Similarly, when going downstairs, the telescopic push rod 9 will be driven to move downward.

According to an embodiment of the present application, a light prompting device is further provided on the cane body, and the light prompting device is used to remind other personnel that the user pays attention to the user's activities. The light reminder device can be installed at the front and back of the T-shaped structure, and the ring-shaped OLED is used as the lighting method to remind the vehicles or pedestrians in front that people with audio-visual impairments are moving. The opening method is through the second function button from top to bottom. 4 open. The rear portion of the cane body is also provided with a power display module 10; it is convenient for family members to know the remaining power of the cane in time, so as to charge in time.

According to an embodiment of the present application, the bottom of the cane body is provided with a shock-absorbing structure 5; the shock-absorbing structure 5 can increase the comfort of the cane and reduce user fatigue.

According to an embodiment of the present application, the Braille dot matrix 1 module includes a stepping motor, a lead screw and nut mechanism connected to the power output end of the stepping motor, and a moving cylinder fixedly connected to the nut of the lead screw and nut mechanism.

The cane is powered by batteries, and wireless charging technology can be used for charging. The battery is installed in the cane body, and the wireless charging receiver is installed on the side of the cane body (not shown in the figure). The wireless charging stand converts electrical energy into electromagnetic waves and emits them to the cane. The wireless charging receiver, the charging coil of the wireless charging receiver uses the changing magnetic field to generate an induced current, so as to achieve the purpose of charging the battery. The charging process does not require the use of wires, and there is no metal connector, which avoids the inconvenience of blind people using wired charging devices.

Finally, the working process of the cane is explained as follows

When in use, turn on the power switch of the cane, and the cane will start to run as a whole; the path planning unit performs path planning according to the user's current coordinates and the destination entered by the user to obtain path planning information;

Then the environment recognition unit starts to recognize and judge the surrounding environment; when there are large obstacles such as walls and road piers in front, for example, when it is prompted to turn left, the FOC driver drives the brushless motor to deflect to the left first, prompting the audio-visual impaired. Turn left, and then the brushless motor resets. Then through Braille to indicate that there is a large obstacle ahead, and then the brushless motor is fine-tuned at the pixel level, and the hearing-impaired person is informed of which direction to deflect through torque transmission, and then walks according to the deflection angle.

When the road ahead needs to pass through the traffic light, when the light is red, it will vibrate twice and braille to remind the audiovisual impaired that there is a red light ahead and cannot pass; when the light is green, it will vibrate three times and braille to remind the audiovisual impaired People can pass.

When the front side needs to go up the stairs, the telescopic push rod 9 is driven upward by the 5V relay to prompt the audio-visual impaired personnel to go up the stairs, and then the telescopic push rod 9 resets and guides through the Braille mode. In the same way, when going downstairs, the telescopic push rod 9 will be driven downward.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (10)

1. A novel navigation stick for the deaf-blind, characterized in that it includes a stick body; a handle that is arranged on the top of the stick body for providing support, an interactive module that is arranged on the top of the stick body for real-time interaction with the user, and A navigation module installed on the cane body for providing navigation to the user during walking; The navigation module includes a route planning unit and an environment identification unit, the route planning unit is used to perform route planning according to the user's current coordinates and the destination input by the user to obtain route planning information, and the environment identification unit is used to collect the current environment in real time Information and judge the user's movement direction according to the current environment information and path planning information; The interactive module includes a guide handle installed on the top of the cane body and a Braille dot matrix module and/or a vibrator arranged on the guide handle; the guide handle is installed on the top of the cane body through a rotating drive mechanism, It is used to control the rotation direction of the guide handle according to the movement direction output by the navigation unit to guide the user's walking direction; the Braille dot matrix module and the vibrator are used to prompt whether the current blocking road is passable. 2. The novel navigation cane for the deaf-blind according to claim 1, characterized in that the rotating drive mechanism comprises a brushless motor controlled based on FOC. 3. The novel navigation stick for the deaf-blind according to claim 1, wherein the top of the stick body is provided with several navigation buttons connected to the navigation unit, each navigation button corresponds to a common destination, and the user presses the The navigation buttons input destination information to the navigation unit. 4. novel deaf-blind person's navigation cane according to claim 1, is characterized in that, this cane also comprises the alarm module that is installed on the cane body; Described alarm module comprises position sensor, wireless communication unit and upper computer; The pose sensor is used to collect the current pose information of the cane in real time, the wireless communication unit is used to obtain the pose information and send the pose information to the host computer, and the host computer judges whether the user has fallen or When it is judged that the user has fallen or is collided, an alarm signal is sent to a designated terminal through the wireless communication unit. 5. The novel navigation stick for the deaf-blind according to claim 4, characterized in that, the alarm unit also includes at least one touch sensor arranged at the place where the grip is in contact with the user's hand, and the touch sensor communicates with the user through the wireless communication unit. The collected touch information is sent to the host computer, and the host computer is used to judge whether the cane is out of the user's hand according to the received touch information. When it detects that the touch information instantly becomes zero, it sends an alarm signal to the designated terminal through the wireless communication unit. 6. The novel deaf-blind navigation cane according to claim 1, wherein the cane body includes a main rod and an adjustment rod, and the adjustment rod is connected to the main rod through a telescopic adjustment device. When it is judged that it is necessary to go up stairs based on the environmental information, the cane body is shortened by sending a contraction command to the telescopic adjustment device to control the adjustment rod to move inwards to the main rod; The telescopic adjustment device sends an elongation command to control the adjustment rod to move outwards from the main rod to extend the cane body. 7. The new type of navigation cane for the deaf and blind according to claim 1, characterized in that the cane body is also provided with a light prompting device, and the light prompting device is used to remind other personnel and users to pay attention to the user's activities. 8. The novel navigation cane for deaf-blind persons according to claim 1, wherein the bottom of the cane body is provided with a shock-absorbing structure. 9. The novel deaf-blind navigation cane according to claim 1, wherein the Braille dot matrix module includes a stepper motor, a lead screw nut mechanism connected to the power output end of the stepper motor, and a connection with the lead screw nut mechanism. The nut fixedly connects the kinematic cylinder. 10. The novel navigation cane for the deaf and blind according to claim 1, characterized in that the cane is powered by a battery, the battery is installed in the cane body, and a wireless charging receiver electrically connected to the battery is installed on the cane body.

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