Design And Research Of A Blind Guiding Robot In Outdoor Environments

The need for travel of the blind has always existed.With the development of robotics,sensor technology,and especially outdoor positioning technology,it has become possible to use a mobile robot with outdoor navigation capabilities to guide blind people.The main research contents of this thesis are as follows:(1)Firstly,this paper summarizes the research status of blindness aids at home and abroad,analyzes the key technologies about blind guiding robot and function needs of blind people for blind guiding robots,and proposes a plan that using a mobile robot with outdoor navigation capabilities to guide the blind from one location to another location.(2)Secondly,the body structure of the blind guide robot is designed.Its hardware architecture is built,and the selection of relevant hardware modules is completed.The control system and software system architecture of the blind guide robot are designed.(3)Thirdly,a combined positioning scheme for blind-guided robots is determined.The track estimation based on the two-wheel differential drive and attitude module is realized.The GNSS module data extraction is completed.(4)Fourthly,this paper uses path teaching to solve the problem of obtaining the global path,and realizes the processing and storage of coordinate points.The abstraction of the driving environment of the blind robot has been completed.The ultrasonic sensor detection performance test is completed.The detection range model of the ultrasonic sensor is drawn.The layout of the ultrasonic sensor is completed.(5)Fifthly,a local path planning method combining artificial potential field method and Bug method is proposed.The artificial potential field method,the Bug method and the combination method are realized.The aimless fuzzy obstacle avoidance method for blind robots was realized.(6)Finally,the human-computer interaction problem of the blind robot is analyzed.The basic principles of human-machine interaction for blind robots were determined.An overall human-computer interaction scheme is proposed.An interactive handle for the blind robot was designed.A rotary torque hinge and a speed adjustment system based on a tension pressure sensor were designed.