视听融合导盲机器人的设计与研究

Design and Research of Audio-Visual Fusion Blind Guiding Robot

着眼于盲人出行问题,设计了一套视听融合导盲机器人系统。该系统可以实现环境障碍探测、道路交通标志识别、行进路径规划、信息实时交互等功能。硬件方面,通过各种类型光学传感器进行实时视觉信息采集,并通过语音形式与使用者进行信息交互;软件方面,采用神经网络算法对多传感器信息进行数据融合以实现环境信息识别,采用双极系数法以及基于颜色直方图的图像分割分别实现对斑马线和盲道两种交通标志的识别,基于人工势场法实现行进路径规划。为了验证该方案的有效性,搭建了原型系统,并在真实环境下进行测试,实验结果表明,该导盲机器人具有识别准确率高、对复杂环境性能稳健等优点,满足盲人出行需要。

Focusing on the travel problem of blind people, an audio-visual fusion blind guiding robot system is designed, which can realize the detection of environmental obstacles, the identification of road traffic signs, the planning of path and the real-time interaction of information. In terms of hardware, the real-time visual information are collected through various types of optical sensors, and the information interaction with the users are carried out in the voice form. In terms of software, the neural network algorithm is used to carry out the data fusion from multi-sensors so as to realize the environmental information recognition, and the double pole coefficient method and the image segmentation based on the color histogram are used to realize the recognition of the zebra crossing and the blind road, respectively. The path planning is implemented based on the artificial potential field method. To verify the effectiveness of the proposed scheme, we build a prototype system and test it in a real environment. The test results show that the blind guiding robot has the advantages of high recognition accuracy and robust performance to complex environment, and it is satisfying the travel needs of blind people.