CN-121973159-A - Intelligent walking assisting exoskeleton under vision obstacle environment

CN121973159ACN 121973159 ACN121973159 ACN 121973159ACN-121973159-A

Abstract

The invention discloses an intelligent walking assisting exoskeleton in a vision-impaired environment, and belongs to the field of wearable robots. The technical scheme includes that the robot comprises a light exoskeleton main body, an environment sensing system composed of a laser radar, a camera and an ultrasonic sensor, a navigation obstacle avoidance system based on an SLAM algorithm, a man-machine interaction system comprising a bone conduction earphone and a controller, a power system and an intention recognition system fusing myoelectricity and electroencephalogram. In addition, fall detection and remote monitoring functions are integrated. The invention integrates environment sensing, intelligent navigation and physical assistance, can plan paths in real time, identify walking intention and provide accurate assistance, and effectively improves the autonomy and safety of walking in the vision-impaired environment.

Inventors

CHEN JIAN
LI JINGCAN
WU QICHENG
ZHOU MI
HU YIBO
LU XUAN
LI KUN
LI FUYING
TAN GUANGHUI

Assignees

中南大学
中南大学(贵州)贵阳贵安产业技术研究院
贵阳博烁科技有限公司
贵阳市矿能集团矿业投资有限公司

Dates

Publication Date: 20260505
Application Date: 20260324

Claims (9)

1. The intelligent walking assisting exoskeleton in the vision-impaired environment is characterized by comprising an exoskeleton main body, an environment sensing system, a navigation obstacle avoidance system, a man-machine interaction system, a power system and an intention recognition system, wherein the exoskeleton main body comprises a waist fixing component (1), a thigh assisting component (2), a shank assisting component (3) and a foot supporting component (4) and is used for assisting a wearer in the vision-impaired environment to walk, the environment sensing system comprises a laser radar (5), a camera (6) and an ultrasonic sensor (7) and is used for detecting obstacle information of the surrounding environment, the navigation obstacle avoidance system comprises a processor and a navigation module and is used for planning a walking path according to the information acquired by the environment sensing system and realizing an obstacle avoidance function, the man-machine interaction system comprises a bone conduction earphone (8) and a controller (9) and is used for providing environment information for the wearer in the vision-impaired environment and controlling the movement of the exoskeleton, the power system comprises a motor (10) and a battery (11) and the intention recognition system comprises a myoelectricity sensor (12) and a brain electricity sensor (13) and is used for recognizing the intention of the wearer in the vision-impaired environment to walk.
2. Intelligent walking assisted exoskeleton in the presence of visual barriers according to claim 1, characterized in that the lidar (5) is used for detecting obstacles in the range of 10 meters in front, the camera (6) is used for identifying the type of obstacle, and the ultrasonic sensor (7) is used for detecting obstacles in close range.
3. The intelligent walking assisted exoskeleton of claim 1, wherein said navigational obstacle avoidance system constructs an environmental map using SLAM algorithm and plans an optimal walking path based on the wearer's destination.
4. Intelligent walking assisted exoskeleton in a vision-impaired environment according to claim 1, wherein the bone conduction headphones (8) are used for providing real-time environmental information to the wearer in the vision-impaired environment, and the controller (9) is used for setting the destination and adjusting the assistance mode.
5. The intelligent walking assisting exoskeleton in the vision-impaired environment according to claim 1, wherein the motor (10) is a servo motor and is arranged at the hip joint and the knee joint, the battery (11) is a lithium battery, and the endurance time is not less than 8 hours.
6. Intelligent walking assisted exoskeleton in the presence of visual impairment according to claim 1, wherein the myoelectric sensor (12) is mounted on the thigh muscle of the wearer for detecting the electrical signals of the muscle, and the electroencephalogram sensor (13) is mounted on the head of the wearer for detecting the electroencephalogram signals.
7. The intelligent walking assisted exoskeleton of claim 1 further comprising a fall detection system including an acceleration sensor and a gyroscope for detecting the walking posture of the wearer and automatically adjusting the assistance mode when a fall risk is detected.
8. The intelligent walking assist exoskeleton of claim 1, further comprising a remote monitoring system for transmitting the walking data and health data of the wearer to a family or doctor.
9. The intelligent walking assisted exoskeleton of claim 1, wherein said human-computer interaction system supports voice and key operation.

Description

Intelligent walking assisting exoskeleton under vision obstacle environment Technical Field The invention relates to the technical field of wearable robots, in particular to an intelligent walking assisting exoskeleton in a vision-impaired environment. Background With the development of society, the travel demands of visually impaired people are receiving more and more attention. At present, visually impaired people mainly rely on a blind crutch, a guide dog or others to assist in traveling, and the method has a plurality of limitations that the blind crutch can only detect the front obstacle and cannot identify the type and distance of the obstacle, the guide dog has high training cost and limited quantity, and the other people can limit the traveling freedom of visually impaired people when helping. The existing exoskeleton robots are mainly used for rehabilitation training, military assistance or industrial transportation, and few exoskeleton products specially aiming at visually impaired people exist. Although auxiliary systems for visually impaired people, such as AI glasses and blind guiding robots, are available, these products only provide environmental information or only provide a mobile platform, but cannot provide walking assistance and environmental perception functions at the same time, so that the travel requirements of visually impaired people cannot be met. Therefore, an intelligent walking assisting exoskeleton special for visually impaired people is needed, and the intelligent walking assisting exoskeleton combines the environment sensing, obstacle avoidance navigation and walking assisting functions, so that the visually impaired people can walk more safely and easily. Meanwhile, walking assistance can be provided for healthy people under the condition of complex visual limitation. Disclosure of Invention The invention aims to provide an intelligent walking assisting exoskeleton in a vision-impaired environment, which solves the problem of inconvenient travel of vision-impaired people in the prior art and the assisting operation requirement of sound people under the complex vision-restricted condition In order to achieve the above purpose, the invention adopts the following technical scheme: the intelligent walking assisting exoskeleton comprises an exoskeleton main body, an environment sensing system, a navigation obstacle avoidance system, a man-machine interaction system, a power system and an intention recognition system, wherein the exoskeleton main body comprises a waist fixing component, a thigh assisting component, a shank assisting component and a foot supporting component and is used for providing walking assistance for a wearer, the environment sensing system comprises a laser radar, a camera and an ultrasonic sensor and is used for detecting obstacle information of surrounding environment, the navigation obstacle avoidance system comprises a processor and a navigation module and is used for planning a walking path according to the information acquired by the environment sensing system and realizing an obstacle avoidance function, the man-machine interaction system comprises a bone conduction earphone and a controller and is used for providing environment information for the wearer in the vision obstacle environment and controlling movement of the exoskeleton, the power system comprises a motor and a battery and is used for providing power for the exoskeleton, and the intention recognition system comprises a myoelectric sensor and a brain electric sensor and is used for recognizing walking intention of the wearer. Further, the exoskeleton main body is made of lightweight materials, comprises carbon fibers and aluminum alloy, and has the overall weight of not more than 8kg, so that wearing comfort is ensured. Further, the laser radar in the environment sensing system is used for detecting obstacles in the range of 10 meters in front, the camera is used for identifying the types of the obstacles, the ultrasonic sensor is used for detecting obstacles at a short distance, and walking safety of a wearer in a vision-impaired environment is ensured. Further, the navigation obstacle avoidance system adopts an SLAM algorithm to construct an environment map, plans an optimal walking path according to the destination of a wearer, and automatically adjusts the path and reminds the wearer through a bone conduction earphone when encountering an obstacle. Further, the bone conduction earphone in the man-machine interaction system is used for providing real-time environment information for a wearer in a vision-impaired environment, such as the type, distance, walking direction and the like of a front obstacle, and the controller is used for setting a destination and adjusting a power-assisted mode. Further, a servo motor is adopted by a motor in the power system and is arranged at the hip joint and the knee joint and used for providing walking assistance for a wearer, a lithium battery is ado