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首页> 外文会议>Mechatronics, 2009. ICM 2009 >3D detection of obstacle distribution and mapping for tactile stimulation
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3D detection of obstacle distribution and mapping for tactile stimulation

机译：触觉刺激的障碍物分布和制图的3D检测

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摘要

In walking guide system for a blind pedestrian, it is needed to detect an obstacle distribution in walking space not only 2D but space including pendent and/or protruded obstacles, and feedback to the blind for safe walking. The obstacle information is transferred to a blind pedestrian by a tactile stimulation. Based on the obstacle information a user plans walking route, and controls the walking guide system. In this paper, the methods for a 3D obstacle detection using ultrasonic sensors and mapping to an array type tactile stimulator are proposed. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of obstacles on the ground and the detection of down step are performed. The performance for the 3D detection of obstacle distribution and mapping for tactile stimulation are verified through the experiment.
机译：在用于盲人行人的步行引导系统中，不仅需要检测步行空间中的障碍物分布，而且还必须检测包括悬垂和/或突出障碍物在内的二维空间，并向盲人进行反馈以安全行走。障碍信息通过触觉刺激被传递给盲人行人。用户根据障碍物信息规划步行路线，并控制步行引导系统。在本文中，提出了一种使用超声波传感器检测3D障碍物并映射到阵列型触觉刺激器的方法。执行并估算了使用超声波传感器对障碍物分布进行3D检测的实验。实验系统由超声传感器和控制系统组成。在实验中，执行地面上障碍物的检测和下降步骤的检测。通过实验验证了3D检测障碍物分布和触觉映射的性能。

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