Development of Visual Substitute for Blind People

主要研究成果如下：（1）研制了三种小型实时测距仪，可作为自主行驶车辆、智能机器人和盲人的眼睛。这些发现者，虽然是由立体彩色CCD相机和简单的电子电路，可以提取几个颜色和明亮的区域从风景图像。结果，这一事实使得有可能识别物体表面上的连续3D信息。在测量中，（a）首先根据表面颜色和亮度的差异将弯曲表面分成小的表面，以及（B）测量到每个表面的左手侧和右手侧位置的距离。实验结果表明，该装置适用于具有折线和角棱的平面和圆柱面的表面测量。(2)We我开发了一种盲文显示器，在那里有几块人造橡胶肌肉， 关于我们 并进行了电流变液（ERF）注入肌肉拉伸的试验。为了加快电流变液的进给速度，需要研究电流变液在流场中的动力学行为，并提出相应的进给方法。在这项研究中，我们已经证明，在管道中的响应特性进行了分析的电-流体类比，并制作了一个泵，用于供应ERF在实践中ERF的驱动原理，并已开发的盲文显示器组成的8 × 8触摸点及其控制装置。(3)As在制造盲人向导机器人的初步阶段，我们已经开发了一种安装有测距仪的自动行驶车辆。这是配备了视觉设备，进行真实的时间的视频信号从立体彩色摄像机，并有能力固定其眼睛上的彩色地标，识别的意义，标志和运行的路线上指定的颜色。该机器人的特点是具有三维自位置识别功能，并配有控制计算机，具有跟随主人的功能。该系统的其它特征是即使计算机被损坏也能获得真实的时间特性和经济的系统。少

The results obtained in this research are summarized as follows :(1)We have developed three types of compact real-time range finders which are available to act as the eyes of autonomous running vehicles and intelligent robots as well as blind people. These finders, although being constituted of stereo color CCD cameras and simple electronic circuits, can extract several color and bright regions from a scenery image. As a result, this fact made it possible to recognize successively 3-D information on the object surface. In the measurement, (a) a curved surface is firstly divided into small ones according to the difference in surface color and brightness and (b) the distances to the left- and right-hand-side positions of each surface are measured. It was confirmed that the developed devices are applicable to the surface measurements of planes with folded lines and corner edges and of a circular cylinder.(2)We have developed a Braille display, where several artificial rubber muscles are i … More nstalled and the trial tests have been made on feeding the electro-rheological fluid(ERF) into the muscle for its elongation. In order to make this feeding faster, the dynamic behavior of the ERF in the flow field should be clarified and some feeding method should be developed. In this research we have demonstrated that the response characteristics in the pipe are analyzed on the electric-fluid analogy and produced a pump for feeding the ERF In practice ERF was fed on this driving principle, and a Braille display composed of 8x8 touch points and its controlling device have been developed.(3)As a preliminary stage for manufacturing a guide robot for the blind, we have developed an autonomous running vehicle on which the range finder was mounted. This is equipped with the visual devices which proceed in real time the video signals from stereo color cameras and has the ability of fixing its eyes on color landmarks, recognizing the meanings of the marks and running on the route designated by the colors. The characteristics of this robot is that it has been provided with the functions of recognizing 3-D self positions and of following its master by being equipped with a controlling computer. The other characteristics of this system are that the real time characteristics and an economical system can be achieved even if the computer is uninstalled. Less