RESEARCH AND DEVELOPMENT OF ROBOTIC TRAVEL AID FOR THE BLIND

大多数上了年纪失明的盲人不能用长拐杖或导盲犬走路。机器人旅行援助(ROTA)就是为这些人开发的，以支持他们的行走。Rota是一个小型移动机器人，大小为500 mm(W)×950 mm(H)X 1000 mm(D)，重量为60公斤。它的头上有一个摄像机，胸部有一个立体声摄像系统，前部有声纳和保险杠传感器。它的起落架部分有两个自由的前轮和两个12英寸的驱动后轮，时速2~4公里。ROTA配备了一台用于图像处理和导航的小型节能计算机。盲人触摸手柄，手柄固定在Rota的后部，保持行走姿势。盲人通过按下菜单按钮输入开始和目标，并触摸手柄保持行走姿势。在听到盲人想去的地方后，志愿者在通往目的地的路线上移动轮值。Rota学习路径及其标志模式(视觉指南)和地标。在指导中，盲人输入起点和目标。在说出路线轮廓、所需时间或穿越次数后，Rota开始移动。两个振动器连接在手柄的左右两个手柄上，在Rota将要转动时工作。通过视觉，ROTA获得道路边界或触觉区块等标志图案的图像，并沿其移动。ROTA检测交通信号，当信号通过时通过交叉标志。RoTA识别地标以验证路线。立体摄像系统探测到垃圾桶和自行车等障碍物。

Most of the blind who lose their sight in elder age cannot walk with the long cane or the guide dog. The Robotic Travel Aid (RoTA) is developed for such people to support their walk. RoTA is a small mobile robot of 500mm(W) X 950mm(H) X 1000mm(D) in size and 60kg in weight. It has a video camera on its head, a stereo camera system on its breast, sonars and a bumper sensor on its front. Its undercarriage part has two free front casters and two driving rear wheel of 12 inches and moves 2〜4km/h. RoTA is equipped with a small power saving computer for image processing and navigation. The blind touches the handle, which is attached to the rear part of RoTA and keeps his walking posture. The blind inputs the start and the goal by pushing the menu button and touches the handle to keep his walking posture. After hearing where the blind wants to go, the volunteer moves RoTA on the route to the destination. RoTA learns the path and its sign pattern (visual guide) and landmarks. In the guidance, the blind inputs the start and the goal. After speaking the outline of the route, the required time or the number of crossing, RoTA begins to move. Two vibrators are attached at the right and left grips of the handle and work when RoTA is going to turn. By the vision, RoTA gets the image of such sign pattern as the boundary of the road or the tactile block, and moves along it. RoTA detects the traffic signal and moves across the crossing mark when the signal is go. RoTA identifies the landmark to verify the route. The Stereo camera system detects such obstacle as garbage can and the bicycle.