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协助视障人士的新型机器人系统 A New Robotic System to Assist Visually

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2011 RO-MAN  
20th IEEE International Symposium on Robot and  
Human Interactive Communication,  
July 31 - August 3, 2011, Atlanta, GA, USA  
A New Robotic System to Assist Visually Impaired People  
Genci Capi, Member IEEE, Hideki Toda, Member IEEE  
propose a new robotic system using camera and laser range  
finders. The sensors and a small PC are placed in a trolley  
walker. While walking, the camera captures the images and  
the LRFs scan the environment in front of the user in the  
horizontal and vertical planes. The PC analyzes  
environmental data to acquire the information. The PC tells  
this information to the person by natural language or beep  
signals. In addition, the user can find obstacle free paths  
using the joystick potentiometer. Based on the joystick  
pushing direction, the corresponding laser data are  
processed and the information is sent to the user. By using  
this system, visually impaired people will be able to obtain  
information of the environment, find obstacle free moving  
directions and detects danger places like stairs and steps.  
This paper is organized as follows. First the developed  
system is described (section II). In Section III the software  
for step, stair and face recognition are presented. The  
performance of our system in different environment settings  
is verified experimentally and the results are presented in  
section IV, before concluding in Section V.  
Abstract— In this paper, we propose a new robotic system to  
assist visually impaired people in unknown indoor and outdoor  
environments. The robotic system, which is equipped with a  
visual sensor, laser range finders, speaker, gives visually  
impaired people information about the environment around  
them. The laser data are analyzed using the clustering  
technique, making it possible to detect obstacles, steps and  
stairs. By using the visual sensor, the system is able to  
distinguish between objects and humans. The PC analyses the  
sensors data and send information to the visually impaired  
people by natural language or beep signal. The usefulness of  
the proposed system is examined experimentally.  
I. INTRODUCTION  
ECENTLY a major problem for the society is to find  
R
ways to help visually impaired people for safe  
navigation in everyday life environments. Several  
approaches have been proposed to address this problem,  
which are mainly divided into two groups: devices for (1)  
outdoor and (2) indoor environments. Most of the devices  
for outdoor environments are based on the Global  
Positioning System (GPS) ([1], [2], [3], [4]) for localization  
and Laser Range Finder (LRF) for obstacle avoidance. For  
example, Mori et al ([1]) proposed a Robotic Travel Aid  
(RoTA) “Harunobu” to guide the visually impaired people  
in the sidewalk or university campus using a camera, sonar,  
differential GPS system, and portable GIS, which are placed  
in an actuated wheelchair device. On the other hand, indoor  
devices use ultrasound or radio frequency identification  
transponder for localization and LRF for obstacle  
identification and avoidance ([5],[6],[7],[8],[9]). For  
example, in [5] a new system is proposed, which gives blind  
people information of the environment. The person is  
equipped with two LRF, PC placed in his body.  
Although many devices have been proposed and several  
improvements have been done in public roads and buildings,  
it is still hard and danger for the visually impaired people to  
navigate in most of the places. In order to determine the most  
important information needed by visually impaired people,  
we interviewed several of them in the Toyama Center of  
Disabled People. The survey results showed that especially  
steps and stairs present a great danger for these people. In  
addition, human recognition is important in order not to hurt  
other people. In order to assist visually impaired people, we  
II. DEVELOPED SYSTEM  
The proposed robotic system is shown in Fig. 1. It  
consists of one PC, two LRFs, one camera, a H8  
microprocessor and a joystick potentiometer. The PC and  
sensors are placed in a trolley walker produced in  
collaboration with Kanayama Machinery. The laser sensors  
scan the environment in front of the trolley walker, in the  
horizontal and vertical planes, while the camera captures the  
environment images. The PC analyzes the sensors data  
continuously. It detects objects that are in front of the guide  
robot and tells the user this information by beep signals or  
natural language. In our system, we use a bone headphone  
which makes it possible for the user to listen to PC  
information, while hearing the environment. The intensity of  
the beep signals increases as the guide robot gets near to the  
obstacles.  
A. Laser sensor  
In our system, we used two LRF sensors made by HOKUYO  
AUTOMATIC. The URG-04LX-UG01 ([10]) is a small and  
light LRF sensor. Its high accuracy, high resolution and  
wide range provide a good solution for 2D scanning. Fig. 2  
shows the appearance of the sensor and Table 1 gives the  
main specifications. It has a low-power consumption (2.5W)  
for longer working time and can be powered by the USB.  
G. Capi and Hideki Toda are with the Department of Electric and  
Electronic Eng., University of Toyama, Toyama, Japan (phone/fax  
0081-445-6745; e-mail: ).  
978-1-4577-1573-0/11/$26.00 ©2011 IEEE  
259  

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