CN101829006A - Blind guiding stick - Google Patents
Blind guiding stick Download PDFInfo
- Publication number
- CN101829006A CN101829006A CN201010181159A CN201010181159A CN101829006A CN 101829006 A CN101829006 A CN 101829006A CN 201010181159 A CN201010181159 A CN 201010181159A CN 201010181159 A CN201010181159 A CN 201010181159A CN 101829006 A CN101829006 A CN 101829006A
- Authority
- CN
- China
- Prior art keywords
- blind
- infrared
- sensor
- infrared ray
- guiding stick
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a blind guiding stick which has the design key that two sets of infrared sensors are adopted, the first infrared sensor and the second infrared sensor are arranged at an interval, and an encountered barrier is judged by the difference of time for receiving infrared rays by the first sensor and the second sensor. The blind guiding stick can also comprise a third infrared sensor capable of emitting infrared rays in an obliquely downward direction, and the third infrared sensor is connected with the second infrared sensor and a bearing connected with a connecting rod to emit infrared rays in the obliquely downward direction in a certain angle, thereby solving the problem of encountering barriers when a blind person walks down stairs. In the invention, an infrared ranging technique is adopted, a parallelogram mechanism is used for enabling the measured value to be more precise, and a voice reminding mode and a vibration reminding mode are used for prompting whether barriers exist in front of the blind person or not. The blind guiding stick has precise obtained measured value, convenient and quick detection processes, convenient operation, no need of training and low cost, does not have complicated buttons, and solves the problem that the blind person can not walk up and down stairs easily.
Description
Technical field
The present invention relates to a kind of blind-guide device, particularly relate to a kind of blind-guiding stick.
Background technology
There are 1.8 hundred million blind persons in the whole world at present according to statistics, is the crowd of proportion maximum among all people with disabilitys.The blind person is different with the ordinary people, and they do not get out much at ordinary times, because external unfamiliar environment is not easy to their trip very much.Inconvenience in the life can not have the people constantly to remind potential danger, the especially stair activity of theirs at one's side very dangerous around, when going upstairs, is stair if do not know the place ahead, can be tripped, tumble; When going downstairs, be stair if do not know the place ahead, harm is just bigger, can the possibility that fall off the stairs be arranged because stepping on the sky paces.So they need aid, blind-guiding stick.Traditional blind man's stick is many to be made by bamboo or light-weight rod, and the blind person grasps an end, and the other end is sought the road surface.But will train through long, and action is inconvenient.
Present domestic blind-guiding stick adopts the technology (as infrared ray, laser, ultrasonic technology etc.) of detectable the place ahead barrier, be provided with alarm set, as vibrating alert, voice reminder, but its measured value degree of accuracy is low, utilizes existing guide instrument also to be difficult to safety and goes up downstairs smoothly, can not solve stair activity, run into the problem of barrier, therefore, can the blind person safe stair activity, the safety trip is with problem to be solved.
Summary of the invention
The present invention has overcome above-mentioned defective, and a kind of cheap, easy to operate, blind-guiding stick that the measured value degree of accuracy is high is provided.
For achieving the above object, the present invention adopts following technical proposals.
The present invention is a kind of blind-guiding stick, comprise cane body, power supply, controller, it is characterized in that also comprising being positioned at first infrared ray sensor, second infrared ray sensor that is provided with at interval on the cane body, described infrared ray sensor comprises the receptor of ultrared emitter of emission and receiving infrared-ray.
In invention, also comprise the connecting rod that is hinged into parallelogram with the cane body, first infrared ray sensor and second infrared ray sensor be arranged on the connecting rod and make first infrared ray sensor and the infrared ray of second infrared ray sensor emission parallel to the ground.
In invention, be connected with connecting rod with two bearings about each infrared ray sensor.
In invention, comprise that also being provided with one launches ultrared the 3rd infrared ray sensor to oblique below, the 3rd infrared sensor is connected with the bearing that second infrared sensor is connected with connecting rod.
In invention, also comprise handle, on described handle, vibrating device has been installed, described vibrating device is contained in the dead ahead of blind-guiding stick.
In invention, blind-guiding stick bottom is provided with the touch switch of the infrared sensor swing that is used to enable vibrating device.
In invention, the infrared ray of the 3rd infrared sensor emission with and the parallel connecting rod of cane body between angle be 30 °.
In invention, vibrating device is miniature eccentric motor.
In invention, second infrared sensor is arranged on liftoff 15 centimetres, and first infrared ray sensor and second infrared ray sensor are separated by 10 centimetres.
In invention, also comprise speech prompting device, described speech prompting device is to be positioned at the speech chip that can record on the circuit board of described controller machine box.
This blind-guiding stick adopts at least two infrared sensors, does not change the original walking habits of blind person, just increases function, makes the utilization rate of blind-guiding stick higher.In addition, also utilized parallel-crank mechanism to make measured value more accurate, blind-guiding stick can point out blind person the place ahead whether barrier is arranged by voice, the measured value that obtains is accurate, and points out synchronously with vibration at handle portion, and detection process is convenient, there is not complicated button, easy to operate need not trained, and with low cost, solved the problem of blind person's stair activity difficulty.
Description of drawings
The present invention is described in detail below in conjunction with the drawings and specific embodiments:
Fig. 1 blind-guiding stick first example structure sketch map of the present invention;
Fig. 2 blind-guiding stick second example structure sketch map of the present invention;
Fig. 3 blind-guiding stick of the present invention sketch map when running into barrier;
Sketch map when Fig. 4 blind-guiding stick of the present invention is gone upstairs;
Sketch map when Fig. 5 blind-guiding stick of the present invention is gone downstairs;
State transition graph when Fig. 6 blind-guiding stick of the present invention uses.
The specific embodiment
Describe in further detail below in conjunction with accompanying drawing and embodiments of the present invention:
Fig. 1 shows first embodiment of blind-guiding stick of the present invention.As shown in Figure 1, the present invention includes cane body 1, dismountable connecting rod 2, cane body 1, dismountable connecting rod 2 are hinged into parallel-crank mechanism, first infrared sensor 4 and second infrared sensor 5 are arranged on the connecting rod 2 with interval, and it is more flexible firm by duplex bearing 3 it to be swung up and down, and first infrared sensor 4 and second infrared sensor 5 all have the receptor of ultrared emitter of emission and receiving infrared-ray.Utilize parallel-crank mechanism, it is vertical that first infrared sensor 4 and second infrared sensor 5 and ground are remained, so the infrared ray of its emission is parallel to the ground all the time.First infrared sensor 4 and second infrared sensor 5 can not be hinged by parallelogram sturcutre, and are set directly on the cane body 1.A touch switch 6 is installed in the bottom of blind-guiding stick, be arranged to only when touch switch 6 starts, when promptly first infrared sensor 4 keeps vertical with second infrared sensor 5 with ground, just can infrared sensor be rotated from left to right with each 0.1 second speed by Motor Control, scan 20 ° to 30 °, i.e. a sectorial area.Have controller machine box in the blind-guiding stick, single-chip microcomputer, sound circuit, loudspeaker, battery, audio interface, Aviation Connector, main switch, state switch are housed in it, co-operation is controlled.Also has on and off switch in the control box, be positioned in blind person's pocket, by his Autonomous Control, when blind-guide device does not use, can provide timely service when wanting most by the own gauge tap of blind person, infrared sensor is only just swung once by Motor Control when blind-guiding stick touch switch 6 starts, scan saves energy.In addition, the rigid line in the control box is changed to flexible cord and can solves the poor wire connection problem.Blind-guiding stick of the present invention is selected 3.7 volts of batteries of 2 joints for use.Rechargeable battery charging once can provide 1200mA, and row makes a move and uses the required electric current of blind man's stick smaller or equal to 50mA, calculates with 2 seconds consuming time an of step, and the sustainable people of making of battery powered walked for 43200 steps, with step 30 centimetres of calculating, was roughly equal to 12960 meters altogether.Blind-guiding stick, does not need frequently lithium battery to be charged as power supply with 3.7 volts of lithium batteries of 2 joints.
Because the height of general stair is about 18 centimetres, so blind-guiding stick of the present invention is provided with liftoff 15 centimetres of second pick off, be separated by 10 centimetres time the measured data of the first sensor and second pick off are the most accurate, and can guarantee parallel-crank mechanism smooth rotation flexibly.
Blind-guiding stick of the present invention also comprises the prompting part that voice reminder and vibrating alert combine.Blind-guiding stick is provided with vibrating device on handle, be installed in the blind-guiding stick dead ahead, keeps consistent with the infrared sensor scanning direction.Whether user can judge infrared sensor towards dead ahead by the position of holding the sensation vibrating device, guarantees infrared sensor all the time vertically forward.What the vibrating device of blind-guiding stick was selected for use is little, the fireballing miniature eccentric motor of volume.The barycenter of this vibrating motor and axis coinciding, vibration are steadily.Blind-guiding stick of the present invention, the circuit board that is positioned at controller machine box is provided with the speech chip that can record, and controller uses speech chip as voice reminder, record 5 sections different contents altogether as prompting, be respectively: " unimpeded, one-level step; multistage stair, high obstacle is to going downstairs." blind-guiding stick of the present invention in use, be provided with following several prompting:
In 15 centimetres of places in addition of distance stair, voice reminder is " unimpeded ";
With interior place, voice reminder is " multistage stair ", and the prompting of twice vibration is arranged on 15 centimetres on distance stair;
In the time of on the stair, voice reminder is " multistage stair ", and the prompting of twice vibration is arranged;
When making progress the afterbody stair, voice reminder is " an one-level step ", and the prompting of sustained vibration is arranged;
In the time of downstairs, voice reminder is " to going downstairs ", and vibrating alert is arranged three times;
When there was high obstacle in the place ahead, voice reminder was " high obstacle ".
Blind-guiding stick of the present invention is provided with voice reminder with following control sequence:
void?blue_led(Byte?val){
if(val＝＝1)
T1CH1＝9200；
else
T1CH1＝00；
}
void?yellow_led(Byte?val){
if(val＝＝1)
T1CH0＝9200；
else
T1CH0＝00；
}
void?sound(Byte?index){
If (index==1) // one-level step
PTC_PTC5＝0；
Else if (index==2) // two stage steps
PTC_PTC4＝0；
Else if (index==3) // high obstacle
PTC_PTC3＝0；
Else if (index==4) // accessible
PTC_PTC2＝0；
else?if(index＝＝5)
PTC_PTC1＝0；
else?if(index＝＝6)
PTC_PTC0＝0；
wait(200)；
PTC＝0XFF；
}
void?shake(Byte?index){
Byte?i；
if(index＝＝1){
motor(1，100)
wait(1000)；
}
else?if(index＝＝2){
for(i＝0；i＜3；i++){
motor(1，100)；
wait(300)；
motor(1，0)；
wait(300)；
}
}
}
else?if(index＝＝2){
motor(1，100)；
wait(300)；
motor(1，0)；
wait(300)；
}
}
}
void?stick_init(void){
T1MOD＝9216；
DDRC＝0XFF；
DDRD＝0XFF；
PTC＝0XFF；
DDRA＝0X00；
yellow_led(0)；
blue_led(0)；
}
void?main()
{
Byte?i；
stick_init()；
while(1){
while(analog_port(6)＞599)；
if(analog_port(1)＞450){
blue_led(1)；
if(analog_port(0)＜160){
Yellow_led (1); // one-level step
sound(2)；
motor(1，100)；
wait(1000)；
motor(1，0)；
PTC＝0XFF；
}
else{
Yellow_led (0); // two stage steps
sound(3)；
}
}
else{
blue_led(0)；
yellow_led(0)；
sound(1)；
motor(1，0)；
}
wait(1)；
}
}
Fig. 2 shows the second embodiment of the invention structural representation, and as shown in Figure 2, blind-guiding stick of the present invention comprises that also the 3rd infrared ray sensor 7, the three infrared sensors 7 to the emission of oblique below are connected with the bearing 3 that second infrared sensor 5 is connected with connecting rod 2.When going downstairs, then can not be received by the receiver behind the 3rd infrared ray sensor 7 emission infrared ray, will have ladder or ground, hole in the voice reminder below this moment.Measured value was the most accurate when the infrared ray that experimental results show that the emission of the 3rd infrared sensor 7 was 30 ° with the angle of the connecting rod parallel with the cane body.
Sketch map when Fig. 3 shows the embodiment of the invention one and runs into barrier.As Fig. 3, shown in, first infrared sensor 4 of guide of the present invention, second infrared sensor 5 send infrared ray, running into barrier behind second infrared sensor, the 5 emission infrared ray returns, be received by the receiver, first infrared sensor 4 does not receive inverse signal, and then the height of this barrier is between first infrared sensor and second infrared sensor.
Sketch map when Fig. 4 shows the embodiment of the invention one and goes upstairs.As shown in Figure 4, first infrared sensor 4 of blind-guiding stick of the present invention, the emitter of second infrared sensor 5 emission infrared ray, scan when there is barrier in the place ahead and return, receptor receives infrared ray, calculate the time of two infrared sensors transmissions and receiving infrared-ray, if a time back and forth is identical, then might be objects such as metope; If asynchronism(-nization) back and forth, then the place ahead is likely stair, because stair are stepped, so used back and forth asynchronism(-nization) of infrared ray, therefore be easy to measure distance between blind-guiding stick and the barrier according to infrared ray spread speed and required back and forth time, can also record the height of barrier according to reception condition.In time send corresponding prompting by the blind-guiding stick alarm set, guarantee that the blind person can understand the place ahead road conditions before running into obstacle.In addition, because infrared ray propagation time difference in air, the energy of its loss is also different, so can learn which kind of barrier what run into is by measuring light intensity.
Sketch map when Fig. 5 shows the embodiment of the invention two and goes downstairs.As shown in Figure 5, the infrared ray of the 3rd infrared ray sensor 7 emission of blind-guiding stick of the present invention with and the parallel connecting rod of cane body between angle be 30 °, can not be received after the described infrared ray emission, just can remind user by vibrating device and voice device this moment, and there are ladder or ground, hole in the below.
Fig. 6 shows blind-guiding stick of the present invention state transition graph when using.Blind-guiding stick as shown in the figure utilizes the parallel-crank mechanism characteristic, makes first infrared sensor 4 preserve parallel with ground all the time with the infrared ray of second infrared sensor, 5 emissions in the process of walking.Adopt this structure can make the value that records more accurate.
The cane body of blind-guiding stick of the present invention can replace with any club-like object, and user only need be installed in infrared facility on the own blind-guiding stick originally and get final product.
Extensively practical in the market blind-guiding stick mainly adopts the technology of detectable the place ahead barrier: infrared ray, laser, ultrasonic technology, and its pluses and minuses are as follows:
(1) advantage of infrared distance measurement is with low cost, makes easily, and is safe in utilization; Shortcoming is that degree of accuracy is low, can find range from nearer, and is insensitive for direction.
(2) advantage of laser ranging is the degree of accuracy height; Shortcoming is for human body unsafe factor to be arranged, and the difficulty of manufacturing is bigger, and price is higher, and whether measurement result can be influenced by the cleaning of optical system.
(3) advantage of ultrasonic ranging is to require lower for measurement environment; Shortcoming is that accuracy is not high, and with high costs.
In sum, selection is made blind-guiding stick with infrared technique, and blind-guiding stick has been loaded onto the device (adopting at least two infrared sensors) of detecting obstacles thing on the original basis, does not change the original walking habits of blind person, just increase function, make the utilization rate of blind-guiding stick higher.In addition, also utilized parallel-crank mechanism to make measured value more accurate, blind-guiding stick can point out blind person the place ahead whether barrier is arranged by voice, the measured value that obtains is accurate, and points out synchronously with vibration at handle portion, and detection process is convenient, there is not complicated button, easy to operate need not trained, and with low cost, solved the problem of blind person's stair activity difficulty.
Claims (10)
1. blind-guiding stick, comprise cane body, power supply, controller, it is characterized in that also comprising being positioned at first infrared ray sensor, second infrared ray sensor that is provided with at interval on the cane body, described infrared ray sensor comprises the receptor of ultrared emitter of emission and receiving infrared-ray.
2. blind-guiding stick as claimed in claim 1, it is characterized in that also comprising the connecting rod that is hinged into parallelogram with the cane body, described first infrared ray sensor and second infrared ray sensor be arranged on the connecting rod and make described first infrared ray sensor and the infrared ray of second infrared ray sensor emission parallel to the ground.
3. blind-guiding stick as claimed in claim 2 is characterized in that being connected with connecting rod with two bearings about each infrared ray sensor.
4. blind-guiding stick as claimed in claim 3 is characterized in that also comprising that being provided with one launches ultrared the 3rd infrared ray sensor to oblique below, and described the 3rd infrared sensor is connected with the bearing that second infrared sensor is connected with connecting rod.
5. as claim 1 or 2 or 4 described blind-guiding sticks, it is characterized in that also comprising handle, on described handle vibrating device has been installed, described vibrating device is contained in the dead ahead of blind-guiding stick.
6. blind-guiding stick as claimed in claim 5 is characterized in that blind-guiding stick bottom is provided with the touch switch of the infrared sensor swing that is used to enable vibrating device.
7. blind-guiding stick as claimed in claim 4, the infrared ray that it is characterized in that the emission of described the 3rd infrared sensor with and the parallel connecting rod of cane body between angle be 30 °.
8. blind-guiding stick as claimed in claim 5 is characterized in that described vibrating device is miniature eccentric motor.
9. as claim 1 or 2 or 4 described blind-guiding sticks, it is characterized in that described second infrared sensor is arranged on liftoff 15 centimetres, first infrared ray sensor and second infrared ray sensor are separated by 10 centimetres.
10. as claim 1 or 2 or 4 described blind-guiding sticks, it is characterized in that also comprising speech prompting device, described speech prompting device is to be positioned at the speech chip that can record on the circuit board of described controller machine box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010181159A CN101829006A (en) | 2010-05-21 | 2010-05-21 | Blind guiding stick |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010181159A CN101829006A (en) | 2010-05-21 | 2010-05-21 | Blind guiding stick |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101829006A true CN101829006A (en) | 2010-09-15 |
Family
ID=42713330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010181159A Pending CN101829006A (en) | 2010-05-21 | 2010-05-21 | Blind guiding stick |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101829006A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103092201A (en) * | 2012-08-10 | 2013-05-08 | 江苏科技大学 | Voice blind guiding robot with multiple sensors based on radio frequency identification and route planning method |
| CN104039293A (en) * | 2011-09-30 | 2014-09-10 | 克勒格布尔印度理工学院 | Electronic travel aid for visually impaired and blind people |
| CN105943324A (en) * | 2016-05-26 | 2016-09-21 | 苏州经贸职业技术学院 | An ultrasonic wave-based walking stick for the blind |
| CN109498383A (en) * | 2018-12-25 | 2019-03-22 | 汪紫涵 | Intelligent blind-guiding crutch |
| CN110374334A (en) * | 2019-07-20 | 2019-10-25 | 魏双清 | A kind of easily controlled centrifugal vibrating head |
| CN115192401A (en) * | 2022-07-12 | 2022-10-18 | 成都鲁易科技有限公司 | Blind person assistant crutch and crutch control method based on blind person assistant crutch |
-
2010
- 2010-05-21 CN CN201010181159A patent/CN101829006A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104039293A (en) * | 2011-09-30 | 2014-09-10 | 克勒格布尔印度理工学院 | Electronic travel aid for visually impaired and blind people |
| CN103092201A (en) * | 2012-08-10 | 2013-05-08 | 江苏科技大学 | Voice blind guiding robot with multiple sensors based on radio frequency identification and route planning method |
| CN103092201B (en) * | 2012-08-10 | 2015-03-04 | 江苏科技大学 | Voice blind guiding robot with multiple sensors based on radio frequency identification and route planning method |
| CN105943324A (en) * | 2016-05-26 | 2016-09-21 | 苏州经贸职业技术学院 | An ultrasonic wave-based walking stick for the blind |
| CN109498383A (en) * | 2018-12-25 | 2019-03-22 | 汪紫涵 | Intelligent blind-guiding crutch |
| CN109498383B (en) * | 2018-12-25 | 2024-03-15 | 汪紫涵 | Intelligent blind guiding crutch |
| CN110374334A (en) * | 2019-07-20 | 2019-10-25 | 魏双清 | A kind of easily controlled centrifugal vibrating head |
| CN115192401A (en) * | 2022-07-12 | 2022-10-18 | 成都鲁易科技有限公司 | Blind person assistant crutch and crutch control method based on blind person assistant crutch |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101829006A (en) | Blind guiding stick | |
| CN205494329U (en) | Intelligence is saved oneself and is led blind walking stick | |
| CN203244562U (en) | Intelligent blindness guide walking stick based on GPS/GPRS | |
| CN211326638U (en) | Intelligent blind guiding robot | |
| CN106074099A (en) | Blind person's special intelligent guides system | |
| CN201591719U (en) | Intelligent blind aid system and intelligent blind aid cane | |
| CN201993643U (en) | Guiding device for enabling self-propelled dust collector to move toward charging seat | |
| CN206304104U (en) | A kind of Intelligent bracelet based on blind-guiding stick | |
| US20090223546A1 (en) | Multi-function cane | |
| CN103431979A (en) | Intelligent guide system based on ultrasonic distance measuring principle | |
| CN101947181A (en) | Intelligent multifunctional guide crutch | |
| CN109199808B (en) | Intelligent walking stick for blind based on computer vision | |
| JP2018513712A (en) | Sports pole with sensor and method of using the same | |
| CN107362003B (en) | Blind guiding stick based on double ultrasonic waves and blind guiding method | |
| CN105287172A (en) | Multifunctional electronic blind guide device | |
| CN105816304A (en) | Blind guiding cap band with human voice prompting function | |
| CN202105151U (en) | Intelligent crutch capable of detecting humans and obstacles | |
| KR101027240B1 (en) | Walking stick for blind person | |
| CN107456364A (en) | A kind of blind guiding stick | |
| KR101503381B1 (en) | The stic with complex function | |
| Bhongade et al. | Internet of Things-Enabled Smart Shoes for Blind People | |
| TWI691328B (en) | Smart aid system for visually impaired | |
| CN211186100U (en) | Walking stick is reminded to intelligence | |
| TWI655022B (en) | Counting system with height measurement for rope skipping | |
| CN208355727U (en) | A kind of blind-guiding stick based on double ultrasonic waves |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20100915 |