CN102631279A - Infrared sensor based electronic navigator and control method thereof - Google Patents
Infrared sensor based electronic navigator and control method thereof Download PDFInfo
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Abstract
The invention relates to an infrared sensor based electronic navigator and a control method of the infrared sensor based electronic navigator, belonging to the electronic guiding field. The infrared sensor based electronic navigator comprises an analog/ digital (A/D) conversion module, a main control processing module, a crystal oscillator and phase-locked loop circuit, a voice module, a power management module and a key module which are sealed in a shell in a unified way; furthermore, the shell is externally provided with a detection module and a circular bayonet used for connecting the detection module. The portable navigator developed by the invention is small in volume, convenient to carry and easy to use; the system is low in price and is suitable for most people with visual impairment; and the system has a voice prompt function, thus being capable of better assisting blind person to walk.
Description
Technical field
The invention belongs to the electronic guidance field, particularly a kind of electronics leading instrument and control method based on infrared sensor.
Background technology
According to the national authority department statistics, China is the maximum country of blind person in the world, has 5,000,000 approximately, accounts for 18% of world blind person sum.In their go off daily, have inconvenience.Traditional blind person's aid is a blind-guiding stick, but because blind-guiding stick can only detect the information of road surface point one by one and in use need blind person's user attention high concentration, causes user fatigue easily.Hispanic one tame research institution utilizes the ultrasonic locating principle of Vespertilio, produces the equipment that a cover blind person uses, and this equipment user need be trained, and uses tongue to send vibrations, converts sound wave into through navigation system then and positions.But be to use trouble, so for better assisting blind trip, avoid the drawback of traditional blind-guiding stick, design more portable walking aid, we have carried out the research of electronics leading instrument.
Summary of the invention
Deficiency to existing invention exists the present invention proposes a kind of electronics leading instrument and control method based on infrared sensor, to be reached for common blind person a kind of purpose of electronics leading instrument of portable practicality is provided.
Technical scheme of the present invention is achieved in that a kind of electronics leading instrument based on infrared sensor; Comprise AD modular converter, main control processing module, crystal oscillator and phase-locked loop circuit, voice module, power management module and key-press module; Above-mentioned module unification is sealed in the housing, in addition, also is provided with detecting module in outside, is used to connect the semicircle bayonet socket and the rectangular faceplate of detecting module; Described detecting module comprises four pick offs and fixed support; Described four pick offs comprise: the pick off of setting out on a journey, following road pick off, left road pick off and right wing pick off, and described four pick offs become the rectangular pyramid type to arrange, and become A degree angle between every adjacent two-way pick off; The pick off of wherein setting out on a journey is placed obliquely, and it is vertical with the horizontal plane maintenance with face that pairing down road pick off is constituted; Described four pick offs are fixed by welding in on the fixed support of rectangular pyramid type, and the support bracket fastened top of described rectangular pyramid type also is welded with hollow pipe, and the output lead of four pick offs places in the said hollow pipe and is connected with the intravital AD modular converter of shell; Described rectangular faceplate is movable plate, and the one of which side is provided with 3 semicircle bayonet sockets, and its radius is identical with semicircle bayonet socket on the leading instrument, after the semicircle bayonet socket splicing on semicircle bayonet socket on the rectangular faceplate and the leading instrument, is used for fixing hollow pipe;
The span of described A is 25 °～30 °;
Utilize semicircle bayonet socket and rectangular faceplate on the described leading instrument, realization is fixing to detecting module, and wherein, the included angle A 1 that the center line of detecting module is become with horizontal plane can be 0 ° of angle or 15 ° of angles or 30 ° of angles;
Based on the electronics leading control method of infrared sensor, process is following:
Step 1: wearing highly and detecting module center line and horizontal plane angulation of user is set;
The described distance that highly is meant leading instrument and ground of wearing;
The angle that detecting module center line and horizontal plane are can be 0 ° or 15 ° or 30 ° of angles, is provided with voluntarily as required by user;
Step 2: four working sensors, to gather the voltage signal that walking process reflects, and send the main control module to, the main control module is utilized voltage and range performance curve, converts voltage signal into range information; Wherein, every group of voltage signal comprises 4 tunnel information, respectively from the pick off of setting out on a journey, following road pick off, left road pick off and right wing pick off;
Step 3: the main control processing unit utilizes the range information of step 2, the distance of dyscalculia thing and size, and wherein, the method for the distance of dyscalculia thing is: utilize the distance of the measured information calculations barrier of following road pick off, computing formula is:
In the formula, l is the actual road surface distance of user and barrier, X
2The value of being returned when down the road sensor is to barrier,
Be following road pick off and vertical direction angulation in the detecting module, its computing formula does
The method of dyscalculia thing size is: utilize the height of the measured information calculations barrier of set out on a journey pick off and following road pick off, utilize the width of the measured information calculations barrier of left road pick off and right wing pick off;
The size of described dyscalculia thing, concrete grammar is:
At first the range data of following road sensor feedback is analyzed:
If the distance value that following road pick off is fed back remains near a value always, wherein said a is the distance information value to the road surface that following road sensor acquisition arrives in the leading instrument, shows that then barrier does not appear in ground, and the road surface is steady;
If the absolute value of distance value that following road pick off is fed back and the difference of a is greater than the detection threshold c1 that sets, then explanation detects pavement roughness: if above-mentioned difference for just, shows that then there is dell on road surface, the place ahead; If above-mentioned difference shows then that for negative there is projection on road surface, the place ahead, barrier has appearred on the road surface;
The scope of described detection threshold c1 is 5cm～10cm;
Then the range data that pick off fed back of setting out on a journey in the same group of voltage data is analyzed:
The distance value that pick off fed back if set out on a journey keeps the b value constant, and described b is the distance value that pick off fed back of setting out on a journey when not having barrier, explains that then the pick off of setting out on a journey does not also touch barrier; Each distance value of organizing in information of voltage that pick off fed back of setting out on a journey that continuation is gathered the back is analyzed;
Variation has taken place in the distance value that pick off fed back if a certain moment is found to set out on a journey, and the difference of above-mentioned distance value and b value is greater than the thresholding c1 that sets, and engraves the height of the distance value dyscalculia thing that the road pick off fed back this moment then capable of using, and computing formula is:
h＝X
1*sinθ+H，
In the formula, h is an obstacle height, X
1Organize the distance value that pick off fed back of setting out on a journey in the voltage data, H is for wearing height for this reason, and θ is the angle of pick off and horizontal plane of setting out on a journey, its computing formula be θ=| A/2-A1|;
The distance value that pick off fed back if set out on a journey never changes; And the distance value that following road pick off is fed back changes to a value again; The distance value that following road pick off in that group voltage data before becoming a value then capable of using is fed back, the height of dyscalculia thing, computing formula is:
Wherein, X
2Be the distance value that descends the road pick off to be fed back;
Meanwhile, left and right two-way pick off carries out width detection to barrier:
If the distance value that the left side pick off is fed back and the absolute value of b value are greater than thresholding c2, then explanation left side sensor has arrived barrier, notes the left side distance value X that pick off fed back
3Continuation is analyzed each follow-up group information, if analyzed in one group of voltage data, the difference of distance value that right sensor is fed back and b value is greater than thresholding c2; Explain that then right sensor has also detected barrier, preserve the distance value X that this moment, right sensor was fed back down
4, then according to two values of above-mentioned preservation, the width of dyscalculia thing, computing formula is:
w＝X
3*sinθ
0+X
4*sinθ
0
In the formula, w is the width of barrier, X
3Be the distance value that the left side pick off is fed back, X
4Be the distance value that right sensor is fed back, θ
0For left and right sides two-way pick off with the angle of detecting module center line, computing formula is θ
0=A/2;
If each follow-up group information is carried out in the analytic process in continuation; The distance value that right sensor is fed back never changes; And the distance value that the left side pick off is fed back becomes a value again again, then notes the distance value X that this group voltage data left side pick off is before fed back
31, then can carry out width and estimate that computing formula is according to above-mentioned two values:
w＝X
3*sinθ
0-X
31*sinθ
0
If right sensor detects barrier earlier, its computational methods are identical with the left side;
If left road pick off detects barrier earlier; Explain that then barrier is partial to the left side of user health; If the right wing pick off detects barrier earlier, explain that then barrier is partial to the right side of user health, leading instrument offers the user azimuth information according to above-mentioned information.
Step 4:,, and according to analyzing the azimuth information and the size information of barrier are carried out voice output, auxiliary user walking if barrier is arranged then carry out alarm with the output of the result of calculation of step 3.
Advantage of the present invention: the system that the present invention developed is portable leading instrument, and volume is little, makes things convenient for user to carry, and is easy to use; System price is cheap, is fit to most of visual disorder crowd and uses; Have sound prompt function, can better the assisting blind walking.
Description of drawings
Fig. 1 is the electronic route guidance system structure chart of one embodiment of the present invention based on infrared sensor;
Fig. 2 is the circuit theory diagrams of one embodiment of the present invention power management module;
Fig. 3 is the circuit theory diagrams of one embodiment of the present invention single-chip microcomputer;
Fig. 4 is one embodiment of the present invention crystal oscillator and phase-locked loop circuit schematic diagram;
Fig. 5 (a) is the structural representation of one embodiment of the present invention detecting module;
Fig. 5 (b) is the rectangular faceplate structural representation of one embodiment of the present invention detecting module;
Fig. 6 is one embodiment of the present invention sensor emission infrared signal sketch map;
Fig. 7 (a) is the front schematic view of one embodiment of the present invention housing;
Fig. 7 (b) is the schematic rear view of one embodiment of the present invention housing;
Fig. 8 (a) is one embodiment of the present invention A/D external reference voltage interface circuit schematic diagram;
Fig. 8 (b) is one embodiment of the present invention A/D input circuit schematic diagram;
Fig. 9 left side resets and the options button circuit theory diagrams for one embodiment of the present invention, and the right side is a height/angular adjustment key, adjustable key and downward adjustable key circuit schematic diagram make progress;
Figure 10 is the circuit theory diagrams of one embodiment of the present invention voice module;
Figure 11 is the control method flow process of one embodiment of the present invention based on the electronics leading instrument of infrared sensor;
Figure 12 wears the height and the sketch map of detected horizontal range for one embodiment of the present invention;
Detection range sketch map when Figure 13 is 77.2 ° for one embodiment of the present invention pick off and leading instrument panel angulation;
Detection range sketch map when Figure 14 is 27.8 ° for one embodiment of the present invention pick off and leading instrument panel angulation;
Detection range sketch map when Figure 15 (a) is 30 ° for one embodiment of the present invention pick off and leading instrument panel angulation;
Detection range sketch map when Figure 15 (b) is 45 ° for one embodiment of the present invention pick off and leading instrument panel angulation;
Detection range sketch map when Figure 15 (c) is 60 ° for one embodiment of the present invention pick off and leading instrument panel angulation;
Detection range sketch map when Figure 15 (d) is 75 ° for one embodiment of the present invention pick off and leading instrument panel angulation;
Figure 16 is the general obstacle height algorithm sketch map of one embodiment of the present invention;
Figure 17 is the less obstacle height algorithm sketch map of one embodiment of the present invention;
Figure 18 be one embodiment of the present invention left side road sensor after data, the right wing pick off also detects the barrier width algorithm sketch map of data;
Figure 19 is that one embodiment of the present invention left side road pick off is by detecting data to the barrier width algorithm sketch map that can not detect in the data procedures.
The specific embodiment
Below in conjunction with accompanying drawing embodiment of the present invention is done further explain.
Fig. 1 has provided the structured flowchart of one embodiment of the present invention based on the electronic route guidance system of infrared sensor, comprises detecting module, AD modular converter, main control processing module, crystal oscillator and phase-locked loop circuit, voice module, power management module and key-press module.This detecting module is made up of No. 4 pick offs; When collecting road barrier thing information (being generally voltage signal); Send the voltage signal that collects to the AD modular converter and carry out analog digital conversion, the main control processing unit receives the digital signal after the conversion, utilizes the geometrical relationship of No. four pick offs that four road signals are carried out Treatment Analysis; Through voice module the result is fed back to user, give the user prompting.
One embodiment of the present invention, the circuit theory diagrams that provide power management module are as shown in Figure 2.Electronic route guidance system based on infrared sensor; Use chargeable 5V lithium battery to supply power as power supply; Through power management module the voltage of lithium battery is carried out voltage stabilizing; For infrared sensor and main control processing module (for example model is the single-chip microcomputer of SPCE061A, and is as shown in Figure 3) provide 5V and 3.3V voltage respectively.Wherein, Power management module utilizes stabilivolt SPY0029 to realize the power supply to the main control processing module; Its outfan VDD_A, VDD_P, VDD and VDDH are connected input VDD_A, VDD_P, VDD and the VDDH of main control processing module (for example model is the single-chip microcomputer of SPCE061A) respectively, for the main control processing module provides 3.3V voltage.Drawing lead from the V5 end of power management module is the reference voltage that No. four infrared sensors provide 5V.
One embodiment of the present invention provide the circuit theory diagrams that adopt crystal oscillator and phase-locked loop circuit to control the operating frequency of main control chip, and are as shown in Figure 4.The circuit clock that vibrates because of capacitance-resistance is accurate not as external crystal oscillator; Therefore this embodiment adopts external crystal oscillating circuit, and wherein, the frequency of external crystal oscillator is 32768HZ; Shown in Fig. 4 (a), its outfan OSCO, OSCI connect input OSCO, the OSCI of single-chip microcomputer respectively.The fundamental frequency (32768Hz) of the real-time clock that phase-locked loop circuit is used for system is provided carries out frequency multiplication, the output system clock, and its outfan VCP connects the clock signal input terminal VCP of single-chip microcomputer.
Fig. 5 provides the structural representation of a kind of embodiment of detecting module.Wherein, four pick offs (1) become the rectangular pyramid type to arrange, and become A degree angle (as 20 °～30 °) between every adjacent two-way pick off, and it are more little to work as the adjacent edge angle, can measure barrier in advance more.Wherein No. one pick off obliquely; The pick off (X1) that is referred to as to set out on a journey, corresponding with it oblique scales down is time road pick off (X2), wherein; The pick off (X1) of setting out on a journey keeps vertical with the face that following road pick off (X2) is constituted with horizontal plane; The two-way pick off is respectively left road pick off (X3) and right wing pick off (X4) in addition, and the angle of its emission infrared signal is as shown in Figure 6, wherein; Upper and lower two-way pick off (X1 and X2) is used to detect elevation information, and left and right two-way pick off (X3 and X4) is used for detection width information.
Described four pick offs (X1, X2, X3 and X4) are fixed by welding in on the fixed support (2) of rectangular pyramid type; The top of described rectangular pyramid type fixed support (2) also is welded with hollow pipe, and the output lead of four pick offs (X1, X2, X3 and X4) places in the said hollow pipe and is connected with the interior AD modular converter of housing (8).
On the surface of leading instrument, be provided with semicircle bayonet socket, at first, the angle of inclination of manual adjustments fixed support (2) if select first semicircle bayonet socket, can make fixed support parallel with horizontal plane; Select second bayonet socket, can make fixed support become 15 degree angles with horizontal plane; Select the 3rd bayonet socket; Can make fixed support become 30 degree angles with horizontal plane, afterwards, rectangular faceplate (9) is provided with an end of semicircle bayonet socket and the semicircle bayonet socket splicing on the leading instrument; To fixing of fixed support in the detecting module (2), thereby realize choosing of detecting module different angles.
Described rectangular faceplate (9) can move along the right side on leading instrument (8) surface, and can shift out fully.
The sketch map of housing (8) is as shown in Figure 7.The circuit structure of electronic route guidance system is encapsulated in enclosure interior, is provided with No. four pick offs that are used for image data, the button that is used to adjust height at housing positive (like Fig. 8 (b)).Also be provided with receiver J-Horner on the positive right side of housing in addition, can clearly point out through earphone to user.The back side at housing (8) also is provided with on and off switch, is used to control the switch of electronic route guidance system.The electronics leading instrument body of designing like this is small and exquisite, can be suspended on the front or is worn between waist with the form of bandage.Owing to receive pick off to use the restriction of effective range, use (like the pupil) than the pipsqueak so when suitable wearing highly used, be applicable to health more.
The described inner circuit structure of housing (8) that is encapsulated in comprises AD modular converter, main control processing module, crystal oscillator and phase-locked loop circuit, voice module, power management module and key-press module.One embodiment of the present invention, main control processing module adopt Ling Yang single-chip microcomputer SPCE061A, itself carry the AD conversion and control function, when IO imports for suspending, can be used as the input of AD.So utilize four tunnel sensor acquisition information of road surface; The information of voltage that obtains is exported to the input IOA0-IOA3 of Chip Microcomputer A modular converter; Carry out the AD conversion, shown in Fig. 8 (b), Fig. 8 (a) is the input interface of the external reference voltage of AD conversion; Wherein VRT all links to each other with the VREF2 port of single-chip microcomputer with VREF2, is used for adjusting reference voltage.
Four buttons (as shown in Figure 8) are arranged on the housing of electronics leading instrument (8); Be respectively height/angle key (4), the adjustable key (5) that makes progress, downward adjustable key (6); With reset and confirm options button (7) (this bond distance on time as reset key use), its corresponding electrical circuits is as shown in Figure 6.Among Fig. 6 (a), reset key and affirmation circuit are by a switch (S1); Shunt capacitance (C37); Constitute with the two placed in-line resistance (R18) with one, two ends are ground connection and power supply respectively, and it is that 6 XRESB holds and is connected that lead and the pin number of single-chip microcomputer are drawn in the centre; Remove switch (S1) and be positioned at surface of shell, remainder all is encapsulated in enclosure interior.Shown in Fig. 6 (b), other three buttons are connected with the IOA4-IOA6 mouth of single-chip microcomputer respectively, obtain input signal by the IO mouth, through single-chip microcomputer options are controlled, and its switch S 2, S3 and S4 are positioned at surface of shell, and its circuit package is to enclosure interior.
Through the signal after main control processing module (like the single-chip microcomputer) processing, by voice module output result, circuit theory diagrams are shown in figure 10.Utilize power amplifier SPY0030 can the acoustical signal current corresponding be amplified, clearly to the user prompting, wherein the DAC pin of voice module is connected with the DAC port of main control processing module (like single-chip microcomputer) through earphone.
One embodiment of the present invention provide the control method based on the electronics leading instrument of infrared sensor, and its flow chart is shown in figure 11.This flow process starts from step 1101.In step 1102, wearing highly and pick off and leading instrument front angulation of user is set.Wherein, In one embodiment of the present invention; The effective investigative range that adopts infrared sensor be 150cm with interior (being that infrared sensor can detect the barrier in this scope), when infrared sensor was formed leading instrument thus, it wore the road level distance value that height will directly influence its detection; Shown in figure 12, therefore need be provided with wearing highly.Described configuration height can be helped to be provided with and with its preservation by the person of good sense.
Detecting module center line and horizontal plane angulation, promptly select different bayonet sockets after, the leading instrument support is different with the horizontal plane angulation: if select the bayonet socket of the top, then support is parallel in horizontal plane, promptly becomes vertical (90 ° of angles) with the leading instrument surface; If select intermediary bayonet socket, then support becomes 15 degree angles with horizontal plane; If the bayonet socket below the selection, then support becomes 30 degree angles with horizontal plane.Detecting module and horizontal plane angulation; Be set to scalable; Be because: if No. four pick offs are mutually 25 ° of angles each other, and it fixes with the surperficial angulation φ of leading instrument, and the relation between then detected oblique line distance X, horizontal range L and height H is shown in figure 13.When the road pick off just be 150cm to the distance on road surface instantly, the road surface distance that can measure this time reached maximum, but wearing of this time highly is 33 centimetres; Heighten if will wear highly; Then descend the road pick off to become big, surpass the effective range distance value to the distance on ground, cause some little protrusion detection less than; Therefore the angle of detecting module center line and horizontal plane should be set to adjustable; Can reduce the angle on pick off angle and ground when wearing when highly higher like this, but so do the horizontal range value that can reduce the road surface that sensor arrives, so the height of adjustment and angle will be in suitable scopes:
Normal person's about length of per step is 35cm, and child's paces are smaller, so the application's embodiment is got maximum analysis, guarantees use crowd's popularity.Promptly in apart from barrier two step, it be detected at least, promptly shown in figure 14, be 70cm apart from the minimum range of barrier.Wear and highly be the highest 132.6cm this moment.Lucky chest a normal person.This at present road pick off and horizontal plane angulation θ be the 90-27.8=62.2 degree, following road pick off and vertical plane angulation φ are 27.8 degree.Still has very big adjusting range this moment.When height is shorter, can reduce sensor height, the angle of road pick off and horizontal plane under the adjustment, thus can increase the detection distance.
Figure 15 has provided the sketch map of measuring range under other height, the pick off angle.Can know by Figure 15, can adjust according to actual needs and wear height, and select a suitable angle, reach and detect distance maximum, the best purpose of effect.And be noted that when confirming to wear height, guarantee down that distance X that the road sensor arrives the road surface is preferably near 150 or less than 150 centimetres with angle.
When the height angle is worn in input, utilize button to select.Press height/angle key first, expression is adjusted wearing highly, and upwarding key capable of using and down Arrow are adjusted according to voice suggestion, confirms that by acknowledgement key final input wears height value.By height/angle key, leading instrument support and horizontal plane angulation are selected in expression again, and its regulative mode is identical with the adjusting of wearing height.Above-mentioned be provided with successfully after, if restart power supply, that is preserved still is last input angle, promptly each acquiescence height value still for last time input validation wear height value and angle value.
In step 1103; Four pick offs are started working; Gather the voltage signal that walking process reflects (described every group of voltage signal by the pick off of setting out on a journey, road pick off, left road pick off and the right wing pick off information of being gathered is formed down); And send the main control processing module to; The main control processing module converts the voltage analog signal of feedback into digital signal (for example realizing through the A/D conversion), and the main control processing module is utilized voltage and range performance curve, converts above-mentioned voltage signal into range information.
In step 1104, at first, the distance of the measured information calculations barrier of road pick off under the utilization of main control processing unit, formula is:
Simultaneously, main control processing unit dyscalculia thing size, method is:
At first the range data of following road sensor feedback is analyzed:
(a is the distance information value to the road surface of following road sensor acquisition in the leading instrument if the distance value that following road pick off is fed back remains on a value always; According to selected bayonet socket different of wearing height and selection; And difference to some extent is generally the maximum distance that detects, and this embodiment is 150cm) near; Show that then barrier does not appear in ground, the road surface is steady;
If the absolute value of distance value that following road pick off is fed back and the difference of a is greater than the detection threshold c1 that sets (about 10cm), then explanation detects pavement roughness: if above-mentioned difference for just, shows that then there is dell on road surface, the place ahead; If above-mentioned difference shows then that for negative there is projection on road surface, the place ahead, barrier has appearred on the road surface;
Then the range data that pick off fed back of setting out on a journey in the same group of voltage data is analyzed:
The distance value that pick off fed back if set out on a journey keeps b (150cm is the maximum detection range of detecting module) value constant, explains that then the pick off of setting out on a journey does not also touch barrier; Each distance value of organizing in information of voltage that pick off fed back of setting out on a journey that continuation is gathered the back is analyzed;
Variation has taken place in the distance value that pick off fed back if a certain moment is found to set out on a journey; And the difference of above-mentioned distance value and b value is greater than the thresholding c1 that sets; Engrave the height of the distance value dyscalculia thing that the road pick off fed back this moment then capable of using, shown in figure 16, formula is:
h＝X
1*sinθ+H
The distance value that pick off fed back if set out on a journey never changes; And the distance value that following road pick off is fed back changes to a (like 150cm) value again; The distance value that following road pick off in that group voltage data before becoming a value then capable of using is fed back; Shown in figure 17, the height of dyscalculia thing, computing formula is:
Can know that to sum up in carrying out the height detection process, if the following distance value of road sensor feedback, from large to small, and the pick off of setting out on a journey also detects data simultaneously, can judge that then this obstacle height is more than or equal to detectable biggest obstacle object height degree; Instantly the road sensor is to barrier, and the data that the sensor acquisition of still setting out on a journey arrives do not change, and when the pick off of promptly setting out on a journey does not detect barrier, proceed data acquisition, and promptly people's foot is gradually near barrier.
Meanwhile, left and right two-way pick off carries out width detection to barrier:
If the distance value that the left side pick off is fed back and the absolute value of b value are greater than thresholding c1, then explanation left side sensor has arrived barrier, notes the distance value X that left road pick off is fed back
3Continuation is analyzed each follow-up group information, if analyzed in one group of voltage data, the difference of distance value that right sensor is fed back and b value is greater than thresholding c2; Explain that then right sensor has also detected barrier, preserve the distance value X that this moment, right sensor was fed back down
4, then according to two values (distance value of left road sensor feedback and the distance value of right wing sensor feedback) of above-mentioned preservation, the width of dyscalculia thing, shown in figure 18, computing formula is:
w＝X
3*sinθ
0+X
4*sinθ
0
If each follow-up group information is carried out in the analytic process in continuation; The distance value that right sensor is fed back never changes; And the distance value that the left side pick off is fed back becomes a value again again, then notes the distance value X that this group voltage data left side pick off is before fed back
31, then can carry out width and estimate that shown in figure 19, computing formula is according to above-mentioned two values:
w＝X
3*sinθ
0-X
31*sinθ
0
If right sensor detects barrier earlier, its computational methods are identical with the left side;
If left road pick off detects barrier earlier; Explain that then barrier is partial to the left side of user health; If the right wing pick off detects barrier earlier, explain that then barrier is partial to the right side of user health, leading instrument offers the user azimuth information according to above-mentioned information.
In step 1105,,, and according to analyzing the azimuth information and the size information of barrier are carried out voice output, auxiliary user walking if barrier is arranged then carry out alarm with the output of the result of calculation of step 3.
Though more than described the specific embodiment of the present invention, the one skilled in the art should be appreciated that these only illustrate, and can make numerous variations or modification to these embodiments, and not deviate from principle of the present invention and essence.Scope of the present invention is only limited appended claims.
Claims (6)
1. electronics leading instrument based on infrared sensor; Comprise AD modular converter, main control processing module, crystal oscillator and phase-locked loop circuit, voice module, power management module and key-press module; Above-mentioned module unification is sealed in the housing; It is characterized in that: also be provided with detecting module and the circular bayonet socket that is used to be connected detecting module in outside, described detecting module comprises four pick offs and fixed support, and described four pick offs comprise: the pick off of setting out on a journey, following road pick off, left road pick off and right wing pick off; Described four pick offs become the rectangular pyramid type to arrange; Become A degree angle between every adjacent two-way pick off, the pick off of wherein setting out on a journey is placed obliquely, and it is vertical with the horizontal plane maintenance with face that pairing road pick off is down constituted; Described four pick offs are fixed by welding in on the fixed support of rectangular pyramid type, and the support bracket fastened top of described rectangular pyramid type also is welded with hollow pipe, and the output lead of four pick offs places in the said hollow pipe and is connected with the intravital AD modular converter of shell; Described rectangular faceplate is movable plate, and the one of which side is provided with 3 semicircle bayonet sockets, and its radius is identical with semicircle bayonet socket on the leading instrument, after the semicircle bayonet socket splicing on semicircle bayonet socket on the rectangular faceplate and the leading instrument, is used for fixing hollow pipe.
2. the electronics leading instrument based on infrared sensor according to claim 1 is characterized in that: the span of described A is 25 °～30 °.
3. the electronics leading instrument based on infrared sensor according to claim 1; It is characterized in that: utilize semicircle bayonet socket and rectangular faceplate on the described leading instrument; Realization is fixing to detecting module; Wherein, the included angle A 1 that become with horizontal plane of the center line of detecting module can be 0 ° of angle or 15 ° of angles or 30 ° of angles.
4. adopt the control method of the described electronics leading instrument based on infrared sensor of claim 1, it is characterized in that: may further comprise the steps:
Step 1: wearing highly and detecting module center line and horizontal plane angulation of user is set;
The described distance that highly is meant leading instrument and ground of wearing;
The angle that detecting module center line and horizontal plane are can be 0 ° or 15 ° or 30 ° of angles, is provided with voluntarily as required by user;
Step 2: four working sensors, to gather the voltage signal that walking process reflects, and send the main control module to, the main control module is utilized voltage and range performance curve, converts voltage signal into range information; Wherein, every group of voltage signal comprises 4 tunnel information, respectively from the pick off of setting out on a journey, following road pick off, left road pick off and right wing pick off;
Step 3: the main control processing unit utilizes the range information of step 2, the distance of dyscalculia thing and size;
Step 4:,, and according to analyzing the azimuth information and the size information of barrier are carried out voice output, auxiliary user walking if barrier is arranged then carry out alarm with the output of the result of calculation of step 3.
5. the control method of the electronics leading instrument based on infrared sensor according to claim 4; It is characterized in that: the distance of the described dyscalculia thing of step 3; Method is: utilize the distance of the measured information calculations barrier of following road pick off, computing formula is:
In the formula, l is the actual road surface distance of user and barrier, X
2The value of being returned when down the road sensor is to barrier,
Be following road pick off and vertical direction angulation in the detecting module, its computing formula does
6. the control method of the electronics leading instrument based on infrared sensor according to claim 4; It is characterized in that: the described dyscalculia thing size of step 3; Method is: utilize the height of the measured information calculations barrier of set out on a journey pick off and following road pick off, utilize the width of the measured information calculations barrier of left road pick off and right wing pick off;
The size of described dyscalculia thing, concrete grammar is:
At first the range data of following road sensor feedback is analyzed:
If the distance value that following road pick off is fed back remains near a value always, wherein said a is the distance information value to the road surface that following road sensor acquisition arrives in the leading instrument, shows that then barrier does not appear in ground, and the road surface is steady;
If the absolute value of distance value that following road pick off is fed back and the difference of a is greater than the detection threshold c1 that sets, then explanation detects pavement roughness: if above-mentioned difference for just, shows that then there is dell on road surface, the place ahead; If above-mentioned difference shows then that for negative there is projection on road surface, the place ahead, barrier has appearred on the road surface;
The scope of described detection threshold c1 is 5cm～10cm;
Then the range data that pick off fed back of setting out on a journey in the same group of voltage data is analyzed:
The distance value that pick off fed back if set out on a journey keeps the b value constant, and described b is the distance value that pick off fed back of setting out on a journey when not having barrier, explains that then the pick off of setting out on a journey does not also touch barrier; Each distance value of organizing in information of voltage that pick off fed back of setting out on a journey that continuation is gathered the back is analyzed;
Variation has taken place in the distance value that pick off fed back if a certain moment is found to set out on a journey, and the difference of above-mentioned distance value and b value is greater than the thresholding c1 that sets, and engraves the height of the distance value dyscalculia thing that the road pick off fed back this moment then capable of using, and computing formula is:
h＝X
1*sinθ+H，
In the formula, h is an obstacle height, X
1Organize the distance value that pick off fed back of setting out on a journey in the voltage data, H is for wearing height for this reason, and θ is the angle of pick off and horizontal plane of setting out on a journey, its computing formula be θ=| A/2-A1|;
The distance value that pick off fed back if set out on a journey never changes; And the distance value that following road pick off is fed back changes to a value again; The distance value that following road pick off in that group voltage data before becoming a value then capable of using is fed back, the height of dyscalculia thing, computing formula is:
Wherein, X
2Be the distance value that descends the road pick off to be fed back;
Meanwhile, left and right two-way pick off carries out width detection to barrier:
If the distance value that the left side pick off is fed back and the absolute value of b value are greater than thresholding c2, then explanation left side sensor has arrived barrier, notes the left side distance value X that pick off fed back
3Continuation is analyzed each follow-up group information, if analyzed in one group of voltage data, the difference of distance value that right sensor is fed back and b value is greater than thresholding c2; Explain that then right sensor has also detected barrier, preserve the distance value X that this moment, right sensor was fed back down
4, then according to two values of above-mentioned preservation, the width of dyscalculia thing, computing formula is:
w＝X
3*sinθ
0+X
4*sinθ
0
In the formula, w is the width of barrier, X
3Be the distance value that the left side pick off is fed back, X
4Be the distance value that right sensor is fed back, θ
0For left and right sides two-way pick off with the angle of detecting module center line, computing formula is θ
0=A/2;
If each follow-up group information is carried out in the analytic process in continuation; The distance value that right sensor is fed back never changes; And the distance value that the left side pick off is fed back becomes a value again again, then notes the distance value X that this group voltage data left side pick off is before fed back
31, then can carry out width and estimate that computing formula is according to above-mentioned two values:
w＝X
3*sinθ
0-X
31*sinθ
0
If right sensor detects barrier earlier, its computational methods are identical with the left side;
If left road pick off detects barrier earlier; Explain that then barrier is partial to the left side of user health; If the right wing pick off detects barrier earlier, explain that then barrier is partial to the right side of user health, leading instrument offers the user azimuth information according to above-mentioned information.
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