CN102631279B - 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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- 238000000034 method Methods 0.000 title claims abstract description 26
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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 electronic guidance field, particularly a kind of electronics leading instrument and control method based on infrared sensor.
Background technology
According to national authority department statistics, China is the maximum country of blind person in the world, approximately has 5,000,000, accounts for 18% of world blind person sum.In their go off daily, have inconvenience.Traditional blind person's aid is 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, easily causes user fatigue.A Hispanic research institution utilizes the ultrasonic locating principle of Vespertilio, produces the equipment that a set of blind person uses, and this equipment user need be trained, and uses tongue to send vibrations, is then converted to sound wave by navigation system and positions.But 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
The deficiency existing for existing invention, the present invention proposes a kind of electronics leading instrument and control method based on infrared sensor, and a kind of object of electronics leading instrument of Portable practical is provided to be reached for common blind person.
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 housing, in addition, also be provided with detecting module in hull outside, for connecting semicircle bayonet socket and the rectangular faceplate of detecting module, described detecting module comprises four sensors and fixed support, four described sensors comprise: the sensor of setting out on a journey, lower road sensor, left road sensor and right wing sensor, four described sensors become rectangular pyramid to arrange, between every adjacent two-way sensor, become A degree angle, the sensor of wherein setting out on a journey is placed obliquely, and its face forming with corresponding lower road sensor keeps vertical with horizontal plane, four described sensors are fixed by welding in on the fixed support of rectangular pyramid, and the support bracket fastened top of described rectangular pyramid is also welded with hollow pipe, and the output lead of four sensors is placed in described hollow pipe and is connected with the AD modular converter in housing, described rectangular faceplate is movable plate, and one side is provided with 3 semicircle bayonet sockets, and its radius is identical with the semicircle bayonet socket on leading instrument, after the semicircle bayonet socket splicing on the semicircle bayonet socket on rectangular faceplate and leading instrument, for fixing hollow pipe,
The span of described A is 25 °～30 °;
Utilize semicircle bayonet socket and rectangular faceplate on described leading instrument, realization is fixing to detecting module, and wherein, the included angle A 1 that the center line of detecting module becomes with horizontal plane can be 0 ° of angle or 15 ° of angles or 30 ° of angles;
Electronics leading control method based on infrared sensor, process is as follows:
Step 1: setup and use person wears highly and detecting module center line and horizontal plane angulation;
The described distance that highly refers to 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 arranged voluntarily as required by user;
Step 2: four working sensors, gather the voltage signal that walking process reflects, and send main control module to, main control module utilizes voltage and range performance curve, and voltage signal is converted to range information; Wherein, every group of voltage signal comprises 4 tunnel information, respectively from the sensor of setting out on a journey, lower road sensor, left road sensor and right wing sensor;
Step 3: main control processing unit utilizes the range information of step 2, the distance of dyscalculia thing and size, wherein, the method for the distance of dyscalculia thing is: utilize the distance of the measured information dyscalculia thing of lower road sensor, computing formula is:
In formula, l is the actual road surface distance of user and barrier, X
2the value that Wei Xia road sensor returns when barrier detected,
for detecting module Zhong Xia road sensor and vertical direction angulation, its computing formula is
The method of dyscalculia thing size is: utilize the height of the measured information dyscalculia thing of sensor He Xia road sensor of setting out on a journey, utilize the width of the measured information dyscalculia thing of left road sensor and right wing sensor;
The size of described dyscalculia thing, concrete grammar is:
First the range data of Dui Xia road sensor feedback is analyzed:
The distance value that Ruo Xia road sensor feeds back remains near a value always, and wherein said a is the distance information value to road surface that leading instrument Zhong Xia road sensor acquisition arrives, and shows that barrier does not appear in ground, and road surface is steady;
The absolute value of the distance value that Ruo Xia road sensor feeds back and the difference of a is greater than the detection threshold c1 setting, and explanation detects pavement roughness: if above-mentioned difference is for just, show that there is dell on road surface, front; If above-mentioned difference, for negative, shows that there is projection on road surface, front, on road surface, there is barrier;
The scope of described detection threshold c1 is 5cm～10cm;
Then the range data of the sensor of setting out on a journey in same group of voltage data being fed back is analyzed:
Sensor feeds back if set out on a journey distance value keeps b value constant, and the described b distance value that sensor feeds back of setting out on a journey when thering is no barrier, illustrates that the sensor of setting out on a journey does not also touch barrier; The distance value that continuation is fed back the sensor of setting out on a journey in each the group information of voltage gathering is below analyzed;
There is variation in the distance value that sensor feeds 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 setting, and can utilize the height that now engraves the distance value dyscalculia thing that road sensor feeds back, and computing formula is:
h=X
1*sinθ+H，
In formula, h is obstacle height, X
1organize the distance value that the sensor of setting out on a journey in voltage data feeds back, H is for wearing height for this reason, and θ is the angle of sensor and horizontal plane of setting out on a journey, its computing formula be θ=| A/2-A1|;
The distance value that sensor feeds back if set out on a journey never changes, the distance value that Qie Xia road sensor feeds back changes to again a value, the distance value that can utilize that group voltage data Zhong Xia road sensor before becoming a value to feed back, the height of dyscalculia thing, computing formula is:
Wherein, X
2the distance value that Wei Xia road sensor feeds back;
Meanwhile, left and right two-way sensor carries out width detection to barrier:
If the absolute value of the distance value that left side sensor feeds back and b value is greater than thresholding c2, explanation left side sensor has detected barrier, records the distance value X that left side sensor feeds back
3continue each follow-up group information to analyze, if analyzed in one group of voltage data, the difference of the distance value that right sensor is fed back and b value is greater than thresholding c2, illustrates that right sensor has also detected barrier, the distance value X that under preservation, now right sensor is fed back
4, then according to two of above-mentioned preservation values, the width of dyscalculia thing, computing formula is:
w=X
3*sinθ
0+X
4*sinθ
0
In formula, the width that w is barrier, X
3for the distance value that left side sensor feeds back, X
4for the distance value that right sensor is fed back, θ
0for left and right two-way sensor 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 analytic process in continuation, the distance value that right sensor is fed back never changes, and the distance value that left side sensor feeds back becomes again a value again, record the distance value X that this group voltage data left side sensor before feeds back
31, can carry out width estimation according to above-mentioned two values, computing formula is:
w=X
3*sinθ
0-X
31*sinθ
0
If right sensor first detects barrier, its computational methods are identical with left side;
Ruo Zuo road sensor first detects barrier, illustrate that barrier is partial to the left side of user health, if right wing sensor first detects barrier, illustrate that barrier is partial to the right side of user health, leading instrument offers user azimuth information according to above-mentioned information.
Step 4: by the result of calculation output of step 3, if there is barrier, carry out alarm, and according to analyzing, the azimuth information of barrier and size information are carried out to voice output, auxiliary user walking.
Advantage of the present invention: the system that the present invention develops is portable leading instrument, and volume is little, person easy to use carries, and is easy to use; System price is cheap, is applicable to most of visual disorder crowd and uses; There is sound prompt function, can better assisting blind walking.
Accompanying drawing explanation
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 schematic diagram;
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 is one embodiment of the present invention reset and options button circuit theory diagrams, and right side is height/angular adjustment key, upwards adjustable key and downward adjustable key circuit schematic diagram;
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 the electronics leading instrument of one embodiment of the present invention based on infrared sensor;
Figure 12 is that one embodiment of the present invention is worn height and the schematic diagram of the horizontal range detecting;
Figure 13 is one embodiment of the present invention sensor and leading instrument panel angulation detection range schematic diagram while being 77.2 °;
Figure 14 is one embodiment of the present invention sensor and leading instrument panel angulation detection range schematic diagram while being 27.8 °;
Detection range schematic diagram when Figure 15 (a) is 30 ° for one embodiment of the present invention sensor and leading instrument panel angulation;
Detection range schematic diagram when Figure 15 (b) is 45 ° for one embodiment of the present invention sensor and leading instrument panel angulation;
Detection range schematic diagram when Figure 15 (c) is 60 ° for one embodiment of the present invention sensor and leading instrument panel angulation;
Detection range schematic diagram when Figure 15 (d) is 75 ° for one embodiment of the present invention sensor and leading instrument panel angulation;
Figure 16 is the obstacle height algorithm schematic diagram that one embodiment of the present invention is general;
Figure 17 is the obstacle height algorithm schematic diagram that one embodiment of the present invention is less;
Figure 18 is that the left road of one embodiment of the present invention sensor detects after data, and right wing sensor also detects the barrier width algorithm schematic diagram of data;
Figure 19 is that the left road of one embodiment of the present invention sensor is by detecting that data are to the barrier width algorithm schematic diagram that can not detect in data procedures.
The specific embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention are described in further detail.
Fig. 1 has provided the structured flowchart of the electronic route guidance systems of one embodiment of the present invention based on 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 sensors, in the time collecting road obstacle information (being generally voltage signal), send the voltage signal collecting to AD modular converter and carry out analog digital conversion, main control processing unit receives the digital signal after conversion, utilize the geometrical relationship Dui Si road signal of No. four sensors to carry out Treatment Analysis, by voice module by result feedback to user, give user prompting.
One embodiment of the present invention, provide the circuit theory diagrams of power management module as shown in Figure 2.Based on the electronic route guidance system of infrared sensor, use chargeable 5V lithium battery as Power supply, by power management module, the voltage of lithium battery is carried out to voltage stabilizing, for infrared sensor and main control processing module, (single-chip microcomputer that for example model is SPCE061A provides respectively 5V and 3.3V voltage as shown in Figure 3).Wherein, power management module utilizes stabilivolt SPY0029 to realize the power supply to main control processing module, its outfan VDD_A, VDD_P, VDD and VDDH are connected respectively input VDD_A, VDD_P, VDD and the VDDH of main control processing module (single-chip microcomputer that for example model is SPCE061A), for main control processing module provides 3.3V voltage.Draw wire Wei Si road infrared sensor from the V5 end of power management module the reference voltage of 5V is provided.
One embodiment of the present invention, provide the circuit theory diagrams of the operating frequency that adopts crystal oscillator and phase-locked loop circuit control Master control chip, as shown in Figure 4.Because of the circuit clock of capacitance-resistance vibration not as external crystal oscillator accurate, therefore present embodiment adopts external crystal oscillating circuit, and wherein, the frequency of external crystal oscillator is 32768HZ, as shown in Fig. 4 (a), its outfan OSCO, OSCI connect respectively input OSCO, the OSCI of single-chip microcomputer.The fundamental frequency (32768Hz) that phase-locked loop circuit is used for the real-time clock that system is provided carries out frequency multiplication, 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 sensors (1) become rectangular pyramid to arrange, and become A degree angle (as 20 °～30 °) between every adjacent two-way sensor, and it is less to work as adjacent edge angle, more can measure in advance barrier.Wherein a road sensor obliquely, sensor (X1) is referred to as to set out on a journey, corresponding scales Wei Xia road sensor (X2) under oblique with it, wherein, the face that sensor (X1) the Yu Xia road sensor (X2) of setting out on a journey forms keeps vertical with horizontal plane, another two-way sensor is respectively left road sensor (X3) and right wing sensor (X4), the angle of its transmitting infrared signal as shown in Figure 6, wherein, on, lower two-way sensor (X1 and X2) is for detection of elevation information, left, right two-way sensor (X3 and X4) is for detection of width information.
Described four sensors (X1, X2, X3 and X4) are fixed by welding in on the fixed support (2) of rectangular pyramid, the top of described rectangular pyramid fixed support (2) is also welded with hollow pipe, and the output lead of four sensors (X1, X2, X3 and X4) is placed in described hollow pipe and is connected with the AD modular converter in housing (8).
On the surface of leading instrument, be provided with semicircle bayonet socket, 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, by the semicircle bayonet socket splicing being provided with on rectangular faceplate (9) on one end of semicircle bayonet socket and leading instrument, to fixing of fixed support in 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 completely.
The schematic diagram of housing (8) as shown in Figure 7.The circuit structure of electronic route guidance system is encapsulated in enclosure interior, and in housing front, (as Fig. 8 (b)) is provided with for image data Si road sensor, for adjusting the button of height.Also be provided with receiver J-Horner on the right side in housing front in addition, can clearly point out to user by earphone.The back side at housing (8) is also provided with on and off switch, for controlling the switch of electronic route guidance system.The electronics leading instrument body of designing is like this small and exquisite, can be suspended on front or be worn on loins with the form of bandage.Owing to being subject to sensor to use the restriction of effective range, use (as pupil) so be more applicable for health in the time that suitable wearing highly used compared with pipsqueak.
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 adopts Ling Yang single-chip microcomputer SPCE061A, itself carries AD conversion and control function, in the time that IO inputs for suspending, can be used as the input of AD.So utilize four tunnel sensor acquisition information of road surface, the information of voltage obtaining is exported to the input IOA0-IOA3 of Chip Microcomputer A/D modular converter, carry out AD conversion, as shown in Fig. 8 (b), Fig. 8 (a) is the input interface of the external reference voltage of AD conversion, wherein VRT is all connected with the VREF2 port of single-chip microcomputer with VREF2, is used for adjusting reference voltage.
On the housing (8) of electronics leading instrument, there are four buttons (as shown in Figure 8), be respectively height/angle key (4), upwards adjustable key (5), downward adjustable key (6), with reset and confirmation options button (7) (this bond distance uses as reset key) on time, its corresponding circuit as shown in Figure 6.In Fig. 6 (a), reset key and confirmation circuit, by a switch (S1), shunt capacitance (C37), form with a resistance of connecting with the two (R18), two ends are Power supply and grounding respectively, and centre is drawn the XRESB end that wire is 6 with the pin number of single-chip microcomputer and is connected, except switch (S1) is positioned at surface of shell, remainder is all encapsulated in enclosure interior.As shown in Fig. 6 (b), other three buttons are connected with the IOA4-IOA6 mouth of single-chip microcomputer respectively, obtain input signal by IO mouth, by single-chip microcomputer, options are controlled, its switch S 2, S3 and S4 are positioned at surface of shell, and its circuit package is to enclosure interior.
Through main control processing module (as single-chip microcomputer) signal after treatment, by voice module Output rusults, circuit theory diagrams as shown in figure 10.Utilize power amplifier SPY0030 electric current corresponding acoustical signal can be amplified, by earphone, clearly to user prompting, wherein the DAC pin of voice module is connected with the DAC port of main control processing module (as single-chip microcomputer).
One embodiment of the present invention, provide the control method of the electronics leading instrument based on infrared sensor, and its flow chart as shown in figure 11.This flow process starts from step 1101.In step 1102, setup and use person wears highly and sensor and leading instrument front angulation.Wherein, in one embodiment of the present invention, adopting the effective scope of detection of infrared sensor is that 150cm is with interior (being that infrared sensor can detect the barrier within the scope of this), in the time that infrared sensor forms leading instrument thus, it wears height will directly affect the road level distance value of its detection, as shown in figure 12, therefore need to arrange wearing highly.Described configuration height, can by person of good sense help arrange and by its preservation.
Detecting module center line and horizontal plane angulation, select after different bayonet sockets, leading instrument support is different from horizontal plane angulation: if select the bayonet socket of the top, support is parallel in horizontal plane, becomes vertical (90 ° of angles) with leading instrument surface; If the bayonet socket in the middle of selecting, support becomes 15 degree angles with horizontal plane; If the bayonet socket below selection, support becomes 30 degree angles with horizontal plane.Detecting module and horizontal plane angulation, be set to scalable, be due to: Ruo Si road sensor is mutually 25 ° of angles each other, and itself and leading instrument surface angulation φ fixes, and the relation between oblique line distance X, horizontal range L and the height H detecting is as shown in figure 13.Instantly when road sensor is just 150cm to the distance on road surface, the road surface distance that can measure this time reaches maximum, but wearing of this time is highly 33 centimetres, heighten if will wear highly, Ze Xia road sensor becomes large to the distance on ground, exceed effective range distance value, 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 sensor 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 detects, so height and the angle adjusted will be in suitable scopes:
The about length of the every step of normal person is 35cm, and child's paces are smaller, so the application's embodiment is got maximum analysis, guarantees use crowd's popularity.At least will in apart from barrier two steps, be detected, as shown in figure 14, be 70cm apart from the minimum range of barrier.Now wear is highly the highest 132.6cm.The lucky chest a normal person.This at present road sensor and horizontal plane angulation θ be 90-27.8=62.2 degree, lower road sensor and vertical plane angulation φ are 27.8 degree.Now still there is very large adjusting range.In the time that height is shorter, can reduce sensor height, adjust the angle of lower road sensor and horizontal plane, thereby can increase detection distance.
Figure 15 has provided the schematic diagram of measuring range under other height, sensor angle.As shown in Figure 15, can adjust according to actual needs and wear height, and select a suitable angle, reach and detect distance maximum, the best object of effect.And be noted that and wear height and when angle determining, guarantee that distance X that lower road sensor detects road surface is preferably near 150 or be less than 150 centimetres.
When height angle is worn in input, utilize button to select.Press first height/angle key, represent to adjust wearing highly, can utilize upwarding key and down Arrow, adjust according to voice message, confirm that by acknowledgement key final input wears height value.Press again height/angle key, represent to select leading instrument support and horizontal plane angulation, its regulative mode is identical with the adjusting of wearing height.Above-mentioned arrange successfully after, if restart power supply, preserve still for last input angle, each acquiescence height value still for last time input validation wear height value and angle value.
In step 1103, four sensors are started working, gather the voltage signal (information that every group of described voltage signal gathered by the sensor of setting out on a journey, lower road sensor, left road sensor and right wing sensor forms) that walking process reflects, and send main control processing module to, the voltage analog signal of feedback is converted to digital signal (for example changing realization by A/D) by main control processing module, main control processing module is utilized voltage and range performance curve, and above-mentioned voltage signal is converted to range information.
In step 1104, first, the distance of the measured information dyscalculia thing of road sensor under the utilization of main control processing unit, formula is:
Meanwhile, main control processing unit dyscalculia thing size, method is:
First the range data of Dui Xia road sensor feedback is analyzed:
The distance value that Ruo Xia road sensor feeds back remains on a value always, and (a is the distance information value to road surface of leading instrument Zhong Xia road sensor acquisition, according to the difference of the selected bayonet socket of wearing height and select, and difference to some extent, be generally the maximum distance that detects, the present embodiment is 150cm) near, show that barrier does not appear in ground, road surface is steady;
The absolute value of the distance value that Ruo Xia road sensor feeds back and the difference of a is greater than the detection threshold c1(10cm left and right setting), explanation detects pavement roughness: if above-mentioned difference is for just, show that there is dell on road surface, front; If above-mentioned difference, for negative, shows that there is projection on road surface, front, on road surface, there is barrier;
Then the range data of the sensor of setting out on a journey in same group of voltage data being fed back is analyzed:
It is the maximum detection range of detecting module that sensor feeds back if set out on a journey distance value keeps b(150cm) be worth constantly, the explanation sensor of setting out on a journey does not also touch barrier; The distance value that continuation is fed back the sensor of setting out on a journey in each the group information of voltage gathering is below analyzed;
There is variation in the distance value that sensor feeds back if a certain moment discovery is set out on a journey, and the difference of above-mentioned distance value and b value is greater than the thresholding c1 setting, can utilize the height that now engraves the distance value dyscalculia thing that road sensor feeds back, as shown in figure 16, formula is:
h=X
1*sinθ+H
The distance value that sensor feeds back if set out on a journey never changes, the distance value that Qie Xia road sensor feeds back changes to again a (as 150cm) value, the distance value that can utilize that group voltage data Zhong Xia road sensor before becoming a value to feed back, as shown in figure 17, the height of dyscalculia thing, computing formula is:
In summary, carrying out in height detection process, the distance value of Ruo Xia road sensor feedback, from large to small, and the sensor of setting out on a journey also detects data simultaneously, can judge that this obstacle height is more than or equal to detectable biggest obstacle object height degree; Instantly road sensor detects barrier, but set out on a journey sensor acquisition to data do not change, when the sensor of setting out on a journey does not detect barrier, proceed data acquisition, people's foot is gradually near barrier.
Meanwhile, left and right two-way sensor carries out width detection to barrier:
If the absolute value of the distance value that left side sensor feeds back and b value is greater than thresholding c1, explanation left side sensor has detected barrier, records the distance value X that bottom left road sensor feeds back
3continue each follow-up group information to analyze, if analyzed in one group of voltage data, the difference of the distance value that right sensor is fed back and b value is greater than thresholding c2, illustrate that right sensor has also detected barrier, the distance value X that under preservation, now right sensor is fed back
4, then according to two of above-mentioned preservation values (distance value of left road sensor feedback and the distance value of right wing sensor feedback), the width of dyscalculia thing, as 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 analytic process in continuation, the distance value that right sensor is fed back never changes, and the distance value that left side sensor feeds back becomes again a value again, record the distance value X that this group voltage data left side sensor before feeds back
31, can carry out width estimation according to above-mentioned two values, as shown in figure 19, computing formula is:
w=X
3*sinθ
0-X
31*sinθ
0
If right sensor first detects barrier, its computational methods are identical with left side;
Ruo Zuo road sensor first detects barrier, illustrate that barrier is partial to the left side of user health, if right wing sensor first detects barrier, illustrate that barrier is partial to the right side of user health, leading instrument offers user azimuth information according to above-mentioned information.
In step 1105, by the result of calculation output of step 3, if there is barrier, carry out alarm, and according to analyzing, the azimuth information of barrier and size information are carried out to voice output, auxiliary user walking.
Although more than described the specific embodiment of the present invention, one skilled in the art should be appreciated that these only illustrate, and can make various changes or modifications to these embodiments, and not deviate from principle of the present invention and essence.Scope of the present invention is only limited by appended claims.
Claims (6)
1. the 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 housing, it is characterized in that: be also provided with detecting module and semicircle bayonet socket for being connected detecting module in hull outside, described detecting module comprises four sensors and fixed support, four described sensors comprise: the sensor of setting out on a journey, lower road sensor, left road sensor and right wing sensor, four described sensors become rectangular pyramid to arrange, between every adjacent two-way sensor, become A degree angle, the sensor of wherein setting out on a journey is placed obliquely, and its face forming with corresponding lower road sensor keeps vertical with horizontal plane, four described sensors are fixed by welding in on the fixed support of rectangular pyramid, and the support bracket fastened top of described rectangular pyramid is also welded with hollow pipe, and the output lead of four sensors is placed in described hollow pipe and is connected with the AD modular converter in housing, rectangular faceplate is movable plate, and one side is provided with 3 semicircle bayonet sockets, and its radius is identical with the semicircle bayonet socket on leading instrument, after the semicircle bayonet socket splicing on the semicircle bayonet socket on rectangular faceplate and leading instrument, 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 described leading instrument, realize fixing detecting module, wherein, the included angle A 1 that the center line of detecting module becomes with horizontal plane can be 0 ° of angle or 15 ° of angles or 30 ° of angles.
4. the control method that adopts the electronics leading instrument based on infrared sensor claimed in claim 1, is characterized in that: comprise the following steps:
Step 1: setup and use person wears highly and detecting module center line and horizontal plane angulation;
The described distance that highly refers to 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 arranged voluntarily as required by user;
Step 2: four working sensors, gather the voltage signal that walking process reflects, and send main control processing module to, main control processing module is utilized voltage and range performance curve, and voltage signal is converted to range information; Wherein, every group of voltage signal comprises 4 tunnel information, respectively from the sensor of setting out on a journey, lower road sensor, left road sensor and right wing sensor;
Step 3: main control processing module is utilized the range information of step 2, the distance of dyscalculia thing and size;
Step 4: by the result of calculation output of step 3, if there is barrier, carry out alarm, and according to analyzing, the azimuth information of barrier and size information are carried out to voice output, auxiliary user walking.
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 dyscalculia thing described in step 3, method is: utilize the distance of the measured information dyscalculia thing of lower road sensor, computing formula is:
In formula, l is the actual road surface distance of user and barrier, X
2the value that Wei Xia road sensor returns when barrier detected,
for detecting module Zhong Xia road sensor and vertical direction angulation, its computing formula is
wherein, the angle that the center line that A1 is detecting module becomes with horizontal plane.
6. the control method of the electronics leading instrument based on infrared sensor according to claim 4, it is characterized in that: the dyscalculia thing size described in step 3, method is: utilize the height of the measured information dyscalculia thing of sensor He Xia road sensor of setting out on a journey, utilize the width of the measured information dyscalculia thing of left road sensor and right wing sensor;
The size of described dyscalculia thing, concrete grammar is:
First the range data of Dui Xia road sensor feedback is analyzed:
The distance value that Ruo Xia road sensor feeds back remains near a value always, and wherein said a is the distance information value to road surface that leading instrument Zhong Xia road sensor acquisition arrives, and shows that barrier does not appear in ground, and road surface is steady;
The absolute value of the distance value that Ruo Xia road sensor feeds back and the difference of a is greater than the detection threshold c1 setting, and explanation detects pavement roughness: if above-mentioned difference is for just, show that there is dell on road surface, front; If above-mentioned difference, for negative, shows that there is projection on road surface, front, on road surface, there is barrier;
The scope of described detection threshold c1 is 5cm～10cm;
Then the range data of the sensor of setting out on a journey in same group of voltage data being fed back is analyzed:
Sensor feeds back if set out on a journey distance value keeps b value constant, and the described b distance value that sensor feeds back of setting out on a journey when thering is no barrier, illustrates that the sensor of setting out on a journey does not also touch barrier; The distance value that continuation is fed back the sensor of setting out on a journey in each the group information of voltage gathering is below analyzed;
There is variation in the distance value that sensor feeds 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 setting, and can utilize the height that now engraves the distance value dyscalculia thing that road sensor feeds back, and computing formula is:
h=X
1*sinθ+H，
In formula, h is obstacle height, X
1organize the distance value that the sensor of setting out on a journey in voltage data feeds back, H is for wearing height for this reason, and θ is the angle of sensor and horizontal plane of setting out on a journey, its computing formula be θ=| A/2-A1|, wherein, the angle that the center line that A1 is detecting module becomes with horizontal plane;
The distance value that sensor feeds back if set out on a journey never changes, the distance value that Qie Xia road sensor feeds back changes to again a value, the distance value that can utilize that group voltage data Zhong Xia road sensor before becoming a value to feed back, the height of dyscalculia thing, computing formula is:
Wherein, X
2the distance value that Wei Xia road sensor feeds back,
for detecting module Zhong Xia road sensor and vertical direction angulation.
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| CN106344358A (en) * | 2016-10-31 | 2017-01-25 | 榆林学院 | Control circuit applied to safety crutch for blind person |
| CN108836769A (en) * | 2018-05-16 | 2018-11-20 | 电子科技大学 | A kind of intelligent blind trip auxiliary device and method |
| CN108992316A (en) * | 2018-08-13 | 2018-12-14 | 京东方科技集团股份有限公司 | Blind-guiding stick and guide implementation method |
| CN110605289A (en) * | 2019-10-22 | 2019-12-24 | 阳光电源股份有限公司 | Intelligent photovoltaic cleaning robot and operation posture judgment method and adjustment method thereof |
| CN111506074B (en) * | 2020-05-08 | 2022-08-26 | 佳木斯大学 | Machine control method of crop tedding dust collection device |
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