CN103393526B - Guide stick for guiding blind person to avoid obstacles and obstacle avoiding method for guide stick - Google Patents

Abstract

The invention discloses a guide stick for guiding a blind person to avoid obstacles and an obstacle avoiding method for the guide stick. The guide stick is characterized in that a microprocessor module, a vibration module, a voice module, a power module and two ultrasonic distance measurement modules are arranged on a guide stick body of the guide stick, the two ultrasonic distance measurement modules are arranged at the same horizontal elevation, transmission directions of the two ultrasonic distance measurement modules are on the exact front side of the guide stick, and when the obstacles are located within a measurement range of the guide stick, the microprocessor module computes deviation directions and deviation angles of the obstacles relative to the exact front side of the blind person and deviation distances from the obstacles to the exact front side of the blind person according to data measured by the two ultrasonic distance measurement modules and the distance between the two ultrasonic distance measurement modules, so that the blind person can be prompted in voice and vibration modes simultaneously. The guide stick and the obstacle avoiding method have the advantages that locations of the obstacles can be accurately judged, the safety guarantee for the blind person can be strengthened by the aid of the vibration mode, and the guide stick is intelligent and convenient.

Description

The guide that a kind of blind person of guiding keeps away barrier turns and barrier-avoiding method

Technical field

The present invention relates to blind person's articles for use technical field, particularly relate to the guide that a kind of blind person of guiding keeps away barrier and turn and barrier-avoiding method.

Background technology

According to statistics, the existing blind person of China about 5,000,000, low visual acuity population about 7,100,000.In the face of so big blind community, blind person's articles for use make us dazzled.Current guide on the market turns or other similar products, generally can only differentiate that front runs into barrier, and prompting blind person keeps away barrier, and cannot judge the exact position of barrier for blind person, and blind person need decide in its sole discretion and dodge direction, makes troubles to them.

In addition, manyly on the market at present only turn with the blind person of sound prompt function that to use reliability in much a riot of sound place not high, easily because carelessness causes accident, need additive method to carry out aid prompting blind person.

Summary of the invention

Technical problem to be solved by this invention is the defect for background technology, and providing a kind of can accurately disturbance in judgement object location, the guide that possesses voice and shake dual prompting mode turn and barrier-avoiding method.

The present invention is for solving the problems of the technologies described above by the following technical solutions:

The guide that a kind of blind person of guiding keeps away barrier turns, comprise guide and turn body, it is characterized in that guide turns body and is provided with microprocessor module, voice module, power module and two ultrasonic distance measuring modules, wherein microprocessor module is connected with two ultrasonic distance measuring modules, voice modules respectively, and power module is connected with two ultrasonic distance measuring modules, microprocessor module, voice modules respectively.

As the further preferred version of the present invention, two ultrasonic distance measuring modules distribute about same level height and transmit direction is the dead ahead that guide turns.

As the further preferred version of the present invention, guide turns and also comprises shock module, is connected respectively with microprocessor module, power module.

As the further preferred version of the present invention, described shock module is by 4*4 vibration motor Sequence composition, and in 4 row vibration motor sequences, left and right two arranges corresponding with two ultrasonic distance measuring modules respectively, and middle two row are corresponding with dead ahead.

As the further preferred version of the present invention, described microprocessor module adopts STC89C52 single-chip microcomputer.

The barrier-avoiding method turned based on the described guide guiding blind person to keep away barrier comprises following steps:

Step 1), two ultrasonic distance measuring modules carry out obstacle distance measurement according to time order and function and measurement data are passed to microprocessor module;

Step 2), if two ultrasonic distance measuring modules all cannot record obstacle distance, microprocessor module does not carry out any process;

Step 3), if a ultrasonic distance measuring module can record obstacle distance, another ultrasonic distance measuring module cannot measure barrier, the vibration motor sequence being controlled to be positioned at that ultrasonic distance measuring module cannot measuring obstacle distance the same side by microprocessor module shake, and control voice module broadcasting voice prompt blind opposite side remotely have barrier;

Step 4), if two ultrasonic distance measuring modules all record obstacle distance, by the offset direction of the relative blind person's dead ahead of microprocessor module dyscalculia thing, deviation angle and deviation distance, control the different sequence vibrations of vibration motor sequence according to offset direction, control voice module simultaneously and play this offset direction of voice prompt blind, deviation angle and deviation distance.

As the further preferred version of the present invention, step 4) described in dyscalculia thing relative to the offset direction of blind person's dead ahead, deviation angle and deviation distance and control the step of the different sequences vibrations of vibration motor sequence according to offset direction as follows:

Step 4.1), after microprocessor module receives the obstacle distance m of the first ultrasonic distance measuring module measurement and the obstacle distance n of the second ultrasonic distance measuring module measurement respectively, calculate deviation distance z in conjunction with the distance x between two ultrasonic distance measuring modules, formula is as follows:

$z=\sqrt{\frac{{2m}^2+2n^2-x^2}{4}};$

Step 4.2), the size of microprocessor module disturbance in judgement thing distance m and obstacle distance n;

Step 4.3), if m>n, the offset direction of microprocessor module disturbance in judgement thing is right side, the deviation angle α according to following formulae discovery barrier:

The vibrations of Microprocessor S3C44B0X motor vibrations sequence left column;

Step 4.4), if m<n, the offset direction of microprocessor module disturbance in judgement thing is left side, the deviation angle α according to following formulae discovery barrier:

The right row vibrations of Microprocessor S3C44B0X motor vibrations sequence;

Step 4.5), if m=n, microprocessor module disturbance in judgement thing, at blind person's dead ahead, controls two row vibrations in the middle of motor vibrations sequence.

The present invention adopts above technical scheme compared with prior art, has following technique effect:

1. can the position of accurate disturbance in judgement thing, offer suggestions and dodge direction;

2. possess voice and the dual prompting mode of vibrations, strengthen the safety ensureing blind person.

Accompanying drawing explanation

Fig. 1 is modular structure schematic diagram of the present invention;

Fig. 2 is barrier-avoiding method schematic diagram of the present invention;

Fig. 3 is barrier of the present invention location schematic diagram;

Fig. 4 is motor of the present invention vibrations sequence diagram.

Detailed description of the invention

Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

As shown in Figure 1, the invention discloses the guide that a kind of blind person of guiding keeps away barrier to turn, comprise microprocessor module, motor vibrations block, voice module, power module and two ultrasonic distance measuring modules, two ultrasonic distance measuring modules are in same level height, ultrasonic emitting direction the dead ahead that guide turns, microprocessor module shakes block with motor respectively, two ultrasonic distance measuring modules, voice modules are connected, and power module shakes block with motor respectively, two ultrasonic distance measuring modules, microprocessor module, voice modules are connected;

Ultrasonic distance measuring module: send the data to maintenance processor module after measuring obstacle distance;

Microprocessor module: adopt STC89C52 single-chip microcomputer, measuring the distance of barrier, controlling motor vibrations block vibration prompting, controlling voice module voice message for receiving ultrasonic distance measuring module;

Motor vibrations block: for vibration prompting barrier orientation;

Voice module: play voice, prompting barrier Azimuth & Range;

Power module: be responsible for other module for power supply.

As shown in Figure 2, motor vibrations block shakes Sequence composition by 4*4 motor.

As shown in Figure 3, in the present embodiment, two ultrasonic distance measuring modules A, B are at a distance of 0.4 meter, and the ultrasonic distance measuring module scope of taking measurement of an angle of employing is within 15 °, left and right, maximum measuring distance is more than 3 meters, and in figure, x is 0.4 meter, and y is 3 meters, FG=HI=0.4 rice, as calculated, GH=1.2 rice.

Then C region is the region that two sensors can detect obstacle distance, and D region is the region only having ultrasonic sensor A can measure barrier, and E region is the region only having ultrasonic sensor B can measure barrier.

When blind person walks forward, ultrasonic distance measuring module A, B carry out obstacle distance measurement according to time order and function and measurement data are passed to microprocessor module.

Time beyond obstacle distance blind person 3 meters, two ultrasonic distance measuring modules all cannot record obstacle distance, and microprocessor module does not carry out any process;

When barrier appears at D region, the ultrasonic distance measuring module A on the left side can record obstacle distance, the ultrasonic distance measuring module B on the right cannot measure barrier, microprocessor module controls the vibrations of motor vibrations sequence right row, and controls voice module broadcasting voice prompt blind left and remotely have barrier;

When barrier appears at E region, the ultrasonic distance measuring module A on the left side cannot measure barrier, the ultrasonic distance measuring module B on the right can record obstacle distance, microprocessor module controls the vibrations of motor vibrations sequence left column, and controls voice module and play voice prompt blind right and remotely have barrier;

When barrier appears at C region, ultrasonic distance measuring module A, B all can measure obstacle distance, the offset direction of the relative blind person's dead ahead of microprocessor module dyscalculia thing, deviation angle and deviation distance, control the different sequence vibrations of motor vibrations sequence according to offset direction, control voice module simultaneously and play this offset direction of voice prompt blind, deviation angle and deviation distance.

As shown in Figure 4, when ultrasonic distance measuring module A measures barrier P apart from when measuring barrier P distance for m, ultrasonic distance measuring module B for n, first, microprocessor module receives data m and n, and calculate deviation distance z in conjunction with the distance x of two ultrasonic distance measuring modules, formula is as follows:

$z=\sqrt{\frac{{2m}^2+2n^2-x^2}{4}};$

Then, the size of microprocessor module disturbance in judgement thing distance m and obstacle distance n;

If m>n, the offset direction of microprocessor module disturbance in judgement thing is right side, the deviation angle α according to following formulae discovery barrier:

The vibrations of Microprocessor S3C44B0X motor vibrations sequence left column, and control voice module and play z place, inclined α direction, voice prompt blind right front and have barrier;

If m<n, the offset direction of microprocessor module disturbance in judgement thing is left side, the deviation angle α according to following formulae discovery barrier:

The vibrations of Microprocessor S3C44B0X motor vibrations sequence right row, and control voice module broadcasting z place, inclined α direction, voice prompt blind left front and have barrier;

If m=n, microprocessor module disturbance in judgement thing at blind person's dead ahead, control motor vibrations sequence in the middle of two row vibrations, and control voice module play voice prompt blind dead ahead z place have barrier.

Claims (2)

1. the barrier-avoiding method that turns of the guide guiding blind person to keep away barrier, the guide that described guiding blind person keeps away barrier turns and comprises guide and turn body, described guide turns body and is provided with microprocessor module, voice module, power module, shock module and two ultrasonic distance measuring modules, wherein microprocessor module respectively with two ultrasonic distance measuring modules, voice module, shock module is connected, power module respectively with two ultrasonic distance measuring modules, microprocessor module, voice module, shock module is connected, described two ultrasonic distance measuring modules distribute about same level height, and transmit direction is the dead ahead that guide turns, described shock module is by 4*4 vibration motor Sequence composition, in 4 row vibration motor sequences, left and right two row are corresponding with two ultrasonic distance measuring modules respectively, middle two row are corresponding with dead ahead, it is characterized in that, comprise following steps:

Step 1), two ultrasonic distance measuring modules carry out obstacle distance measurement according to time order and function and measurement data are passed to microprocessor module;

Step 2), if two ultrasonic distance measuring modules all cannot record obstacle distance, microprocessor module does not carry out any process;

Step 3), if a ultrasonic distance measuring module can record obstacle distance, another ultrasonic distance measuring module cannot measure barrier, the vibration motor sequence being controlled to be positioned at that ultrasonic distance measuring module cannot measuring obstacle distance the same side by microprocessor module shake, and control voice module broadcasting voice prompt blind opposite side remotely have barrier;

Step 4), if two ultrasonic distance measuring modules all record obstacle distance, by the offset direction of the relative blind person's dead ahead of microprocessor module dyscalculia thing, deviation angle and deviation distance, control the different sequence vibrations of vibration motor sequence according to offset direction, control voice module simultaneously and play this offset direction of voice prompt blind, deviation angle and deviation distance.

2. barrier-avoiding method according to claim 1, is characterized in that step 4) described in dyscalculia thing relative to the offset direction of blind person's dead ahead, deviation angle and deviation distance and control the step of the different sequences vibrations of vibration motor sequence according to offset direction as follows:

Step 4.1), after microprocessor module receives the obstacle distance m of the first ultrasonic distance measuring module measurement and the obstacle distance n of the second ultrasonic distance measuring module measurement respectively, calculate deviation distance z in conjunction with the distance x between two ultrasonic distance measuring modules, formula is as follows:

$z=\sqrt{\frac{{2m}^2+2n^2-x^2}{4}};$

Step 4.2), the size of microprocessor module disturbance in judgement thing distance m and obstacle distance n;

Step 4.3), if m>n, the offset direction of microprocessor module disturbance in judgement thing is right side, the deviation angle α according to following formulae discovery barrier:

The vibrations of Microprocessor S3C44B0X motor vibrations sequence left column;

Step 4.4), if m<n, the offset direction of microprocessor module disturbance in judgement thing is left side, the deviation angle α according to following formulae discovery barrier:

The right row vibrations of Microprocessor S3C44B0X motor vibrations sequence;

Step 4.5), if m=n, microprocessor module disturbance in judgement thing, at blind person's dead ahead, controls two row vibrations in the middle of motor vibrations sequence.