CN104142501A - Barrier detection alarming device and method based on multiple ultrasonic detectors - Google Patents
Barrier detection alarming device and method based on multiple ultrasonic detectors Download PDFInfo
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- CN104142501A CN104142501A CN201410310831.9A CN201410310831A CN104142501A CN 104142501 A CN104142501 A CN 104142501A CN 201410310831 A CN201410310831 A CN 201410310831A CN 104142501 A CN104142501 A CN 104142501A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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Abstract
The invention discloses a barrier detection alarming device based on multiple ultrasonic detectors. The barrier detection alarming device comprises ultrasonic distance measurement module groups, an ultrasonic distance measurement module group transceiving control circuit and a master control unit which are connected in sequence. The ultrasonic distance measurement module groups include a central module group, a left module group and a right module group which are positioned at the same height, wherein the central module group is positioned in the center, and the left module group and the right module group are positioned on the two sides of the central module group. The central module group comprises a first ultrasonic distance measurement module arranged vertically downwards, a second ultrasonic distance measurement module arranged slantingly downwards and a third ultrasonic distance measurement module arranged slantingly upwards. The left module group comprises a fourth ultrasonic distance measurement module arranged slantingly downwards and a fifth ultrasonic distance measurement module arranged slantingly upwards. The right module group comprises a sixth ultrasonic distance measurement module arranged slantingly upwards and a seventh ultrasonic distance measurement module arranged slantingly upwards. According to the barrier detection alarming device and method based on the multiple ultrasonic detectors, by means of a specific combination mode of the seven ultrasonic distance measurement modules, a detection pre-alarming range is expanded to three-dimensional space, and barriers are positioned specifically.
Description
Technical field
The present invention relates to ultrasonic ranging field, particularly a kind of stumbling block detection alarming device and method based on a plurality of ultrasonic detectors.
Background technology
At present, aspect ranging technology, except ultrasonic listening, what be widely used has nuclear radiation range finding, tellurometer survey, an optical ranging etc.But ultrasound displacement has many good qualities, compare with radioactivity technology and do not need protection; Compare with current laser ranging, though ultrasonic technique is slightly inferior in precision, fairly simple, cheap; The more important thing is that, under rugged surroundings, laser ranging will be subject to severe jamming, now the high precision of ultrasonic measurement will embody.
In general, ultrasonic displacement is measured need not the parts of motion, so account for and have an enormous advantage in installation and maintenance.Ultrasonic displacement measurement has very large adaptability, and therefore, when request for utilization is little, supersonic sounding, as a kind of non-contact measuring technology of maturation, is being found range and kept away the association area widespread uses such as barrier.
General ultrasonic ranging is popped one's head in, and mostly measurement range is narrow and small, much only can survey the barrier in dead ahead, and surrounding environment is difficult to carry out accurate detection; More existing improved ultrasonic distance mearuring equipments, although adopted a plurality of ultrasonic transceiver modules, but combine owing to failing ultrasonic wave module effectively, still there is the problems such as detection blind area is many, scope is little, can not realize 3 D stereo and detect, three dimensions is kept away to barrier, especially as the object of avoiding these parts near the ground of guardrail and being emptied, or as car door, these need to bend the occasion that head avoids collision in turnover, and common ultrasonic wave detector is difficult to meet our demand.
Therefore, be necessary to design the demand that a kind of new stumbling block detection alarming device meets people.
Summary of the invention
The shortcoming that the object of the invention is to overcome prior art, with not enough, provides a kind of stumbling block detection alarming device based on a plurality of ultrasonic detectors.
Another object of the present invention is to provide a kind of detection of obstacles alarm method based on a plurality of ultrasonic detectors.
Object of the present invention realizes by following technical scheme:
A kind of stumbling block detection alarming device based on a plurality of ultrasonic detectors, comprise the ultrasonic distance measuring module group that order is connected, ultrasonic distance measuring module group transmitting-receiving control circuit, main control unit, and the electric supply installation being connected with main control unit, hummer, described ultrasonic distance measuring module group has three groups, be respectively the center module group that is positioned at center, be positioned at left module group and the right module group of center module group both sides, three pack module groups are in sustained height, wherein center module group comprises the ultrasonic distance measuring module one arranging straight down, the ultrasonic distance measuring module two of oblique lower setting, the ultrasonic distance measuring module three arranging obliquely, left module group comprises the ultrasonic distance measuring module four of oblique lower setting, the ultrasonic distance measuring module five arranging obliquely, right module group comprises the ultrasonic distance measuring module group six of oblique lower setting, the ultrasonic distance measuring module seven arranging obliquely.
The ultrasonic distance measuring module two, four, six of described oblique lower setting and the angular range of vertical direction are 25～65 degree.In practical application, according to placement location and concrete needs, determine.
The described ultrasonic distance measuring module three, five, seven arranging obliquely and the angular range of horizontal direction are 0～65 degree.In practical application, according to placement location and concrete needs, determine.
The angular range of the detection plane of described left module group and the detection plane of center module group is 30～60 degree, and the angular range of the detection plane of described right module group and the detection plane of center module group is 30～60 degree.
The described stumbling block detection alarming device based on a plurality of ultrasonic detectors, also comprises the LCD display that is connected with main control unit.
Described ultrasonic distance measuring module is with temperature compensation means.
Another object of the present invention realizes by following technical scheme:
A detection of obstacles alarm method based on a plurality of ultrasonic detectors, the step that comprises following order:
S1. main control unit by three transmitting-receiving control circuits respectively control center's module group, left module group, the initialization of right module group wherein left module group, right module group lay respectively at the both sides of center module group sustained height;
S2. the ultrasonic distance measuring module of center module group, left module group, right module group is started working after receiving the probe command of main control unit, wherein center module group comprises the ultrasonic distance measuring module two of the ultrasonic distance measuring module one arranging straight down, oblique lower setting, the ultrasonic distance measuring module three arranging obliquely, left module group comprises the ultrasonic distance measuring module four of oblique lower setting, the ultrasonic distance measuring module five arranging obliquely, and right module group comprises the ultrasonic distance measuring module group six of oblique lower setting, the ultrasonic distance measuring module seven arranging obliquely;
S3. seven ultrasonic distance measuring modules are transferred to main control unit by seven distance values surveying simultaneously, and main control unit carries out Parallel Processing and Analysis to seven distance values, and judge in route, whether to have menace barrier;
If S4. any direction exists menace barrier, main control unit drives hummer to send the buzzing alarming prompt tone that three sound are very brief, if do not send prompt tone without threatening; Simultaneously by the concrete judgment result displays of main control unit in LCD display.
Described step S3 specifically comprises step:
(1) establish safe altitude H
0with safe float distance D
0, establishing ultrasonic distance measuring module one distance to the ground is h
1, the ultrasonic distance measuring module two, four, six of oblique lower setting and the angle of vertical direction are θ, the ultrasonic distance measuring module three, five, seven arranging obliquely and the angle of horizontal direction are γ, the safe detection range of ultrasonic distance measuring module two, four, six
the safe detection range of ultrasonic distance measuring module three, five, seven
If F, L, R are respectively the actual detection distance of ultrasonic distance measuring module two, four, six, f, l, r are respectively the actual detection distance of ultrasonic distance measuring module three, five, seven;
(2) main control unit judgement D-D
0<F<D+D
0if, export i=0 and arrive next step, if not export i=1, arrive next step;
(3) main control unit judgement D-D
0<R<D+D
0if, export i=0 and arrive next step, if not export i=i+2, arrive next step;
(4) main control unit judgement D-D
0<L<D+D
0if, export i=0 and arrive next step, if not export i=i+4, obtain thus final i value;
(5) main control unit judgement f<H-D
0if, export j=0 and arrive next step, if not export j=1, arrive next step;
(6) main control unit judgement r<H-D
0if, export j=j+0 and arrive next step, if not export j=j+2, arrive next step;
(7) main control unit judgement l<H-D
0if, export j=j+0 and arrive next step, if not export j=j+4, obtain thus final j value;
(8) main control unit judges whether the position that occurs barrier and occur barrier according to various combination situation.
The course of work of the present invention is as follows:
In three ultrasonic distance measuring module groups, the center module group being formed by three ultrasonic distance measuring modules first survey dead ahead to road conditions obstacle situation, one of them range finder module detects the barrier of front upper place barrier and two other range finder module detection inferoanterior (on the ground), separately detection side to vector all same perpendicular to ground and the perpendicular consistent with direction of motion on, detection plane before being just called, the detection direction vector of the range finder module group that two other is comprised of two range finder modules is also all on same perpendicular perpendicular to the ground, the just front detection plane of its plane apportion left and right sides, and respectively form onesize angle with just front detection plane, this angle can be selected at 30 degree between the scope of 60 degree, can set according to the concrete needs of user, representative value is 45 degree, each ultrasonic distance measuring module is parallel detecting returning the detection data of detection direction separately simultaneously, the specific works principle of each ultrasonic distance measuring module group is for to calculate corresponding ideal distance value according to triangle geometrical principle, and set corresponding normal detection range scope according to above-mentioned distance value, according to θ=60 degree situation, for the ultrasonic distance measuring module unit of surveying front upper place, surveying the safe distance of setting is 2 meters, if the obstacle distance that front upper place is detected is less than 2 meters, in lcd screen, show that current direction exists the early warning information of barrier and drives hummer to send buzzing alarming, for the ultrasonic wave module of surveying front lower place, we set the safe float distance of positive and negative 5 centimetres, be, if the distance on the distance ground that detection direction is ultrasonic wave module vertically downward to be detected is h, according to corresponding geometric relationship, when do not cave in or be protruding in ground, detection front lower place should be 2h to the distance on ground, now, if there is protrusion in direction ground, front lower place, detection range must reduce to some extent due to the existence of protrusion, when detection range is less than (2h-5) centimetre, we think that protrusion is more obvious, be there is to threat in user, now in lcd screen, provide corresponding obstacle exists information to drive hummer to send warning sound in order to early warning simultaneously, if there is depression hole in direction ground, front lower place, detection range must increase to some extent due to the existence of protrusion, when detection range is greater than (2h+5) centimetre, we think that depression hole is more obvious, be there is to threat in user, now in lcd screen, provide corresponding obstacle exists information to drive hummer to send sound in order to early warning simultaneously.
Lcd screen and buzzer circuit principle of work are as follows: lcd screen arranges the demonstration sport of three directions, it is respectively dead ahead, the place ahead is offset left, the place ahead is offset to the right, in each sport, be also provided with respectively front upper place, the event of two of front lower places shows in all directions whether front upper place and front lower place exist barrier, each detect cycle all can exist at the obstacle of each event item of information to exist situation to show the information of " having " or " nothing " according to practical obstacle while finishing, once and front upper place or front lower place in above-mentioned three directions detect obstacle traffic information, hummer sends the buzzing alarming prompt tone that three sound are very brief, otherwise, if the equal clear of all directions, the hummer alarm of not sounding.
The principle of work of main control unit is as follows: the transmitting probe of seven ultrasonic distance measuring modules of control is launched ultrasound wave simultaneously and surveyed, ultrasound wave runs into that barrier reflects and obtain range data after receiving transducer receives, then parallel transmission enters main control unit and processes accordingly and result of detection is presented in LCD display, and according to whether existing obstacle situation to determine whether drive hummer to send buzzing alarming sound, finally to enter again next dust cycle.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
1, the present invention has broken away from the limitation that single ultrasonic distance measuring module can only carry out two-dimensional detection, utilize the particular combination form of seven ultrasonic distance measuring modules, by detecting early-warning scope be extended to three dimensions and lock simultaneously barrier specifically in what orientation more to meet the needs of reality, the present invention uses the control module of parallel processing, make to detect cycle period little, real-time is stronger.
2, the present invention has adopted triangular form geometrical principle in design, determines and surveys safe range, and can carry out self-adaptation adjustment to a certain degree according to the relation of angle and the length of side, and practicality and reliability are strong than existing technology.
3, the set combination angle of ultrasonic wave module in the present invention, takes into full account the movement velocity and the response characteristic that use object, and the angular range providing, through detailed theoretical analysis and verification experimental verification, can meet system in the requirement of different application occasion.
4, the invention provides LCD and show obstacle information, and for the mode of designed these the two kinds of reminding users of different prompt tones of different situations, both go for blind person's guide and kept away barrier, also go for general machinery to diversified purposes such as the place ahead landform detections, the scope of application and prospect are all quite wide.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of stumbling block detection alarming device based on a plurality of ultrasonic detectors of the present invention;
Fig. 2 is the process flow diagram of a kind of detection of obstacles alarm method based on a plurality of ultrasonic detectors of the present invention;
Fig. 3 is the ultrasonic distance measuring module arranging obliquely that installs described in Fig. 1, the position relationship schematic diagram of the ultrasonic distance measuring module of oblique lower setting, the ultrasonic distance measuring module that arranges straight down.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
As Fig. 1, a kind of stumbling block detection alarming device based on a plurality of ultrasonic detectors, comprise the ultrasonic distance measuring module group that order is connected, ultrasonic distance measuring module group transmitting-receiving control circuit, main control unit, and the electric supply installation being connected with main control unit, hummer, described ultrasonic distance measuring module group has three groups, be respectively the center module group that is positioned at center, be positioned at left module group and the right module group of center module group both sides, three pack module groups are in sustained height, wherein center module group comprises the ultrasonic distance measuring module one arranging straight down, the ultrasonic distance measuring module two of oblique lower setting, the ultrasonic distance measuring module three arranging obliquely, left module group comprises the ultrasonic distance measuring module four of oblique lower setting, the ultrasonic distance measuring module five arranging obliquely, right module group comprises the ultrasonic distance measuring module group six of oblique lower setting, the ultrasonic distance measuring module seven arranging obliquely,
The ultrasonic distance measuring module two, four, six of described oblique lower setting and the angular range of vertical direction are 25～65 degree;
The described ultrasonic distance measuring module three, five, seven arranging obliquely and the angular range of horizontal direction are 0～65 degree;
The angular range of the detection plane of described left module group and the detection plane of center module group is 30～60 degree, and the angular range of the detection plane of described right module group and the detection plane of center module group is 30～60 degree;
The described stumbling block detection alarming device based on a plurality of ultrasonic detectors, also comprises the LCD display that is connected with main control unit;
Described ultrasonic distance measuring module is with temperature compensation means.
By concrete experimental data, come advantage and the reason of the angular range of description selection below:
Theoretical analysis:
Speed V: the people at system place or the translational speed of object;
Response is apart from S: when barrier enters alarm range, system is apart from the distance of barrier;
Response time △ t1: just entered alarm range auto levelizer at barrier and reported to the police the time used, be system response time;
Reaction time △ t2: make a response the time used to people after device is reported to the police, be human response's time;
React the T that sets aside some time: response is apart from the ratio with speed, i.e. T=S/V;
In order to allow people or other mobile devices have time enough to keep away barrier after running into road obstacle, obstacle avoidance apparatus warning, should get:
T>△t1+△t2 ①
Usually, this obstacle avoidance apparatus response time, △ t1 was roughly 0.1s, general human response's time is 0.15-0.4s, consider and use the blind person of this blind-guide device or the elderly to react slower, at least be taken as 0.3s, and comprise that for the automatic equipment of working at high speed its reaction time △ t2 of robot can ignore, but consider that mobile object has inertia, so generally also should reserve the regular hour, so obstacle avoidance system in use can simply be got T>0.4s.
And too early warning of device is also unfavorable for that people walk, so we also set time of fire alarming 10s at most in advance.Through test of many times, we choose θ angle is that 25-65 degree is comparatively suitable.Be below under friction speed, at straight main road middle distance device the place ahead 20m, place protruding barrier (30cm carton) test findings.
Specific experiment:
The test condition of experiment one: h
1=1m, temperature t=37.1 ℃.
Table 1: the experimental data of experiment one
Note: "--" indicates without result.
The test result of table 1 shows, θ value is more reasonable 25 ° of-65 ° of these scopes, meets above requirement 1.;
Equally, in order there to be time enough allow people hide the barrier in the place ahead, the crown or allow mobile device avoid overhead barrier, also should get: T> △ t1+ △ t2;
Now, corresponding S=(H
0-h
1)/tan γ is the horizontal range between human body head or equipment top and overhead barrier.The same discussion, should get 0.4s<T<10s.
Through test of many times, we choose γ angle be 0 °-65 ° comparatively suitable, depending on the safe altitude H setting
0be worth and determine.Below at different safe altitude H
0value, under friction speed, in the test findings of 20m place, distance means the place ahead, overhead, aisle layout barrier (center is the rectangle ad board of the 50cm*50cm of 1m overhead).
The test condition of experiment two: h
1=1m, temperature t=37.1 ℃, safe altitude H
0be set to 2m.
Table 2: experiment two experimental datas
Note: "--" indicates without result.
The test result of table 2 shows, at safe altitude H
0value is when the 1m, and γ angle is more reasonable 25 ° of-65 ° of these scopes, meets above requirement 1..
The test condition of experiment three: h
1=1m, temperature t=37.1 ℃, safe altitude H
0be set to 1.2m.
Table 3: the experimental data of experiment three
Note: "--" indicates without result.
The test result of table 3 shows, at safe altitude H
0value is when the 1.2m, and γ angle is more reasonable 0 ° of-20 ° of these scope, meets above requirement 1..
In sum, γ angle selection range 0 °-65 ° all can, depending on the safe altitude H setting
0be worth and determine.
As Fig. 2, a kind of detection of obstacles alarm method based on a plurality of ultrasonic detectors, the step that comprises following order:
S1. main control unit by three transmitting-receiving control circuits respectively control center's module group, left module group, the initialization of right module group wherein left module group, right module group lay respectively at the both sides of center module group sustained height;
S2. the ultrasonic distance measuring module of center module group, left module group, right module group is started working after receiving the probe command of main control unit, wherein center module group comprises the ultrasonic distance measuring module two of the ultrasonic distance measuring module one arranging straight down, oblique lower setting, the ultrasonic distance measuring module three arranging obliquely, left module group comprises the ultrasonic distance measuring module four of oblique lower setting, the ultrasonic distance measuring module five arranging obliquely, and right module group comprises the ultrasonic distance measuring module group six of oblique lower setting, the ultrasonic distance measuring module seven arranging obliquely;
S3. seven ultrasonic distance measuring modules are transferred to main control unit by seven distance values surveying simultaneously, and main control unit carries out Parallel Processing and Analysis to seven distance values, and judge in route, whether to have menace barrier; This step is specific as follows:
(1), as Fig. 3, establish safe altitude H
0with safe float distance D
0, establishing ultrasonic distance measuring module one distance to the ground is h
1, the ultrasonic distance measuring module two, four, six of oblique lower setting and the angle of vertical direction are θ, the ultrasonic distance measuring module three, five, seven arranging obliquely and the angle of horizontal direction are γ, the safe detection range of ultrasonic distance measuring module two, four, six
the safe detection range of ultrasonic distance measuring module three, five, seven
If F, L, R are respectively the actual detection distance of ultrasonic distance measuring module two, four, six, f, l, r are respectively the actual detection distance of ultrasonic distance measuring module three, five, seven;
(2) main control unit judgement D-D
0<F<D+D
0if, export i=0 and arrive next step, if not export i=1, arrive next step;
(3) main control unit judgement D-D
0<R<D+D
0if, export i=0 and arrive next step, if not export i=i+2, arrive next step;
(4) main control unit judgement D-D
0<L<D+D
0if, export i=0 and arrive next step, if not export i=i+4, obtain thus final i value;
(5) main control unit judgement f<H-D
0if, export j=0 and arrive next step, if not export j=1, arrive next step;
(6) main control unit judgement r<H-D
0if, export j=j+0 and arrive next step, if not export j=j+2, arrive next step;
(7) main control unit judgement l<H-D
0if, export j=j+0 and arrive next step, if not export j=j+4, obtain thus final j value;
(8) main control unit judges whether the position that occurs barrier and occur barrier according to various combination situation, and main control unit judges according to table 4:
Table 4: the response combination table of variable i, j
Note: (010
(2)) show binary number, be equivalent to metricly 2, remaining is by that analogy;
If S4. any direction exists menace barrier, main control unit drives hummer to send the buzzing alarming prompt tone that three sound are very brief, if do not send prompt tone without threatening; Simultaneously by the concrete judgment result displays of main control unit in LCD display.
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (8)
1. the stumbling block detection alarming device based on a plurality of ultrasonic detectors, comprise the ultrasonic distance measuring module group that order is connected, ultrasonic distance measuring module group transmitting-receiving control circuit, main control unit, and the electric supply installation being connected with main control unit, hummer, it is characterized in that: described ultrasonic distance measuring module group has three groups, be respectively the center module group that is positioned at center, be positioned at left module group and the right module group of center module group both sides, three pack module groups are in sustained height, wherein center module group comprises the ultrasonic distance measuring module one arranging straight down, the ultrasonic distance measuring module two of oblique lower setting, the ultrasonic distance measuring module three arranging obliquely, left module group comprises the ultrasonic distance measuring module four of oblique lower setting, the ultrasonic distance measuring module five arranging obliquely, right module group comprises the ultrasonic distance measuring module group six of oblique lower setting, the ultrasonic distance measuring module seven arranging obliquely.
2. the stumbling block detection alarming device based on a plurality of ultrasonic detectors according to claim 1, is characterized in that: the ultrasonic distance measuring module two, four, six of described oblique lower setting and the angular range of vertical direction are 25～65 degree.
3. the stumbling block detection alarming device based on a plurality of ultrasonic detectors according to claim 1, is characterized in that: the described ultrasonic distance measuring module three, five, seven arranging obliquely and the angular range of horizontal direction are 0～65 degree.
4. the stumbling block detection alarming device based on a plurality of ultrasonic detectors according to claim 1, it is characterized in that: the angular range of the detection plane of described left module group and the detection plane of center module group is 30～60 degree, the angular range of the detection plane of described right module group and the detection plane of center module group is 30～60 degree.
5. the stumbling block detection alarming device based on a plurality of ultrasonic detectors according to claim 1, is characterized in that: the described stumbling block detection alarming device based on a plurality of ultrasonic detectors, also comprises the LCD display that is connected with main control unit.
6. the stumbling block detection alarming device based on a plurality of ultrasonic detectors according to claim 1, is characterized in that: described ultrasonic distance measuring module is with temperature compensation means.
7. the detection of obstacles alarm method based on a plurality of ultrasonic detectors, is characterized in that, the step that comprises following order:
S1. main control unit is by control center's module group, left module group, the initialization of right module group respectively of three transmitting-receiving control circuits, and wherein left module group, right module group lay respectively at the both sides of center module group sustained height;
S2. the ultrasonic distance measuring module of center module group, left module group, right module group is started working after receiving the probe command of main control unit, wherein center module group comprises the ultrasonic distance measuring module two of the ultrasonic distance measuring module one arranging straight down, oblique lower setting, the ultrasonic distance measuring module three arranging obliquely, left module group comprises the ultrasonic distance measuring module four of oblique lower setting, the ultrasonic distance measuring module five arranging obliquely, and right module group comprises the ultrasonic distance measuring module group six of oblique lower setting, the ultrasonic distance measuring module seven arranging obliquely;
S3. seven ultrasonic distance measuring modules are transferred to main control unit by seven distance values surveying simultaneously, and main control unit carries out Parallel Processing and Analysis to seven distance values, and judge in route, whether to have menace barrier;
If S4. any direction exists menace barrier, main control unit drives hummer to send the buzzing alarming prompt tone that three sound are very brief, if do not send prompt tone without threatening; Simultaneously by the concrete judgment result displays of main control unit in LCD display.
8. the detection of obstacles alarm method based on a plurality of ultrasonic detectors according to claim 7, is characterized in that, described step S3 specifically comprises step:
(1) establish safe altitude H
0with safe float distance D
0, establishing ultrasonic distance measuring module one distance to the ground is h
1, the ultrasonic distance measuring module two, four, six of oblique lower setting and the angle of vertical direction are θ, the ultrasonic distance measuring module three, five, seven arranging obliquely and the angle of horizontal direction are γ, the safe detection range of ultrasonic distance measuring module two, four, six
the safe detection range of ultrasonic distance measuring module three, five, seven
If F, L, R are respectively the actual detection distance of ultrasonic distance measuring module two, four, six, f, l, r are respectively the actual detection distance of ultrasonic distance measuring module three, five, seven;
(2) main control unit judgement D-D
0<F<D+D
0if, export i=0 and arrive next step, if not export i=1, arrive next step;
(3) main control unit judgement D-D
0<R<D+D
0if, export i=0 and arrive next step, if not export i=i+2, arrive next step;
(4) main control unit judgement D-D
0<L<D+D
0if, export i=0 and arrive next step, if not export i=i+4, obtain thus final i value;
(5) main control unit judgement f<H-D
0if, export j=0 and arrive next step, if not export j=1, arrive next step;
(6) main control unit judgement r<H-D
0if, export j=j+0 and arrive next step, if not export j=j+2, arrive next step;
(7) main control unit judgement l<H-D
0if, export j=j+0 and arrive next step, if not export j=j+4, obtain thus final j value;
(8) main control unit judges whether the position that occurs barrier and occur barrier according to various combination situation.
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| CN104376683A (en) * | 2014-12-02 | 2015-02-25 | 上海斐讯数据通信技术有限公司 | Alarm method and alarm device on basis of position detection |
| CN105078719A (en) * | 2015-07-22 | 2015-11-25 | 河海大学 | Navigation equipment improved based on reversing radar for blind person |
| CN105824025A (en) * | 2015-01-05 | 2016-08-03 | 沈阳新松机器人自动化股份有限公司 | Robot obstacle avoidance system based on stereoscopic sonar array |
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| CN105078719A (en) * | 2015-07-22 | 2015-11-25 | 河海大学 | Navigation equipment improved based on reversing radar for blind person |
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| CN108089489A (en) * | 2017-11-16 | 2018-05-29 | 南京邮电大学 | A kind of Multifunctional blind person guiding equipment |
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| CN112255631A (en) * | 2020-09-30 | 2021-01-22 | 江苏集萃智能制造技术研究所有限公司 | Ultrasonic ranging method for vehicle |
| CN112799073A (en) * | 2020-12-30 | 2021-05-14 | 成都英萨传感技术研究有限公司 | Ultrasonic distance measuring sensor |
| CN114415699A (en) * | 2022-04-02 | 2022-04-29 | 深圳市海纳鑫信息科技有限公司 | Robot intelligent obstacle avoidance system capable of processing according to road surface information |
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