CN107362003A - A kind of blind-guiding stick and blind-guiding method based on double ultrasonic waves - Google Patents
A kind of blind-guiding stick and blind-guiding method based on double ultrasonic waves Download PDFInfo
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- CN107362003A CN107362003A CN201710569554.7A CN201710569554A CN107362003A CN 107362003 A CN107362003 A CN 107362003A CN 201710569554 A CN201710569554 A CN 201710569554A CN 107362003 A CN107362003 A CN 107362003A
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- 230000035772 mutation Effects 0.000 claims description 8
- 230000003993 interaction Effects 0.000 claims description 7
- 230000009977 dual effect Effects 0.000 claims 4
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/068—Sticks for blind persons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
- A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
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Abstract
The invention discloses a kind of blind-guiding stick based on double ultrasonic waves, including handle and stick stem, handle is arranged on the end of stick stem；Gyroscope, microprocessor, interactive device, the first ultrasonic sensor and the second ultrasonic sensor are installed in handle；Measurement result is simultaneously transferred to microprocessor by the angular speed and speed of gyroscope measurement handle；The firing angle of the front transmitting and reception ultrasonic wave of first ultrasonic sensor and the second ultrasonic sensor towards blind-guiding stick, the first ultrasonic sensor and the second ultrasonic sensor is different；Microprocessor is interacted by interactive device with user；The blind-guiding stick and blind-guiding method of the present invention utilizes the whole forward march for detecting blind person of two beams ultrasonic wave at an angle to each other, the barrier and pit of road ahead can not only be accurately identified, the specific of barrier and pit or size substantially can also be provided, is easy to the judgement road conditions that blind person is more careful.
Description
Technical Field
The invention relates to the field of articles for daily use, in particular to a blind guiding stick for helping a blind person go out.
Background
The blind people refer to people who lose eyesight or seriously lose eyesight due to diseases, accidents and the like. The visual impairment brings great difficulty to the blind in living, and is particularly not favorable for going out. When a blind person goes out alone, a blind guiding dog, a blind guiding stick or other auxiliary tools are generally required to be configured. The common blind guiding stick is only a stick-shaped object, and the blind person can search the way by the touch of the hands matched with the blind guiding stick. With the development of the technology, some blind guiding sticks add more technical elements, such as installing an ultrasonic transmitter and receiver on the blind guiding stick, detecting the obstacle in front by using ultrasonic waves and giving the blind a prompt. The existing ultrasonic blind guiding stick can only emit ultrasonic waves in a directional mode, detect whether an obstacle exists in front of the stick and cannot identify the specific shape and size of the obstacle, and the intelligent degree is low; the ultrasonic blind guiding stick can give an alarm indifferently to various small obstacles which can be crossed, and a user often needs to use the blind guiding stick to conduct further detailed exploration on the obstacles after the alarm; therefore, the ultrasonic guide blind stick has very limited early warning function and is not very popular with blind people.
Disclosure of Invention
The invention aims to solve the technical problems that the ultrasonic blind guiding stick in the prior art cannot specifically identify the shape and the size of an obstacle, cannot alarm various surmountable and non-surmountable obstacles differently, and has low intelligent degree.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a blind guiding stick based on double ultrasonic waves comprises a handle and a stick rod, wherein the handle is arranged at the end part of the stick rod;
a gyroscope, a microprocessor, an interaction device, a first ultrasonic sensor and a second ultrasonic sensor are arranged in the handle; the gyroscope measures the angular velocity and speed of the handle and transmits the measurement results to the microprocessor; the first ultrasonic sensor and the second ultrasonic sensor both transmit and receive ultrasonic waves towards the front of the blind guiding stick, and the emitting angles of the first ultrasonic sensor and the second ultrasonic sensor are different; the microprocessor interacts with the user through the interaction means.
The first ultrasonic sensor and the second ultrasonic sensor are both ultrasonic sensors which are integrated with transmitting and receiving functions, the first ultrasonic sensor and the second ultrasonic sensor measure the distance between an ultrasonic transmitting source and an obstacle in a mode of transmitting ultrasonic waves forwards and receiving the ultrasonic waves and respectively record the distance as s1And s2When the blind guiding stick is used, the blind guiding stick is held in a hand of a blind person, the posture of the blind guiding stick inevitably changes along with the swinging of the arm of the blind person, the change causes the emitting angles of the two ultrasonic sensors to be continuously changed, the emitting angles refer to the included angles between ultrasonic rays and the vertical direction, and the emitting angles of the first ultrasonic beam and the second ultrasonic beam are dynamically measured by the gyroscope and are respectively recorded as α and β.
If the blind person walks on a normal road (a road without obstacles and pits), the values s measured by the first ultrasonic sensor and the second ultrasonic sensor1And s2Is uniformly changed (the uniform change is caused by slight pitching motion of the blind guiding stick along with the actions of the swing arm of the blind person and the like); however, if there is an obstacle or a pit in the road in front of the blind, the ultrasonic beam will suddenly change in value when sweeping the edge of the obstacle or pit. The obstacle and the pit can be identified by matching one ultrasonic wave with the gyroscope, the pit depth is calculated, the general height of the obstacle can be further calculated by matching two ultrasonic waves with the gyroscope, and the specific calculation formula is as follows:
when s is2When the value of (a) suddenly becomes small and the amount of the sudden change exceeds the first set value, s is compared1And s2；
If s is1>s2Means that the blind has an obstacle in front of it and the height of the obstacle is less than h;
if s is1<s2Meaning that the blind has an obstacle in front of it and the height of the obstacle is greater than h;
wherein,it can be seen that the height h is an intermediate value for contrast with the height of the obstacle, h is an intermediate value with s2The variable related to α and β can control the variation range of h by reasonably setting the initial firing angles of the two ultrasonic sensors, and generally, the height of small obstacles (such as stones, small bulges of a dirt road, branches and the like) which can be crossed on the road does not exceed 100 millimeters, so that the value of h can be controlled to be about 150 millimeters as a whole;
when s is2When the value of (A) is suddenly increased and the amount of the sudden change exceeds a second set value, the blind has a pit in front of the blind, and the depth of the pit is
D＝s22cosβ-s21cosβ
Wherein s is21Is s is2Numerical value before mutation, s22Is s is2Value after mutation.
Furthermore, the handle is articulated with the cane pole, and the cane pole is telescopic member, and the user can freely adjust the degree of inclination of handle and the whole length of guide blind stick.
Furthermore, the tail end of the crutch rod is provided with a universal wheel.
Further, the interaction device comprises a button, a vibrator, a voice player and a microphone; the button is a button with braille, and the blind can use the button and the voice prompt of the blind guiding stick to carry out operations such as route setting and the like; the blind guiding stick synchronously triggers the vibrator and the voice player when the blind person needs to be reminded; the microphone is used for receiving the voice of the blind person, and if the microprocessor is internally provided with voice recognition software, the blind person can realize operations related to route setting and the like through the microphone.
Furthermore, the blind guiding stick further comprises a positioning module and a communication module, the microprocessor acquires the current position information through the positioning module, and the microprocessor accesses the internet through the communication module; the gyroscope can also measure the instantaneous angular acceleration and the instantaneous linear acceleration of the blind guiding stick in real time, when the instantaneous angular acceleration and/or the instantaneous linear acceleration of the blind guiding stick exceed a set value, the blind person is judged to fall down, the microprocessor sends out a field help-seeking voice through the voice player, and the microprocessor sends out a help-seeking signal and current geographical position information to a preset help-seeking object through the communication module.
The invention also provides a blind guiding method, which comprises the following steps:
step 1: the blind person walking device obliquely transmits two ultrasonic waves with different emission angles to the advancing direction of the blind person, the emission source of the ultrasonic waves synchronously moves along with the limbs of the blind person, and the emission angles refer to the included angles between ultrasonic rays and the vertical direction;
step 2: dynamically measuring (with a measuring period T) the distance between the emission source of each ultrasonic beam and the object in the direction pointed by the emission source, and recording the distance measured by the first ultrasonic beam as s1And the distance measured by the second ultrasonic wave is recorded as s2The emitting angle of the first ultrasonic beam is α, and the emitting angle of the second ultrasonic beam is β;
and step 3: when s is2When the value of (a) suddenly becomes smaller and the amount of the sudden change exceeds the first set value (i.e. the difference between the measured values of two adjacent measurement cycles is greater than the first set value), s is compared1And s2；
If s is1>s2Reminding the blind of the presence of an obstacle in front of the blind, wherein the height of the obstacle is less than h;
if s is1<s2Reminding the blind of the presence of an obstacle in front of the blind, wherein the height of the obstacle is greater than h;
wherein,
and 4, step 4: when s is2When the numerical value of the blind person is suddenly increased and the sudden change exceeds a second set value (namely the difference between the measured values of two adjacent measurement periods is greater than the second set value), the blind person is reminded of having a pit in front of the blind person, and the depth of the pit is equal to
D＝s22cosβ-s21cosβ
Wherein s is21Is s is2Numerical value before mutation, s22Is s is2Value after mutation.
Further, the blind guiding method also comprises a step 5 of calculating the angular acceleration and the linear acceleration of limbs of the blind in real time when the blind walks, wherein the angular acceleration is recorded as (α)x、αy、αz) Linear acceleration is expressed as (a)x、ay、az) When the comprehensive acceleration a exceeds a third set value, the blind person is judged to fall down and an alarm is given; wherein
a＝1|αx|+2|αy|+3|αz|+4|ax|+5|ay|+6|az|
1～6The value range is 0-1 as a parameter.
Has the advantages that: (1) the blind guiding stick and the blind guiding method of the invention utilize two beams of ultrasonic waves which form an angle with each other to detect the blind advancing road in the whole process, not only can accurately identify the obstacles and the pits in front of the road, but also can give the concrete or approximate sizes of the obstacles and the pits, thereby being convenient for the blind to judge the road condition more carefully. (2) The handle angle and the stick rod length of the blind guiding stick can be freely adjusted, and the blind guiding stick is suitable for various blind persons with different heights. (3) The universal wheels are arranged at the tail ends of the stick rods of the blind guiding stick, so that the blind can use the blind guiding stick to search the way more conveniently. (4) The blind guiding stick utilizes the vibrator and the voice player to provide information feedback for the blind person at the same time, and user experience is better. (5) The blind guiding stick measures the instantaneous angular acceleration and the instantaneous linear acceleration of the blind guiding stick in real time so as to judge whether the blind person falls down, and when the blind person falls down, the interaction device sends out a field alarm and the communication module sends out a distress signal and current geographical position information to a preset distress object, so that the blind guiding stick has higher safety.
Drawings
Fig. 1 is a schematic structural view of the blind guiding stick according to embodiment 1.
Fig. 2 is a schematic structural view of a handle of the blind guiding stick in the embodiment 1.
Fig. 3 is a schematic view (another angle) of the handle structure of the blind guiding stick in the embodiment 1.
Fig. 4 is a schematic view of the blind guiding stick of embodiment 1 for detecting the size of an obstacle.
Fig. 5 is a schematic diagram of the blind guiding stick for detecting the pit size in embodiment 1.
Fig. 6 is a schematic view of the blind guiding stick of embodiment 1 for detecting the orientation of an obstacle.
Wherein: 1. a handle; 2. a pole rod; 3. a universal wheel; 4. a button; 5. a voice player; 6. a microphone; 7. a first ultrasonic sensor; 8. a second ultrasonic sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in fig. 1 to 3, the dual-ultrasonic-based blind guiding stick of the present embodiment comprises a handle 1 and a stick rod 2, wherein the handle 1 is mounted at the end of the stick rod 2; the handle 1 is hinged with the stick rod 2, the stick rod 2 is a telescopic rod piece, and a user can freely adjust the inclination degree of the handle 1 and the whole length of the blind guiding stick; the tail end of the crutch rod 2 contacting with the ground is provided with a universal wheel 3.
A gyroscope, a microprocessor, a button 4, a vibrator, a voice player 5, a microphone 6, a positioning module, a communication module, a first ultrasonic sensor 7 and a second ultrasonic sensor 8 are arranged in the handle 1; the gyroscope measures the angular velocity and speed of the handle 1 and transmits the measurement results to the microprocessor; the first ultrasonic sensor 7 and the second ultrasonic sensor 8 both transmit and receive ultrasonic waves towards the front of the blind guiding stick, and the emitting angles of the first ultrasonic sensor 7 and the second ultrasonic sensor 8 are different.
The first ultrasonic sensor 7 and the second ultrasonic sensor 8 are both ultrasonic sensors which are integrated with transmitting and receiving functions, the first ultrasonic sensor 7 and the second ultrasonic sensor 8 measure the distance between an ultrasonic transmitting source and an obstacle by means of forward transmitting ultrasonic waves and receiving the ultrasonic waves, and the distance is respectively recorded as s1And s2The incidence angles of the first ultrasonic beam and the second ultrasonic beam are dynamically measured by the gyroscope and are respectively recorded as α and β.
The values s measured by the first ultrasonic sensor 7 and the second ultrasonic sensor 8 if the blind person walks on a normal road (a road without obstacles and pits)1And s2Is uniformly changed (the uniform change is caused by slight pitching motion of the blind guiding stick along with the actions of the swing arm of the blind person and the like); however, if there is an obstacle or a pit in the road in front of the blind, the ultrasonic beam will suddenly change in value when sweeping the edge of the obstacle or pit. The obstacle and the pit can be identified by matching one ultrasonic wave with the gyroscope, the pit depth is calculated, the general height of the obstacle can be further calculated by matching two ultrasonic waves with the gyroscope, and the specific calculation method is as follows:
when s is shown in FIG. 42When the value of (a) suddenly becomes small and the amount of the sudden change exceeds the first set valueComparison of s1And s2；
If s is1>s2Means that the blind has an obstacle in front of it and the height of the obstacle is less than h;
if s is1<s2Meaning that the blind has an obstacle in front of it and the height of the obstacle is greater than h;
wherein,the height h is an intermediate value for contrast with the height of the obstacle, h is an intermediate value with s2Generally, the height of small obstacles (such as stones, small bulges of a dirt road surface, branches and the like) which can be crossed on a road does not exceed 100 mm, the blind guiding stick of the embodiment needs to be debugged before use, and the value of h is controlled to be about 150 mm integrally;
when s is shown in FIG. 52When the value of (A) is suddenly increased and the amount of the sudden change exceeds a second set value, the blind has a pit in front of the blind, and the depth of the pit is
D＝s22cosβ-s21cosβ
Wherein s is21Is s is2Numerical value before mutation, s22Is s is2Value after mutation.
The button 4 is a button 4 with braille, and the blind can use the button 4 and the voice prompt of the blind guiding stick to carry out operations such as route setting and the like; after the microprocessor judges that the front part of the blind has the obstacle or the pit through calculation, the microprocessor synchronously triggers the vibrator and the voice player 5 to remind the blind that the front part of the blind has the obstacle or the pit and explain the approximate size of the obstacle and the specific size of the pit; the microphone 6 is used for receiving the voice of the blind person, the microprocessor of the blind guiding stick of the embodiment is internally provided with voice recognition software, and the blind person can realize operations related to route setting and the like through the microphone 6.
The microprocessor acquires current position information through the positioning module and accesses the internet through the communication module; the built-in gyroscope of the blind guiding stick measures the instantaneous angular acceleration and instantaneous linear acceleration of the blind guiding stick in real time, when the instantaneous angular acceleration and/or instantaneous linear acceleration of the blind guiding stick exceed a set value, the blind person is judged to fall down, the microprocessor sends out on-site distress voice through the voice player 5, and the microprocessor sends out distress signals and geographical position information at that time to a preset distress object through the communication module.
As shown in fig. 6, the blind guiding stick of this embodiment can also detect the orientation of an obstacle or a pit ahead by a simple rocking motion. When the blind person normally moves forward by holding the blind guiding stick in hand, the blind guiding stick can swing regularly in the left-right direction along with the natural swing of the arms of the blind person, the gyroscope measures the limit swing angle of the blind guiding stick, and the microprocessor fits the left-right limit swing angle and takes the middle value as the forward direction of the blind person. On the other hand, when the blind person holds the blind guiding stick to swing left and right, based on the same principle, the measured value of any one of the first ultrasonic sensor 7 and the second ultrasonic sensor 8 suddenly changes (suddenly becomes smaller or suddenly becomes larger), the microprocessor judges that an obstacle or a pit exists in front of the blind guiding stick, and the microprocessor compares the azimuth angle at the moment of sudden change with the calculated blind guiding direction (which is also an azimuth angle), so that the obstacle can be located in the left front, the right front or the right front of the blind guiding direction.
The microprocessor of the blind guiding stick of the embodiment calculates the angular acceleration and the linear acceleration of the blind person in real time when the blind person walks, and the angular acceleration is recorded as (α)x、αy、αz) Linear acceleration is expressed as (a)x、ay、az) When the comprehensive acceleration a exceeds a third set value, the blind person is judged to fall down and an alarm is given; wherein
a＝1|αx|+2|αy|+3|αz|+4|ax|+5|ay|+6|az|
1～6The value range is 0-1 as a parameter; the alarm means comprises the steps of calling for help by using a voice player 5 and sending a help signal and the current geographical position information to a preset help object by using a communication module.
Although the embodiments of the present invention have been described in the specification, these embodiments are merely provided as a hint, and should not limit the scope of the present invention. Various omissions, substitutions, and changes may be made without departing from the spirit of the invention and are intended to be within the scope of the invention.
Claims (7)
1. The utility model provides a blind guiding stick based on two ultrasonic waves which characterized in that: comprises a handle and a crutch rod, wherein the handle is arranged at the end part of the crutch rod;
a gyroscope, a microprocessor, an interaction device, a first ultrasonic sensor and a second ultrasonic sensor are arranged in the handle; the gyroscope measures the angular velocity and speed of the handle and transmits the measurement results to the microprocessor;
the first ultrasonic sensor and the second ultrasonic sensor both transmit and receive ultrasonic waves towards the front of the blind guiding stick, and the emitting angles of the first ultrasonic sensor and the second ultrasonic sensor are different; the microprocessor interacts with the user through the interaction means.
2. The dual ultrasound-based blind guiding stick of claim 1, wherein: the handle is hinged with the stick rod, and the stick rod is a telescopic rod piece.
3. The dual ultrasound-based blind guiding stick of claim 1, wherein: the tail end of the crutch rod is provided with a universal wheel.
4. The dual ultrasound-based blind guiding stick of claim 1, wherein: the interaction device comprises a button, a vibrator, a voice player and a microphone.
5. The dual ultrasound-based blind guiding stick of claim 1, wherein: the system also comprises a positioning module and a communication module, wherein the microprocessor acquires the current position information through the positioning module and accesses the internet through the communication module.
6. A blind guiding method is characterized by comprising the following steps:
step 1: the blind person walking device obliquely transmits two ultrasonic waves with different emission angles to the advancing direction of the blind person, the emission source of the ultrasonic waves synchronously moves along with the limbs of the blind person, and the emission angles refer to the included angles between ultrasonic rays and the vertical direction;
step 2: dynamically measuring the distance between the emission source of each ultrasonic beam and the object in the direction pointed by the ultrasonic beam, and recording the distance measured by the first ultrasonic beam as s1And the distance measured by the second ultrasonic wave is recorded as s2The emitting angle of the first ultrasonic beam is α, and the emitting angle of the second ultrasonic beam is β;
and step 3: when s is2When the value of (a) suddenly becomes small and the amount of the sudden change exceeds the first set value, s is compared1 and s2；
If s is1>s2Reminding the blindAn obstacle is arranged in front of the person, and the height of the obstacle is less than h;
if s is1<s2Reminding the blind of the presence of an obstacle in front of the blind, wherein the height of the obstacle is greater than h;
wherein ,
and 4, step 4: when s is2When the numerical value of the alarm signal is suddenly increased and the sudden change amount exceeds a second set value, the blind is reminded of having a pit in front of the blind, and the depth of the pit is
D＝s22cosβ-s21cosβ
wherein ,s21Is s is2Numerical value before mutation, s22Is s is2Value after mutation.
7. The blind guiding method according to claim 6, characterized by further comprising the steps of:
step 5, calculating the angular acceleration and the linear acceleration of the limbs of the blind person in real time when the blind person walks, wherein the angular acceleration is recorded as (α)x、αy、αz) Linear acceleration is expressed as (a)x、ay、az) When the comprehensive acceleration a exceeds a third set value, the blind person is judged to fall down and an alarm is given; wherein
a＝1|αx|+2|αy|+3|αz|+4|ax|+5|ay|+6|az|
1～6The value range is 0-1 as a parameter.
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| CN108175649A (en) * | 2018-02-23 | 2018-06-19 | 程大国 | A kind of ultrasonic listening blind-guiding stick, control system and method |
| CN110368274A (en) * | 2019-08-01 | 2019-10-25 | 温州大学瓯江学院 | Blind-man crutch |
| CN110782626A (en) * | 2019-08-15 | 2020-02-11 | 天津中德应用技术大学 | Artificial intelligence navigation head based on thing networking |
| CN111329737A (en) * | 2020-03-17 | 2020-06-26 | 安徽工业大学 | Navigation warning walking stick for blind person |
| 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 |
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