CN109917411B - Obstacle detection device and method based on laser ranging and triaxial accelerometer - Google Patents
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Abstract
本发明涉及一种基于激光测距和三轴加速度计的障碍物检测装置及方法,属于信号检测领域。该装置包括激光测距模块、三轴加速度计和处理计算模块;激光测距模块用户测量获取光斑到系统基板的距离;所述三轴加速度计用于采集获取在x轴、y轴和z轴三个方向上的的加速度值;处理计算模块用于对激光测距模块和三轴加速度计获取的数据进行计算、矫正和比较,得出与警告阀值之间的关系,判断某一方位是否有障碍物。本发明的装置较传统检测装置,结构简单,成本低,能耗低,实时性强;可单独构成一套完整系统,独立运行,或集成在已有设备上运行。
The invention relates to an obstacle detection device and method based on laser ranging and a three-axis accelerometer, belonging to the field of signal detection. The device includes a laser ranging module, a three-axis accelerometer, and a processing and computing module; the user of the laser ranging module measures and acquires the distance from the light spot to the system substrate; Acceleration values in three directions; the processing and calculation module is used to calculate, correct and compare the data acquired by the laser ranging module and the three-axis accelerometer, to obtain the relationship with the warning threshold, and to judge whether a certain orientation is There are obstacles. Compared with the traditional detection device, the device of the present invention has simple structure, low cost, low energy consumption and strong real-time performance; it can form a complete system independently, operate independently, or be integrated to operate on existing equipment.
Description
技术领域technical field
本发明属于信号检测技术领域,涉及一种基于激光测距和三轴加速度计的障碍物检测装置及方法。The invention belongs to the technical field of signal detection, and relates to an obstacle detection device and method based on laser ranging and a three-axis accelerometer.
背景技术Background technique
当今,由于智能设备(如智能手机)的普及,出现了越来越多的低头族,然而边走路边玩手机具有很多潜在危害,诸如跌落台阶,目前已有多起此类致伤案例。因此,研究路面障碍物检测技术具有较好的实用价值和社会价值。Today, due to the popularization of smart devices (such as smart phones), more and more head-hunting people have appeared. However, playing with mobile phones while walking has many potential hazards, such as falling down steps. There have been many cases of such injuries. Therefore, the study of road obstacle detection technology has good practical value and social value.
目前,常用的障碍物检测装置主要包括以下几种:At present, commonly used obstacle detection devices mainly include the following types:
(1)基于单目摄像头视觉图像的障碍物检测装置:利用机器学习技术从图像中分割和识别到障碍物,此法成本较高且需要消耗较大的处理器算力;利用光流或动态图像识别障碍物,此法成本较高,实时性差且需要消耗较大算力。(1) Obstacle detection device based on the visual image of the monocular camera: using machine learning technology to segment and identify obstacles from the image, this method is costly and requires a large processor computing power; using optical flow or dynamic Image recognition obstacles, this method has high cost, poor real-time performance and consumes a lot of computing power.
(2)基于多目摄像头视觉图像的障碍物检测装置:利用双目或多目摄像头可以获得图像的景深信息,继而区分前景和背景并识别障碍物。此法成本较高。且以上利用摄像头的方法的性能均受制于外部光线条件。(2) Obstacle detection device based on the visual image of the multi-eye camera: the depth information of the image can be obtained by using the binocular or multi-eye camera, and then the foreground and background can be distinguished and obstacles can be identified. This method is more costly. Moreover, the performance of the above-mentioned methods using a camera is subject to external light conditions.
(3)基于激光雷达的障碍物检测装置:通过激光测距并旋转激光发射器的方法获得周围物体的精确距离和方位信息,此法成本极其高昂,且能耗较大,不适用于嵌入式设备。(3) Obstacle detection device based on laser radar: the precise distance and orientation information of surrounding objects can be obtained by laser ranging and rotating the laser transmitter. This method is extremely expensive and consumes a lot of energy, so it is not suitable for embedded equipment.
(4)简易的单束激光测距装置:通过调制光波上的相位信息,通过计算相位差获得激光发射器和障碍物之间的距离,成本较低且计算复杂度低,装置实时性强。但在动态装置中,难以确定激光某一时刻的指向,其测距信息无法有效用于障碍物检测。(4) Simple single-beam laser distance measuring device: By modulating the phase information on the light wave, the distance between the laser transmitter and the obstacle is obtained by calculating the phase difference. The cost is low and the calculation complexity is low, and the device has strong real-time performance. However, in a dynamic device, it is difficult to determine the pointing of the laser at a certain moment, and its ranging information cannot be effectively used for obstacle detection.
因此,发明一种可以有效在步行时侦测台阶并发出警报的装置具有较好的实用价值和社会价值。Therefore, inventing a device that can effectively detect steps and issue an alarm when walking has better practical value and social value.
发明内容Contents of the invention
有鉴于此,本发明的目的在于提供一种基于激光测距和三轴加速度计的障碍物检测装置及方法,将定向激光测距和三轴加速度计结合,利用三轴加速度计信号校正激光测距信息,通过动态监测校正后的激光测距信息更有效地检测某一方位的障碍物。In view of this, the object of the present invention is to provide an obstacle detection device and method based on laser ranging and three-axis accelerometer, which combines directional laser ranging and three-axis accelerometer, and uses the signal of three-axis accelerometer to correct the laser measurement. By dynamically monitoring the corrected laser ranging information, it is more effective to detect obstacles in a certain orientation.
为达到上述目的,本发明提供如下技术方案:To achieve the above object, the present invention provides the following technical solutions:
一种基于激光测距和三轴加速度计的障碍物检测装置,包括激光测距模块、三轴加速度计和处理计算模块;其中,所述激光测距模块和三轴加速度计均固定在系统基板上;所述处理计算模块软性连接在系统基板上;An obstacle detection device based on laser ranging and a three-axis accelerometer, including a laser ranging module, a three-axis accelerometer, and a processing and computing module; wherein, the laser ranging module and the three-axis accelerometer are fixed on the system substrate above; the processing and computing module is flexibly connected to the system substrate;
所述激光测距模块发出的激光束与系统基板垂直,通过发生激光并检测光斑出现的相位差,利用相位差计算光斑到系统基板的距离;The laser beam emitted by the laser ranging module is perpendicular to the system substrate, and the phase difference between the laser spot and the system substrate is calculated by using the phase difference by generating laser light and detecting the phase difference;
所述三轴加速度计用于采集获取在x轴、y轴和z轴三个方向上的加速度值gx,gy,gz,其中x轴和y轴所在平面与系统基板平行;The three-axis accelerometer is used to acquire acceleration values g x , g y , and g z in the three directions of x-axis, y-axis and z-axis, wherein the plane where the x-axis and y-axis are located is parallel to the system substrate;
所述处理计算模块用于对激光测距模块和三轴加速度计获取的数据进行计算、矫正和比较,得出与警告阀值之间的关系,判断某一方位是否有障碍物。The processing calculation module is used to calculate, correct and compare the data acquired by the laser ranging module and the three-axis accelerometer, obtain the relationship with the warning threshold, and judge whether there is an obstacle in a certain direction.
进一步,该装置还包括报警模块,根据从处理计算模块获得的报警信号进行报警,即有障碍物时报警。Further, the device also includes an alarm module, which alarms according to the alarm signal obtained from the processing and calculation module, that is, alarms when there is an obstacle.
进一步,报警信号通过声光或震动形式向用户传递,处理计算模块所产生的报警信号将通过处理器的I/O引脚输出到报警模块,例如声音报警,闪光报警,屏幕信息提示报警,震动报警或以上综合。Further, the alarm signal is transmitted to the user in the form of sound, light or vibration, and the alarm signal generated by the processing and computing module will be output to the alarm module through the I/O pin of the processor, such as sound alarm, flash alarm, screen information prompt alarm, vibration Alarm or a combination of the above.
进一步,根据所述装置的一种基于激光测距和三轴加速度计的障碍物检测方法:利用三轴加速度计信号校正激光测距信息,通过动态监测校正后的激光测距信息更有效地检测某一方位的障碍物,具体包括以下步骤:Further, according to an obstacle detection method based on laser ranging and three-axis accelerometer according to the device: the laser ranging information is corrected by using the triaxial accelerometer signal, and the corrected laser ranging information is more effectively detected by dynamic monitoring Obstacles in a certain direction, specifically include the following steps:
S1:选取激光测距模块所在位置为测量基点,选取当0°≤α0<arccos(h/M)时激光束与待测平面相交形成的点为测量参考点,其中α0为系统基板所在平面与待测平面的夹角,h为测量基点到待测平面的垂直距离,M为激光测距的最大工作距离;S1: Select the location of the laser ranging module as the measurement base point, and select the point formed by the intersection of the laser beam and the plane to be measured when 0°≤α 0 < arccos(h/M) as the measurement reference point, where α 0 is the location of the system substrate The angle between the plane and the plane to be measured, h is the vertical distance from the measurement base point to the plane to be measured, and M is the maximum working distance of the laser ranging;
S2:通过激光测距模块测得的测量基点到测量参考点的实际距离r;S2: The actual distance r from the measurement base point to the measurement reference point measured by the laser ranging module;
S3:获取三轴加速度计的三个轴x轴,y轴,z轴的加速度值gx,gy,gz;S3: Obtain the acceleration values g x , g y , g z of the three axes x-axis, y - axis, and z-axis of the three-axis accelerometer;
S4:计算矫正距离;S4: Calculate the correction distance;
S5:处理计算模块比对多个测量周期的测量结果,以此判断待测平面上是否有障碍物。S5: The processing calculation module compares the measurement results of multiple measurement cycles to determine whether there is an obstacle on the plane to be measured.
进一步,所述步骤S4中,计算矫正距离的具体步骤为:Further, in the step S4, the specific steps for calculating the correction distance are:
S41:根据加速度值计算出系统基板与待测平面的夹角其中 S41: Calculate the angle between the system substrate and the plane to be measured according to the acceleration value in
S42:利用三角函数计算测量基点距离待测平面的垂直距离Lh=r×cosα,或测量基点和测量参考点之间的距离 S42: Use trigonometric functions to calculate the vertical distance L h = r × cosα from the measurement base point to the plane to be measured, or the distance between the measurement base point and the measurement reference point
进一步,所述步骤S5具体包括:在激光测距模块选定测量基点后,保持系统基板和待测平面之间的夹角α不变,本模块在T时刻测量得到测量基点B和测量参考点R之间的距离为Lr0,任意时间t之后,即T+t时刻,测量测量基点B和测量参考点R之间的距离为Lr1,若Lr0和Lr1的值相比发生显著变化,则表明待测平面存在起伏,即可能存在障碍物,此时报警系统发出警告。Further, the step S5 specifically includes: after the laser ranging module selects the measurement base point, keep the angle α between the system substrate and the plane to be measured unchanged, and the module measures the measurement base point B and the measurement reference point at time T The distance between R is L r0 , after any time t, that is, at time T+t, the distance between the measurement base point B and the measurement reference point R is L r1 , if there is a significant change in the value of L r0 and L r1 , it indicates that there are fluctuations in the plane to be measured, that is, there may be obstacles, and the alarm system will issue a warning at this time.
进一步,所述发生显著变化的标志定义为rate=(Lr1-Lr0)/Lr0,通过预先设定或用户设定的警告阈值θ,当rate≥θ时,报警模块发出报警信号,表示路面有障碍物;否则不报警,表示路面无障碍物。Further, the sign of significant change is defined as rate=(L r1 -L r0 )/L r0 , through the preset or user-set warning threshold θ, when rate≥θ, the alarm module sends out an alarm signal, indicating that There are obstacles on the road; otherwise, no alarm will be given, indicating that there are no obstacles on the road.
本发明的有益效果在于:本发明将定向激光测距和三轴加速度计结合,利用三轴加速度计信号校正激光测距信息,通过动态监测校正后的激光测距信息更有效地检测某一方位的障碍物。相比同应用领域传统的装置具有构成简单,成本低,能耗低,实时性强的优点。The beneficial effect of the present invention is that: the present invention combines the directional laser ranging and the three-axis accelerometer, uses the three-axis accelerometer signal to correct the laser ranging information, and detects a certain orientation more effectively by dynamically monitoring the corrected laser ranging information of obstacles. Compared with traditional devices in the same application field, it has the advantages of simple structure, low cost, low energy consumption and strong real-time performance.
本发明还可以借由已有手持设备,如手机的部分硬件来实现,也可单独构成一套完整系统,独立运行,或集成在已有设备上运行。The present invention can also be realized by part of the hardware of existing handheld devices, such as mobile phones, and can also form a complete system independently, run independently, or be integrated to run on existing devices.
本发明的其他优点、目标和特征在某种程度上将在随后的说明书中进行阐述,并且在某种程度上,基于对下文的考察研究对本领域技术人员而言将是显而易见的,或者可以从本发明的实践中得到教导。本发明的目标和其他优点可以通过下面的说明书来实现和获得。Other advantages, objects and features of the present invention will be set forth in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the investigation and research below, or can be obtained from It is taught in the practice of the present invention. The objects and other advantages of the invention may be realized and attained by the following specification.
附图说明Description of drawings
为了使本发明的目的、技术方案和优点更加清楚,下面将结合附图对本发明作优选的详细描述,其中:In order to make the purpose of the present invention, technical solutions and advantages clearer, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:
图1为本发明所述检测装置内部结构示意图;Fig. 1 is a schematic diagram of the internal structure of the detection device of the present invention;
图2为本发明所述检测装置工作时的示意图;Fig. 2 is the schematic diagram when the detection device of the present invention works;
图3为本发明所述检测装置的检测方法流程图;Fig. 3 is a flow chart of the detection method of the detection device of the present invention;
图4为手持装置时进行台阶侦测示意图。FIG. 4 is a schematic diagram of step detection when the device is held in hand.
具体实施方式Detailed ways
以下通过特定的具体实例说明本发明的实施方式,本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用,本说明书中的各项细节也可以基于不同观点与应用,在没有背离本发明的精神下进行各种修饰或改变。需要说明的是,以下实施例中所提供的图示仅以示意方式说明本发明的基本构想,在不冲突的情况下,以下实施例及实施例中的特征可以相互组合。Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic concept of the present invention, and the following embodiments and the features in the embodiments can be combined with each other in the case of no conflict.
其中,附图仅用于示例性说明,表示的仅是示意图,而非实物图,不能理解为对本发明的限制;为了更好地说明本发明的实施例,附图某些部件会有省略、放大或缩小,并不代表实际产品的尺寸;对本领域技术人员来说,附图中某些公知结构及其说明可能省略是可以理解的。Wherein, the accompanying drawings are for illustrative purposes only, and represent only schematic diagrams, rather than physical drawings, and should not be construed as limiting the present invention; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, Enlargement or reduction does not represent the size of the actual product; for those skilled in the art, it is understandable that certain known structures and their descriptions in the drawings may be omitted.
请参阅图1~图4,图1为本发明所述基于激光测距和三轴加速度计的障碍物检测装置,主要由三个硬件模块组成:激光测距模块,三轴加速度计,处理计算模块。这三个模块需要固定或软性连接在本装置基板上,其中软性连接时需要确保激光测距模块和三轴加速度计的相对位置与空间内的姿态稳定。图2为本发明所述装置在工作时的示意图,其中激光束与系统基板垂直;图3为本发明所述检测装置的工作流程图。Please refer to Figures 1 to 4, Figure 1 is an obstacle detection device based on laser ranging and three-axis accelerometer according to the present invention, which mainly consists of three hardware modules: laser ranging module, three-axis accelerometer, processing calculation module. These three modules need to be fixed or flexibly connected to the substrate of the device. When flexibly connecting, it is necessary to ensure that the relative position of the laser ranging module and the three-axis accelerometer and the attitude in the space are stable. Fig. 2 is a schematic diagram of the device of the present invention in operation, wherein the laser beam is perpendicular to the system substrate; Fig. 3 is a working flow chart of the detection device of the present invention.
1)激光测距模块:1) Laser ranging module:
激光测距模块通过发生激光并检测光斑出现的相位差,利用相位差计算光斑到本系统的距离。在本发明中,激光束与系统基板垂直,激光束所在直线和系统基板所在平面的交点称为测量基点。相较于测量距离,基板厚度和激光模块的厚度和体积可以忽略,因此为便于描述,可认为激光模块所在位置即测量基点。The laser ranging module generates laser light and detects the phase difference of the light spot, and uses the phase difference to calculate the distance from the light spot to the system. In the present invention, the laser beam is perpendicular to the system substrate, and the intersection of the straight line where the laser beam is located and the plane where the system substrate is located is called the measurement base point. Compared with the measurement distance, the substrate thickness and the thickness and volume of the laser module can be ignored, so for the convenience of description, the position of the laser module can be considered as the measurement base point.
本模块在测距时,会测量测量基点与参考点之间的距离。在检测障碍物时,可以选取平整地面上的一点为参考点,并通过监测不同时刻测量基点和参考点之间的距离变化判断障碍物的存在。激光测距的最大工作距离为M时,参考点的选取范围为:测量基点在待测平面上的投影点S为圆心,半径的圆形范围内待测平面的任一点,其中h为测量基点到待测平面的垂直距离,h小于M。例如可以选取系统基板所在平面与平整地面夹角为α0=45°时激光束与平整地面相交的点为测量参考点;更普适地,在一次完整的测量过程中,可以选取任意0°≤α0<arccos(h/M)时激光束与待测平面相交形成的点为测量参考点。When measuring distance, this module will measure the distance between the measurement base point and the reference point. When detecting obstacles, a point on the flat ground can be selected as a reference point, and the existence of obstacles can be judged by monitoring the distance change between the measurement base point and the reference point at different times. When the maximum working distance of the laser ranging is M, the selection range of the reference point is: the projection point S of the measurement base point on the plane to be measured is the center of the circle, and the radius Any point on the plane to be measured within the circular range of , where h is the vertical distance from the measurement base point to the plane to be measured, and h is less than M. For example, the point where the laser beam intersects the flat ground can be selected as the measurement reference point when the angle between the plane where the system substrate is located and the flat ground is α 0 =45°; more generally, any 0° can be selected during a complete measurement process When ≤α 0 < arccos(h/M), the point formed by the intersection of the laser beam and the plane to be measured is the measurement reference point.
2)三轴加速度计:2) Three-axis accelerometer:
由于系统基板与待测平面夹角α不固定,例如手持状态时本系统与待测平面之间的夹角可能会随着运动状态的变化而发生变化。对于理想激光测距模块,当夹角α由0度趋近90度时,实测得到的r值由系统距离待测平面的距离由h逐渐趋近+∞,对于实际激光测距模块,r值会逐渐由h趋近激光测距模块最大工作距离M。由于系统发出报警需要比较测量基点和固定角度参考点之间的测距结果,因而需要矫正夹角不同带来的测量偏差。Since the angle α between the system substrate and the plane to be measured is not fixed, for example, the angle between the system and the plane to be measured may change as the state of motion changes when the system is in a hand-held state. For an ideal laser ranging module, when the angle α approaches 90 degrees from 0 degrees, the measured r value is gradually approaching +∞ from the distance between the system and the plane to be measured from h. For the actual laser ranging module, the r value It will gradually approach the maximum working distance M of the laser ranging module from h. Since the system sends out an alarm, it needs to compare the distance measurement results between the measurement base point and the fixed angle reference point, so it is necessary to correct the measurement deviation caused by the different included angles.
矫正过程分为三个步骤:The correction process is divided into three steps:
a.获取三轴加速度计的三个轴x轴,y轴,z轴的加速度值gx,gy,gz;a. Obtain the acceleration values g x , g y , g z of the three axes x-axis, y - axis, and z-axis of the three-axis accelerometer;
b.根据加速度值计算出系统基板与待测平面的夹角α;b. Calculate the angle α between the system substrate and the plane to be measured according to the acceleration value;
c.利用三角函数计算系统基板上的测量基点距离参考平面的垂直距离Lh或其它任意给定固定αr时测量基点和测量参考点之间的距离Lr。c. Use trigonometric functions to calculate the vertical distance L h between the measurement base point on the system substrate and the reference plane, or the distance L r between the measurement base point and the measurement reference point when any other fixed α r is given.
如图2,其中EB边为x轴,BR边为z轴,其中x,y轴确定的平面平行于系统基板所在平面,z轴正方向和激光束方向平行。那么Lh=r×cosα, As shown in Figure 2, the side EB is the x-axis, and the side BR is the z-axis, where the plane determined by the x and y axes is parallel to the plane where the system substrate is located, and the positive direction of the z-axis is parallel to the direction of the laser beam. So L h = r × cos α,
在同时考虑俯仰角α和侧倾角β的时候,需要通过gx,gy,gz的值来计算,首先通过gx和gy计算沿系统基板平面的合向量此后利用合向量和gz计算此后计算过程与前述相同,即Lh=r×cosα, When considering the pitch angle α and the roll angle β at the same time, it needs to be calculated by the values of g x , g y , and g z . First, the resultant vector along the plane of the system substrate is calculated by g x and g y Thereafter, using the combined vector and g z to calculate After that, the calculation process is the same as above, that is, L h =r×cosα,
3)处理计算模块:3) Processing calculation module:
本模块用于完成上述计算过程和发出报警信号。采用ARM处理器,但计算模块不限于ARM处理器。激光测距模块和三轴加速度计采集到的信号交由处理计算模块完成获取和量化。按照上述过程完成距离计算和完成对系统姿态造成测量差异的矫正。This module is used to complete the above calculation process and send out alarm signals. An ARM processor is adopted, but the calculation module is not limited to the ARM processor. The signals collected by the laser ranging module and the three-axis accelerometer are handed over to the processing and computing module to complete the acquisition and quantification. Follow the above process to complete the distance calculation and complete the correction of the measurement difference caused by the system attitude.
本模块负责监测周期的产生和管理,即管理何时初始化其它几个模块,何时启动采集过程,何时获取采集结果,以及何时比对多个周期的测量结果。This module is responsible for the generation and management of the monitoring cycle, that is, managing when to initialize several other modules, when to start the acquisition process, when to obtain the acquisition results, and when to compare the measurement results of multiple cycles.
本模块最重要的工作是比对多个测量周期的测量结果,以此判断待测平面上是否有障碍物。在激光测距模块选定测量基点后,保持系统基板和待测平面之间的夹角α不变,本模块在T时刻测量得到测量基点B和参考点R之间的距离为Lr0,任意时间t之后,即T+t时刻,测量基点B和参考点R之间的距离为Lr1,若Lr0和Lr1的值相比发生显著变化,则表明待测平面存在起伏,即可能存在障碍物,此时报警系统发出警告。显著变化的标志可以定义为rate=(Lr1-Lr0)/Lr0,通过预先设定或用户设定的警告阈值θ,当rate≥θ时发出报警信号。The most important task of this module is to compare the measurement results of multiple measurement cycles to determine whether there are obstacles on the plane to be measured. After the measurement base point is selected by the laser ranging module, the angle α between the system substrate and the plane to be measured is kept unchanged. The module measures the distance between the measurement base point B and the reference point R at time T as L r0 , any After time t, that is, T+t time, the distance between the measurement base point B and the reference point R is L r1 , if there is a significant change in the value of L r0 and L r1 , it indicates that there are fluctuations in the plane to be measured, that is, there may be obstacle, the alarm system will issue a warning. Significant changes can be defined as rate=(L r1 -L r0 )/L r0 , through a pre-set or user-set warning threshold θ, an alarm signal is issued when rate≥θ.
报警信号可以通过声光或震动形式向用户传递,本模块所产生报警信号将通过处理器的IO引脚输出到后续实施报警功能的模块,例如声音报警,闪光报警,屏幕信息提示报警,震动报警或以上综合。The alarm signal can be transmitted to the user in the form of sound, light or vibration. The alarm signal generated by this module will be output to the subsequent module that implements the alarm function through the IO pin of the processor, such as sound alarm, flash alarm, screen information prompt alarm, vibration alarm or a combination of the above.
如图4所示,本装置的一种典型的工作场景:手持装置时进行台阶侦测,当持有该装置的人员遇到台阶时,由于测距发生了突变,报警模块将发出报警提醒,以此提醒行走人员注意台阶,避免摔倒等事故。As shown in Figure 4, a typical working scene of this device: when the device is held in hand, the step detection is carried out. When the person holding the device encounters a step, due to a sudden change in the distance measurement, the alarm module will send out an alarm reminder. This reminds walking personnel to pay attention to the steps and avoid accidents such as falls.
最后说明的是,以上实施例仅用以说明本发明的技术方案而非限制,尽管参照较佳实施例对本发明进行了详细说明,本领域的普通技术人员应当理解,可以对本发明的技术方案进行修改或者等同替换,而不脱离本技术方案的宗旨和范围,其均应涵盖在本发明的权利要求范围当中。Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements, without departing from the spirit and scope of the technical solution, should be included in the scope of the claims of the present invention.
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