CN109966126B - Two-dimensional ultrasonic guide crutch based on current lattice stimulation - Google Patents
Two-dimensional ultrasonic guide crutch based on current lattice stimulation Download PDFInfo
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- CN109966126B CN109966126B CN201910391204.5A CN201910391204A CN109966126B CN 109966126 B CN109966126 B CN 109966126B CN 201910391204 A CN201910391204 A CN 201910391204A CN 109966126 B CN109966126 B CN 109966126B
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- 230000000638 stimulation Effects 0.000 title claims abstract description 57
- 230000004936 stimulating effect Effects 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000005669 field effect Effects 0.000 claims description 12
- 238000002604 ultrasonography Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000035807 sensation Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
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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
- A61H3/06—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
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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Abstract
The invention discloses a two-dimensional ultrasonic blind guiding stick based on current lattice stimulation, which comprises a blind guiding stick body, a stimulating electrode lattice and a control circuit, wherein the stimulating electrode lattice and the control circuit are arranged on the blind guiding stick body, the control circuit comprises a singlechip, a signal converter, a plurality of ultrasonic ranging modules, a plurality of pulse distributors and a stimulating current generator, the stimulating current generator comprises a plurality of driving circuits, a DC-DC boosting module and a constant current controller, the output end of the singlechip is electrically connected with the plurality of ultrasonic ranging modules through the signal converter, the output end of the singlechip is also connected with the input ends of a plurality of pulse distributors, the output ends of the pulse distributors are respectively connected with the plurality of driving circuits, the driving circuits are all connected with the output ends of the DC-DC boosting module, and the output end of each driving circuit is connected with the input end of a stimulating electrode. The invention expands the detection range, makes the blind person perceive the two-dimensional distribution of the obstacle in a certain range, and can detect the moving target.
Description
Technical Field
The invention relates to the technical field of medical appliances, in particular to a two-dimensional ultrasonic blind guiding crutch based on current lattice stimulation.
Background
The blind guiding stick is used for helping the blind to go out to explore obstacles on the ground in front of the ground, is usually a simple walking stick in the past, and has appeared in recent years. The electronic blind guiding stick adopts the ultrasonic ranging principle. It uses the characteristics that the ultrasonic wave can generate reflected wave when meeting the obstacle, and the propagation speed of the ultrasonic wave in the air is basically unchanged. The distance of the obstacle can be calculated by only measuring the time from the moment of emission to the moment when the reflected wave generated by the obstacle returns to the original emission point. Ultrasonic ranging circuits that transmit, receive, and produce obstacle echo travel times have been modular. Most electronic blind guiding sticks measure the distance of an obstacle by using an ultrasonic ranging module and then prompt the distance by means of vibration, voice and the like so as to play a role in guiding the blind. However, these products only provide information about the barrier in a single direction, and the detection field of view is relatively narrow.
Still other electronic blind guiding stick products are imaged by a miniature camera, image characteristics are obtained through image analysis software, and then description and reminding are carried out by voice. But the language can only describe some characteristic information of the environment and is not intuitive and specific.
The human sense organ has a look, a listen, a touch, a smell, a taste, a cool and hot sense, etc., wherein the amount of information visually received is the largest. The vision can perceive two-dimensional contour information of the object, as well as brightness and color information. When visually impaired, no other sensory function was able to completely replace the visual effect. Among other sensations, only the sense of touch and coldness present a two-dimensional distribution on the human body. Particularly useful are haptics, which are very sensitive and delicate in some parts of the human body. By means of a certain method, the blind person can possibly feel the two-dimensional information through touch, so that the visual two-dimensional information sensing function is partially replaced.
Among various haptic reproduction methods, the haptic sensation generated by the electrical stimulation is receiving a great deal of attention from researchers due to the characteristics of flexible stimulation, simple implementation device, accurate and controllable pulse parameters, and the like. Electrotactility is a haptic reproduction method that simulates the principle that skin receptors produce a perceived potential for physical stimulation, applies stimulation pulses to skin receptors through electrodes, and causes a person to produce different stimulation sensations by changing parameters such as amplitude, frequency, etc. of the stimulation pulses during stimulation. The electric stimulation pulse has two types of constant voltage pulse and constant current pulse, and the former is simpler. However, the stimulation effect on a human body is mainly related to the stimulation current, and when a constant-voltage type stimulation pulse is used, the stimulation current changes along with the change of the contact resistance, and the stimulation intensity changes. When using constant-current stimulating pulse, the stimulating current is kept unchanged within a certain contact resistance range, so that the stimulating intensity is not changed along with the contact resistance. However, at present, a two-dimensional ultrasonic guide crutch technical scheme based on constant-current stimulation pulses does not exist.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is to provide a two-dimensional ultrasonic guide stick based on current lattice stimulation, which can obtain real-time two-dimensional distribution information of obstacles in an area by increasing the ultrasonic detection range and by electrotactility of the skin of the blind person, so as to help the blind person to better perceive the environment.
In order to achieve the above purpose, the invention provides a two-dimensional ultrasonic blind guiding stick based on current lattice stimulation, which comprises a blind guiding stick body, a stimulation electrode lattice arranged on the blind guiding stick body, and a control circuit designed in the blind guiding stick body, wherein the control circuit comprises a singlechip, a signal converter, a plurality of ultrasonic ranging modules, a plurality of pulse distributors and a stimulation current generator, the stimulation current generator comprises a plurality of driving circuits, a DC-DC boosting module and a constant current controller, the output end of the singlechip is electrically connected with the plurality of ultrasonic ranging modules through the signal converter, the output end of the singlechip is also connected with the input ends of the pulse distributors, the output ends of the pulse distributors are respectively connected with a plurality of driving circuits, the driving circuits are all connected with the output ends of the DC-DC boosting module, and the output ends of each driving circuit are connected with the output ends of the constant current controller.
Preferably, the number of the ultrasonic ranging modules is N, the stimulating electrode array has N columns of stimulating electrodes, each column of stimulating electrodes has M stimulating electrodes, the value of M is according to the distance resolution required in the effective detection distance, m=l/S, where L is the effective detection distance, and S is the distance resolution.
Preferably, the signal converter is of the type CD4052.
Preferably, the pulse distributor is a model 74HC138 decoder.
Preferably, the stimulating current generator comprises a photoelectric isolator PVI1050N and an N-channel field effect tube CS1N60, wherein the input end of the photoelectric isolator PVI1050N is connected with the output end of the pulse distributor, the output end of the PVI1050N is connected with the grid electrode and the source electrode of the N-channel field effect tube CS1N60, the grid electrode and the source electrode of the N-channel field effect tube CS1N60 are also connected with a 1MΩ resistor, the drain electrode of the N-channel field effect tube CS1N60 is connected with the output end of the DC-DC boosting module, and the source electrode of the CS1N60 is connected with the input end of the stimulating electrode.
Preferably, the constant current controller comprises an operational amplifier and a triode, the in-phase end of the operational amplifier is connected with the adjustable end of the adjustable resistor of 10KΩ, one end of the adjustable resistor is connected with a 5V direct current power supply through a switch SW, the other end of the adjustable resistor is grounded, the inverting end of the operational amplifier is connected with the emitter of the triode, the output end of the operational amplifier is connected with the base of the triode, and the collector of the triode is connected with the common input end of the stimulating electrode.
Preferably, the area occupied by the stimulating electrodes is 10-20 cm 2, and the interval between two adjacent stimulating electrodes is about 5-10 mm.
Preferably, the input end of the DC-DC boosting module is connected with a 5V direct current power supply through a switch SW.
The beneficial effects of the invention are as follows:
1. multiple ultrasonic scanning with two-dimensional distribution is adopted, so that the detection range of the electronic blind guiding stick is enlarged to one surface.
2. The two-dimensional lattice electric stimulation is applied, so that the blind person perceives the two-dimensional distribution of the barriers in a certain range, and the perception information of the barriers is greatly increased.
3. Based on uninterrupted ultrasonic detection and real-time electrical stimulation information to the blind, the movement of the obstacle within the range can also be perceived, so that the detection can be aimed at a moving target.
4. The constant-current type stimulation pulse is used, and the stimulation current is kept unchanged within a certain contact resistance range, so that the stimulation intensity is not changed along with the contact resistance, and the stimulation intensity to the skin of a person is relatively eased.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully clarify the objects, features, and effects of the present invention.
Drawings
FIG. 1 is a schematic block diagram of a two-dimensional ultrasonic guide cane based on current lattice stimulation;
FIG. 2 is a circuit diagram of a specific implementation scheme of the two-dimensional ultrasonic guide cane based on current lattice stimulation.
Detailed Description
As shown in fig. 1, the two-dimensional ultrasonic blind guiding stick based on current lattice stimulation comprises a blind guiding stick body, a stimulation electrode lattice arranged on the blind guiding stick body and a control circuit designed in the blind guiding stick body, wherein the control circuit comprises a single chip microcomputer, a signal converter, a plurality of ultrasonic ranging modules, a plurality of pulse distributors and a stimulation current generator, the stimulation current generator comprises a plurality of driving circuits, a DC-DC boosting module and a constant current controller, the output end of the single chip microcomputer is electrically connected with the ultrasonic ranging modules through the signal converter, the output end of the single chip microcomputer is also connected with the input end of the pulse distributor, the output ends of the pulse distributors are respectively connected with a plurality of driving circuits, the output ends of the driving circuits are all connected with the output end of the DC-DC boosting module, and the output end of each driving circuit is connected with the input end of the stimulation electrode.
FIG. 2 shows a specific implementation scheme of a two-dimensional ultrasonic guide cane based on current lattice stimulation. Wherein U1 is a microcontroller. The ultrasonic ranging module has 4 paths.
U1 is a single-chip microcomputer, MPSYS is an abbreviation of a microprocessor system, and a common 8-bit single-chip microcomputer is needed, such as MCS 51. U2 is a signal adapter, model CD 4052. U3-U7 are 5 model 74HC138 decoders, which constitute a pulse selection distributor. U8 is a DC-DC boost module, and a plurality of types of DC-DC module products are available in the market, wherein the types are not limited, the purpose is to boost +5V voltage to 50V direct current voltage, high voltage is provided for the stimulating electrode, and the input end of the DC-DC boost module is connected with a 5V direct current power supply through a switch SW.
U9, Q1, R1, W etc. constitute constant current controller, including operational amplifier U9 and triode Q1, operational amplifier homophase end connects 10KΩ adjustable resistance adjustable end, and 5V DC power supply is passed through to adjustable resistance one end, and adjustable resistance other end ground connection, power supply operational amplifier inverting terminal connection triode projecting pole, and the triode base is connected to operational amplifier output, and the common input of stimulating electrode is connected to the triode collecting electrode.
Q4-Q35 are switch control tubes of 32 stimulating electrodes, U8-U39 are 32 photoelectric isolators, a stimulating current generator is formed, the type of each photoelectric isolator is PVI1050N, the type of each N-channel field effect tube is CS1N60, the input end of each photoelectric isolator PVI1050N is connected with the output end of a pulse distributor, the output end of each PVI1050N is connected with the grid electrode and the source electrode of each N-channel field effect tube CS1N60, the grid electrode and the source electrode of each N-channel field effect tube CS1N60 are also connected with a 1MΩ resistor, the drain electrode of each N-channel field effect tube CS1N60 is connected with the output end of a DC-DC boosting module, and the source electrode of each CS1N60 is connected with the input end of a stimulating electrode.
The microcontroller starts each ultrasonic ranging module in turn through the signal adapter and receives and decodes their ranging information. The control code is output according to the distance measurement information, and a certain path of stimulation circuit is selected to be turned on at a certain frequency through the pulse selection distributor.
The amplitude of the stimulation current is constant, i.e. does not change with the change of the skin contact resistance, due to the control of the constant current controller. The knob W on the faceplate can adjust the stimulation current amplitude, i.e. the stimulation intensity. The principle is as follows: let the input voltage of the constant current controller be UI (i.e. the voltage that is output to the operational amplifier by voltage division after the adjustment of the knob W), the voltage of the non-inverting terminal of the operational amplifier U9 be Up, and the voltage of the inverting terminal be Un, then ui=up=un, and the collector current ic≡emitter current Ie (the base current is relatively small, negligible) when the triode is saturated and turned on, so the current Io on the stimulating electrode satisfies: io=ic=ie=un/r1=ui/R1. Just because io=ui/R1, R1 is a constant value, the circuit input voltage UI controls the current Io, i.e., io does not change with the change of the load (human body resistance), thereby realizing voltage-controlled constant current. Adjustment of knob W changes the UI size so that adjustment of knob W can adjust the stimulation intensity.
The ultrasonic wave transmitting and receiving are completed by an ultrasonic ranging module. And a plurality of ultrasonic ranging modules are distributed at certain intervals. The spacing angle is determined based on the divergence angle (e.g., 15 degrees) of the effective energy of the ultrasound beams of each module so that they effectively cover a range of angles (e.g., 4 ultrasound ranging modules covering 60 degrees) without overlapping and unwitting.
The two-dimensional current stimulation lattice is to make the tiny metal conductor contact the skin of human body, and to deliver the electric pulse waveform of certain frequency and current to electrically stimulate human body. The distribution of the stimulation points corresponds to the space of ultrasonic detection, namely a sector ultrasonic detection space, and corresponds to a sector skin electric stimulation area. The vertex of the sector corresponds to the origin of the detection distance, while the arc top of the sector corresponds to the furthest boundary of the detection range, and the two sides of the sector correspond to the left and right boundaries of the detection range. When N ultrasonic ranging modules are used, the stimulating electrodes have N columns, and the arrangement angles of the N columns are consistent with the arrangement interval angles of ultrasonic beams. There are M stimulation points in each column. The value of M is based on the required range resolution within the effective detection range. For example, if the effective detection distance is L and the distance resolution requirement is S, then m=l/S. The effective detection distance of a general ultrasonic ranging module can be more than 4 m. The current of all stimulation electrodes is looped through a common electrode at the top of the array. All stimulation electrodes only occupy the range of 10-20 cm 2, and the adjacent two electrodes are spaced by about 5-10 mm, so that the stimulation can be felt by hands.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (6)
1. A two-dimensional ultrasonic guide blind crutch based on current lattice stimulation is characterized in that: the device comprises a blind guiding stick body, a stimulating electrode lattice arranged on the blind guiding stick body and a control circuit designed in the blind guiding stick body, wherein the control circuit comprises a singlechip, a signal converter, a plurality of ultrasonic ranging modules, a plurality of pulse distributors and a stimulating current generator, the stimulating current generator comprises a plurality of driving circuits, a DC-DC boosting module and a constant current controller, the output end of the singlechip is electrically connected with the plurality of ultrasonic ranging modules through the signal converter, the output end of the singlechip is also connected with the input end of the pulse distributor, the output ends of the pulse distributors are respectively connected with the driving circuits, the driving circuits are all connected with the output end of the DC-DC boosting module, and the output end of each driving circuit is connected with the input end of the stimulating electrode;
the ultrasonic distance measuring modules are N, the stimulating electrode array is provided with N columns of stimulating electrodes, each column of stimulating electrodes is provided with M stimulating electrodes, the value of M is according to the distance resolution required in the effective detection distance, M=L/S, wherein L is the effective detection distance, and S is the distance resolution;
the signal converter model is CD4052.
2. A two-dimensional ultrasound pilot cane based on current lattice stimulation as defined in claim 1, wherein: the pulse distributor is a model 74HC138 decoder.
3. A two-dimensional ultrasound pilot cane based on current lattice stimulation as defined in claim 1, wherein: the stimulation current generator comprises a photoelectric isolator PVI 1050N and an N-channel field effect tube CS 1N 60, wherein the input end of the photoelectric isolator PVI 1050N is connected with the output end of the pulse distributor, the output end of the PVI 1050N is connected with the grid electrode and the source electrode of the N-channel field effect tube CS 1N 60, the grid electrode and the source electrode of the N-channel field effect tube CS 1N 60 are also connected with a 1MΩ resistor, the drain electrode of the N-channel field effect tube CS 1N 60 is connected with the output end of the DC-DC boosting module, and the source electrode of the CS 1N 60 is connected with the input end of the stimulation electrode.
4. A two-dimensional ultrasound pilot cane based on current lattice stimulation as defined in claim 1, wherein: the constant current controller comprises an operational amplifier and a triode, the in-phase end of the operational amplifier is connected with the adjustable end of the adjustable resistor of 10KΩ, one end of the adjustable resistor is connected with a 5V direct current power supply through a switch SW, the other end of the adjustable resistor is grounded, the inverting end of the operational amplifier is connected with the emitter of the triode, the output end of the operational amplifier is connected with the base of the triode, and the collector of the triode is connected with the common input end of the stimulating electrode.
5. A two-dimensional ultrasound pilot cane based on current lattice stimulation as defined in claim 1, wherein: the occupied area of the stimulating electrodes is 10-20 cm < 2 >, and the interval between two adjacent stimulating electrodes is 5-10 mm.
6. A two-dimensional ultrasound pilot cane based on current lattice stimulation as defined in claim 1, wherein: the input end of the DC-DC boosting module is connected with a 5V direct current power supply through a switch SW.
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| CN211132018U (en) * | 2019-05-11 | 2020-07-31 | 上海健康医学院 | Two-dimensional ultrasonic blind guiding stick based on current lattice stimulation |
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| CN103068440B (en) * | 2011-06-28 | 2014-09-17 | 中国科学院自动化研究所 | Functional electrical stimulation system |
| CN202761651U (en) * | 2012-08-02 | 2013-03-06 | 河海大学 | Novel intelligent guide cane |
| CN207520327U (en) * | 2017-05-03 | 2018-06-22 | 苏州工业职业技术学院 | A kind of intelligent guiding walking stick for blind person |
| CN108175649B (en) * | 2018-02-23 | 2023-09-22 | 程大国 | Ultrasonic detection blind guiding stick, control system and method |
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