CN110638614A - Blind person glasses, walking stick obstacle avoidance prompting system and control method thereof - Google Patents

Blind person glasses, walking stick obstacle avoidance prompting system and control method thereof Download PDF

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Publication number
CN110638614A
CN110638614A CN201910754672.4A CN201910754672A CN110638614A CN 110638614 A CN110638614 A CN 110638614A CN 201910754672 A CN201910754672 A CN 201910754672A CN 110638614 A CN110638614 A CN 110638614A
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glasses
data
crutch
ultrasonic
module
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谢光强
郑臣河
叶志活
李杨
林楷
吉臻伟
梁永康
章世楠
刘基正
李国延
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Guangdong University of Technology
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Guangdong University of Technology
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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
    • 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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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a blind glasses and crutch obstacle avoidance prompting system and a control method thereof, wherein the system comprises glasses, a crutch, a central controller, an ultrasonic ranging unit, a voice and vibration module and a wireless communication module; the central controller is respectively connected with the ultrasonic ranging unit, the wireless communication module and the voice and vibration module. The method comprises the steps that distance data of an object in front of a user are collected through an ultrasonic module, the ultrasonic module is respectively arranged on a pair of glasses and a crutch, so that the detection range of the ultrasonic module can cover all areas in front, after the data are collected, the data on the crutch are sent to the glasses through a communication system, a controller on the glasses carries out filtering processing on the data after the controller on the glasses obtains original data on the crutch and the glasses, whether the distance of the object in each area is too short is judged according to the optimized data, if yes, the obstacle exists in the direction is judged, and obstacle information is prompted to the user through a voice and vibration unit. The invention also has the advantages of simple structure, convenient operation and easy implementation.

Description

Blind person glasses, walking stick obstacle avoidance prompting system and control method thereof
Technical Field
The invention relates to the field of auxiliary equipment for blind people, in particular to a blind person glasses, a crutch obstacle avoidance prompting system and a control method thereof.
Background
At present, the method for avoiding the obstacle when the blind goes out generally comprises the steps of guiding by a blind guiding dog or only using a common crutch to touch the obstacle to determine the position of the obstacle, the obstacle cannot be found quickly in time by simply using the crutch to touch the obstacle, and pets such as the blind guiding dog and the like are forbidden to enter in some occasions such as a restaurant and the like, so that great interference is caused to the going out of the blind; at present, some electronic navigation devices capable of providing help for the blind to go out are often high in price or are not suitable for complex environments, cannot meet the requirements of most blind people, and cannot be popularized in a large range, so that the prior art needs to be further improved and perfected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a pair of glasses for the blind and a crutch obstacle avoidance prompting system.
The invention further aims to overcome the defects in the prior art and provide a control method based on the obstacle avoidance prompting system.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a blind person's glasses and walking stick keep away barrier reminder system, should keep away barrier reminder system mainly includes glasses, walking stick, central controller, ultrasonic ranging unit, pronunciation and vibrations module and wireless communication module. The central controller is respectively connected with the ultrasonic ranging unit and the wireless communication module, the three are respectively installed on the glasses and the walking stick, and the glasses and the walking stick are connected through the wireless communication module. The voice and vibration module is arranged on the glasses and is connected with the central controller; the central controller adopts a microprocessor.
Specifically, the central controller is configured to invoke the ultrasonic sensor to acquire distance data between an object and a user. And the system is used for carrying out filtering optimization on the original data of the ranging unit and judging the information of the obstacle in front of the user through the optimized data. And the voice and vibration module is also used for calling the position information of the obstacle to the user.
Specifically, the wireless communication module adopts a Bluetooth module, and the Bluetooth module is used for sending the original data on the crutch to a central controller on the glasses.
Specifically, the voice and vibration module prompts the position information of the obstacle to the user through voice content or vibration frequency.
As a preferred aspect of the present invention, the ultrasonic ranging unit includes a plurality of ultrasonic sensors for acquiring obstacle distance data. Every two ultrasonic sensor is a set of, and every group ultrasonic wave is located same horizontal plane. The glasses are provided with a group of ultrasonic sensors, the detection direction of the ultrasonic sensors is right ahead, and the distance between the ultrasonic sensors is 10 cm.
As a preferable scheme of the present invention, a plurality of sets of ultrasonic sensors are fixed on the crutch, and each set of ultrasonic sensors is distributed on the crutch. The detection ranges of the ultrasonic sensors in different groups are not overlapped, and the included angle between the detection directions of the two ultrasonic sensors in the same group is 7 degrees.
The other purpose of the invention is realized by the following technical scheme:
a control method of blind glasses and a crutch obstacle avoidance prompting system mainly comprises the following steps:
step S1: and the central controllers on the glasses and the crutch enter a working mode and send a distance measuring instruction to the ultrasonic distance measuring unit.
Step S2: after the ultrasonic ranging unit on the crutch obtains the original data, the original data is sent to the central controller on the glasses through the Bluetooth module, and after the central controller obtains the original data of the ranging unit on the glasses and received from the crutch, Kalman filtering is carried out on the data, and optimized data are obtained.
Step S3: and comparing the distance data corresponding to each module with the threshold value, and judging whether the corresponding area has the obstacle and the distance of the obstacle.
Step S4: after obtaining the obstacle information, using a voice and vibration module to prompt the obstacle information to a user, wherein in a voice mode, the distance and the position of the obstacle are prompted by voice, in a vibration mode, the distance between the user and the obstacle is prompted by vibration frequency, and the vibration frequency is inversely proportional to the distance.
As a preferable embodiment of the present invention, the step S3 further includes: after the central controller on the glasses obtains the optimized data, the data of each group of ultrasonic modules are compared, whether obstacles exist is judged, if the obstacles exist, the position of the object is continuously judged, whether a user needs to be reminded is judged, and the judgment condition comprises the following steps:
if the distance between the obstacles is less than 1.5m, judging that the obstacles can influence the user to move forward, and reminding the user of the existence of the obstacles in front;
if the distance between the obstacles is between 1.5m and 2.5m, comparing the last detection data, if the last detection data is smaller than the current data, judging that the object is far away, if the last detection data is larger than 2.5m, judging that the object only temporarily enters the visual field, and when the two conditions occur, not influencing the advance of the user and not reminding the user of the information;
if the last detection distance is larger than the current distance and smaller than 2.5m, the object is judged to be approaching and the user is possibly influenced to move forward, and the user is reminded of an obstacle in front of the user.
As a preferable embodiment of the present invention, the step S1 further includes: the central controllers on the glasses and the crutches collect ultrasonic module data in a polling mode, and the data collection interval between every two ultrasonic sensors is set to be more than 60 ms. When ranging starts, a ranging request is sent to the crutch through the glasses, after the crutch receives the request, the data of the ultrasonic wave module on the crutch are collected in a polling mode, the collected data are sent to the glasses through the communication unit, and after the glasses receive the data, the ranging data of the ultrasonic wave module on the glasses are collected in a polling mode, and the data are transmitted to the data processing unit.
The working process and principle of the invention are as follows: according to the invention, distance data of an object in front of a user is acquired through the ultrasonic module, the ultrasonic module is respectively positioned on the glasses and the crutch, so that the detection range of the ultrasonic module can cover all areas in front of the user, after the data is acquired, the data on the crutch is sent to the glasses through the communication system, after the controller on the glasses acquires the original data on the crutch and the glasses, the data is filtered, whether the distance of the object in each area is too short is judged according to the optimized data, if yes, the obstacle exists in the direction is judged, and obstacle information is prompted to the user through the voice and vibration unit. The invention also has the advantages of simple structure, convenient operation and easy implementation.
Compared with the prior art, the invention also has the following advantages:
(1) the blind glasses, the walking stick obstacle avoidance prompting system and the control method thereof can accurately judge the position of the obstacle and prompt in a voice and vibration mode, provide more reference information for the blind to avoid the obstacle, have low cost and are suitable for most of the blind.
(2) The blind glasses and crutch obstacle avoidance prompting system and the control method thereof provided by the invention not only improve the stability of data, but also avoid the occurrence of serious consequence events caused by data transmission errors, thereby improving the safety of the use of a user body.
(3) The blind glasses and crutch obstacle avoidance prompting system and the control method thereof provided by the invention acquire the distance between the equipment and the front obstacle through sound wave echo, process the information of each ultrasonic module and then prompt in various forms through the prompting unit, and form a set of control method by matching with the alarm unit and the direction unit, thereby providing better and safer trip experience and guarantee for the blind.
Drawings
Fig. 1 is a schematic structural diagram of the blind glasses and the crutch obstacle avoidance prompting system provided by the invention.
Fig. 2 is a flow chart of obstacle determination provided by the present invention.
Fig. 3 is an internal data flow diagram of the blind glasses and crutch obstacle avoidance prompting system provided by the invention.
Fig. 4 is a schematic view of the division of the measurement region of the ultrasonic sensor provided by the present invention.
Fig. 5 is a schematic diagram of a flow of obstacle determination provided with parameters and thresholds according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described below with reference to the accompanying drawings and examples.
Example 1:
as shown in fig. 1 to 5, the present embodiment discloses a pair of glasses for the blind and a crutch obstacle avoidance prompting system, which mainly includes glasses, a crutch, a central controller, an ultrasonic ranging unit, a voice and vibration module, and a wireless communication module. The central controller is respectively connected with the ultrasonic ranging unit and the wireless communication module, the three are respectively installed on the glasses and the walking stick, and the glasses and the walking stick are connected through the wireless communication module. The voice and vibration module is arranged on the glasses and is connected with the central controller; the central controller adopts a microprocessor.
Specifically, the central controller is configured to invoke the ultrasonic sensor to acquire distance data between an object and a user. And the system is used for carrying out filtering optimization on the original data of the ranging unit and judging the information of the obstacle in front of the user through the optimized data. And the voice and vibration module is also used for calling the position information of the obstacle to the user.
Specifically, the wireless communication module adopts a Bluetooth module, and the Bluetooth module is used for sending the original data on the crutch to a central controller on the glasses.
Specifically, the voice and vibration module prompts the position information of the obstacle to the user through voice content or vibration frequency.
As a preferred aspect of the present invention, the ultrasonic ranging unit includes a plurality of ultrasonic sensors for acquiring obstacle distance data. Every two ultrasonic sensor is a set of, and every group ultrasonic wave is located same horizontal plane. The glasses are provided with a group of ultrasonic sensors, the detection direction of the ultrasonic sensors is right ahead, and the distance between the ultrasonic sensors is 10 cm.
As a preferable scheme of the present invention, a plurality of sets of ultrasonic sensors are fixed on the crutch, and each set of ultrasonic sensors is distributed on the crutch. The detection ranges of the ultrasonic sensors in different groups are not overlapped, and the included angle between the detection directions of the two ultrasonic sensors in the same group is 7 degrees.
The invention also discloses a control method of the blind glasses and the crutch obstacle avoidance prompting system, which mainly comprises the following steps:
step S1: and the central controllers on the glasses and the crutch enter a working mode and send a distance measuring instruction to the ultrasonic distance measuring unit.
Step S2: after the ultrasonic ranging unit on the crutch obtains the original data, the original data is sent to the central controller on the glasses through the Bluetooth module, and after the central controller obtains the original data of the ranging unit on the glasses and received from the crutch, Kalman filtering is carried out on the data, and optimized data are obtained.
Step S3: and comparing the distance data corresponding to each module with the threshold value, and judging whether the corresponding area has the obstacle and the distance of the obstacle.
Step S4: after obtaining the obstacle information, using a voice and vibration module to prompt the obstacle information to a user, wherein in a voice mode, the distance and the position of the obstacle are prompted by voice, in a vibration mode, the distance between the user and the obstacle is prompted by vibration frequency, and the vibration frequency is inversely proportional to the distance.
As a preferable embodiment of the present invention, the step S3 further includes: after the central controller on the glasses obtains the optimized data, the data of each group of ultrasonic modules are compared, whether obstacles exist is judged, if the obstacles exist, the position of the object is continuously judged, whether a user needs to be reminded is judged, and the judgment condition comprises the following steps:
if the distance between the obstacles is less than 1.5m, judging that the obstacles can influence the user to move forward, and reminding the user of the existence of the obstacles in front;
if the distance between the obstacles is between 1.5m and 2.5m, comparing the last detection data, if the last detection data is smaller than the current data, judging that the object is far away, if the last detection data is larger than 2.5m, judging that the object only temporarily enters the visual field, and when the two conditions occur, not influencing the advance of the user and not reminding the user of the information;
if the last detection distance is larger than the current distance and smaller than 2.5m, the object is judged to be approaching and the user is possibly influenced to move forward, and the user is reminded of an obstacle in front of the user.
As a preferable embodiment of the present invention, the step S1 further includes: the central controllers on the glasses and the crutches collect ultrasonic module data in a polling mode, and the data collection interval between every two ultrasonic sensors is set to be more than 60 ms. When ranging starts, a ranging request is sent to the crutch through the glasses, after the crutch receives the request, the data of the ultrasonic wave module on the crutch are collected in a polling mode, the collected data are sent to the glasses through the communication unit, and after the glasses receive the data, the ranging data of the ultrasonic wave module on the glasses are collected in a polling mode, and the data are transmitted to the data processing unit.
The working process and principle of the invention are as follows: according to the invention, distance data of an object in front of a user is acquired through the ultrasonic module, the ultrasonic module is respectively positioned on the glasses and the crutch, so that the detection range of the ultrasonic module can cover all areas in front of the user, after the data is acquired, the data on the crutch is sent to the glasses through the communication system, after the controller on the glasses acquires the original data on the crutch and the glasses, the data is filtered, whether the distance of the object in each area is too short is judged according to the optimized data, if yes, the obstacle exists in the direction is judged, and obstacle information is prompted to the user through the voice and vibration unit. The invention also has the advantages of simple structure, convenient operation and easy implementation.
Example 2:
the embodiment also discloses a data fusion algorithm for a plurality of groups of ultrasonic sensors, which mainly comprises the following steps:
1. the fusion formula is:
xi,i-1＝xi+[xi-1-xi]*Ci,i-1
last measurement of latest weight, where xi,i-1For the final data, xiFor data obtained for the ith ultrasound module, Ci,i-1Is a weight coefficient;
2. because of the influence of the detection angle and the self factors of the ultrasonic module, the accuracy rates of the data collected by different modules are different, therefore, the weight coefficient is adopted to control the proportion of the ultrasonic module in the final data, and the calculation formula is as follows:
Ci＝Confi-1/[Confi+Confi-1]
wherein the weight of the ultrasonic module is CiIn relation to the accuracy of the data, the accuracy of the data is determined by the stability of the data (Conf)iData stability of the ith ultrasonic module is measured), and the more stable and smooth the data is in a period of time, the more reliable the data is;
3. the data stability formula is as follows:
Confi＝α*Conf′i+b*Δxi
wherein, Conf'iData stability, Δ x, calculated for the previous momentiThe variance of the historical data of the ultrasonic module is shown, alpha and b are proportionality coefficients, the sum of the proportionality coefficients is 1, and the value of the proportionality coefficients is adjusted according to actual conditions.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (6)

1. A blind person glasses and walking stick obstacle avoidance prompting system is characterized by comprising glasses, a walking stick, a central controller, an ultrasonic ranging unit, a voice and vibration module and a wireless communication module; the central controller is respectively connected with the ultrasonic ranging unit and the wireless communication module, the three are respectively arranged on the glasses and the walking stick, and the glasses and the walking stick are connected through the wireless communication module; the voice and vibration module is arranged on the glasses and is connected with the central controller; the central controller adopts a microprocessor;
the central controller is used for calling the ultrasonic sensor to acquire distance data between an object and a user; the system comprises a distance measuring unit, a data processing unit and a data processing unit, wherein the distance measuring unit is used for carrying out filtering optimization on original data of the distance measuring unit and judging the information of obstacles in front of a user through the optimized data; the voice and vibration module is also used for calling the voice and vibration module to prompt the position information of the obstacle to the user;
the wireless communication module adopts a Bluetooth module, and the Bluetooth module is used for sending the original data on the crutch to a central controller on the glasses;
the voice and vibration module prompts the position information of the obstacle to a user through voice content or vibration frequency.
2. The blind glasses and crutch obstacle avoidance prompting system of claim 1 wherein the ultrasonic ranging unit includes a plurality of ultrasonic sensors for acquiring obstacle distance data; every two ultrasonic sensors are in one group, and each group of ultrasonic sensors are positioned on the same horizontal plane; the glasses are provided with a group of ultrasonic sensors, the detection direction of the ultrasonic sensors is right ahead, and the distance between the ultrasonic sensors is 10 cm.
3. The blind-person glasses and crutch obstacle avoidance prompting system of claim 1, wherein a plurality of groups of ultrasonic sensors are fixed on the crutch, and each group of ultrasonic sensors is distributed on the crutch; the detection ranges of the ultrasonic sensors in different groups are not overlapped, and the included angle between the detection directions of the two ultrasonic sensors in the same group is 7 degrees.
4. A control method of a blind person glasses and crutch obstacle avoidance prompting system according to any one of claims 1 to 3, characterized by comprising the following steps:
step S1: the central controllers on the glasses and the walking stick enter a working mode and send a distance measuring instruction to the ultrasonic distance measuring unit;
step S2: after the ultrasonic ranging unit on the crutch obtains the original data, the original data is sent to a central controller on the glasses through a Bluetooth module, and after the central controller obtains the original data received from the crutch and the original data from the ranging unit on the glasses, Kalman filtering is carried out on the data and optimized data are obtained;
step S3: comparing the distance data corresponding to each module with a threshold value, and judging whether an obstacle exists in a corresponding area or not and judging the distance between the obstacles;
step S4: after obtaining the obstacle information, using a voice and vibration module to prompt the obstacle information to a user, wherein in a voice mode, the distance and the position of the obstacle are prompted by voice, in a vibration mode, the distance between the user and the obstacle is prompted by vibration frequency, and the vibration frequency is inversely proportional to the distance.
5. The control method of the blind glasses and crutch obstacle avoidance prompting system according to claim 4, wherein the step S3 further comprises: after the central controller on the glasses obtains the optimized data, the data of each group of ultrasonic modules are compared, whether obstacles exist is judged, if the obstacles exist, the position of the object is continuously judged, whether a user needs to be reminded is judged, and the judgment condition comprises the following steps:
if the distance between the obstacles is less than 1.5m, judging that the obstacles can influence the user to move forward, and reminding the user of the existence of the obstacles in front;
if the distance between the obstacles is between 1.5m and 2.5m, comparing the last detection data, if the last detection data is smaller than the current data, judging that the object is far away, if the last detection data is larger than 2.5m, judging that the object only temporarily enters the visual field, and when the two conditions occur, not influencing the advance of the user and not reminding the user of the information;
if the last detection distance is larger than the current distance and smaller than 2.5m, the object is judged to be approaching and the user is possibly influenced to move forward, and the user is reminded of an obstacle in front of the user.
6. The control method of the blind glasses and crutch obstacle avoidance prompting system according to claim 4, wherein the step S1 further comprises: the central controllers on the glasses and the crutch collect ultrasonic module data in a polling mode, and the data collection interval between each ultrasonic sensor is set to be more than 60 ms; when ranging starts, a ranging request is sent to the crutch through the glasses, after the crutch receives the request, the data of the ultrasonic wave module on the crutch are collected in a polling mode, the collected data are sent to the glasses through the communication unit, and after the glasses receive the data, the ranging data of the ultrasonic wave module on the glasses are collected in a polling mode, and the data are transmitted to the data processing unit.
CN201910754672.4A 2019-08-15 2019-08-15 Blind person glasses, walking stick obstacle avoidance prompting system and control method thereof Pending CN110638614A (en)

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KR20120035489A (en) * 2010-10-05 2012-04-16 창원대학교 산학협력단 Walk assistance apparatus for blind people
KR20140000480A (en) * 2012-06-22 2014-01-03 동서대학교산학협력단 Smart cane system interoperable with smart devices and method at the same
CN103876908A (en) * 2014-04-03 2014-06-25 南京信息工程大学 Blind person obstacle-avoiding navigation method capable of precisely feeding back distance and direction of obstacle
CN104800054A (en) * 2014-01-27 2015-07-29 光宝科技股份有限公司 Distance detecting and indicating method and action device with detecting and indicating functions
CN105362048A (en) * 2015-10-15 2016-03-02 广东欧珀移动通信有限公司 Mobile equipment and barrier information prompting method and device based on mobile equipment
CN106074099A (en) * 2016-06-13 2016-11-09 李彤轩 Blind person's special intelligent guides system
CN106580642A (en) * 2015-10-15 2017-04-26 泰山医学院 Blind guiding device and blind guiding method based on dual-frequency ultrasonic waves
CN211095813U (en) * 2019-08-15 2020-07-28 广东工业大学 Blind person glasses and walking stick obstacle avoidance prompting system

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050099291A1 (en) * 2003-11-12 2005-05-12 Steven Landau System for guiding visually impaired pedestrian using auditory cues
KR20120035489A (en) * 2010-10-05 2012-04-16 창원대학교 산학협력단 Walk assistance apparatus for blind people
KR20140000480A (en) * 2012-06-22 2014-01-03 동서대학교산학협력단 Smart cane system interoperable with smart devices and method at the same
CN104800054A (en) * 2014-01-27 2015-07-29 光宝科技股份有限公司 Distance detecting and indicating method and action device with detecting and indicating functions
CN103876908A (en) * 2014-04-03 2014-06-25 南京信息工程大学 Blind person obstacle-avoiding navigation method capable of precisely feeding back distance and direction of obstacle
CN105362048A (en) * 2015-10-15 2016-03-02 广东欧珀移动通信有限公司 Mobile equipment and barrier information prompting method and device based on mobile equipment
CN106580642A (en) * 2015-10-15 2017-04-26 泰山医学院 Blind guiding device and blind guiding method based on dual-frequency ultrasonic waves
CN106074099A (en) * 2016-06-13 2016-11-09 李彤轩 Blind person's special intelligent guides system
CN211095813U (en) * 2019-08-15 2020-07-28 广东工业大学 Blind person glasses and walking stick obstacle avoidance prompting system

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