CN111838907A - Intelligent walking stick for blind person - Google Patents

Intelligent walking stick for blind person Download PDF

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Publication number
CN111838907A
CN111838907A CN202010576561.1A CN202010576561A CN111838907A CN 111838907 A CN111838907 A CN 111838907A CN 202010576561 A CN202010576561 A CN 202010576561A CN 111838907 A CN111838907 A CN 111838907A
Authority
CN
China
Prior art keywords
module
crutch
blind
ultrasonic
blind person
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010576561.1A
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Chinese (zh)
Inventor
郑梁
龚超
倪扬扬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Dianzi University
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Hangzhou Dianzi University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Dianzi University filed Critical Hangzhou Dianzi University
Priority to CN202010576561.1A priority Critical patent/CN111838907A/en
Publication of CN111838907A publication Critical patent/CN111838907A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45B—WALKING STICKS; UMBRELLAS; LADIES' OR LIKE FANS
    • A45B3/00—Sticks combined with other objects
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45B—WALKING STICKS; UMBRELLAS; LADIES' OR LIKE FANS
    • A45B3/00—Sticks combined with other objects
    • A45B3/08—Sticks combined with other objects with measuring or weighing appliances
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
    • G08B21/0438—Sensor means for detecting
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
    • G08B21/0438—Sensor means for detecting
    • G08B21/0476—Cameras to detect unsafe condition, e.g. video cameras
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
    • G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices

Abstract

The invention discloses an intelligent walking stick for blind people, wherein a walking stick handle and a walking stick body are both cylindrical, and are L-shaped after being connected; the SOS key, the LED warning lamp and the voice broadcasting module are arranged on the top surface of the crutch handle; the camera module is arranged at the front end of the crutch handle; the ultrasonic obstacle avoidance module is arranged at the bottom of the crutch body, an ultrasonic sensor is arranged in the ultrasonic obstacle avoidance module, and the ultrasonic sensor transmits detected ultrasonic reflection signals to the main controller; the GPS module is arranged in the crutch body and used for positioning the crutch body; the gesture detection module is arranged at the middle lower position in the crutch body and comprises a three-axis MEMS gyroscope and a three-axis MEMS accelerometer; the LED control key is arranged below the crutch handle. The intelligent blind person navigation system has the functions of emergency help seeking, tumble detection, communication positioning, navigation information broadcasting and the like, can provide guarantee for the personal safety of the blind person when the blind person goes out, and is simple and intelligent to operate and high in practicability.

Description

Intelligent walking stick for blind person
Technical Field
The invention belongs to the field of handicap assisting instruments and relates to an intelligent walking stick for blind people.
Background
Because of the large population in China and the number of the blind people close to 2000 ten thousand, the safety problem of the blind people going out is the greatest threat to the blind people because of the blindness of eyes, and the problem can also cause the blind people to be unwilling to go out, reduce the communication with the outside, even cause psychological problems and feel inferior over time.
The walking stick designed for the blind in the prior art has certain defects, and cannot actually bring great travel convenience for the blind, such as a common blind guiding stick, an electronic walking stick and the like. The blind-guiding stick only depends on the walking stick to touch some things around and then know some basic conditions around, and for people who are blind for a long time, the blind-guiding stick has certain experience on feedback information processing, but for people who are blind for a short time and just touch the blind-guiding stick, the feedback information can be mastered in time with great challenge. The common electronic crutch only has the functions of automatic falling alarm, flashing light safety warning, stability and skid resistance and the like, and does not greatly help the safety problem of the blind in going out.
Disclosure of Invention
In order to solve the problems, the blind person intelligent anti-falling system has an emergency help seeking function, a falling detection function, a communication positioning function, a navigation and navigation information broadcasting function and an image data uploading function of a camera module, can autonomously seek help when the blind person needs the system, monitors the action of the blind person by a WEB terminal, provides help in time and prompts the situation of obstacles around the blind person in time.
The technical scheme of the invention is as follows: an intelligent crutch for the blind, which comprises a crutch handle, a crutch body, an SOS button, an LED warning light, a voice broadcast module, a camera module, an ultrasonic obstacle avoidance module, a Bluetooth module, a GPS module, a power supply module, a wireless communication module, a posture detection module, a main controller and an LED control button, wherein,
the crutch handle and the crutch body are both cylindrical, and are L-shaped after being connected;
the main controller is arranged in the crutch body and is respectively connected with the SOS key, the LED warning lamp, the voice broadcast module, the camera module, the ultrasonic obstacle avoidance module, the Bluetooth module, the GPS module, the power supply module, the wireless communication module, the attitude detection module and the LED control key;
the SOS key, the LED warning lamp and the voice broadcasting module are arranged on the top surface of the crutch handle; the camera module is arranged at the front end of the crutch handle; the ultrasonic obstacle avoidance module is arranged at the bottom of the crutch body, an ultrasonic sensor is arranged in the ultrasonic obstacle avoidance module, and the ultrasonic sensor transmits detected ultrasonic reflection signals to the main controller;
the Bluetooth module is arranged in the crutch body; the GPS module is arranged in the crutch body and used for positioning the crutch body; the power supply module is arranged in the crutch body and comprises a voltage conversion module; the wireless communication module is arranged in the crutch body; the gesture detection module is arranged at the middle lower position in the crutch body and comprises a three-axis MEMS gyroscope and a three-axis MEMS accelerometer; the LED control key is arranged below the crutch handle.
Preferably, the main controller comprises an STM32F103 chip.
Preferably, the voice broadcast module comprises an ISD1760 chip.
Preferably, the ultrasonic obstacle avoidance module comprises an HY-SRF05 ultrasonic distance measurement module.
Preferably, the wireless communication module comprises an NB-IoTBC95 module.
Preferably, the gesture detection module includes an MPU6050 chip.
Preferably, the voice broadcast module communicates with the main controller through an SPI protocol.
Preferably, the camera module comprises an OV7670 module.
Preferably, the GPS module comprises an ATK1218-BD big Dipper dual-mode positioning module.
Preferably, the bluetooth module includes a CSR8670 chip.
Compared with the prior art, the invention has the beneficial effects that at least:
1. the barrier can be effectively detected in the walking process of the blind, and information is fed back to the blind;
2. when the blind person independently seeks help or falls down, the camera can shoot an image of the surrounding environment and send the image to a guardian in time, so that the blind person can be rescued in time;
3. the LED warning lamp can prompt passersby or drivers when the blind people cross the road or walk at night, so as to prevent traffic accidents caused by carelessness;
4. The blind person falling detection device can detect whether the blind person falls down or not and feed back information to a guardian in time to seek help;
5. the navigation information can be played in voice, and the positioning information of the blind can be recorded in real time at the Internet of things end.
Drawings
FIG. 1 is a schematic structural diagram of a blind person intelligent crutch according to an embodiment of the present invention;
fig. 2 is a block diagram of a control structure of the blind person intelligent crutch according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present invention. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details.
Referring to fig. 1 and 2, the intelligent crutch for the blind comprises a crutch handle 1, a crutch body 2, an SOS key 3, an LED warning light 4, a voice broadcast module 5, a camera module 6, an ultrasonic obstacle avoidance module 7, a bluetooth module 8, a GPS module 9, a power supply module 10, a wireless communication module 11, a posture detection module 12, a main controller 13 and an LED control key 14, wherein,
The crutch handle 1 and the crutch body 2 are both cylindrical, and the crutch handle 1 and the crutch body 2 are L-shaped after being connected;
the main controller 13 is arranged in the crutch body 2 and is respectively connected with the SOS key 3, the LED warning lamp 4, the voice broadcast module 5, the camera module 6, the ultrasonic obstacle avoidance module 7, the Bluetooth module 8, the GPS module 9, the power supply module 10, the wireless communication module 11, the attitude detection module 12 and the LED control key 14;
the SOS key 3, the LED warning lamp 4 and the voice broadcast module 5 are arranged on the top surface of the crutch handle 1, and when the SOS key 3 is pressed down, help seeking voice can be played by the voice broadcast module 5 and a message is sent to a guardian; the voice broadcasting module 5 can also play navigation information when the GPS module 9 navigates; the camera module 6 is arranged at the front end of the crutch handle 1, shoots the surrounding environment, and sends the shot surrounding environment image to a guardian when the SOS key 3 is pressed down or the posture detection module 12 detects that the blind person falls down; the ultrasonic obstacle avoidance module 7 is arranged at the bottom of the crutch body 2, an ultrasonic sensor is arranged in the ultrasonic obstacle avoidance module 7, and the ultrasonic sensor transmits a detected ultrasonic reflection signal to the main controller 13;
the Bluetooth module 8 is arranged in the crutch body 2, so that the blind can conveniently listen to navigation information and acquire navigation voice information by using a Bluetooth earphone when the surrounding environment is noisy; the GPS module 9 is arranged in the crutch body 2 and is used for positioning the crutch body 2; the power supply module 10 is arranged in the crutch body 2 and comprises a voltage conversion module; the wireless communication module 11 is arranged in the crutch body 2 and is communicated with the WEB end; the gesture detection module 12 is arranged at the middle lower position in the crutch body 2, and the gesture detection module 12 comprises a three-axis MEMS gyroscope and a three-axis MEMS accelerometer; the LED control key 14 is arranged below the crutch handle 1.
In a specific embodiment, the main controller 13 adopts an STM32F103 chip, and the main controller 13 controls the LED warning light 4, the voice broadcast module 5 and the wireless communication module 11 by sending instruction information, and is further configured to receive and process information sent by the SOS key 3, the attitude detection module 12, the GPS module 9 and the ultrasonic obstacle avoidance module 7.
The LED warning lamp 4 is located at the top end of the crutch handle, when the LED control key 14 is pressed, the main controller 13 receives a key pressing signal, the main controller 13 outputs a low level to the LED warning lamp 4 immediately, and the LED warning lamp 4 continuously flickers, so that the blind can conveniently walk at night or give a prompt to passersby or a driver when the blind passes a road.
The voice broadcast module 5 can select an ISD1760 chip, four pin connecting lines of the main controller 13 are respectively connected with four pins of SCLK, MOSI, MISO and/SS of the voice broadcast module 5, the operation is completed through an SPI protocol, the voice broadcast function can be started when the blind walks to start navigation, the specified voice can be broadcasted when the blind encounters an obstacle, and convenience is provided for the blind to go out.
The camera module 6 is located at the front end of the crutch handle, an OV7670 module can be selected, the OV7670 module is provided with an FIFO chip, the main controller 13 reads image data through the FIFO chip, firstly, the OV7670 module synchronous signal is waited, then, the FIFO writes the pointer to reset, the FIFO writes the enable, the second synchronous signal is waited, the FIFO writes the prohibition of the five steps of accessing the image data, the main controller 13 reads the image data stored by the camera module 6 through reading the FIFO, the image data acquired by the main controller 13 can be transmitted to the WEB end through the wireless communication module 11, when the blind asks for help and needs the guardian to check the surrounding conditions, the guardian can directly observe the image data through the WEB end.
The ultrasonic obstacle avoidance module 7 can select an HY-SRF05 ultrasonic ranging module, the main controller 13 needs to provide a pulse signal of more than 10us, the ultrasonic obstacle avoidance module 7 sends out 8 levels in 40KHz cycles and detects echoes, when the echoes are detected, a reverberation signal is input, the pulse width of the reverberation signal is in direct proportion to the measured distance, the obtained distance information is sent to the main controller 13, and then the main controller 13 feeds back a vibration signal to remind the blind of having an obstacle in front of the blind, thereby providing great help for the blind and reducing the probability of the blind colliding with the obstacle.
The CSR8670 chip can be selected for use to bluetooth module 8, can design bluetooth headset based on bluetooth module 8, and when the blind person went out and need navigate, there was noisy possibility in surrounding environment sound, and the navigation signal that leads to the blind person to listen not to know voice playback module 5 and report then can be through connecting bluetooth headset, and the blind person of being convenient for receives clear sound information.
The GPS module 9 is arranged in the crutch body 2, an ATK1218-BD big dipper dual-mode positioning module can be selected, the main controller 13 can acquire GPS information through instructions, the GPS information comprises longitude, latitude, height, speed, UTC time and the like, the main controller 13 can send the GPS information to an internet of things end in cooperation with the wireless communication module 11, when the blind is lost, a guardian can check the current position information of the blind through a WEB end, and help is provided timely.
The power module 10 provides power for the electronic part of the whole crutch, comprises a power supply and a voltage conversion module, and can convert voltage into voltage with different values, so that power is supplied to different devices, and normal operation of the system is guaranteed.
The wireless communication module 11 can be a BC-95 module, the BC-95 module is based on NB-IoT wireless communication and can be matched with the main controller 13 to be accessed to the Internet of things management platform, and data information acquired by the main controller 13 is sent to the cloud end through the wireless communication module 11, so that a guardian can check key information in real time and timely provide help for the blind when finding abnormal information.
The gesture detection module 12 can select MPU6050 chip for use, it has triaxial MEMS gyroscope, triaxial MEMS accelerometer to integrate, and a data motion processor DMP that can supply the extension, MPU6050 chip can detect the change of human triaxial acceleration and triaxial angle in real time, the digital data of output directly transmits into main control unit 13, main control unit 13 passes through the detection system algorithm of tumbleing in the ROM memory, if judge that tumbles and take place and produce an interrupt, main control unit 13 passes through the interrupt processing function, cooperate wireless communication module 11 to send help information to the cloud platform, the cloud platform sends the message to guardian's cell-phone, seek help for the blind person in time.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. An intelligent crutch for the blind, which is characterized by comprising a crutch handle, a crutch body, an SOS button, an LED warning light, a voice broadcasting module, a camera module, an ultrasonic obstacle avoidance module, a Bluetooth module, a GPS module, a power module, a wireless communication module, a posture detection module, a main controller and an LED control button, wherein,
the crutch handle and the crutch body are both cylindrical, and are L-shaped after being connected;
the main controller is arranged in the crutch body and is respectively connected with the SOS key, the LED warning lamp, the voice broadcast module, the camera module, the ultrasonic obstacle avoidance module, the Bluetooth module, the GPS module, the power supply module, the wireless communication module, the attitude detection module and the LED control key;
the SOS key, the LED warning lamp and the voice broadcasting module are arranged on the top surface of the crutch handle; the camera module is arranged at the front end of the crutch handle; the ultrasonic obstacle avoidance module is arranged at the bottom of the crutch body, an ultrasonic sensor is arranged in the ultrasonic obstacle avoidance module, and the ultrasonic sensor transmits detected ultrasonic reflection signals to the main controller;
The Bluetooth module is arranged in the crutch body; the GPS module is arranged in the crutch body and used for positioning the crutch body; the power supply module is arranged in the crutch body and comprises a voltage conversion module; the wireless communication module is arranged in the crutch body; the gesture detection module is arranged at the middle lower position in the crutch body and comprises a three-axis MEMS gyroscope and a three-axis MEMS accelerometer; the LED control key is arranged below the crutch handle.
2. The blind person walking stick of claim 1, wherein the main controller comprises an STM32F103 chip.
3. The blind person intelligent crutch of claim 1 wherein the voice broadcast module comprises an ISD1760 chip.
4. The blind person walking stick of claim 1, wherein the ultrasonic obstacle avoidance module comprises an HY-SRF05 ultrasonic ranging module.
5. The blind person walking stick of claim 1, wherein said wireless communication module comprises NB-IoTBC95 module.
6. The crutch of the blind person of claim 1 wherein the posture detection module comprises an MPU6050 chip.
7. The intelligent blind crutch of claim 1 wherein the voice broadcast module communicates with the master controller via the SPI protocol.
8. The intelligent blind crutch of claim 1 wherein the camera module comprises an OV7670 module.
9. The intelligent blind crutch of claim 1 wherein the GPS module comprises an ATK1218-BD beidou dual mode positioning module.
10. The crutch of claim 1 wherein the Bluetooth module comprises a CSR8670 chip.
CN202010576561.1A 2020-06-22 2020-06-22 Intelligent walking stick for blind person Pending CN111838907A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010576561.1A CN111838907A (en) 2020-06-22 2020-06-22 Intelligent walking stick for blind person

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010576561.1A CN111838907A (en) 2020-06-22 2020-06-22 Intelligent walking stick for blind person

Publications (1)

Publication Number Publication Date
CN111838907A true CN111838907A (en) 2020-10-30

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI768974B (en) * 2021-06-17 2022-06-21 國立臺北科技大學 Visually impaired auxiliary device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105559282A (en) * 2015-12-22 2016-05-11 王建平 Multifunctional communication walking stick
CN105769517A (en) * 2016-03-18 2016-07-20 杭州电子科技大学 Multifunctional electronic walking stick for blind person
CN108201203A (en) * 2016-12-19 2018-06-26 西安丁子电子信息科技有限公司 Intelligent blind crutch

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105559282A (en) * 2015-12-22 2016-05-11 王建平 Multifunctional communication walking stick
CN105769517A (en) * 2016-03-18 2016-07-20 杭州电子科技大学 Multifunctional electronic walking stick for blind person
CN108201203A (en) * 2016-12-19 2018-06-26 西安丁子电子信息科技有限公司 Intelligent blind crutch

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI768974B (en) * 2021-06-17 2022-06-21 國立臺北科技大學 Visually impaired auxiliary device

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