CN202471965U - Guide blind device capable of detecting position of barrier - Google Patents
Guide blind device capable of detecting position of barrier Download PDFInfo
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- CN202471965U CN202471965U CN2011205059944U CN201120505994U CN202471965U CN 202471965 U CN202471965 U CN 202471965U CN 2011205059944 U CN2011205059944 U CN 2011205059944U CN 201120505994 U CN201120505994 U CN 201120505994U CN 202471965 U CN202471965 U CN 202471965U
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Abstract
A guide blind device capable of detecting the position of a barrier is characterized in that a transmitting-receiving integrated ultrasonic sensor (3) is arranged on a stepping motor (10) horizontally, and the direction is forward. The guide blind device capable of detecting the barrier position comprises an ultrasonic oscillation circuit (1), an ultrasonic modulator circuit (2), the transmitting-receiving integrated ultrasonic sensor (3), a prepositive amplification integrated circuit (4), a retriggerable monostability trigger (5), an RS trigger (6), a microprocessor (7), a voice output circuit (8), a loudspeaker (9), the stepping motor (10), a power driving chip (11) and a battery power supply (12). After receives an echo signal, the microprocessor controls the stepping motor carrying the transmitting-receiving integrated ultrasonic sensor (3) to carry out the second detection on the barrier along a 90-degree arc, computes the distance and angle information of the barrier separately, and gives out a corresponding voice prompt. The guide blind device capable of detecting the position of the barrier of the utility model is convenient in carrying, simple in operation, specific in prompt information, and cheap in price, and enables the blind walking to be safer.
Description
Affiliated technical field
The utility model relates to a kind of sound prompt device of obstacle detection, and particularly barrier departs from the blind-guide device of the angle and distance in dead ahead.
Background technology
Existing guide instrument can not detect the accurate angle that barrier departs from the dead ahead, can only detect the distance of barrier, points out indeterminately, brings to the user and can not accurately take precautions against and dodge the difficulty of barrier.
Its shortcoming of Chinese patent 200610169717.4 " a kind of speech guide device for blind person " is: the user has used upper, middle and lower 6 transceiver sonacs; At least need 6 leads to be connected with main frame; Bring great inconvenience to the user; Though can provide the prompting that barrier is taken back forwardly or taken over, degree of accuracy can't be accomplished.The user still can't accurately take precautions against barrier.
Summary of the invention
In order to overcome the deficiency that existing blind-guide device makes progress at the detecting obstacles object space, the utility model provides a kind of detectable barrier to depart from the blind-guide device of the angle and distance in dead ahead, and simple to operate, information is clear and definite.
The utility model solves the technical scheme that its technical matters adopted: structurally employing is installed in transceiver sonac level on the stepper motor the place ahead barrier is detected; When detecting the 90 ° of covering of the fans in the place ahead, 3 meters with interior when barrier is arranged; Can calculate the distance of barrier by microprocessor; In 90 ° of covering of the fans, scan with certain rotating speed by the stepper motor that is loaded with the transceiver sonac simultaneously; When detecting barrier once more, go out the angle that stepper motor turns over by the microprocessor program algorithm computation.Thereby can provide the distance of barrier and depart from the angle in dead ahead, that is known the particular location of barrier.
The utility model comprises the transceiver sonac, supersonic oscillations circuit, ultrasound wave modulation circuit; Preposition amplification circuit can heavily trigger monostalbe trigger, rest-set flip-flop; Microprocessor control circuit and voice output circuit; Loudspeaker and stepper motor, power drive chip, battery power supply.The transceiver sonac links to each other with preposition amplification circuit with the supersonic oscillations circuit simultaneously; The supersonic oscillations circuit links to each other with the ultrasound wave modulation circuit; The ultrasound wave modulation circuit simultaneously with rest-set flip-flop with can heavily trigger monostalbe trigger and link to each other; The output of rest-set flip-flop connects microprocessor, and microprocessor connects the voice output circuit, and the voice output circuit connects loudspeaker.The signal of the 40KHz that the supersonic oscillations circuit produces is through ultrasound wave modulating circuit modulates rear drive transceiver sonac emission ultrasonic pulse; Ultrasonic pulse produces reflection after running into obstacle; The transceiver sonac receives reflection echo signal and is transferred to preposition amplification circuit; Signal is transferred to the rest-set flip-flop that is made up of 42 input nand gates through amplification, bandpass filtering, peak filtering, shaping, because transceiver sonac close can produce certain ground wave during ultrasonic emitting; Can heavily trigger the pulse shielding ground wave that monostalbe trigger produces certain pulsewidth; Modulated square wave during ultrasound emission is received the S end of rest-set flip-flop, and the echo that receives and ground wave are received R and held behind the shielding ground wave, is transformed into from the pulse width signal of turnaround time of being emitted to reception by rest-set flip-flop and delivers to the microprocessor; Draw turnaround time t, calculate the distance of barrier by programmed algorithm L=V*t/2.Microprocessor is control step motor and voice output circuit simultaneously, microprocessor to signal Processing after control speech chip driving loudspeaker plays obstacle distance information.Microprocessor is behind the signal of gathering the obstacle existence, and the stepper motor that control is loaded with the transceiver sonac is rotated scanning.In step motor control; The P1.0-P1.3 of microprocessor transmits control signal to four input ends of power drive chip respectively; Amplify the pulse signal that the weak electric signal that microprocessor is sent is converted into the required certain amplitude of the normal operation of stepper motor through overcommutation, output to A, B, C, D four phase windings of stepper motor again by four delivery outlets of power drive chip respectively.Microprocessor utilizes timer T0 to produce step-by-step impulse; Drive stepping motor changes the output arm position; Stepper motor adopts the four phase eight beat method of operation; Sense of rotation is relevant with the power-up sequence and the step mode of inner winding, is just changeing power-up sequence and is being followed successively by: A-AB-B-BC-C-CD-D-DA, the counter-rotating power-up sequence is followed successively by: A-AD-D-DC-C-CB-B-BA.In order to detect the place ahead barrier angle of living in, stepper motor carries out left-handed 45 °, and dextrorotation is 90 ° again, gets back to reference position and barrier is carried out second time searches for for last left-handed 45 °.The scanning step motor process is counted by microprocessor; When microprocessor receives echo once more; By the programmed algorithm of microprocessor count value according to angle that stepper motor turns over; Calculate the angle that barrier departs from the dead ahead, obtain directional information, report the offset direction information and the range information of barrier again through voice output drives loudspeaker.
Battery power supply is accomplished entire circuit is supplied power.
The beneficial effect of the utility model is, adopts portablely, simple to operate, and the blind-guide device that information is clear and definite makes blind person's independent ambulation safer.
Description of drawings
Below in conjunction with accompanying drawing and embodiment the utility model is further specified.
Fig. 1 is these circuit theory diagrams that use novel embodiment.Among the figure: 1. supersonic oscillations circuit, 2. ultrasound wave modulation circuit, 3. transceiver sonac; 4. preposition amplification circuit 5. can heavily trigger monostalbe trigger, 6.RS trigger; 7. microprocessor, 8. voice output circuit, 9. loudspeaker; 10. stepper motor, 11. power drive chips, 12. battery power supplies.
Fig. 2 is the scheme of installation of transceiver sonac and stepper motor, among the figure: 3. transceiver sonac, 10. stepper motor, 13. screws.
Fig. 3 is the FB(flow block) that the utility model distance of obstacle detected and departed from the dead ahead angular detection.
Fig. 4 is the utility model machine shape synoptic diagram.Among the figure: 3. transceiver sonac, 9. loudspeaker, 12. battery power supplies, 14. power switches, 15. mainframe boxes.
Embodiment
In Fig. 1; Supersonic oscillations circuit 1NE555 links to each other with transceiver sonac 3NU40A18TR with ultrasound wave modulation circuit 2NE555 simultaneously, and the R end of the rest-set flip-flop 6 that is made up of the 74HC00 Sheffer stroke gate is received in the output of sonac 3 through preposition integrated amplifier 4BL20106.The output of ultrasound wave modulation circuit 2 connects the S end of rest-set flip-flop 6 simultaneously and can heavily trigger monostalbe trigger 5CT74123; The output that can heavily trigger monostalbe trigger 5 is connected to the R end of rest-set flip-flop 6; Microprocessor 789S51 is received in the output of rest-set flip-flop 6; Microprocessor 7 control voice output circuit 8ZY1730, the output of voice output circuit 8 connects loudspeaker 9, and microprocessor 7 is connected through power drive chip 11UNL2003 with stepper motor 1028BJY48; The I/O mouth of four input termination microprocessors of power drive chip; Four phase windings of output termination stepper motor, transceiver sonac 3 levels are installed on the output arm of stepper motor 10, and battery power supply is supplied power to circuitry.
Supersonic oscillations circuit 1 produces the 40KHz transponder pulse, after 2 modulation of ultrasound wave modulation circuit, acts on transceiver sonac 3, and the ultrasonic frequency of sending is 40KHz, and umber of pulse is 10-20, and the peak-to-peak value of pulse voltage is less than 5V.The echoed signal of ultrasonic pulse acts on transceiver sonac 3, makes it produce faint voltage signal, and numerical value is about tens millivolts.Transceiver sonac 3 links to each other with preposition amplification circuit 4; Faint voltage signal in preposition integrated amplifier through after amplification, bandpass filtering, peak filtering, the shaping output peak value be the square wave about 5V; Behind diode detection, receive the R end of rest-set flip-flop 6, the output of ultrasound wave modulation circuit 2 also links to each other with the S end of rest-set flip-flop 6.Because the close of ultrasonic emitting and reception; Can produce ground wave; The output of ultrasound wave modulation circuit 2 again with can heavily trigger monostalbe trigger 5CT74123 and link to each other; The R end of rest-set flip-flop 6 is received in the output that can heavily trigger monostalbe trigger 5, with certain pulsewidth shielding ground wave, eliminates and disturbs.Equal ultrasound wave from being emitted to the turnaround time of reception through the rest-set flip-flop output pulse width, this pulse width signal is admitted to the P3.2 interface of microprocessor 7.When microprocessor external interrupt mouth 0 produces negative edge, get into interruption subroutine, the timer initialization; Whether the level of inquiry P3.2 is high; Count if height then starts timer 0, finish to stop counting up to high level, the gained time is the skyborne propagation distance of ultrasound wave.Microprocessor is according to echo time (t), and the velocity of sound (V) can calculate distance of obstacle (L), L=V*t/2.
After microprocessor collects echoed signal; Begin to carry out the external interrupt program immediately; The P1.0-P1.3 of microprocessor transmits control signal to four input ends of power drive chip respectively; Amplify the pulse signal that the weak electric signal that microprocessor is sent is converted into the required certain amplitude of the normal operation of stepper motor through overcommutation, output to A, B, C, D four phase windings of stepper motor again by four delivery outlets of power drive chip respectively.Microprocessor utilizes timer T0 to produce step-by-step impulse; Drive stepping motor changes the output arm position; Stepper motor adopts the four phase eight beat method of operation; Sense of rotation is relevant with the power-up sequence and the step mode of inner winding, is just changeing power-up sequence and is being followed successively by: A-AB-B-BC-C-CD-D-DA, the counter-rotating power-up sequence is: A-AD-D-DC-C-CB-B-BA.In order to detect the place ahead barrier angle of living in, under the control of step-by-step impulse, stepper motor at first is rotated counterclockwise 45 °, turns clockwise 90 ° then, is rotated counterclockwise 45 ° at last and returns initial position, and rotating speed is that per minute 25 changes, and stepping angle is 5.625 °.Whole process scans the 90 ° of scopes in the place ahead.The scanning step motor process is counted by microprocessor; The corresponding angle position of each count value; When microprocessor receives echo once more; By the programmed algorithm of microprocessor count value according to angle that stepper motor turns over, calculate the angle that barrier departs from the dead ahead, drive offset direction information and the range information that loudspeaker is reported barrier through speech chip again.Thereby confirm that barrier departs from the angle in dead ahead.Since then, the distance of barrier, angle are known, that is have verified the position of barrier, reach the purpose that lets the user effectively take precautions against.
Microprocessor 7 links to each other through one four line SPI interface with voice output circuit 8ZY1730 simultaneously; Microprocessor is through the SPI agreement; Report the corresponding different phonetic signal in different addresses that is stored in the voice module as required easily, the output of voice output circuit 8 is connected to loudspeaker 9, reports corresponding content; Battery power supply 12 is made up of the 12V lithium battery, to circuit supply.
The utility model obstacle detection flow process is as shown in Figure 3; At first; The transceiver sonac is forwards launched ultrasound wave, and microprocessor carries out the detection of echoed signal to it, if echo is arranged; Then carry out the data processing of S (distance)=V (speed) * t/2 (gate time), report " distance of obstacle x rice " by the voice output circuit.When the transceiver sonac detects the place ahead barrier is arranged; Microprocessor will be controlled the stepper motor that is loaded with the transceiver sonac and be rotated scanning; Barrier to the place ahead, left and right direction is differentiated; In scanning process, left and right-hand when all barrier being arranged, the voice output circuit is reported " danger "; When left has barrier and right-hand when not having, the voice output circuit is reported " left XX degree is dangerous "; Otherwise right-hand have barrier and left when not having, and the voice output circuit is reported " right-hand XX degree is dangerous ".Then, get into next circulation.
The profile synoptic diagram of the utility model is as shown in Figure 4, uses very simply, and method of application is following:
1, opens bonnet, install battery, and then cover tight bonnet by polarity.
When 2, using, only need to take the utility model, aim at the place ahead to the transceiver sonac, turn on the power switch and get final product operate as normal.This shows, very easy to use, respond well.
Claims (1)
1. the blind-guide device of a detectable barrier position; It is characterized in that comprising transceiver sonac (3), supersonic oscillations circuit (1), ultrasound wave modulation circuit (2), preposition amplification circuit (4), can heavily trigger monostalbe trigger (5), rest-set flip-flop (6), microprocessor (7), voice output circuit (8), loudspeaker (9), stepper motor (10), power drive chip (11), battery power supply (12); Transceiver sonac (3) links to each other with preposition amplification circuit (4) with supersonic oscillations circuit (1) simultaneously; Supersonic oscillations circuit (1) links to each other with ultrasound wave modulation circuit (2); The ultrasound wave that produces by supersonic oscillations circuit (1) through ultrasound wave modulation circuit (2) modulation back by transceiver sonac (3) emission, ultrasound wave modulation circuit (2) while and rest-set flip-flop (6) with can heavily trigger monostalbe trigger (5) and link to each other, the output of rest-set flip-flop (6) connects microprocessor (7); Microprocessor (7) is control step motor (10) and voice output circuit (8) simultaneously; The output of voice output circuit (8) connects loudspeaker (9), and transceiver sonac (3) level is installed on the output arm of stepper motor (10), and direction forward; Transceiver sonac (3) is after receiving echo; Be transformed into from the pulse width signal of the turnaround time that is emitted to reception by rest-set flip-flop (6) through preposition amplification circuit (4) amplification and after can heavily triggering monostalbe trigger (5) shielding ground wave, calculate, obtain range information by microprocessor; At microprocessor (7) when receiving echoed signal; The stepper motor (10) that control at once is loaded with transceiver sonac (3) carries out left-handed 45 °, 90 ° of dextrorotation, left-handed again 45 ° of scannings of getting back to reference position; Barrier is carried out the search second time; When microprocessor is received echoed signal for the second time, obtain directional information by the microprocessor program algorithm, distance and directional information provide voice suggestion by the voice output circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205059944U CN202471965U (en) | 2011-12-02 | 2011-12-02 | Guide blind device capable of detecting position of barrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205059944U CN202471965U (en) | 2011-12-02 | 2011-12-02 | Guide blind device capable of detecting position of barrier |
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| Publication Number | Publication Date |
|---|---|
| CN202471965U true CN202471965U (en) | 2012-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205059944U Expired - Fee Related CN202471965U (en) | 2011-12-02 | 2011-12-02 | Guide blind device capable of detecting position of barrier |
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| CN (1) | CN202471965U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105008955A (en) * | 2013-03-04 | 2015-10-28 | 松下知识产权经营株式会社 | Vehicular obstacle detection device, and vehicular obstacle detection system |
| CN105147504A (en) * | 2015-08-12 | 2015-12-16 | 中原工学院 | Multifunctional intelligent blind guiding crutch |
| CN105943325A (en) * | 2016-06-07 | 2016-09-21 | 北京邮电大学 | Blind guiding equipment |
| CN106443654A (en) * | 2015-08-05 | 2017-02-22 | 中国移动通信集团设计院有限公司 | Method and device of detecting obstacles |
| CN108802739A (en) * | 2018-05-31 | 2018-11-13 | 深圳臻迪信息技术有限公司 | A kind of underwater obstacle detection method and detection device |
| CN109061613A (en) * | 2018-08-03 | 2018-12-21 | 上海有个机器人有限公司 | Object detection method and system, supersonic sensing device and autonomous mobile apparatus |
| CN110368273A (en) * | 2019-07-26 | 2019-10-25 | 西南科技大学 | A kind of portable intelligent blind-guide device and method |
-
2011
- 2011-12-02 CN CN2011205059944U patent/CN202471965U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105008955A (en) * | 2013-03-04 | 2015-10-28 | 松下知识产权经营株式会社 | Vehicular obstacle detection device, and vehicular obstacle detection system |
| CN105008955B (en) * | 2013-03-04 | 2017-02-22 | 松下知识产权经营株式会社 | Vehicular obstacle detection device, and vehicular obstacle detection system |
| CN106443654A (en) * | 2015-08-05 | 2017-02-22 | 中国移动通信集团设计院有限公司 | Method and device of detecting obstacles |
| CN106443654B (en) * | 2015-08-05 | 2019-07-05 | 中国移动通信集团设计院有限公司 | A kind of method and device detecting obstacle |
| CN105147504A (en) * | 2015-08-12 | 2015-12-16 | 中原工学院 | Multifunctional intelligent blind guiding crutch |
| CN105943325A (en) * | 2016-06-07 | 2016-09-21 | 北京邮电大学 | Blind guiding equipment |
| CN108802739A (en) * | 2018-05-31 | 2018-11-13 | 深圳臻迪信息技术有限公司 | A kind of underwater obstacle detection method and detection device |
| CN109061613A (en) * | 2018-08-03 | 2018-12-21 | 上海有个机器人有限公司 | Object detection method and system, supersonic sensing device and autonomous mobile apparatus |
| CN110368273A (en) * | 2019-07-26 | 2019-10-25 | 西南科技大学 | A kind of portable intelligent blind-guide device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121003 Termination date: 20141202 |
|
| EXPY | Termination of patent right or utility model |