CN202605225U - Wearable guiding device for blind person based on wireless sensor network - Google Patents
Wearable guiding device for blind person based on wireless sensor network Download PDFInfo
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- CN202605225U CN202605225U CN 201220167539 CN201220167539U CN202605225U CN 202605225 U CN202605225 U CN 202605225U CN 201220167539 CN201220167539 CN 201220167539 CN 201220167539 U CN201220167539 U CN 201220167539U CN 202605225 U CN202605225 U CN 202605225U
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Abstract
A wearable guiding device for a blind person based on a wireless sensor network comprises a head detecting device, a waist detecting device and a leg detecting device which are in data communication through the wireless sensor network. The wearable guiding device for the blind person based on the wireless sensor network overcomes technical defects and shortcomings in the prior art, can free up both hands of the blind person when the blind person walks, can detect barriers surrounding the blind person in all directions, and correctly feeds back information of positions and heights of the barriers by vibrating. The detecting devices are communicated with one another by using the wireless sensor network, and the problems that the fed-back information about the positions of the barriers are non-uniform when the detecting devices judge the positions of the barriers independently, and a guiding device controlled by buses is inconvenient to wear are solved, so that walking safety of the blind person is guaranteed.
Description
Technical field
This utility model relates to looks barrier personnel walk supporting device, is a kind of Wearable blind-guide device based on wireless sensor network.
Background technology
To look barrier personnel walking disorder in order solving, especially to avoid the problem of barrier on the road, is the Wearable guide aid system of blind-guiding stick and only a few at present by the aid system of extensive employing.
Blind-guiding stick can be divided into two kinds of traditional blind-guiding stick and electronics blind-guiding sticks.The tradition blind-guiding stick is simple in structure, only is the common wooden stick or the rod of other materials, and its major function is exactly constantly to knock ground through the blind person to verify the interior solid obstacle of the place ahead 0.5m distance.The electronics blind-guiding stick is through adding ultrasound probe, infrared probe or photographic head is fixed by the place ahead and moving object is surveyed; When finding obstacle, sending hydropac to blind person's user arouses attention; Guide its avoiding obstacles; Through using the electron detection means, enlarged the detectable area of blind-guiding stick.Wearable guide aid system many with the supersonic sounding device that disposes on the glasses be main, it is relatively poor to keep away the barrier effect.
Because the height of blind-guiding stick is limited, be difficult for being surveyed for half unsettled high obstacle thing; Common in addition guide aid system all is to adopt alarm tone or voice to point out, and in noisy environment, this warning can be a greater impact usually, and only a few has the barrier personnel that look of dysaudia simultaneously, then can not use phonetic warning; When using blind guiding bar, need take a hands, like this when looking the barrier personnel and need bimanualness, will some inconvenience; Some Wearable guide aid system, each object wearing device all is to judge alone, when running into a higher barrier, the health in the obstacle height is dressed point and all can be reported to the police.Some centralized wired connection is made troubles to the wearing property of device again.
Summary of the invention
The problem that this utility model will solve is: existing blind-guide device is kept away the barrier effect and can not be satisfied the demands, and uses inconvenience, receives the influence of environment for use easily.
The technical scheme of this utility model is: a kind of Wearable blind-guide device based on wireless sensor network; Comprise head detection device, waist checkout gear and shank checkout gear; Be equipped with vibrational feedback unit, PMU, ZigBee MCU control unit and infrared distance measurement unit in head detection device, waist checkout gear and the shank checkout gear; ZigBee MCU control unit sends a control signal to infrared distance measurement unit and vibrational feedback unit respectively, and infrared distance measurement unit feedback signal is to ZigBee MCU control unit; The ZigBee MCU control unit of each checkout gear constitutes wireless sensor network through the ZigBee wireless connections; The head detection device to wearer all around four direction the infrared distance measurement unit is set; The waist checkout gear to a wearer left side tiltedly before, just before, right tiltedly before, tiltedly back, positive back and right tiltedly back six direction are provided with the infrared distance measurement unit on a left side; The shank checkout gear comprises that 2 thighs are kept away the hedge device and 2 shanks are kept away the hedge device, and said shank checkout gear is provided with the infrared distance measurement unit to wearer the place ahead, rear and three directions of leg outer side.
Said waist checkout gear also is provided with step frequency detecting unit.
The waist checkout gear is a network gateway, and head and shank checkout gear are network node.
This utility model overcomes technological deficiency and the deficiency that prior art exists; A kind of Wearable blind-guide device based on wireless sensor network is proposed; The both hands of looking the barrier personnel in the walking process can be liberated, the obstacle around the barrier personnel health can be omnibearing detection looked, and through vibration correct feedback barrier position and height; Use network communication of wireless sensor between each object wearing device; Solve the skimble-scamble problem of independent judgment barrier position feedback, and the wearing inconvenience problem of bus type control, thereby the safety that the blind person walks ensured.
The utlity model has following beneficial effect: one, can measure the barrier of differing heights, for the walking of looking the barrier personnel brings convenience; Two, dress easily, discharge both hands, do not have numerous and diverse line; Three, vibration type tactile feedback has been avoided the influence to voice warning of noisy surrounding; Four, cost performance is high, and is simple and practical.
Existing Worn type blind-guide device perhaps has only the detection at a single position; Perhaps each checkout gear is independent judgment, and independent judgment can only detect the barrier in the space that single-sensor covered, and need have the pick off of bigger spreadability; Cost performance is low; Through the uniting judgement and can well cover the wearer surrounding of multipoint detection device, more comprehensively environmental information is provided for dressing, the radio communication that this utility model adopts has solved the information combined problem between the multinode; Avoid the wearing challenge of wired mode, and wireless sensor network also has the advantage of low-power consumption.
Description of drawings
Fig. 1 is the system block diagram of this utility model.
Fig. 2 is the head detection device hardware block diagram of this utility model.
Fig. 3 is the shank checkout gear hardware block diagram of this utility model.
Fig. 4 is the waist checkout gear hardware block diagram of this utility model.
Fig. 5 is the system program flow chart of this utility model.
Fig. 6 is the wearing sketch map of this utility model.
Fig. 7 is the detection of obstacles sketch map of this utility model.
Fig. 8 is that calf infrared distance measurement direction changes sketch map in the walking process of this utility model.
Fig. 9 is the ground pit detection sketch map of this utility model.
The specific embodiment
This utility model is towards the walking aid system of looking the barrier personnel, comprises head detection device, waist checkout gear and three parts of shank checkout gear, and three parts are carried out data communication through wireless sensor network.Wherein the waist checkout gear is a network gateway, and head and shank checkout gear are network node.The head detection device mainly is to all around the barrier of four direction and approaching people or object detect; The waist checkout gear to a left side tiltedly before, just before, right tiltedly before, tiltedly back, positive back and right tiltedly back six direction detect on a left side; The shank checkout gear is divided into that 2 thighs are kept away the hedge device and 2 shanks are kept away the hedge device; And each device can carry out the detection of obstacles of the place ahead, rear and three directions of leg outer side; Whole system can detect through range finding type pick off and accomplish carrying out omnibearing detection around the human body like this.
Head and shank checkout gear mainly are made up of vibrational feedback unit, PMU, four parts of ZigBee MCU control unit and infrared distance measurement unit; It is characterized in that: ZigBee MCU control unit control infrared distance measurement unit emission infrared signal; And receive the infrared signal that is reflected by barrier; Analyze in the infrared distance sensor direction scope and whether have barrier; If there is barrier, control unit is looked barrier personnel alarm signal through the transmission of vibrational feedback unit.Through adopting the ZigBee technology, each checkout gear of distributed control does not need bus communication, and each checkout gear has separately independently PMU simultaneously, adopts common reusable lithium battery as power supply mode, does not need numerous and diverse power line; Each checkout gear is tied up each position at the person through bandage.The waist checkout gear also comprises a step frequency detecting unit except having above four parts, and step frequency detecting unit mainly is made up of 3-axis acceleration sensor; Be used for detecting the speed of travel of looking barrier personnel gait processes; According to the step frequently with apart from obstacle distance, when there is barrier in the place ahead, the feedback unit of checkout gear can decide the frequency of vibration of vibrating motor frequently according to the step of looking the barrier user; Be that the faster distance of speed is shorter, the vibrating motor frequency of vibration is higher.
Below in conjunction with accompanying drawing and embodiment, this utility model is done further explain.
As shown in Figure 1, comprise according to the wearable blind-guide device of the embodiment of this utility model: head detection device 101, lumbar device 106, huckle device 102,105 and calf device 103,104.Each device all is respectively to be worn on people's the body through bandage.Wherein waist checkout gear 106 is as the gateway of wireless sensor network, and other checkout gear is a network node, forms network through the self-organizing mode.101 pairs of four directions all around of dressing personnel of head detection device all have the detection of obstacles unit.Waist checkout gear 106 not only has the detection of obstacles unit on three directions in waist the place ahead; On three directions in waist rear, the detection of obstacles unit is arranged also, huckle device 102,105 and calf device 103,104 all are that forward and backward and side direction are equipped with the detection of obstacles unit.So just can around human body, set up a solid and detect circle with effective measuring distance of infrared sensor.Can provide people or the approaching information warning of thing to looking the barrier around the barrier personnel and docking near-sighted barrier personnel.
As shown in Figure 2, be the hardware block diagram of the head detection device in the blind-guide device system, system mainly comprises bandage 201 and four detection of obstacles unit 202,203,204,205.Wherein three detection of obstacles unit 202,204,205 mainly are made up of vibrating motor 210,213,211 and infrared sensor 206,208,209.Detection of obstacles unit 203 not only has radio communication function as the communication unit of head detection device, has the detection of obstacles function simultaneously.Mainly comprise power management 207, ZigBee MCU 212, infrared sensor 214 and vibrating motor 215.The power supply management of the power management 207 whole head detection devices of detection of obstacles unit 203, ZigBee MCU controls whole head device and detects control, data communication and the caution of execution feedback simultaneously.
The shank checkout gear mainly is divided into left and right sides thigh and left and right sides shank four sub-means, and structure is identical, and the checkout gear hardware block diagram is as shown in Figure 3, mainly comprises bandage 301 and three detection of obstacles unit 302,303 and 304.Wherein detection of obstacles unit 302,304 comprises infrared sensor 305,307 and vibrating motor 308,312 respectively, and detection of obstacles unit 303 mainly is made up of power management 306, ZigBee MCU 309, infrared sensor 310 and vibrating motor 311.Wherein power management 306 is identical with the unitary counterpart function of head detection with ZigBee MCU 309.
As shown in Figure 4, be waist checkout gear hardware block diagram, mainly comprise bandage 401 and 6 detection of obstacles unit 402,403,404,405,406,407.Wherein detection of obstacles unit 402,403,405,406,407 has identical structure, all is made up of infrared sensor and vibrating motor.And detection of obstacles unit 404 mainly comprises five parts, is respectively power management 409, ZigBee MCU 417,3-axis acceleration sensor 416, infrared sensor 421 and vibrating motor 422.The ZigBee MCU 417 of different with head, shank checkout gear is waist checkout gear will bear the establishment task of wireless sensor network, and the data message that other checkout gear sends is analyzed fusion, and the feedback analysis result.The waist checkout gear also comprises step frequency measuring ability simultaneously, mainly is the data acquisition to 3-axis acceleration sensor 416, can obtain the speed of person walks.
As shown in Figure 5, be the program flow diagram of whole system.After the system initialization; Through to head, waist, huckle and four position Detection devices of calf image data; The gateway that is sent to the fixed cycle; Carry out the aggregation of data analysis by gateway, in the sensing data from each checkout gear, can extract the protruding obstacle information in pothole, hollow barrier, unsettled barrier and ground.From the acceleration transducer data, learn blind person's the speed of travel, cooperate obstacle type and obstacle distance to provide caution, can understand the type of barrier from the position of vibration, understand the distance of barrier according to the frequency of vibration.Concrete data analysis process such as Fig. 7,8, shown in 9.
As shown in Figure 6, be the wearing instance of a device user, each checkout gear is dressed as in scheming.Wherein map and be left view and right view behind the device user wearing.Front view and the rearview of right figure after for device user wearing.
As shown in Figure 7, look the barrier people dress after under the state of standing to the detection of various barriers.The checkout gear of whole system is distributed as a difference in height that arrives the calf basic fixed from the head, and whole system all has a quite good detecting to the barrier of differing heights like this.Shown in figure, four stand in ground entity barrier, and the barrier of differing heights is arrived by the sensor of varying number.Detected data are sent to carry out disturbance of analysis object height degree in the gateway and judge, vibrating motor work in all checkout gears that covered by barrier gives information warning.When having only the detected barrier of calf checkout gear, calf checkout gear internal vibration motor oscillating is warned, through the speed and the distance of obstacle of person walks, and the frequency of vibration of adjustment vibrating motor, the high more explanation barrier of frequency of vibration is near more.And when calf and huckle checkout gear all detected barrier, two-part vibrating motor all provided caution.By that analogy, the obstacle protruding from ground all can be detected, and provides effective information warning.Certainly to the barrier of suspension, barrier personnel head injuries is looked on the surface, and when having only the head detection device to detect barrier, the head detection device hangs the barrier caution, lets look the barrier personnel and bow through the place ahead.And for the barrier of the hollow of similar desk; Can only detect by discontinuous checkout gear, not detect, have only the waist checkout gear to detect like huckle, calf and head detection device; Explain that the place ahead is a hollow barrier, still need point out and look the barrier personnel and detour.
As shown in Figure 8, be the substep figure of the normal walking of people.In the process of walking, the device relative position of dressing on thigh and the shank is constantly to change in time, but integral body is the cyclically-varying with 1 to 4.The infrared sensor detection side who installs in the checkout gear is to being level, and the sensor orientation of calf is changed to the periodic process of " on-Ping-down-down ".Exist so forwardly one can be by the detected barrier of calf infrared sensor, the curve chart that the range data of infrared sensor output is made is the form of a class damping vibration.From the characteristic of curve, extract whether have barrier and obstacle distance information, the frequency of vibration through button vibrating motor 201 feeds back to the device user.Equally, the data of returning for the huckle device also adopt above method to handle.
As shown in Figure 9, be the detection sketch map of system to the ground pit, because the relative position of thigh and shank is alternative each other in people's motor process, the common infrared sensor that just extracts is when lower limb stretches this naturalness and the range information of barrier.And make full use of the infrared range data of shank in this utility model, and therefrom extract the infrared range information under the calf undernatured state, thereby obtain the basic road conditions on road surface, whether pit etc. is arranged.Like figure, during person walks, be divided into four steps of 1-4, the first step, left leg can detect ground distance DL (1; I), in second step, left leg can detect ground distance DL, and (2, i), third and fourth step is divided into and obtains DR (1; I), and DR (2, i), wherein i is the i step in the walking process.When ground is more smooth, DR (i, i) and DL (i i) remains unchanged basically, and when as figure in when running into pit, its data must have distortion, so just information warning feeds back to the barrier personnel that look timely, thereby avoids falling down.
Claims (3)
1. Wearable blind-guide device based on wireless sensor network; It is characterized in that comprising head detection device, waist checkout gear and shank checkout gear; Be equipped with vibrational feedback unit, PMU, ZigBee MCU control unit and infrared distance measurement unit in head detection device, waist checkout gear and the shank checkout gear; ZigBee MCU control unit sends a control signal to infrared distance measurement unit and vibrational feedback unit respectively, and infrared distance measurement unit feedback signal is to ZigBee MCU control unit; The ZigBee MCU control unit of each checkout gear constitutes wireless sensor network through the ZigBee wireless connections; The head detection device to wearer all around four direction the infrared distance measurement unit is set; The waist checkout gear to a wearer left side tiltedly before, just before, right tiltedly before, tiltedly back, positive back and right tiltedly back six direction are provided with the infrared distance measurement unit on a left side; The shank checkout gear comprises that 2 thighs are kept away the hedge device and 2 shanks are kept away the hedge device, and said shank checkout gear is provided with the infrared distance measurement unit to wearer the place ahead, rear and three directions of leg outer side.
2. a kind of Wearable blind-guide device based on wireless sensor network according to claim 1 is characterized in that said waist checkout gear also is provided with step frequency detecting unit.
3. a kind of Wearable blind-guide device based on wireless sensor network according to claim 1 and 2 is characterized in that said waist checkout gear is a network gateway, and head and shank checkout gear are network node.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220167539 CN202605225U (en) | 2012-04-18 | 2012-04-18 | Wearable guiding device for blind person based on wireless sensor network |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220167539 CN202605225U (en) | 2012-04-18 | 2012-04-18 | Wearable guiding device for blind person based on wireless sensor network |
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| CN202605225U true CN202605225U (en) | 2012-12-19 |
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| CN 201220167539 Expired - Fee Related CN202605225U (en) | 2012-04-18 | 2012-04-18 | Wearable guiding device for blind person based on wireless sensor network |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102631280A (en) * | 2012-04-18 | 2012-08-15 | 东南大学 | Wearable blind-guiding device based on wireless sensor network and vibration feedback |
| CN104287947A (en) * | 2014-10-30 | 2015-01-21 | 北京联合大学 | Wearable intelligent guide device for blind persons |
| GB2522866A (en) * | 2014-02-06 | 2015-08-12 | Vumbl Ltd | Haptic-guidance wearable accessory |
| CN105708663A (en) * | 2016-01-20 | 2016-06-29 | 深圳视觉龙智能传感器有限公司 | Blind person guide device |
| CN107049718A (en) * | 2017-05-11 | 2017-08-18 | 英华达（上海）科技有限公司 | Obstacle avoidance apparatus |
| CN108836769A (en) * | 2018-05-16 | 2018-11-20 | 电子科技大学 | A kind of intelligent blind trip auxiliary device and method |
| CN111932866A (en) * | 2020-08-11 | 2020-11-13 | 中国科学技术大学先进技术研究院 | Wearable blind person outdoor traffic information sensing equipment |
-
2012
- 2012-04-18 CN CN 201220167539 patent/CN202605225U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102631280A (en) * | 2012-04-18 | 2012-08-15 | 东南大学 | Wearable blind-guiding device based on wireless sensor network and vibration feedback |
| GB2522866A (en) * | 2014-02-06 | 2015-08-12 | Vumbl Ltd | Haptic-guidance wearable accessory |
| CN104287947A (en) * | 2014-10-30 | 2015-01-21 | 北京联合大学 | Wearable intelligent guide device for blind persons |
| CN105708663A (en) * | 2016-01-20 | 2016-06-29 | 深圳视觉龙智能传感器有限公司 | Blind person guide device |
| CN107049718A (en) * | 2017-05-11 | 2017-08-18 | 英华达（上海）科技有限公司 | Obstacle avoidance apparatus |
| CN107049718B (en) * | 2017-05-11 | 2020-02-21 | 英华达（上海）科技有限公司 | Obstacle avoidance device |
| CN108836769A (en) * | 2018-05-16 | 2018-11-20 | 电子科技大学 | A kind of intelligent blind trip auxiliary device and method |
| CN111932866A (en) * | 2020-08-11 | 2020-11-13 | 中国科学技术大学先进技术研究院 | Wearable blind person outdoor traffic information sensing equipment |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121219 Termination date: 20140418 |