CN206193536U - It leads blind car to have bluetooth of keeping away barrier and sloping way step detection function concurrently - Google Patents
It leads blind car to have bluetooth of keeping away barrier and sloping way step detection function concurrently Download PDFInfo
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- CN206193536U CN206193536U CN201621196990.1U CN201621196990U CN206193536U CN 206193536 U CN206193536 U CN 206193536U CN 201621196990 U CN201621196990 U CN 201621196990U CN 206193536 U CN206193536 U CN 206193536U
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Abstract
The utility model discloses an it leads blind car to have bluetooth of keeping away barrier and sloping way step detection function concurrently belongs to intelligence and leads blind technical field. At automobile body front end installation steering wheel, an ultrasonic sensor, the 2nd ultrasonic sensor and acceleration sensor, installation MCU controller, direct current motor, motor driver module and power module in the automobile body, each sensor detects the information of forward march and is handled by the MCU controller, again the give -out order give motor driver module, and then the operation of control automobile body and stopping, the structure has still adopted serial communication to accomplish being connected of cell -phone and singlechip through communication module, transmits pavement condition's speech information to the blind person, lead the operation of blind car and stop to the artificial control of switch realization through installing five additional. The utility model discloses detect obstacle, step, po lu in the direction of advance, many -sided safety that ensures blind person's trip, initial realization will be led blind system and transboundary combine with the cell -phone, can man -machine interdynamic, bring a great deal of convenience for the blind person.
Description
Technical field
The utility model is related to intelligent blind-guiding technical field, is changed by sensor senses external environment and by environmental information
Blind person is passed into voice, the purpose for ensureing blind person's safety is reached.
Background technology
According to World Health Organization's recent statistics, global blind person's number about 40,000,000 or so.It is wherein most populous
Country --- China, blind person's number accounts for the 20% of world's blind person's total number of persons, ranks and beat the world.At the same time, Quan Zhong
Blind person's quantity of state is also just being continued to increase with the speed of one per minute so that China will all newly increase 450,000 blind persons every year.
At present, seeing-eye dog is still the optimal instrument of blind person's trip.It is however known that, train seeing-eye dog
Cycle be up to nearly 18 months so that training expenses are extremely expensive, and it is much too late that this also result in present seeing-eye dog quantity
Blind person's quantity this present situation.Therefore, the various guide apparatuses of every country arise at the historic moment.Today is developed to, is generally comprised following
Several classes：
(1) the single Kinect blind guiding systems under complex indoor environment, the system can detect simultaneously ground and head it
Between all barriers.
(2) classmate of Central Michigan universities develops a Multifunctional guide walking stick for blind people, and walking stick is by radio frequency
Identification technology detects the complaint message on road surface, it is possible to told as notice system by the loudspeaker that blind person carries with blind
The location of people and direction.
(3) Wearable guide utensil, is set based on the obstacle system by American university student according to his designed, designed
A belt type guide instrument of meter.The instrument is designed to two kinds of mode of operations, respectively leads pattern and panning mode.Draw
Neck pattern refers to whole from main boot blind person advance in the case where blind person is not involved in control, and panning mode is then using ultrasound
Ripple draws out the scene view in scope of activities, is reconverted into corresponding sound, notifies the barrier in the range of resource-user cost method
The information such as size, distance.
Some guide apparatuses above, with following defect：Mostly concentrate in detection obstacle information and avoidance work,
The other problemses hidden danger of blind person's trip is not accounted for, the step that blind person runs into such as is detected.On the way running into obstacle carries out voice
During prompting, conditional electronic seeing-eye dog carries out voice broadcast using buzzer, is unfavorable for that blind person differentiates in a noisy environment.
Utility model content
The technical problems to be solved in the utility model is to coordinate steering wheel to realize row with ultrasonic sensor in prior art
During entering to the detection of obstacles function in the range of the 180 degree of front on the basis of, design the second ultrasonic sensor circuit and
Acceleration sensor circuit, coordinates suitable single-chip microcomputer, realizes the detection of blind person traveling process Zhong Po roads and step detection, reaches
Ensure the purpose of blind person's safety.Further with the Bluetooth function of mobile phone, single-chip microcomputer is transboundary combined with mobile phone, realized logical
Cross the real time information such as bluetooth earphone transmission obstacle, Po Lu, step；Further guide vehicle can realize human-computer interaction, work as blind person
When substantially knowing front road conditions, the traffic direction of blind guiding system can be controlled according to the wish of oneself.
Concrete technical scheme of the present utility model is as described below.
A kind of bluetooth guide vehicle for having avoidance and slope road step detection function concurrently, structure includes wheel-mounted car body, car
Erect mechanical shaft, steering wheel, the first ultrasonic sensor on steering wheel, the MCU of the installation of car body front end for installing in body rear end
Controller, direct current generator, for drive direct current generator drive wheel movement motor drive module, be MCU controllers and motor
The power module that drive module is powered；Described MCU controllers, are the single-chip microcomputers of model STC12C5A60S2；Described electricity
Machine drive module, is mainly made up of the driving chip of model L293D；There are the second ultrasonic sensor and acceleration in structure
Sensor；The second described ultrasonic sensor, using the ultrasonic distance measuring module of model HC-SR04, ultrasonic ranging mould
T, R pin of block are connected with single-chip microcomputer P2^5 and P2^6 pin respectively, before the probe of the second ultrasonic sensor is arranged on car body
End lower section；Described acceleration transducer, using the acceleration module of model GY25,2 pin VCC of acceleration module and
GND respectively with power supply and be connected, another 2 pins RX and TX are connected with single-chip microcomputer P1^2 and P1^3 pin respectively.
Power module described in the utility model, can use three-terminal voltage-stabilizing chip 7805；Power module input 7V electricity
Source voltage is sent directly into 7805 IN pins and after voltage stabilizing is treated as 5V voltages, sent by OUT pins after being opened through switch
Powered to single-chip microcomputer.VCC5 and GND ports use as the power supply of remaining modular circuit.
Described motor drive module, circuit structure is Enable Pin EN1 and the EN2 warp of the driving chip of model L293D
The resistance for crossing 1K connects P1^4 the and P1^5 pin of single-chip microcomputer, and four IN ends connect with P1^0, P1^1, P3^4 and P3^7 of single-chip microcomputer respectively
Connect；Four OUT pins for connecting two direct current generators, and controlled motor rotating；VCC ends are without voltage stabilizing chip 7805
Directly connect the input voltage of power module, GND ends ground connection.
In order to realize being transmitted by bluetooth earphone the purpose of the real time information such as obstacle, Po Lu, step, the utility model structure
In also have communication module be housed, communication module employ OTG (English full name be On The Go) turn Serial technology complete mobile phone with
The connection of the single-chip microcomputer of model STC12C5A60S2；Particularly the micro USB ports of OTG lines are inserted into mobile phone, the other end
It is connected with male to male USB data line, and male to male USB data line is inserted the USB mother's mouths on microcomputer development plate；Using chip
CH340 realizes the level conversion during mobile phone and microcontroller serial port；The crystal oscillator of the external 11.0582MHz of single-chip microcomputer.
In order to realize human-computer interaction, solve blind person can according to the traffic direction of the wish active control guide vehicle of oneself this
One problem, also adds five to switch in the utility model structure, know to realize guide vehicle under the load conditions of front in blind person
Manual control；Described five are grounded to the common port and 7,8 pins of switch, and 1,2,3,4,6 pins are respectively through one 10K ohm
Pull-up resistor meet power supply VCC, and 1,2,3,4,6 pins connect P0^3, P0^0, P0^2, P0^1, P0^4 pipe of single-chip microcomputer respectively
Pin, performs the action of front, rear, left and right and brake hard respectively when respective pin is set to low level；Five are arranged on setting to switch
The upper end of the mechanical shaft of installation.
The utility model has the following technical effect that：
1) existing blind guiding system is substantially confined to the detection to barrier, and the other influences of environment are not accounted for external world,
The utility model does not coordinate steering wheel module to realize carrying out the barrier in the range of the 180 degree of front only with ultrasonic sensor
Detection, also realizes detection climb and fall using acceleration transducer, and ultrasonic sensor is adjusted the distance Characteristics Detection step etc. of sensitivity
Environment, many-side ensures the safety of blind person's trip.
2) the utility model is realized with mobile phone transboundary being combined blind guiding system first.By developing Mobile phone
APP, realizes that the information that sensor is collected carries out voice conversion.The introducing of smart mobile phone so that the expansion of blind guiding system
Greatly enhance.(such as blind person more convenient can at any time connect the phone that family is made, and the integrated GPS of mobile phone terminal coordinates phase
Close APP so that household can very easily learn the position of blind person, operate very easy etc.).
3) traditional blind guiding system notes road conditions using being put outside voice come reminding blind, or wears wired earphone, the former
In a noisy environment, it is unfavorable for that blind person differentiates, the latter uses wired mode to bring inconvenience for blind person.This practicality is new
Type can realize the transmission of voice signal while the above two are supported using bluetooth earphone is worn, it is to avoid the above two
Inconvenience.
Brief description of the drawings
Fig. 1 is governor circuit block diagram of the present utility model.
Fig. 2 is STC12C5A60S2 Fundamentals of Mono-Chip Computers figure of the present utility model.
Fig. 3 is that the first ultrasonic sensor of the present utility model coordinates steering wheel workflow diagram.
Fig. 4 is acceleration module detection slope road flow chart of the present utility model.
Fig. 5 is electric supply system schematic diagram circuit of the present utility model.
Fig. 6 is motor drive module circuit theory diagrams of the present utility model.
Fig. 7 is the schematic diagram that mobile phone of the present utility model communicates with MCU.
Fig. 8 is of the present utility model five to on-off principle figure.
Specific embodiment
Structure of the present utility model and operation principle are further illustrated below in conjunction with the accompanying drawings.
The general structure of the present utility model of embodiment 1.
The bluetooth guide vehicle for having avoidance and slope road step detection function concurrently of the present utility model, is divided into coring control block and hand
Two parts of machine block are designed.
Coring control block as controller, is carried out by single-chip microcomputer by modules such as acceleration transducer, 2 ultrasonic sensors
Collection information, and the information command that will be collected is sent to SCM system.SCM system receive acceleration transducer and
Respective handling is carried out after the information of road surface that ultrasonic sensor sends, motor drive module is sent instructions to, motor drives mould
Block is controlled as the device for driving guide vehicle to advance to guide vehicle traffic route.Coring control block part is in prior art
Steering wheel is coordinated to realize the basis in traveling process to the detection of obstacles function in the range of the 180 degree of front with ultrasonic sensor
On, the second ultrasonic sensor circuit and acceleration sensor circuit are devised, coordinate suitable single-chip microcomputer, realize that blind person advances
During slope road detection and step detection, reach ensure blind person's safety purpose.
Centered on mobile phone, the information that exploitation Mobile phone client sends to singlechip controller is carried out mobile phone block
Corresponding voice is transmitted after treatment, the pavement behavior in front of reminding blind.To make blind guiding system more intelligent, system also incorporates
The function of man-machine interaction, design adds five to switch, when blind person substantially understands road surface ahead situation, blind person on dolly
The running orbit of dolly can be changed according to the idea of oneself at any time.While being provided convenience for blind person, also greatly
The security for enhancing dolly.Embedded system block is solved and transmits the letter in real time such as obstacle, Po Lu, step by bluetooth earphone
The problem of breath；Further when system runs into insurmountable road conditions, blind person can realize active control flashing light, cause passerby to note
Meaning.
General structure of the present utility model is further illustrated referring to governor circuit block diagram (Fig. 1).In coring control block, with
Centered on MCU controllers (single-chip microcomputer), from the first ultrasonic sensor (with steering wheel) installed in car body front end, the second surpass
The information of obstacle, step and slope road in sonic sensor and acceleration transducer detection direction of advance is processed by MCU controllers,
Motor drive module, and then the operation all around by DC motor Driver and control wheel and stopping fortune being issued instructions to again
It is dynamic.This external structure also has the power module powered for MCU controllers and motor drive module.In embedded system block, by logical
Letter module employs OTG and turns the connection that Serial technology (serial communication) completes mobile phone and single-chip microcomputer, and corresponding road is transmitted to blind person
The voice messaging (speech utterance, bluetooth earphone) of planar condition；By erect in the mechanical shaft of body rear end five to opening
Close (that is, key-press module), the operation all around and stop motion of control guide vehicle that can be artificial.
The utility model mainly applies Android development environment and microcomputer development environment.To ensure that guide vehicle can be normal
Traveling, it is necessary to write corresponding software control procedure, the information for being collected to ultrasonic sensor and acceleration transducer respectively
Carry out real-time processing and send command adapted thereto control drive device, guide machine is determined by changing PWM (pulse width modulation)
The speed of service and traffic direction of people, with the unsafe acts such as avoid colliding.At the same time also sensor information is passed through
The language that program translation can be recognized into host computer client is sent to host computer and carries out speech utterance.
By above-mentioned mentality of designing and concrete structure, major function of the present utility model includes：(1) barrier in traveling process
Hinder thing distance detection, blind person can in time correct the direction that guide vehicle advances by the mechanical shaft on guide vehicle, so as to avoid obstacle
Thing, and calculate best route；(2) whether detection traveling front has step, and reminding blind；Detection blind person advance way in whether
Slope road is had, and reminding blind notes；(3) instruction that guide vehicle will be detected directly sends in the form of speech, and is leading
The prompting bluetooth earphone is conveyed to by blind person by Bluetooth transmission on blind car；(4) when front, road conditions dolly cannot be by conciliating
When certainly, can be helped by flashing light and voice help-asking passerby；(5) when blind person substantially understands road surface ahead situation, blind person
The running orbit of dolly can be changed according to the idea of oneself at any time.
Embodiment 2MCU controllers --- STC12C5A60S2 single-chip microcomputers.
The composition of the utility model hardware system is as core with MCU controllers (single-chip microcomputer of model STC12C5A60S2)
The heart, connection motor drive module, information acquisition module (2 ultrasonic sensors and 1 acceleration transducer), power module,
Five to compositions such as switches.
Why such single-chip microcomputer is selected, the reason for mainly have the following aspects：(1) software and hardware instruction code and tradition
8051 is completely compatible, and very fast grasp is easy to using knowledge.(2) system realizing function is not sufficiently complex, program storage
Amount is little, selects this single-chip microcomputer its program storage on the basis of the principle that conforms to the principle of simplicity is followed to fully meet demand.(3) system exists
Connect acceleration module and carry out real-time Communication for Power to cell-phone customer terminal simultaneously and be applied to two serial ports, the series monolithic has double
Serial ports meets demand, it will be appreciated, however, that the single-chip microcomputer suffix for possessing double-serial port is S2.(4) four 16 are internally integrated to determine
When device, one of them be independent Baud rate generator, to be used in serial communication.(5) machine of the series monolithic
The device cycle is 1T, and the speed of service is high, and disposal ability is strong.
Fig. 2 provides the minimum system schematic diagram of the single-chip microcomputer of model STC12C5A60S2, from Figure 2 it can be seen that
STC12C5A60S2 has 40 pins, and it includes two asynchronous, full duplex serial ports, (serial ports two, serial ports two is not shown in figure
In P2.2 and P2.3 pins), high-speed AD converter, SPI interface, and multiple I/O pins.The external 11.0582MHz's of single-chip microcomputer
Crystal oscillator so that can accurately produce the baud rate of 9600bps.Single-chip microcomputer is responsible for as the core of whole hardware system
Modules coordinate the treatment with information, and all of module all will from here draw connection.
Realization of the embodiment 3 apart from detection.
It is the important ring for making blind guiding system to complete distance detection function, can be used to realize avoidance and the inspection of blind guiding system
The function of scaffold tower rank, completes this function and employs HC-SR04 ultrasonic distance measuring modules.
Operation principle：
(1) using I/O port TRIG triggering range findings, at least high level signal of 10us；
(2) module sends 8 square waves of 40khz automatically, and whether automatic detection has signal to return；
(3) there is signal to return, a high level exported by I/O port ECHO, high level duration be exactly ultrasonic wave from
It is transmitted into the time of return.
Measuring distance=(the high level time * velocities of sound)/2, the wherein velocity of sound are 340m/s.
In order to realize while being detected to preceding object thing and detection to step, guide vehicle of the present utility model is used
Two ultrasonic sensors are detected respectively：
One of ultrasonic sensor (the first ultrasonic sensor) coordinates steering wheel to use, the P2 of steering wheel and single-chip microcomputer
^7 pins are attached, and the signal produced by the pin carries out the swing in 180 ° of front, ultrasonic sensor controlling steering wheel
Just steering wheel can be followed to be detected to the barrier in the range of 180 ° of front together after on steering wheel.It is super on steering wheel
Sonic sensor will be controlled by P3^2 the and P3^3 pins of single-chip microcomputer, and wherein P3^3 produces high level and ultrasonic sensor
T (transmission) pin connection come trigger ultrasonic wave start working, P3^4 be used for receive ultrasonic sensor R (receptions) pin product
Raw echo, time length according to the echo calculates the distance of barrier.Fig. 3 provides ultrasonic sensor and coordinates steering wheel work
Make flow chart.
Another ultrasonic sensor (the second ultrasonic sensor) is used for detecting step that step is located at ground, therefore
The probe of the second ultrasonic sensor will be arranged on the lower section of car body to detect the distance between road surface and ultrasonic sensor,
When the distance for detecting becomes big suddenly, will be judged to that there is step in front, guide vehicle will be stopped immediately.Second ultrasonic wave is passed
T, R pin of sensor will be controlled by the P2^5 and P2^6 of single-chip microcomputer respectively.
The acceleration transducer of embodiment 4 realizes the detection function to slope road.
In order that guide vehicle can detect front slope road, acceleration module is have selected in design process --- GY25.Guide
Car can produce acceleration in upward slope or descending, and acceleration module is internally integrated gyroscope, can detect this change
Come, and the change of this acceleration be converted into corresponding angle by internal calculation to change.Acceleration module is by this angle
Change simultaneously by microcontroller serial port by angle value send pass by, single-chip microcomputer according to this angle value judge system upward slope or under
Slope.Fig. 4 provides acceleration module detection slope road flow chart.
The acceleration module of model GY25 has four pins, except two VCC and GND connect high level with ground respectively
Outward, remaining two RX and TX pins will be attached with the serial ports two of single-chip microcomputer and realize data is activation and reception respectively.Serial ports
The two P1^2 and P1^3 pins for being located at single-chip microcomputer.
The power module of embodiment 5.
In the guide vehicle course of work, use 7.4V power supplys and power, be at the same time obtained in that 5V voltages to monolithic
Machine is powered.Power module uses three-terminal voltage-stabilizing chip 7805.
Fig. 5 is the utility model power supply power pack circuit diagram, from figure 5 it can be seen that input more than 7V supply voltages
To be sent directly into 7805IN pins and carry out voltage stabilizing after being opened through switch and be treated as 5V voltages, single-chip microcomputer will be given by OUT pins
Power supply.The electric capacity used in circuit is reactance component, serves the effect of stabilizing circuit voltage.
The motor drive module of embodiment 6.
The utility model is presented in the form of intelligent vehicle, and all of device all will complete connection and real on car body
Existing its corresponding function, allows intelligent vehicle to move a collection that the driving chip for getting up employs Texas Instruments' production in the U.S.
Micromachine driving chip L293D Cheng Du very high.
Fig. 6 show the schematic diagram of motor drive module.As seen from Figure 6, by L293D chips Enable Pin by 1K resistance
The pin of single-chip minimum system is connected to, driving chip is enabled come the level of controlling switch by software.T1 and T2 will distinguish
It is connected on direct current generator, with the high or low rotating come controlled motor of four OUT pins of chip, so as to determine guide
Car is to advance, retreat, turn left, turn right or stop.The input voltage requirement of chip is noted for more than 7V, therefore by input voltage
The VCC of L293D is directly connected to without voltage stabilizing chip.EN1 the and EN2 pin of chip are its Enable Pins, and two Enable Pins illustrate chip
There are two drivers can be while control two motor rotations, when EN is set to 1, corresponding driver starts can control electricity
Motivation, on the contrary EN, when being set to 0, corresponding driver is forbidden.The EN1 and EN2 of L293D are respectively by the P1^4 and P1^5 of single-chip microcomputer
To control.Four OUT output pins of L293D and input IN keep same phase, four IN ends P1^0 respectively with single-chip microcomputer,
P1^1, P3^4 and P3^7 are connected.
The communication module of embodiment 7.
The communication mode of control core MCU and mobile phone terminal employs OTG and turns Serial technology.Using mobile phone terminal as main frame, MCU
Controller is inserted into mobile phone as slave, the micro USB ports of OTG lines, and the other end is connected with male to male USB data line, and will
USB mother's mouths on male to male USB data line insertion MCU development boards, that is, complete the connection of main frame and slave.For realize mobile phone and
Level conversion during microcontroller serial port, the chip CH340 of the Hang Seng's product that oozed using Nanjing.
By Fig. 7 it can be seen that, TX the and RX pins of CH340 are coupled with the serial ports one of MCU, and the serial ports one of MCU is located at single
Two pins of P3^0 and P3^1 of piece machine, UD+ and UD- is connected with DOUT the and DIN data-interfaces of USB interface, USB interface it is another
One end connects male to male USB data line and OTG connecting lines, is connected to mobile phone, that is, complete hardware connection.Be can also be seen that in figure
CH340 operationally needs to provide the crystal oscillator of 12MHz.When being worked due to MCU be Transistor-Transistor Logic level, therefore CH340 work when chip on
RS232 pins without using.
In addition need to use Java context, develop Mobile phone client to adopt the data that single-chip microcomputer is transmitted
Collection and treatment, corresponding voice messaging is converted into through algorithm.Software enables start from pattern is opened, without manually operated.
The realization of the human-computer interaction function of embodiment 8.
Blind guiding system using five to switch control single chip computer pin low and high level values, single-chip microcomputer judges corresponding pin
After level value, realized to motor-driven regulation and control by software program, finally realizing makes blind person substantially know front road
During condition, traffic direction can be arbitrarily changed according to the wish of oneself control guide vehicle.
In order to improve safety coefficient, manual control function setting is highest priority by program.Do not controlled in blind person
Using the detection case according to sensor come the traffic direction of decision systems when processed, but corresponding run action is being carried out each time
When, whether the intervention for having manual control will be in advance detected down in program, if it has, during just control function is thought in incision immediately
Go.
Fig. 8 show of the present utility model five and is grounded to on-off principle figure, the common port of switch and 7,8 pins, other ends
Mouth is all followed by high level by one 10K ohm of pull-up resistor.In near end, each pin will access single-chip microcomputer
P0 mouthfuls of respective pin, when switch is off, the P0 mouthfuls of respective pin for being connected will be set to high level, any one
Direction turns on, and the corresponding P0_x of the direction will be set to low level.Single-chip microcomputer continually scans for these pins, is realized by writing program
Respective pins perform the action of front, rear, left and right and brake hard respectively when being set to low level.Five introducings of switch so that lead
Blind car is more intelligent, enhances the function of man-machine interaction, and when blind person substantially understands road surface ahead situation, blind person can be with office
The meaning moment changes the running orbit of guide vehicle according to the idea of oneself, while being that blind person provides convenience, also greatly enhancing
The security of blind person's trip, because this means of manual control system operation direction will be set to limit priority, Mang Renke
To realize that system emergency is braked at any time.Without operation when, system will automatically switch according to each sensor information intelligence
Running status.
Claims (5)
1. a kind of bluetooth guide vehicle for having avoidance and slope road step detection function concurrently, structure includes wheel-mounted car body, car body
Erect mechanical shaft, the steering wheel of car body front end installation, the first ultrasonic sensor on steering wheel, the MCU controls installed in rear end
Device processed, direct current generator, for driving direct current generator to drive the motor drive module of wheel movement, being that MCU controllers and motor drive
The power module of dynamic module for power supply；Characterized in that, described MCU controllers, are the single-chip microcomputers of model STC12C5A60S2；
Described motor drive module, is mainly made up of the driving chip of model L293D；There is the second ultrasonic sensor in structure
And acceleration transducer；The second described ultrasonic sensor, using the ultrasonic distance measuring module of model HC-SR04, ultrasound
T, R pin of ripple range finder module are connected with single-chip microcomputer P2^5 and P2^6 pin respectively, and the probe of the second ultrasonic sensor is arranged on
The front end lower section of car body；Described acceleration transducer, using the acceleration module of model GY25,2 of acceleration module
Pin VCC and GND respectively with power supply and be connected, another 2 pins RX and TX respectively with single-chip microcomputer P1^2 and P1^3 pin connect
Connect.
2. the bluetooth guide vehicle for having avoidance and slope road step detection function concurrently according to claim 1, it is characterised in that institute
The power module stated, employs three-terminal voltage-stabilizing chip 7805；Power module is input into after 7V supply voltages are opened through switch and directly send
Entering 7805 IN pins after voltage stabilizing is treated as 5V voltages, gives single-chip microcomputer by OUT pins and power, VCC5 and GND ends
Mouth is used as the power supply of remaining modular circuit.
3. the bluetooth guide vehicle for having avoidance and slope road step detection function concurrently according to claim 1 and 2, its feature exists
In described motor drive module, circuit structure is the Enable Pin EN1 and EN2 of the driving chip of model L293D by 1K
Resistance connects P1^4 the and P1^5 pin of single-chip microcomputer, and four IN ends connect with P1^0, P1^1, P3^4 and P3^7 of single-chip microcomputer respectively；Four
Individual OUT pins for connect two direct current generators, and controlled motor rotating；VCC ends are direct without voltage stabilizing chip 7805
Connect the input voltage of power module, GND ends ground connection.
4. the bluetooth guide vehicle for having avoidance and slope road step detection function concurrently according to claim 1, it is characterised in that knot
There is communication module in structure, communication module employs OTG and turns the list that Serial technology completes mobile phone and model STC12C5A60S2
The connection of piece machine；Particularly the micro USB ports of OTG lines are inserted into mobile phone, and the other end is connected with male to male USB data line,
And male to male USB data line is inserted the USB mother's mouths on microcomputer development plate；Mobile phone and single-chip microcomputer are realized using chip CH340
Level conversion during serial ports；The crystal oscillator of the external 11.0582MHz of single-chip microcomputer.
5. the bluetooth guide vehicle for having avoidance and slope road step detection function concurrently according to claim 1, it is characterised in that knot
Also have five in structure to switch, the manual control of guide vehicle is realized in the case where blind person knows front load conditions；Described five to switch,
Common port and 7,8 pins are grounded, and 1,2,3,4,6 pins meet power supply VCC5 respectively through one 10K ohm of pull-up resistor, and
1st, 2,3,4,6 pins connect P0^3, P0^0, P0^2, P0^1, P0^4 pin of single-chip microcomputer respectively, when respective pin is set to low level
The action of front, rear, left and right and brake hard is performed respectively；Five are arranged on the upper end for erectting the mechanical shaft installed to switch.
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| CN201621196990.1U CN206193536U (en) | 2016-11-04 | 2016-11-04 | It leads blind car to have bluetooth of keeping away barrier and sloping way step detection function concurrently |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813782A (en) * | 2017-11-29 | 2018-03-20 | 吉林大学 | Automobile abrupt slope passes through property anticipation and caution system and method |
| CN108417003A (en) * | 2018-04-26 | 2018-08-17 | 华南理工大学 | A kind of data acquisition device based on electric bicycle |
| CN109375224A (en) * | 2018-09-30 | 2019-02-22 | 小狗电器互联网科技（北京）股份有限公司 | A kind of steep cliff detection method, device and sweeping robot |
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2016
- 2016-11-04 CN CN201621196990.1U patent/CN206193536U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107813782A (en) * | 2017-11-29 | 2018-03-20 | 吉林大学 | Automobile abrupt slope passes through property anticipation and caution system and method |
| CN107813782B (en) * | 2017-11-29 | 2023-09-12 | 吉林大学 | System and method for pre-judging and warning passing property of abrupt slope of automobile |
| CN108417003A (en) * | 2018-04-26 | 2018-08-17 | 华南理工大学 | A kind of data acquisition device based on electric bicycle |
| CN109375224A (en) * | 2018-09-30 | 2019-02-22 | 小狗电器互联网科技（北京）股份有限公司 | A kind of steep cliff detection method, device and sweeping robot |
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