CN207249118U - The laser scanning range-finding device of glasses for guiding blind - Google Patents
The laser scanning range-finding device of glasses for guiding blind Download PDFInfo
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- CN207249118U CN207249118U CN201721224756.XU CN201721224756U CN207249118U CN 207249118 U CN207249118 U CN 207249118U CN 201721224756 U CN201721224756 U CN 201721224756U CN 207249118 U CN207249118 U CN 207249118U
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- laser
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- steering engine
- fixed platform
- processor
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Abstract
The utility model discloses a kind of laser scanning range-finding device of glasses for guiding blind, including fixed platform, laser, camera, processor, steering engine and stabilizer, laser is set, camera is set on the stationary platform, and camera focus and laser are at grade, laser is tilted down along camera direction, the laser that laser is launched is set to enter camera after reflection, laser rear end is equipped with bevel gear, the top of steering engine is equipped with bevel gear, and with the bevel gear of laser is in 90 ° engages, servos control laser rotates, fixed platform, steering engine is arranged on stabilizer, laser is a wordline infrared laser, camera is narrow aglow outer CMOS camera, camera, steering engine is electrically connected with processor.The utility model is collocated with infrared camera using wordline infrared laser scanning ranging, can measure with 58 meters of distances for each object in radius three dimensions, while stablizes whole device using stabilizer, and rocking for wearer is offset with this.
Description
Technical field
Blind-guide device field is the utility model is related to, espespecially a kind of laser scanning range-finding device of glasses for guiding blind.
Background technology
At present, blind person is still using conventional art guide, and most of blind person walks by blind man's stick, least a portion of by nurse
Or nurse accompanies, there is few part to use seeing-eye dog；And blind man's stick investigative range is limited to and inconvenient to carry, nurse or nurse accompany
Same both expensive, seeing-eye dog culture funds are too high time-consuming too long, these are all unfavorable for expeditiously assisting blind walking.
For this reason, occurs new and high technology guide equipment such as ultrasonic blind guiding instrument on the market, using TOF measurement technology, measurement
Wearer to barrier distance and feed back to wearer.But ultrasonic listening distance limitation, ultrasonic wave speed easily by
Medium influence, ultrasonic propagation direction are easily subject to air speed influence, ultrasonic response time length to be unfavorable for report etc. rapidly, are all
The fatal defects of ultrasound waveguide equipment of blind.
And for example infrared guide equipment, ranging is carried out using TOF technologies or range of triangle formula.Due to possessing the object of temperature
Infrared ray will be launched, therefore the sensor of infrared guide equipment is easily influenced be subject to other infrared rays, it is especially violent in outdoor solar light
When strong, easily there is mistake measurement.
For another example the guide equipment based on binocular ranging, using robot vision principle measurement barrier position and away from
From.But since algorithm is complicated, precision is not high, and needs powerful processor to do image analysis processing, in power consumption and funds
On be all technology popularization major obstacles.
In addition, application of the guide equipment in terms of laser ranging technique is broadly divided into laser ranging and laser radar two
Point.
At present, known laser ranging instrument principle has two kinds, the first is by launching light pulse, is reflected through measured object
Afterwards, light pulse returns to distance mearuring equipment reception system, by measuring round trip propagation time t of the light pulse on testing distance L, again
Because of light velocity c it is known that drawing testing distance according to L=tc；Be for second by measure the light wave of continuous modulation on testing distance it is past
Phase place change occurred is broadcast in back pass, to obtain testing distance.But no matter the laser ranging instrument of which kind of principle, laser
All be the laser for launching a branch of point-like, be all point-to-point measurement, that is, the distance measured be instrument to some specific point away from
From, it is impossible to while obtain the range information of each barrier in visual field.
And civilian laser radar on the market, in the technology of laser ranging, allow laser transmitting-receiving device to rotate a circle, obtain
The information of one cricoid 2 dimensional region.The information of this technical limit spacing still cannot equivalent to a section of three dimensions
Comprehensively obtain the range information of each barrier in visual field.
The content of the invention
Cause cost to solve existing technology for guiding blind detection range and scope limitation, the easy error of measurement, technical sophistication
The problem of huge, the utility model provide a kind of laser scanning range-finding device of glasses for guiding blind, former based on laser scan type ranging
Reason, can rapidly and accurately measure barrier interior in a big way and feed back to wearer, and low in energy consumption, and cost is low, beneficial to popularization.
To achieve the above object, the technical solution adopted in the utility model is to provide a kind of laser scanning survey of glasses for guiding blind
Away from device, including fixed platform, laser, camera, processor and stabilizer, the laser is connected to by ball bearing
The top of fixed platform, the camera are arranged on the bottom of fixed platform, and cam lens focus with laser same
In plane, laser is tilted down along camera direction, the laser that laser is launched is entered camera after reflection, described to swash
Light device rear end is equipped with bevel gear, and the back side of the fixed platform is equipped with steering engine, and the top of the steering engine is equipped with bevel gear, and with
The bevel gear engagement in 90 ° of laser rear end, steering engine rotate laser by the rotation of bevel gear, the fixed platform, rudder
Machine is respectively fixedly disposed on stabilizer, and the laser is a wordline infrared laser, and the camera is narrow aglow outer
CMOS camera, the camera are electrically connected with the input terminal of processor, and the steering engine is electrically connected with the output terminal of processor.
Wherein, the stabilizer is internally provided with gyro sensor, the input terminal of the gyro sensor and processor
It is electrically connected.
Wherein, warning device is further included, the warning device includes reporting earphone and vibrating motor, the report earphone,
Vibrating motor is electrically connected with the output terminal of processor.
To achieve the above object, the technical solution adopted in the utility model also provides a kind of laser scanning survey of glasses for guiding blind
Away from device, including steering engine is fixed at described in fixed platform, laser, camera, processor, stabilizer, fixing bracket
The side of fixed rack, the fixed platform is movably connected in support bracket fastened opposite side, and fixed platform one end is equipped with bevel gear,
The top of the steering engine is equipped with bevel gear, and with the bevel gear of fixed platform one end is in 90 ° engages, steering engine passes through bevel gear
Rotation overturns fixed platform, and the laser is arranged on the top of fixed platform, and the camera is arranged on fixed platform
Bottom, and cam lens focus and laser are at grade, laser is tilted down along camera direction, makes laser
The laser of transmitting enters camera after reflection, and the laser is a wordline infrared laser, and the camera is narrow aglow
Outer CMOS camera, the stabilizer are internally provided with gyro sensor, the input terminal of the gyro sensor and processor
It is electrically connected, the camera is electrically connected with the input terminal of processor, and the steering engine is electrically connected with the output terminal of processor.
Wherein, the fixing bracket is equipped with two stands bar, and the both sides of the fixed platform are flexibly connected with cradling piece.
The beneficial effects of the utility model are：
1. in order to which the laser solved on the market is this difficult point for the distance for measuring point-to-point, the utility model is researched and developed new
Ranging technology, scans ranging, the rotation sweep under the control of steering engine, makes in one conical surface in front using a wordline infrared laser
The all illuminated laser of object, what is measured is the range information of each point in a three dimensions；In order to identify laser, and avoid
The content of common camera shooting is numerous and diverse, and camera carries out laser intelligence collection using narrow aglow outer CMOS camera, avoids it
His light disturbance；So using mass data fitting distance algorithm, do not lose accurate and cost-effective；
The information of wobble effects measurement when 2. wearer walks about in order to prevent, stablizes whole laser by using stabilizer
Range unit is scanned, rocking for wearer is offset with this, keeps laser scanning range-finding device to stablize relatively；
3. in configuration aspects, the big ting model of laser and miniature webcam and combination position relationship are set again
Meter, by controlling the direction of laser emitting laser and the angle of horizontal direction, and a wordline infrared laser center with taking the photograph
Picture head photo-sensitive cell is separated by a distance, can adjust the effective distance information in measurement different range so that whole laser scanning
Ranging transceiver module occupies little space.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model first embodiment.
Fig. 2 is the structure diagram of the utility model second embodiment.
Fig. 3 is the point-like laser schematic diagram of the utility model.
Fig. 4 is the linear laser schematic diagram of the utility model.
Fig. 5 is the planar Principles of Laser figure of the utility model.
Drawing reference numeral explanation：1- fixed platforms；2- lasers；3- cameras；4- steering engines；5- bevel gears；6- ball bearings；
7- stabilizers, 8- fixing brackets；9- cradling pieces.
Embodiment
The utility model is described in detail with reference to specific embodiment and Figure of description.
Embodiment one：
Refering to Figure 1, the first embodiment of the utility model is a kind of laser scanning range-finding device of glasses for guiding blind,
Including fixed platform 1, laser 2, camera 3, processor and stabilizer 7, the laser 2 is connected to by ball bearing 6
The top of fixed platform 1, the camera 3 is arranged on the bottom of fixed platform 1, and 3 camera lens focus of camera exists with laser 2
On same plane, laser 2 is tilted down along 3 direction of camera, makes to enter camera after the laser that laser 2 is launched is emitted
3,2 rear end of laser is equipped with bevel gear 5, and the back side of the fixed platform 1 is equipped with steering engine 4, and the top of the steering engine 4 is equipped with
Bevel gear 5, and with the bevel gear 5 of 2 rear end of laser is in 90 ° engages, steering engine 4 revolves laser 2 by the rotation of bevel gear 5
Turning, the fixed platform 1, steering engine 4 are respectively fixedly disposed on stabilizer 7, and the laser 2 is a wordline infrared laser,
The camera 3 is narrow aglow outer CMOS camera, and the camera 3 is electrically connected with the input terminal of processor, the steering engine 4 with
The output terminal of processor is electrically connected.
The utility model is rotated using processor control steering engine 4 so that a wordline infrared laser is in front while rotation
While irradiation, that is, scan a conical region, meanwhile, it is radiated at by narrow aglow outer CMOS camera collection red on object
The reflected light of outer laser, afterwards, 3 illuminant module of camera return to view data in processor, and information is extracted with processor
And be fitted by mass data, what is summarized is the range information of each point in a three dimensions, and the utility model can be surveyed
Amount stablizes whole device with the 5-8 meters of distances for each object in radius three dimensions using stabilizer 7, with this
Rocking for wearer is offset, is not lost accurate and cost-effective.
In the present embodiment, the stabilizer 7 is internally provided with gyro sensor, the gyro sensor and processor
Input terminal is electrically connected, and gyro sensor measures the departure degree of whole device, and the processor moment reads gyro sensor
Return value, and controller is immediately passed through to control steering engine 4 to rotate, adjustment 4 corner of steering engine compensates so that fixed platform 1 is just
Forward-facing.
In the present embodiment, warning device is further included, the warning device includes reporting earphone and vibrating motor, the report
Earphone, vibrating motor are electrically connected with the output terminal of processor, judge whether that needs are hided by processor in the distance for obtaining barrier
After keeping away, the position that earphone reports barrier is reported if desired for then control；Detect barrier very close to when, control report ear
Machine exports alarm and controls vibrating motor to send vibration prompting, allows wearer to stop immediately, adjustment direction.
Embodiment two：
Referring to shown in Fig. 2, the second embodiment of the utility model is a kind of laser scanning range-finding device of glasses for guiding blind,
Including fixed platform 1, laser 2, camera 3, processor, stabilizer, fixing bracket 8 and steering engine 4, the steering engine 4 is fixed and set
Put in the side of fixing bracket 8, the fixed platform 1 is movably connected in the opposite side of fixing bracket 8, and 1 one end of fixed platform
Equipped with bevel gear 5, the top of the steering engine 4 is equipped with bevel gear 5, and with the bevel gear 5 of 1 one end of fixed platform is in 90 ° engages,
Steering engine 4 overturns fixed platform 1 by the rotation of bevel gear 5, and the laser 2 is arranged on the top of fixed platform 1, described to take the photograph
As first 3 bottoms for being arranged on fixed platform 1, and 3 camera lens focus of camera with laser 2 at grade, laser 2 is along taking the photograph
As first 3 direction tilts down, the laser that laser 2 is launched is set to enter camera 3 after reflection, the laser 2 is a wordline
Infrared laser, the camera 3 are narrow aglow outer CMOS camera, and the camera 3 is narrow aglow outer CMOS camera, institute
State stabilizer and be internally provided with gyro sensor, the gyro sensor is electrically connected with the input terminal of processor, the shooting
First 3 are electrically connected with the input terminal of processor, and the steering engine 4 is electrically connected with the output terminal of processor.
The utility model is rotated at the same time using processor control 4 rotational angle of steering engine, control laser 2 and camera 3, and one
Wordline infrared laser irradiates above and below front, that is, scans a conical region, meanwhile, adopted by narrow aglow outer CMOS camera
Collect the reflected light for the infrared laser being radiated on object, 3 illuminant module of camera returns to view data in processor, uses
Processor extracts information and is fitted by mass data, and what is summarized is the range information of each point in a three dimensions, this
Utility model can be measured with the 5-8 meters of distances for each object in radius three dimensions, do not lost accurate and cost-effective.
In the present embodiment, the fixing bracket 8 is equipped with two stands bar 9, both sides and the cradling piece 9 of the fixed platform 1
It is flexibly connected, controller can control steering engine 4 by controller, and steering engine 4 drives fixed platform 1 by bevel gear 5, control
2 moment of laser ceaselessly rotates, and may know that by geometric knowledge, and adult is moved in face, and the planar scope of laser irradiation is after rotation
Stereo structure scope is obtained, processor obtains LASER SPECKLE information from the image of 3 photo-sensitive cell of camera, so that calculating to obtain
Distance using blind person's wearer's head as the barrier in a forward conical surface on vertex.
Below by embodiment, the utility model is described in further detail.
Refering to shown in Fig. 3-5, the laser scanning and ranging principle of the utility model is as follows：
As shown in Figure 3 assumes that laser projects point-like laser, and laser emitting center A and focus F are in the same lead of same plane
Hammer into shape on straight line, laser emitting center to d meters of camera focal length, laser emitting direction and horizontal direction angle are θ, quadrangle
Dark areas is the photosensitive region of camera, and f meters of lens focus, it is p meters that it is actual, which to image first pixel,.Can by lens imaging principle
To obtain similar triangles, laser emitting center A can be obtained to object M by being calculated by the likelihood ratio1Distance：Apart from unknown quantity
AM1M can be passed through1Position x of the hot spot in camera imaging1、y1By specific function AM1=f1（x1, y1）Determine;Wherein parameter focal length f,
Laser emitting center to camera focal length d, laser emitting direction and horizontal direction angle theta, image first pixel reality
The long p of length is the known quantity of experiment gained.
It is assumed that laser projects linear laser, parameter constant.Similar three are obtained by convex lens imaging principle
It is angular, it is easy to M is calculated by similar1M3Length, AM is derived by Fig. 3 by above-mentioned1Length, determines further according to stock is hooked
Reason can obtain AM3Length.Laser emitting center A to object M3Apart from unknown quantity AM3M can be passed through3Hot spot is in camera imaging
Position x3、y3By specific function AM3=f3（x3, y3）Determine；Wherein parameter focal length f, laser emitting center to camera focus away from
From d, laser emitting direction and horizontal direction angle theta, image the known quantity that the long p of first pixel physical length is experiment gained.
As shown in figure 5, when laser is around the direction of laser emitting（That is AM1Direction）Rotation, can obtain a circular cone
Face.The mode obtained from circular conical surface, ray AM1For the axis of circular cone, line segment AM4Length be length to be measured.With
Lower construction one is using A as vertex, AM1For axis, AM4For the straight circular conical surface of busbar.Obviously, the bottom of the circular conical surface is positive round, the circle
A radius in the horizontal direction is the line segment M in the case of being previously discussed as1M3, and busbar grows identical AM3=AM4, institute
With " by M4The AM that hot spot is solved in the position coordinates of camera imaging4Length " can be converted into " by M4Hot spot is in camera imaging
Position coordinates is solved by M3Hot spot camera imaging position coordinates, so as to obtain AM3Length, and then obtain AM4Length
Degree ".
Since in horizontal direction there is angle theta in laser emitting direction, the plane where the bottom of the circular conical surface is not and camera
The plane at place is parallel, but has a same angle theta, this causes the positive round of circular conical surface bottom on camera to seem one
A in the vertical direction " circle of flattening ".This circle is projected as ellipse in the plane where photo-sensitive cell（Big waves is appointed to close
In projection of the circle in some planes be elliptical proof [J] middle school teaching, 2007（8）In once referred to）, by circle place
Plane included angle where plane and camera understands that the ratio between oval semi-minor axis and major semiaxis are cos θ for θ.Assuming that elliptical center exists
Origin, is easy to get on ellipse a little and elliptical center line and the angle of x-axis forward direction are denoted as φ according to elliptic parametric equation：tanφ
=cos θ tan ψ, herein ψ be exactly the rotating angle of servos control laser.If camera measures M4Hot spot is in camera imaging
Position coordinates be（x4, y4）, M can be calculated by elliptic parametric equation, oval the ratio between semi-minor axis and major semiaxis3Hot spot is imaging
The position coordinates of head imaging.AM is derived by Fig. 4 by above-mentioned3Length, M3Position coordinates generation of the hot spot in camera imaging
Enter corresponding AM3Length by length formula, can obtain AM3Length, and as it is assumed that normal cone busbar grow identical, i.e. AM4=AM3, most
Required AM is obtained eventually4Length, be denoted as S.
In conclusion the distance S of laser emitting center to object can be by the hot spot of the object reflection laser in camera
The position x of middle imaging, y-coordinate and at this time laser determined by the rotating angle ψ of servos control, i.e. S=G（X, y, ψ）；Wherein
Focal length f, laser emitting center to camera focal length d, laser emitting direction and horizontal direction angle theta, image first picture
The plain long p of physical length is the known quantity of experiment gained.
Embodiment of above is only that the preferred embodiment of the utility model is described, not to the utility model
Scope be defined, on the premise of the spirit of the design of the utility model is not departed from, this area ordinary skill technical staff to this
The various modifications and improvement that the technical solution of utility model is made, should all fall into the guarantor that claims of the utility model determine
In the range of shield.
Claims (5)
1. a kind of laser scanning range-finding device of glasses for guiding blind, including fixed platform, laser, camera and processor, it is special
Sign is：Stabilizer is further included, the laser is connected to the top of fixed platform by ball bearing, and the camera is set
In the bottom of fixed platform, and cam lens focus and laser are at grade, and laser is downward along camera direction
Tilt, the laser that laser is launched is entered camera after reflection, the laser rear end is equipped with bevel gear, and the fixation is put down
The back side of platform is equipped with steering engine, and the top of the steering engine is equipped with bevel gear, and with the bevel gear of laser rear end is in 90 ° engages,
Steering engine rotates laser by the rotation of bevel gear, and the fixed platform, steering engine are respectively fixedly disposed on stabilizer, described
Laser is a wordline infrared laser, and the camera is narrow aglow outer CMOS camera, the camera and processor
Input terminal is electrically connected, and the steering engine is electrically connected with the output terminal of processor.
2. the laser scanning range-finding device of glasses for guiding blind according to claim 1, it is characterised in that：Inside the stabilizer
Equipped with gyro sensor, the gyro sensor is electrically connected with the input terminal of processor.
3. the laser scanning range-finding device of glasses for guiding blind according to claim 1, it is characterised in that：Further include alarm dress
Put, the warning device includes reporting earphone and vibrating motor, the output terminal electricity for reporting earphone, vibrating motor and processor
Connection.
4. a kind of laser scanning range-finding device of glasses for guiding blind, including fixed platform, laser, camera and processor, it is special
Sign is：Stabilizer, fixing bracket and steering engine are further included, the steering engine is fixed at support bracket fastened side, the fixation
Platform activity is connected to support bracket fastened opposite side, and fixed platform one end is equipped with bevel gear, and the top of the steering engine is equipped with umbrella
Gear, and with the bevel gear of fixed platform one end is in 90 ° engages, steering engine overturns fixed platform by the rotation of bevel gear,
The laser is arranged on the top of fixed platform, and the camera is arranged on the bottom of fixed platform, and cam lens are burnt
With laser at grade, laser tilts down point along camera direction, makes the laser that laser is launched after reflection
Into camera, the laser is a wordline infrared laser, and the camera is narrow aglow outer CMOS camera, described steady
Determine device and be internally provided with gyro sensor, the gyro sensor is electrically connected with the input terminal of processor, the camera with
The input terminal of processor is electrically connected, and the steering engine is electrically connected with the output terminal of processor.
5. the laser scanning range-finding device of glasses for guiding blind according to claim 4, it is characterised in that：On the fixing bracket
Equipped with two stands bar, both sides and the cradling piece activity of the fixed platform connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721224756.XU CN207249118U (en) | 2017-09-22 | 2017-09-22 | The laser scanning range-finding device of glasses for guiding blind |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721224756.XU CN207249118U (en) | 2017-09-22 | 2017-09-22 | The laser scanning range-finding device of glasses for guiding blind |
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| Publication Number | Publication Date |
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| CN207249118U true CN207249118U (en) | 2018-04-17 |
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ID=61886674
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|---|---|---|---|
| CN201721224756.XU Active CN207249118U (en) | 2017-09-22 | 2017-09-22 | The laser scanning range-finding device of glasses for guiding blind |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111228090A (en) * | 2020-01-14 | 2020-06-05 | 卡登米(珠海)智能科技有限公司 | Blind guiding and path finding method and device |
| CN111337935A (en) * | 2020-03-17 | 2020-06-26 | 中国水利水电第五工程局有限公司 | Underground inclined shaft excavation measuring method |
| WO2021082657A1 (en) * | 2019-10-29 | 2021-05-06 | 珠海市一微半导体有限公司 | Indoor environment-based auxiliary light vision detection device, and mobile robot |
-
2017
- 2017-09-22 CN CN201721224756.XU patent/CN207249118U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021082657A1 (en) * | 2019-10-29 | 2021-05-06 | 珠海市一微半导体有限公司 | Indoor environment-based auxiliary light vision detection device, and mobile robot |
| CN111228090A (en) * | 2020-01-14 | 2020-06-05 | 卡登米(珠海)智能科技有限公司 | Blind guiding and path finding method and device |
| CN111337935A (en) * | 2020-03-17 | 2020-06-26 | 中国水利水电第五工程局有限公司 | Underground inclined shaft excavation measuring method |
| CN111337935B (en) * | 2020-03-17 | 2022-06-14 | 中国水利水电第五工程局有限公司 | Underground inclined shaft excavation measuring method |
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