CN210903964U - Intelligent obstacle avoidance system - Google Patents
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- CN210903964U CN210903964U CN201921324395.5U CN201921324395U CN210903964U CN 210903964 U CN210903964 U CN 210903964U CN 201921324395 U CN201921324395 U CN 201921324395U CN 210903964 U CN210903964 U CN 210903964U
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Abstract
The utility model discloses an obstacle system is kept away to intelligence, keep away the obstacle part and keep away the obstacle part with the walking stick including glasses, glasses keep away the obstacle part and include following step: the power-on self-test is carried out, and the power-on self-test is wirelessly connected with the crutch and waits for the response of the crutch; matching successfully, and opening a voice prompt mode by default; acquiring distance information of the glasses and the crutch, and judging the distance between the glasses and the barrier; if the threshold value is exceeded, voice prompt is given out to prompt the user; the crutch obstacle avoiding part comprises the following steps: the power-on self-test is wirelessly connected with the glasses, and a signal sent by the glasses is obtained and fed back correspondingly; the GPS module works and measures the position information of the current crutch; the orientation module works and acquires the current orientation information of the crutch; and sending the position information and the direction information to the glasses and prompting the user. The invention not only improves the stability of data, but also avoids the occurrence of serious consequence events caused by data transmission errors, thereby improving the use safety of a user.
Description
Technical Field
The invention relates to the field of blind auxiliary equipment, in particular to an intelligent obstacle avoidance system.
Background
With the rapid aging of the population, the population growth and other reasons, the number of the blind people in China is continuously increased. At present, about 6 hundred million old people aged over 60 years all over the world exist, while about 1.2 million in China occupies 1/5 of the old people in the world and 1/2 of the old people in Asia. The visual disabilities of the whole world are 1.5 hundred million, the visual disabilities of China are about 1200 million, and the estimated number of middle-aged and elderly people is about 800 million. WHO estimates that the population of vision disabilities worldwide will double by 2020 without taking drastic measures. And the office in the WHO western Pacific region (China is one of the countries in the region) estimates that the vision disability in the region is more serious than that in other regions, namely, if effective prevention and treatment measures are not taken in time to 2020, the vision disability can be increased by 3 times.
From the data, the number of the blind people is increasing, and how to improve the life quality of the blind people also becomes a problem to be considered urgently by the society. And the elderly people in the blind people have a large proportion, the sense organs of the elderly people are degraded due to the aging, and the ability of sensing the external environment by the elderly people is limited, so that the prior art needs to be further improved and perfected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an intelligent obstacle avoidance system.
The purpose of the invention is realized by the following technical scheme:
the invention also discloses an intelligent obstacle avoidance system which mainly comprises a glasses obstacle avoidance part and a crutch obstacle avoidance part. The glasses obstacle avoidance part is connected with the crutch obstacle avoidance part in a wireless mode. The glasses obstacle avoidance part is installed on the glasses and comprises a first battery pack, a first main control chip module, a control module for controlling the state of a system, a first wireless communication module for data interconnection with the obstacle avoidance part of the crutch, a first ultrasonic module group for detecting the distance of a front obstacle, a voice module and a vibration module for prompting user information, and an accidental detection alarm module for detecting whether a user falls down. The walking stick obstacle avoidance part is installed on the walking stick and comprises a second battery pack, a second main control chip module, a second wireless communication module, a second ultrasonic module group, a direction module, a GPS module and a GPRS module, wherein the second wireless communication module is used for being connected with the eye obstacle avoidance part, the second ultrasonic module group is used for detecting the distance of a front obstacle, the direction module is used for detecting the advancing direction, the GPS module is used for positioning the position of the walking stick, and the GPRS module is used for being connected with a cloud server.
Specifically, the first main control chip module is electrically connected with the first battery pack, the control module, the first wireless communication module, the first ultrasonic module group, the voice module, the vibration module and the accident detection alarm module respectively, and controls the modules to work in coordination in order. And the second main control chip module is respectively and electrically connected with the second battery pack, the second wireless communication module, the second ultrasonic module group, the azimuth module, the GPS module and the GPRS module and controls the modules to work in a orderly and cooperative manner.
As a preferable aspect of the present invention, in order to improve the measurement accuracy of the first ultrasonic module group on the eyeglasses, the first ultrasonic module group of the present invention includes a plurality of first ultrasonic modules. The first ultrasonic modules are at least two and are arranged in a left-right symmetrical mode relative to the central axis of the glasses.
As a preferable scheme of the present invention, in order to improve the measurement accuracy of the second ultrasonic module group on the crutch, the second ultrasonic module group of the present invention includes a plurality of second ultrasonic modules. The number of the second ultrasonic modules is at least five, and the second ultrasonic modules are respectively positioned at the upper part, the middle part and the lower part of the crutch.
Furthermore, in order to facilitate the user to operate the obstacle avoidance system, the control module comprises five buttons which are respectively an on-off key, a function key, a return key, a plus key and a minus key.
As a preferred solution of the present invention, the compass module is adopted as the orientation module.
As a preferable scheme of the invention, the accident detection alarm module adopts a six-axis sensor module.
The invention also discloses an obstacle avoidance method of the intelligent obstacle avoidance system, which mainly comprises a glasses obstacle avoidance part and a crutch obstacle avoidance part, wherein the glasses obstacle avoidance part comprises the following steps:
step S11: the power-on self-test is carried out, the power-on self-test is wirelessly connected with the crutch, and the crutch waits for response;
step S12: matching successfully, and opening a voice prompt mode by default;
step S13: acquiring distance information of the glasses and the crutch, and judging the distance between the glasses and the front obstacle;
step S14: if the threshold value is exceeded, voice prompt is given out to prompt the user;
the crutch obstacle avoiding part comprises the following steps:
step S21: the power-on self-test is wirelessly connected with the glasses, and a signal sent by the glasses is obtained and fed back correspondingly;
step S22: the GPS module works and measures the position information of the current crutch;
step S23: the orientation module works and acquires the current orientation information of the crutch;
step S24: and sending the position information and the direction information to the glasses and prompting the user.
As a preferred embodiment of the present invention, the step S12 further includes the remaining two modes:
vibration mode: obtaining distance information of the glasses and the crutch, judging the distance between the glasses and the front obstacle, and if the distance exceeds a set threshold, adjusting the vibration frequency according to the distance to remind a user;
volume adjustment mode: and controlling the voice prompt or the vibration frequency according to the plus and minus cases.
As a preferable aspect of the present invention, the glasses obstacle avoidance portion further includes step S15: and (3) accidental tumble detection: the accident detection alarm module is electrified to work, if a falling signal is detected, whether the user needs help is prompted through voice, and if the user does not feed back or feeds back the help, the help seeking signal is sent to the cloud server through the GPRS module.
As a preferable embodiment of the present invention, in the step S13, the distance to the front obstacle is calculated by an ultrasonic coordination fusion algorithm, and the algorithm includes the steps of:
step S131: the fusion formula is:
xi,i-1＝xi+[xi-1-xi]*Ci,i-1
last measurement of latest weight, where xi,i-1For the final data, xiFor data obtained for the ith ultrasound module, Ci,i-1Is a weight coefficient;
step S312: because of the influence of the detection angle and the self factors of the ultrasonic module, the accuracy rates of the data collected by different modules are different, therefore, the weight coefficient is adopted to control the proportion of the ultrasonic module in the final data, and the calculation formula is as follows:
Ci＝Confi-1/[Confi+Confi-1]
wherein the weight of the ultrasonic module is CiIn relation to the accuracy of the data, the accuracy of the data is determined by the stability of the data (Conf)iData stability of the ith ultrasonic module is measured), and the more stable and smooth the data is in a period of time, the more reliable the data is;
step S313: the data stability formula is as follows:
Confi＝α*Conf′i+b*Δxi
wherein, Conf'iData stability, Δ x, calculated for the previous momentiFor the variance of the historical data of the ultrasonic module, α and b are proportionality coefficients, the sum of which is 1, and the value thereof is adjusted according to the actual situation.
Compared with the prior art, the utility model discloses still have following advantage:
(1) the intelligent obstacle avoidance system provided by the invention not only improves the stability of data, but also avoids the occurrence of serious consequence events caused by data transmission errors, thereby improving the use safety of a user body.
(2) The intelligent obstacle avoidance system provided by the invention obtains the distance between the equipment and the front obstacle through sound wave echo, processes the information of each ultrasonic module, and then prompts in various forms through the prompting unit, and is matched with a set of method formed by the alarm unit and the direction unit to provide better and safer trip experience and guarantee for the blind.
(3) The intelligent obstacle avoidance system provided by the invention uses an autonomously designed multi-wave coordination fusion algorithm, so that the correctness of data is ensured, the fault tolerance rate of equipment is improved, and the accuracy of obstacle judgment is optimized.
Drawings
Fig. 1 is a flow chart of the operation of the obstacle avoidance portion of the glasses provided by the present invention.
Fig. 2 is a working flow chart of the crutch obstacle avoidance portion provided by the invention.
FIG. 3 is a schematic diagram of an alarm process for accident detection provided by the present invention.
Fig. 4 is a flowchart of a fall detection procedure provided in the present invention.
Fig. 5 is a schematic structural diagram of the intelligent obstacle avoidance system provided by the present invention.
Fig. 6 is a schematic diagram illustrating an implementation effect of the obstacle avoidance method provided by the present invention.
Fig. 7 is a schematic view of the overall working flow of the obstacle avoidance system provided by the present invention.
Fig. 8 is a schematic diagram of internal information exchange of the intelligent obstacle avoidance system provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described below with reference to the accompanying drawings and examples.
Example 1:
as shown in fig. 1 to 8, the present embodiment discloses an obstacle avoidance method of an intelligent obstacle avoidance system, the obstacle avoidance method mainly includes a glasses obstacle avoidance portion and a crutch obstacle avoidance portion, and the glasses obstacle avoidance portion includes the following steps:
step S11: the power-on self-test is carried out, the power-on self-test is wirelessly connected with the crutch, and the crutch waits for response;
step S12: matching successfully, and opening a voice prompt mode by default;
step S13: acquiring distance information of the glasses and the crutch, and judging the distance between the glasses and the front obstacle;
step S14: if the threshold value is exceeded, voice prompt is given out to prompt the user;
the crutch obstacle avoiding part comprises the following steps:
step S21: the power-on self-test is wirelessly connected with the glasses, and a signal sent by the glasses is obtained and fed back correspondingly;
step S22: the GPS module works and measures the position information of the current crutch;
step S23: the orientation module works and acquires the current orientation information of the crutch;
step S24: and sending the position information and the direction information to the glasses and prompting the user.
As a preferred embodiment of the present invention, the step S12 further includes the remaining two modes:
vibration mode: obtaining distance information of the glasses and the crutch, judging the distance between the glasses and the front obstacle, and if the distance exceeds a set threshold, adjusting the vibration frequency according to the distance to remind a user;
volume adjustment mode: and controlling the voice prompt or the vibration frequency according to the plus and minus cases.
As a preferable aspect of the present invention, the glasses obstacle avoidance portion further includes step S15: and (3) accidental tumble detection: the accident detection alarm module is electrified to work, if a falling signal is detected, whether the user needs help is prompted through voice, and if the user does not feed back or feeds back the help, the help seeking signal is sent to the cloud server through the GPRS module.
As a preferable embodiment of the present invention, in the step S13, the distance to the front obstacle is calculated by an ultrasonic coordination fusion algorithm, and the algorithm includes the steps of:
step S131: the fusion formula is:
xi,i-1＝xi+[xi-1-xi]*Ci,i-1
last measurement of latest weight, where xi,i-1For the final data, xiFor data obtained for the ith ultrasound module, Ci,i-1Is a weight coefficient;
step S312: because of the influence of the detection angle and the self factors of the ultrasonic module, the accuracy rates of the data collected by different modules are different, therefore, the weight coefficient is adopted to control the proportion of the ultrasonic module in the final data, and the calculation formula is as follows:
Ci＝Confi-1/[Confi+Confi-1]
wherein the weight of the ultrasonic module is CiIn relation to the accuracy of the data, the accuracy of the data is determined by the stability of the data (Conf)iData stability of the ith ultrasonic module is measured), and the more stable and smooth the data is in a period of time, the more reliable the data is;
step S313: the data stability formula is as follows:
Confi＝α*Conf′i+b*Δxi
wherein, Conf'iData stability, Δ x, calculated for the previous momentiFor the variance of the historical data of the ultrasonic module, α and b are proportionality coefficients, the sum of which is 1, and the value thereof is adjusted according to the actual situation.
The embodiment also discloses an intelligent obstacle avoidance system, which mainly comprises a glasses obstacle avoidance part and a crutch obstacle avoidance part. The glasses obstacle avoidance part is connected with the crutch obstacle avoidance part in a wireless mode. The glasses obstacle avoidance part is installed on the glasses and comprises a first battery pack, a first main control chip module, a control module for controlling the state of a system, a first wireless communication module for data interconnection with the obstacle avoidance part of the crutch, a first ultrasonic module group for detecting the distance of a front obstacle, a voice module and a vibration module for prompting user information, and an accidental detection alarm module for detecting whether a user falls down. The walking stick obstacle avoidance part is installed on the walking stick and comprises a second battery pack, a second main control chip module, a second wireless communication module, a second ultrasonic module group, a direction module, a GPS module and a GPRS module, wherein the second wireless communication module is used for being connected with the eye obstacle avoidance part, the second ultrasonic module group is used for detecting the distance of a front obstacle, the direction module is used for detecting the advancing direction, the GPS module is used for positioning the position of the walking stick, and the GPRS module is used for being connected with a cloud server.
Specifically, the first main control chip module is electrically connected with the first battery pack, the control module, the first wireless communication module, the first ultrasonic module group, the voice module, the vibration module and the accident detection alarm module respectively, and controls the modules to work in coordination in order. And the second main control chip module is respectively and electrically connected with the second battery pack, the second wireless communication module, the second ultrasonic module group, the azimuth module, the GPS module and the GPRS module and controls the modules to work in a orderly and cooperative manner.
As a preferable aspect of the present invention, in order to improve the measurement accuracy of the first ultrasonic module group on the eyeglasses, the first ultrasonic module group of the present invention includes a plurality of first ultrasonic modules. The first ultrasonic modules are at least two and are arranged in a left-right symmetrical mode relative to the central axis of the glasses.
As a preferable scheme of the present invention, in order to improve the measurement accuracy of the second ultrasonic module group on the crutch, the second ultrasonic module group of the present invention includes a plurality of second ultrasonic modules. The number of the second ultrasonic modules is at least five, and the second ultrasonic modules are respectively positioned at the upper part, the middle part and the lower part of the crutch.
Furthermore, in order to facilitate the user to operate the obstacle avoidance system, the control module comprises five buttons which are respectively an on-off key, a function key, a return key, a plus key and a minus key.
As a preferred solution of the present invention, the compass module is adopted as the orientation module.
As a preferable scheme of the invention, the accident detection alarm module adopts a six-axis sensor module.
Example 2:
the embodiment of the invention provides an intelligent obstacle avoidance system, which comprises: the glasses main control chip, the crutch main control chip, the glasses ultrasonic module group, the crutch ultrasonic module group, the voice module, the GPS positioning module, the orientation module, the control module, the wireless communication module and the accident detection alarm module.
The glasses main control chip and the crutch main control chip are used for being connected with the ultrasonic module, the voice module, the GPS positioning module, the azimuth module, the control module, the wireless communication module and the accident detection alarm module.
The glasses main control chip, the glasses ultrasonic module group (at least 2), the control module, the voice module, the glasses wireless communication module and the accident detection alarm module are positioned on the glasses.
The crutch main control chip, the crutch ultrasonic module group (at least 5), the GPS positioning module, the orientation module and the crutch wireless communication module are positioned on the crutch.
The control module contains five buttons: an on-off key, a function key, a return key, a plus key and a minus key.
The device can be turned on or off by the on-off key.
Three different modes can be switched by the function keys, including: vibration mode, intelligent voice prompt mode, volume control mode. In the vibration mode, the distance information collected by the ultrasonic waves is converted into frequency information after being analyzed and processed, and is prompted in a vibration mode through a voice module; in an intelligent voice prompt mode, the distance information collected by the ultrasonic waves is converted into position information after being analyzed and processed, and the position information of the obstacle is prompted in an intelligent voice mode through a voice module; the volume adjusting mode is used for adjusting the prompting sound size of the voice module.
By the return key, the last selected mode can be returned.
Through plus key, subtract sign key, can realize different regulations under different modes: in the vibration mode, the initialization frequency of the vibration prompt can be changed through a plus key and a minus key; in the intelligent voice prompt mode, the obstacle avoidance alarm distance of the obstacle avoidance device can be changed through a plus key and a minus key; in the volume adjusting mode, the volume of the voice prompt can be adjusted through the plus key and the minus key.
The voice module receives and receives frequency information from the ultrasonic module and plays the appointed audio at the frequency. The voice module receives and receives the position information of the obstacle from the ultrasonic module and plays corresponding voice prompt audio. The voice module can receive the azimuth information signal of the azimuth module and play the corresponding azimuth information audio.
The ultrasonic module group of the glasses collects the distance information between the glasses and the barrier and sends the distance information to the glasses main control chip; the ultrasonic module group of the crutch collects the distance information between the crutch and the barrier and sends the distance information to the glasses main control chip through the wireless communication module. After receiving the information of the glasses ultrasonic wave group and the crutch ultrasonic wave group, the glasses main control chip can convert all distance information into frequency information or barrier position information after analyzing and processing according to the functional mode selected by the user. When the collected ultrasonic data is converted into position information, the main characteristic is that a method based on the coordinated fusion of a plurality of ultrasonic waves is used to determine the position of an obstacle.
The direction module can acquire the direction information in the right front of the crutch and send the direction information to the glasses main control chip through the wireless communication module.
The GPS positioning module is used for acquiring the position information of the crutch, and sending the position information to the cloud server through the GPRS module, so as to provide information for the APP.
The wireless communication modules are respectively positioned on the glasses and the crutch and are used for information communication on the glasses and the crutch. The crutch sends the azimuth information and the information of the crutch ultrasonic group to the big glasses main control chip through the wireless communication module. The use of the wireless communication module not only improves the stability of data, but also avoids the occurrence of serious consequence events caused by data transmission errors, thereby improving the use safety of a user body.
The accident detection alarm function can inquire whether to alarm for help or not under the conditions that a user has an accident, such as falling down, being impacted and the like, and can alarm for help to nearby emergency personnel through a WeChat alarm platform, a short message alarm platform or a related contact alarm platform and the like under the conditions that the user receives an indication of needing to call for help or does not receive feedback for a long time.
Referring to fig. 3 and fig. 4, an application example of the obstacle avoidance method of the intelligent obstacle avoidance system provided by the present invention includes:
first, the glasses and the crutch are powered on and wait for the interconnection of the wireless communication module between the two devices.
Further, the ultrasonic module group on glasses and the crutch starts working after starting up, and the distance information of the obstacles in front is collected, so that the equipment enters a first working mode: the intelligent voice prompt mode is characterized in that the range of the obstacle avoidance can be changed through a plus key and a minus key, the default is 150cm, the obstacle avoidance distance can be expanded through a plus key button, and the obstacle avoidance distance can be shortened through a minus key.
Further, in the intelligent voice prompt mode, the ultrasonic module group on the glasses directly sends the collected data to the glasses control chip for data analysis and processing; and the ultrasonic module group on the crutch sends the collected data to a control chip of the glasses through the wireless communication module for data analysis and processing.
Furthermore, under the intelligent obstacle avoidance mode, the glasses main control chip determines the position of the obstacle through a fusion algorithm.
The ultrasonic coordination fusion algorithm mentioned in the previous step is characterized in that the device detects the same range through different modules with fixed intervals. After the module data is collected, the two groups of data are subjected to fusion calculation through a fusion algorithm to obtain more accurate data as a judgment basis, wherein the fusion formula is as follows:
xi,i-1＝xi+[xi-1-xi]*Ci,i-1
last measurement of latest weight, where xi,i-1For the final data, xiFor data obtained for the ith ultrasound module, Ci,i-1Is a weight coefficient; due to the influence of the detection angle and the self factors of the ultrasonic module, the accuracy rate of data acquired by different modules isTherefore, the weight coefficient is adopted to control the proportion of the ultrasonic module in the final data, and the calculation formula is as follows:
Ci＝Confi-1/[Confi+Confi-1]
wherein the weight of the ultrasonic module is CiIn relation to the accuracy of the data, the accuracy of the data is determined by the stability of the data (Conf)iData stability of the ith ultrasonic module is measured), and the more stable and smooth the data is in a period of time, the more reliable the data is; the data stability formula is as follows:
Confi＝α*Conf′i+b*Δxi
wherein, Conf'iData stability, Δ x, calculated for the previous momentiFor the variance of the historical data of the ultrasonic module, α and b are proportionality coefficients, the sum of which is 1, and the value thereof is adjusted according to the actual situation.
Furthermore, under the intelligent obstacle avoidance mode, after the position information of the obstacle is determined, the user is reminded to use the specific obstacle position information in an intelligent voice mode through the voice module, and the user can avoid the obstacle according to the prompt.
Furthermore, a GPS module on the crutch enters into work after being started, acquires the current longitude and latitude information of the user at a certain time interval, and sends the information to a cloud server for storage in an HTTP mode through a GPRS module.
Furthermore, the position information in front of the user can be obtained by triggering the position reminding button on the crutch, the position information is sent to the main control chip of the glasses through the wireless communication module, and the corresponding position information is broadcasted through the voice module on the glasses.
Further, the accessible triggers the function button on the glasses, carries out the switching of functional mode downwards, and under intelligent speech mode, triggering function button will make equipment switch to vibrations mode, and under this mode, accessible plus sign key and number reduction key change initial vibration frequency size, use plus sign key can improve initial vibration frequency, use number reduction key can reduce initial vibration frequency. The user can make it more comfortable in use by varying the initial frequency of the shock.
Furthermore, in a vibration mode, data collected by the ultrasonic module group on the glasses are analyzed and processed and converted into frequency information, and the user is reminded in a mode of repeating a specified audio frequency section by the frequency through the voice module. When the frequency of the played audio becomes fast, the distance between the user and the barrier becomes short; when the frequency of the played audio frequency is slowed down, the distance between the user and the barrier is far away; when the frequency of the playing audio is equal to zero, namely no sound prompt exists, it indicates that no obstacle exists in front of the user currently.
Further, the accessible triggers the function button on the glasses, carries out the switching of functional mode downwards, and under vibrations mode, trigger function button will make equipment switch to volume control mode, and under this mode, accessible plus sign key and minus sign key change voice module sound prompt size, use plus sign key can improve the suggestion volume, use minus sign key can reduce the suggestion volume. The user can make the use more comfortable by changing the prompting volume.
Further, the switching of the functional mode can be performed upwards by triggering a return button on the glasses. In the volume adjustment mode, triggering the return button switches the device to the vibration mode; in the vibration mode, triggering a return button to enable the equipment to be switched to an intelligent voice prompt mode;
furthermore, if the user has an accident, such as falling, being impacted and the like, the accident detection alarm module detects the accident and inquires whether the user needs to give an alarm for help, and under the condition that the user receives an indication that the user needs to give the help or does not receive feedback for a long time, the detection alarm module gives an alarm for help to nearby emergency personnel in a mode of a WeChat alarm platform, a short message alarm platform or a related contact alarm platform and the like.
The fall detection method in the previous step is characterized in that the acceleration, the angular velocity and the inclination angle data of the glasses are acquired through an acceleration sensor, and the judgment is carried out through a flow chart in the attached figure 6.
In general, an intelligent obstacle avoidance system may include, but is not limited to, the following: control unit, obstacle avoidance unit, direction unit, prompt unit and alarm unit
In general, an intelligent obstacle avoidance system may include, but is not limited to, the following hardware modules: the glasses comprise a glasses shell, an ultrasonic module, a voice module, a GPS positioning module, a direction module, a control module, a wireless communication module and an accident detection alarm module.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (6)
1. An intelligent obstacle avoidance system is characterized by comprising a glasses obstacle avoidance part and a crutch obstacle avoidance part; the glasses obstacle avoidance part is connected with the crutch obstacle avoidance part in a wireless mode; the glasses obstacle avoidance part is arranged on glasses and comprises a first battery pack, a first main control chip module, a control module for controlling the state of a system, a first wireless communication module for data interconnection with the walking stick obstacle avoidance part, a first ultrasonic module group for detecting the distance of a front obstacle, a voice module and a vibration module for prompting user information, and an accident detection alarm module for detecting whether a user falls down; the crutch obstacle avoidance part is arranged on the crutch and comprises a second battery pack, a second main control chip module, a second wireless communication module, a second ultrasonic module group, a direction module, a GPS module and a GPRS module, wherein the second wireless communication module is used for being connected with the eye obstacle avoidance part;
the first main control chip module is respectively and electrically connected with the first battery pack, the control module, the first wireless communication module, the first ultrasonic module group, the voice module, the vibration module and the accident detection alarm module, and controls the modules to work in an orderly and cooperative manner; and the second main control chip module is respectively and electrically connected with the second battery pack, the second wireless communication module, the second ultrasonic module group, the azimuth module, the GPS module and the GPRS module and controls the modules to work in a orderly and cooperative manner.
2. The intelligent obstacle avoidance system of claim 1, wherein the first group of ultrasonic modules comprises a plurality of first ultrasonic modules; the first ultrasonic modules are at least two and are arranged in a left-right symmetrical mode relative to the central axis of the glasses.
3. The intelligent obstacle avoidance system of claim 1, wherein the second group of ultrasonic modules comprises a plurality of second ultrasonic modules; the number of the second ultrasonic modules is at least five, and the second ultrasonic modules are respectively positioned at the upper part, the middle part and the lower part of the crutch.
4. The intelligent obstacle avoidance system of claim 1, wherein the control module comprises five buttons, which are an on-off button, a function button, a return button, a plus button and a minus button.
5. The intelligent obstacle avoidance system of claim 1, wherein the bearing module employs a compass module.
6. The intelligent obstacle avoidance system of claim 1, wherein the accident detection alarm module employs a six-axis sensor module.
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