CN211705230U - Ultrasonic detection blind guiding stick and control system - Google Patents
Ultrasonic detection blind guiding stick and control system Download PDFInfo
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- CN211705230U CN211705230U CN201820264100.9U CN201820264100U CN211705230U CN 211705230 U CN211705230 U CN 211705230U CN 201820264100 U CN201820264100 U CN 201820264100U CN 211705230 U CN211705230 U CN 211705230U
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Abstract
The utility model discloses an ultrasonic detection blind guiding stick and a control system, which solves the problems of short detection distance, incomplete scanning and low detection precision of the electronic blind guiding stick in the prior art, and has the effects of detecting obstacles without gaps, being convenient to operate and being capable of accurately detecting the distance between the obstacles and the human body; the technical scheme is as follows: the crutch comprises a crutch rod, a handle, a driving device, a connecting shaft and a detection device, wherein the connecting shaft is connected with the crutch rod, one end of the connecting shaft is connected with the driving device, and the other end of the connecting shaft is provided with the detection device; the detection device comprises an ultrasonic transmitter and an ultrasonic receiver; the handle is vertical to the crutch rod, and the connecting shaft is vertical to the handle and the crutch rod; one end of the connecting shaft is respectively provided with two reflecting covers in completely opposite directions, the inner sides of the reflecting covers are fixedly provided with ultrasonic transmitters, the connecting shaft is provided with an ultrasonic receiver on the same side as the ultrasonic transmitters, and the central axes of the beams of the two ultrasonic transmitters are perpendicular to the connecting shaft and on the same straight line.
Description
Technical Field
The utility model relates to a blind guiding stick field especially relates to an ultrasonic detection blind guiding stick and control system.
Background
The number of visually impaired people in the world is large and they can only obtain information by feel. The blind people live in the dark world, great difficulty is brought to work, life and social activities, and how to walk safely becomes the biggest problem in the life of the blind people. Therefore, the blind guiding stick becomes an indispensable tool for the blind in life.
The existing blind guiding stick is mostly a walking stick, and the blind can hold the walking stick by hand to enable the end part of the walking stick to touch the road surface so as to sense the position of an obstacle; the mode mainly depends on the experience of the blind person, and a plurality of obstacles can not be touched, so that the walking stick type blind guiding stick can not bring great convenience for the blind person.
At present, the electronic blind guiding stick is produced. For example, a blind guiding stick provided with an infrared sensor senses the road condition through the infrared sensor, but the blind guiding stick is easily influenced by the environment and has a short detection distance; some blind guiding sticks with ultrasonic sensors are also available, but the emitting angle is too large, and the phenomenon of incomplete scanning is easy to occur.
In summary, the prior art still lacks an effective solution to the problem of how to design a gapless scanning blind guiding stick.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the prior art, the utility model provides an ultrasonic detection blind guiding stick and control system, it has can gapless detection obstacle, convenient operation, can accurately detect the obstacle and human interval, can inform the blind person's effect through pronunciation with required obstacle information.
The utility model adopts the following technical proposal:
an ultrasonic detection blind-guiding stick comprises a stick rod, a handle, a driving device, a connecting shaft and a detection device, wherein the connecting shaft is connected with the stick rod, one end of the connecting shaft is powered by the driving device, and the other end of the connecting shaft is provided with the detection device;
the detection device comprises an ultrasonic transmitter and an ultrasonic receiver, and the conical wave beams emitted by the ultrasonic transmitter are driven by the driving device to realize gapless scanning.
Further, the handle is perpendicular to the stick rod, and the connecting shaft is perpendicular to the handle and the stick rod; one end of the connecting shaft is respectively provided with two reflection covers in completely opposite directions, the inner sides of the reflection covers are fixedly provided with ultrasonic transmitters, the connecting shaft is provided with an ultrasonic receiver on the same side as the ultrasonic transmitters, and the beam central axes of the two ultrasonic transmitters are perpendicular to the connecting shaft and on the same straight line.
Furthermore, an angle sensor for detecting an included angle between a central axis of the wave beam and the stick rod is arranged at the connecting part of the connecting shaft and the stick rod.
Furthermore, one end of the connecting shaft is respectively provided with a reflecting cover with completely opposite directions, the ultrasonic transmitter is arranged on the inner side of the reflecting cover through a telescopic mechanism so as to realize that the transmitting beam angle of the ultrasonic transmitter is adjustable, and the ultrasonic receiver is arranged on the same side of the reflecting cover.
Furthermore, an electronic compass used for detecting the rotation angle of the handle is installed on the handle, and a gravity sensor used for detecting the inclination angle of the crutch rod is arranged on the crutch rod; the handle is provided with a first key, a second key, a third key and a fourth key.
Further, the angle of the ultrasonic transmitter transmitting beam is 6-0 degrees.
An ultrasonic detection blind-guiding control system comprises a CPU, an ultrasonic transmitter and an ultrasonic receiver, wherein the transmitting signal input end of the ultrasonic transmitter is connected with the control signal output end of the CPU, and the receiving signal output end of the ultrasonic receiver is connected with the detection signal input end of the CPU; the CPU calculates the horizontal distance and the vertical distance between the stick rod and the obstacle and the included angle between a compass of the electronic compass and the handle according to the time of sending the wave beam by the ultrasonic transmitter, the time of receiving the wave beam by the ultrasonic receiver, the sound velocity, the included angle displayed by the angle sensor and the electronic compass, the angle measured by the gravity sensor and the distance from the intersection point of the stick rod and the connecting shaft to the bottom end of the stick rod; the CPU determines the rotating speed of up-down scanning and the rotating speed of the crutch rod according to the adjusted beam angle and the interval time of the transmitted pulse of the ultrasonic transmitter.
The device further comprises an electronic compass, an angle sensor and a gravity sensor, wherein the angle sensor feeds an angle signal back to the CPU, and the CPU controls the vertical scanning rotating speed; the electronic compass feeds back a handle rotating speed signal to the CPU, and the rotating speed of the handle approaches the rotating speed of the crutch rod for voice prompt; the gravity sensor measures the inclination angle of the stick rod and feeds the inclination angle back to the CPU, and voice prompt is carried out when the inclination is too large; the adjustable beam angle is input to a CPU, and the CPU determines the time interval of pulse emission, the rotating speed of up-down scanning and the rotating speed range of the crutch rod.
The system further comprises a voice broadcasting device, the detection mode is controlled through a first key, the voice broadcasting device is controlled through a second key to broadcast the detected coordinate information of the obstacle, the third key controls the coordinate information of the obstacle in front of the broadcasting handle, and the fourth key controls the coordinate information of the obstacle with unchanged broadcasting coordinates (the premise is that the same area is scanned twice).
The control method of the ultrasonic detection blind guiding stick comprises the following steps:
step 1: a coordinate system is established by taking the normal of the plane where the stick rod and the connecting shaft are located as a first coordinate axis, taking a straight line parallel to the stick rod as a second coordinate axis and taking the pointer reading of the electronic compass as a third coordinate, the stick rod is changed into a swing angle right in front and back and a swing angle right left and right from vertical as two variables, and the two variables are zero when the coordinate system is absolutely vertical; when an ultrasonic wave beam scanned up and down irradiates an obstacle, calculating the distance from a sound generator to the obstacle according to the time difference of transmitting and receiving ultrasonic waves and the sound speed, obtaining the angle between the central axis of the wave beam and the stick rod at the moment according to an angle sensor, and calculating the coordinates of a first coordinate axis and the coordinates of a second coordinate axis according to the sine and cosine relations;
step 2: when the stick rod swings, the vertical direction of the stick rod is changed into a swing angle right in front and back, a swing angle right to left, a coordinate of a first coordinate axis, a coordinate of a second coordinate axis, an electronic compass reading, a distance from a connecting shaft to the bottom of the stick rod, and a distance from the axis of a reflecting cover to the connecting shaft and the center of the stick rod, and coordinates of a detected obstacle in a coordinate system when the stick rod is absolutely vertical, namely when the two swing angles are zero are calculated; a second rectangular area is formed by two horizontal lines for adjusting the top of the head of an operator up and down, two horizontal lines for adjusting the ground up and down and two vertical lines for adjusting the right front; each line corresponds to a key control and broadcasts the position through voice; according to the number of the detected obstacles in the rectangular area II corresponding to the left and right rotation angles, sequencing the left and right rotation angles from small to large, broadcasting the horizontal plane from the top of the head to the detection distance and from the horizontal plane to the concave-convex obstacle on the ground corresponding to each left and right rotation angle according to the sequence, calculating the scanned obstacles and ground coordinates by a CPU according to the scanned ground and the scanned obstacles on the ground, and if the ground is a plane, the horizontal distance of the ground and the downward displacement are in a linear relation, so that the CPU identifies the ground plane and only reports the raised coordinates on the ground and the coordinates of the pits on the ground when broadcasting the coordinates of the obstacles;
and step 3: the contact position of the crutch rod and the ground is unchanged, the handle is rotated to detect the obstacle, and the contact position of the crutch rod and the ground is always kept unchanged in the process of detecting and converting coordinates;
firstly, presetting the interval of pulse transmission of an ultrasonic transmitter and the rotating speed range of a connecting shaft, and using the central axis of a reflector and a crutch to be parallel as an initial position;
then, the handle is held to enable the crutch rod to rotate along with the handle, and meanwhile, the motor is started to start the ultrasonic transmitter and the ultrasonic receiver at one end of the connecting shaft; carrying out gapless scanning according to the rotating speed of the ultrasonic transmitter for scanning up and down, the cone-shaped wave beam emitted by the ultrasonic transmitter and the rotating angular speed of the handle; the CPU detects the angle between the central axis of the reflector and the crutch rod through the angle sensor, so as to measure the rotating speed of the connecting shaft; when the central axis of the wave beam is parallel to the crutch rod, the ultrasonic transmitter and the corresponding ultrasonic receiver on one side of the connecting shaft are closed, and the ultrasonic transmitter and the corresponding ultrasonic receiver on the other side of the connecting shaft are started;
and 4, step 4: according to the required information, press corresponding button, the barrier information that detects is reported to the voice broadcast system:
pressing a first key to enter a detection mode for scanning, and then pressing a second key to exit the detection mode; after scanning and detecting, pressing a second key and simultaneously rotating the crutch rod, reporting an included angle B between the handle and a pointer of the electronic compass by the CPU through a voice broadcaster, and simultaneously telling the blind person the coordinates of the obstacle and the angle between the handle and the pointer of the electronic compass through the coordinates of the detected horizontal displacement and vertical displacement of the obstacle within the rectangular range and under the angle B; pressing a third key, and reporting the coordinates of the obstacle in front of the handle by the voice broadcasting system; and when the fourth key is pressed down, the CPU controls the voice broadcaster to broadcast the coordinates of the scanned obstacles twice, wherein the coordinates of the scanned obstacles are unchanged, and the left and right rotation angles are broadcast in sequence from less to more according to the times of obstacle detection of the included angle between a certain handle and an electronic compass pointer, which are scanned twice, and the three coordinates of the scanned obstacles in the rectangle are unchanged.
Further, the rotation angle per second of the up-down scanning of the ultrasonic transmitter is as follows:
α＝A/2/2L/340
wherein, A is the angle of the ultrasonic transmitter transmitting beam.
Further, in the step 3, when the rotating speed of the connecting shaft is less than the set rotating speed, the CPU transmits an acceleration signal to the angle sensor to accelerate the connecting shaft; when the rotating speed of the connecting shaft is greater than the set rotating speed, the CPU controls the motor to be powered off to enable the connecting shaft to decelerate; when the rotating speed of the handle exceeds the preset speed, the electronic compass transmits a rotating speed signal to the CPU, and the CPU sends an alarm signal.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the blind guiding stick of the utility model is provided with the connecting shaft on the stick rod, one end of the connecting shaft is connected with the motor and the battery, and the other end is provided with the ultrasonic transmitting and receiving device, so that the balance weights at the two ends of the connecting shaft are balanced, the gravity center position falls at the connecting part of the stick rod and the connecting shaft, and the stability of the blind guiding stick is improved;
(2) the ultrasonic transmitter of the utility model is arranged in the reflecting cover, and the parabolic reflecting cover limits the angle of the wave beam emitted by the ultrasonic transmitter, thereby ensuring gapless scanning;
(3) the utility model determines the rotating speed of up-down scanning and the rotating speed of the crutch rod according to the beam angle of the pulse sent by the ultrasonic transmitter and the interval time of the pulse transmission; the angle sensor feeds back an angle signal to the CPU, and the CPU controls the vertical scanning rotating speed; the electronic compass feeds back a handle rotating speed signal to the CPU, and the CPU prompts a user to change the handle rotating speed through a voice broadcasting system; the blind can be assisted to obtain accurate information of the barrier;
(4) the handle of the utility model is provided with a plurality of keys, and the blind can be informed of the required information by pressing different keys, thereby having convenient operation;
(5) the utility model discloses preset transmit pulse's time, further guarantee the scanning precision through two ultrasonic emitter's transmission in turn.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a front view of the present invention;
fig. 2 is a side view of the present invention;
fig. 3 is a schematic structural diagram of the control system of the present invention;
the device comprises a handle 1, a crutch 2, a connecting shaft 3, an ultrasonic emitter 4, a reflector 5, a first button 6, a second button 7, a third button 8 and a driving device 9.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As described in the background art, the electronic blind guiding stick in the prior art has the disadvantages of short detection distance, incomplete scanning and low detection precision, and in order to solve the above technical problems, the present application provides an ultrasonic detection blind guiding stick and a control system.
In an exemplary embodiment of the present application, as shown in fig. 1-2, an ultrasonic detection blind guiding stick is provided, which comprises a stick rod 2, a handle 1, a driving device 9, a connecting shaft and a detecting device, wherein one end of the connecting shaft 3 is powered by the driving device 9, and the other end of the connecting shaft 3 is provided with the detecting device.
The driving device 9 is a motor.
The handle 1 is vertically fixed at the top end of the crutch rod 2, a connecting shaft 3 is vertically arranged at the upper position of the rod body of the crutch rod 2, and the connecting shaft 3 penetrates through the crutch rod 2 and is connected with a bearing fixed in the crutch rod 2; one end of the connecting shaft 3 is connected with a motor through a coupler.
The motor is connected with a battery for supplying power to the motor; the balance weight balance at the two ends of the connecting shaft 3 is realized through the motor and the battery, so that the gravity center of the connecting shaft 3 falls on the intersection point of the connecting shaft 3 and the crutch rod 2.
Two reflectors 5 in completely opposite directions are respectively arranged at one end of the connecting shaft 3, an ultrasonic transmitter 4 is fixed on the inner side of each reflector 5, an ultrasonic receiver is fixed on the connecting shaft 3 on the same side as the ultrasonic transmitter 4, and the central axes of the beams of the two ultrasonic transmitters 4 are perpendicular to the connecting shaft 3 and on the same straight line; the reflecting cover 5 is arranged to enable the wave beam emitted by the ultrasonic transmitter 4 to be conical, the angle of the wave beam is limited to 6-0 degrees, and the scanning precision is improved.
The blind guiding stick of this application realizes intelligent detection barrier through ultrasonic detection blind guiding control system, and ultrasonic detection blind guiding control system is shown in fig. 3, including CPU, ultrasonic transmitter 4, ultrasonic receiver, electron compass, angle sensor, gravity inductor and voice broadcast ware.
CPU installs on cane pole 2, and voice broadcast ware and electronic compass install on handle 1, and on the cane pole was located to the gravity inductor, angle sensor was fixed in the connecting portion of connecting axle 3 and cane pole 2.
The signal transmitting input end of the ultrasonic transmitter 4 is connected with the control signal output end of the CPU, and the signal receiving end of the ultrasonic receiver is connected with the detection signal input end of the CPU; the electronic compass, the angle sensor and the gravity sensor transmit detected signals to the CPU, and the CPU controls the voice broadcast device to broadcast required detection information.
And the CPU calculates the horizontal distance and the vertical distance between the crutch rod 2 and the obstacle according to the time of sending the wave beam by the ultrasonic transmitter 4, the time of receiving the wave beam by the ultrasonic receiver, the sound velocity, the included angle displayed by the angle sensor and the electronic compass, the angle measured by the gravity sensor and the distance from the intersection point of the crutch rod 2 and the connecting shaft 3 to the bottom end of the crutch rod 2.
The CPU inputs the angle to the CPU according to the adjustable beam angle, and determines the time interval of the emission pulse, the rotating speed of the up-down scanning and the rotating speed range of the stick rod; the angle sensor feeds back an angle signal to the CPU, and the CPU controls the vertical scanning rotating speed.
The electronic compass feeds a rotating speed signal of the handle 1 back to the CPU, and when the rotating speed of the crutch rod is not within a set range, the CPU prompts a user to change the rotating speed of the crutch rod 2 through a voice broadcasting system; the inclination angle of the stick rod 2 is measured according to the gravity sensor and fed back to the CPU, and when the inclination angle is not in a set range, the CPU enables a blind user to correct the inclination angle through voice broadcast.
The detection process of using the ultrasonic detection blind guiding stick comprises the following steps:
step 1: establishing a coordinate system:
taking the normal of the plane where the stick rod 2 and the connecting shaft 3 are located as a first coordinate axis, taking a straight line parallel to the stick rod 2 as a second coordinate axis, taking the included angle between the pointer of the electronic compass and the stick rod 2 as a third coordinate, and taking the swing angle of the stick rod which is changed from vertical to positive front and back and the swing angle of positive left and right as two variables which are zero when the coordinate system is absolutely vertical; when the ultrasonic wave beams scanned up and down irradiate on the barrier, the distance from the sound generator to the barrier is calculated according to the time difference of transmitting and receiving ultrasonic waves and the sound speed, the angle between the central axis of the wave beams and the stick rod 2 at the moment is obtained according to the angle sensor, and the coordinates of the first coordinate axis and the coordinates of the second coordinate axis are calculated according to the sine and cosine relations.
Step 2: and (3) converting a coordinate system:
when the stick rod swings, the vertical direction of the stick rod is changed into a swing angle right in front and back, a swing angle right to left, a coordinate of a first coordinate axis, a coordinate of a second coordinate axis, an electronic compass reading, a distance from a connecting shaft to the bottom of the stick rod, and a distance from the axis of a reflecting cover to the connecting shaft and the center of the stick rod, and coordinates of a detected obstacle in a coordinate system when the stick rod is absolutely vertical, namely when the two swing angles are zero are calculated;
a second rectangular area is formed by two horizontal lines for adjusting the top of the head of an operator up and down, two horizontal lines for adjusting the ground up and down and two vertical lines for adjusting the right front; each line corresponds to a key control and broadcasts the position through voice, and the number of the keys is 6; according to the number of detected obstacles in a rectangular area II corresponding to the left-right rotation angle (the number of the obstacles means that ultrasonic waves return for several times in the scanning process, and coordinates (converted into coordinates when a crutch rod is absolutely vertical) after the coordinates returned each time are in a rectangle surrounded by three straight lines), the left-right rotation angle is sequenced from least to most, the horizontal plane from the top to the top of the head corresponding to each left-right rotation angle is broadcast according to the sequence to the detection distance and the concave-convex obstacles from the bottom to the ground, the CPU calculates the scanned obstacles and ground coordinates according to the scanned ground and the obstacles on the ground, if the ground is a plane, the horizontal distance of the ground and the downward displacement are in a linear relationship, so that the CPU recognizes the ground plane and only reports the convex coordinates on the ground and the coordinates of pits on the ground when the coordinates of the obstacles are broadcast.
One end of the handle 1 is also provided with three keys, namely a first key 6, a second key 7, a third key 8 and a fourth key, wherein the first key 6 is pressed to enter a detection mode (the contact point of the crutch rod and the ground is unchanged) for scanning, and then pressed to exit the detection mode (at this time, even if the first key exits the motor, the connecting shaft is still driven to rotate, so that preparation is made for the next detection); after the scanning detection is finished (quit), the second key 7 presses three coordinates of the detected barrier; the third key 8 is pressed, and the voice broadcasting system reports the coordinates of the obstacle right in front of the handle 1; for the fourth key, the first key 6 is firstly pressed for scanning twice in a one-to-one area, then the fourth key is pressed, the CPU only selects three obstacles with unchanged coordinates which are scanned twice to broadcast the coordinates of the obstacles, and the left and right rotation angles are broadcast in sequence from small to large according to the times of obstacle detection of an included angle between a certain handle and an electronic compass pointer, which are scanned twice, of the three coordinates in the rectangle.
And step 3: the contact position of the crutch rod and the ground is unchanged, the handle is rotated to detect the obstacle, and the contact position of the crutch rod and the ground is always kept unchanged in the process of detecting and converting coordinates;
presetting the interval of the pulse transmitted by the ultrasonic transmitter 4 and the rotating speed range of the connecting shaft 3; the rotation angle per second of the up-down scanning of the ultrasonic transmitter 4 is as follows:
α＝A/2/2L/340 (2)
in the formula (2), A is the angle of the beam emitted by the ultrasonic emitter 4, L is the farthest distance detected by the blind guiding stick, and the sound velocity is 340 m/s.
The interval time of the ultrasonic transmitter 4 transmitting one pulse is as follows:
the central axis of the reflecting cover 5 is parallel to the crutch rod to form an initial position, a first key 6 is pressed down to start the ultrasonic transmitter 4 and the corresponding ultrasonic receiver on one side of the connecting shaft 3, a wave beam emitted by the ultrasonic transmitter 4 scans up and down, the handle 1 is rotated at the same time, the direction of the crutch rod 2 is kept unchanged, and the rotation speed of the handle 1 is not higher than a set speed; the CPU detects the set range of the rotation speed of the connecting shaft 3 by the angle sensor.
When the rotating speed of the connecting shaft 3 is less than the set rotating speed, the CPU transmits an acceleration signal to the angle sensor to accelerate the connecting shaft 3; when the rotating speed of the connecting shaft 3 is greater than the set rotating speed, the CPU controls the motor to be powered off to enable the connecting shaft 3 to decelerate.
The rotation angle per second of the control handle 1 is:
when the central axis of the wave beam is parallel to the crutch rod 2, the ultrasonic transmitter 4 and the corresponding ultrasonic receiver on one side of the connecting shaft 3 are closed, and the ultrasonic transmitter 4 and the corresponding ultrasonic receiver on the other side of the connecting shaft 3 are started; the ultrasonic transmitters 4 on two sides of the connecting shaft 3 alternately transmit detection beams, and the beams transmitted by the ultrasonic transmitter 4 on the other side of the connecting shaft 3 are ahead of the wave speed of the last ultrasonic transmitter 4 (the direction close to the barrier is the front), so that gapless scanning is realized.
The handle 1 is held to enable the crutch rod 2 to rotate along with the handle 1, meanwhile, the motor is started, the connecting shaft 3 rotates, and the ultrasonic transmitter 4 and the corresponding ultrasonic receiver on one side of the connecting shaft 3 are started; gapless scanning is carried out according to the rotating speed of the ultrasonic transmitter 4 for scanning up and down, the cone-shaped wave beam transmitted by the ultrasonic transmitter 6 and the rotating angular speed of the handle 1; the CPU detects the angle between the central axis of the reflecting cover 5 and the crutch rod 2 through the angle sensor, so as to measure the rotating speed of the connecting shaft 3; when the central axis of the wave beam is parallel to the crutch rod 2, the ultrasonic transmitter 4 and the ultrasonic receiver on one side of the connecting shaft 3 are closed, and the ultrasonic transmitter and the ultrasonic receiver on the other side are started.
And 4, step 4: according to the required information press the button for, the barrier information that detects is reported to the voice broadcast system:
pressing the first key 6 to enter a detection mode for scanning, and then pressing the first key to exit the detection mode; after scanning and detecting, pressing a second key 7 and simultaneously rotating the crutch rod 2, the CPU reports an included angle B between the handle 1 and a pointer of the electronic compass through a voice broadcaster, and simultaneously informs the coordinates of the obstacle and the angle B between the handle 1 and the pointer of the electronic compass to the blind through the voice broadcaster according to the detected horizontal displacement and vertical displacement coordinates of the obstacle in the rectangular range and under the angle B; pressing the third key 8, the voice broadcasting system reports the coordinates of the obstacle in front of the handle 1; and when the fourth key 11 is pressed down, the CPU controls the voice broadcast device to broadcast the coordinates of the scanned obstacle with unchanged three coordinates twice.
In another embodiment of this application, provide an ultrasonic detection blind guiding stick, including handle, cane pole, connecting axle and motor, the connecting axle passes the cane pole, and one end links to each other with the motor, and the other end is to the bowl, and ultrasonic emitter locates the position adjustable in order to realize ultrasonic emitter transmission wave beam in the inboard of bowl through telescopic machanism, and one side back to the back of the body with the bowl is equipped with ultrasonic receiver.
The telescopic mechanism is the prior art, and the position of the ultrasonic transmitter can be adjusted, which is not described herein again.
Other structures are the same as those of the above embodiments, and are not described herein again.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. An ultrasonic detection blind-guiding stick comprises a stick rod and a handle, and is characterized by further comprising a driving device, a connecting shaft and a detection device, wherein the connecting shaft is connected with the stick rod, one end of the connecting shaft is connected with the driving device, and the other end of the connecting shaft is provided with the detection device; the detection device comprises an ultrasonic transmitter and an ultrasonic receiver;
the handle is vertical to the crutch rod, and the connecting shaft is vertical to the handle and the crutch rod; one end of the connecting shaft is respectively provided with two reflection covers in completely opposite directions, the inner sides of the reflection covers are fixedly provided with ultrasonic transmitters, the connecting shaft is provided with an ultrasonic receiver on the same side as the ultrasonic transmitters, and the beam central axes of the two ultrasonic transmitters are perpendicular to the connecting shaft and on the same straight line.
2. An ultrasonic detection blind-guiding stick according to claim 1, wherein the connection between the shaft and the stick shaft is provided with an angle sensor.
3. An ultrasonic detection blind guiding stick according to claim 2, wherein the connecting shafts are provided at one end with respective reflectors in opposite directions, the ultrasonic transmitter is provided inside the reflectors through a telescopic mechanism, and the ultrasonic receiver is provided on the same side of the reflectors.
4. An ultrasonic detection blind-guiding stick as claimed in claim 1, wherein an electronic compass is mounted on the handle.
5. An ultrasonic detection blind-guiding stick according to claim 1, wherein the stick shaft is provided with a gravity sensor.
6. The ultrasonic detection blind-guiding stick according to claim 1, wherein the handle is provided with a first button, a second button, a third button and a fourth button in sequence.
7. An ultrasonic detection blind-guiding control system, which is arranged on the ultrasonic detection blind-guiding stick according to claims 1-4, and comprises a CPU, wherein the transmitting signal input end of the ultrasonic transmitter is connected with the control signal output end of the CPU, and the receiving signal output end of the ultrasonic receiver is connected with the detection signal input end of the CPU.
8. The system according to claim 7, further comprising at least one of an angle sensor, an electronic compass and a gravity sensor, wherein the angle sensor is disposed at a connection portion of the connection shaft and the shaft, the electronic compass is disposed on the handle, the gravity sensor is disposed on the shaft, and the angle sensor, the electronic compass and the gravity sensor are all connected to an input terminal of the CPU.
9. The ultrasonic detection blind-guiding control system according to claim 7, further comprising a voice announcer connected to an output end of the CPU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820264100.9U CN211705230U (en) | 2018-02-23 | 2018-02-23 | Ultrasonic detection blind guiding stick and control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820264100.9U CN211705230U (en) | 2018-02-23 | 2018-02-23 | Ultrasonic detection blind guiding stick and control system |
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| CN211705230U true CN211705230U (en) | 2020-10-20 |
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| CN201820264100.9U Active CN211705230U (en) | 2018-02-23 | 2018-02-23 | Ultrasonic detection blind guiding stick and control system |
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