JPS6219164A - Guide apparatus for blind person - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a walking aid for blind people. More specifically, when blind people walk, they use a white cane to avoid dangers such as obstacles and holes in their path, but this method can only detect obstacles up to a few centimeters above the ground. Therefore, the space above this area is unprotected, and the current situation is that people feel uneasy about walking.

According to the device of the present invention, the device is small, lightweight, and inexpensive.
It is possible to obtain a guide device for blind people that eliminates the above-mentioned anxiety and makes walking easier.

[Conventional technology]

Blind people perceive circumstances in the outside world by perceiving environmental sounds and wind, as they lack the perceptual information provided by a white cane.

However, this perception is uncertain, and is almost impossible in the case of people who have lost their sight, which accounts for q% of blind people.

In order to eliminate the above drawbacks, ultrasonic sensors have been manufactured and commercially available. However, this type of equipment has the following drawbacks.

First, although the distance measurement information is accurate, the emitted sound wave has a large spread, and if the wavelength is made small in order to make it smaller, the reachable distance becomes small and practicality is lost. Therefore, there is a drawback that the direction of the obstacle cannot be determined.

A third disadvantage is that the device is large and expensive.

Third, devices that use ultrasonic waves include those that are used as distance measuring devices that change the frequency of sound according to the distance to an obstacle, and those that use the auditory sense of sound source localization, which transmit and receive multiple ultrasound waves. There are devices that use elements to localize obstacles as sound images corresponding to distance and direction. Since these devices use auditory means to transmit information to the blind person, the environmental sounds mentioned above are masked, and as a result, the amount of information from the environmental sounds decreases, and the overall amount of information perceived by the blind person does not increase. Devices using sound waves have the disadvantage of consuming a large amount of current, making them unsuitable as walking aid devices. Furthermore, when blind people take the device away from their hands, they are unable to check whether the room temperature switch is open or closed, which a sighted person can easily do, and they tend to forget to turn off the power switch.

Qthly, by the same applicant and same inventor as the present invention, a blind person guiding device using infrared beams was disclosed in Japanese Patent Application Laid-Open No. 57-/J.
Although it has been disclosed as ugθ, it shows the principle of distance measurement using infrared rays and its use as a walking aid for blind people, but there are some practical difficulties.

[Problems to be solved by the present invention] The first problem explained in the previous section. Second. Third. Eliminating the disadvantages of item G is the problem that the present invention seeks to solve.

In order to understand the shortcomings, the current situation will be explained below.

Blind people walk with the help of a cane, but this is not only about the area within the reach of the cane, but also by listening to the echoes of the clicks made when the tip of the cane hits the hard ground. It allows you to sense relatively large objects such as walls at a distance. According to experiments, a screen placed in a long hallway can be perceived from 2 meters in front of you. This is the same principle as echo sounding using ultrasonic waves for koramori and dolphins, and for humans, the sound sources include the sound of walking footsteps and the rustling of clothes, in addition to the sound of the cane mentioned above.

However, if the object is small or far away, it becomes difficult to accurately know the surrounding conditions, and sonar using a range-finding device is required. Many methods are known for measuring distances to other objects. There are methods that use electromagnetic waves or ultrasonic waves to calculate distance based on wave propagation time, methods that use wave interference, and methods that use the principle of triangulation. Devices using these means are large and expensive, and require high precision mechanisms. Additionally, devices using ultrasonic waves have the disadvantage that because the radiation waves spread widely, the direction cannot be determined and the distance cannot be measured for small objects.

Furthermore, as mentioned above, people who become partially blind, who account for qo% of blind people, have uncertain perception of environmental sounds and are unable to understand the situation in the outside world.
The reality is that

Signals obtained from distance measuring devices are used to assist blind people in walking.
It is input to a voltage controlled oscillator and a voltage controlled amplifier, and output as a sound from Ear-7 ON according to the distance to the object, changing the intensity of the sound of the snow, the pitch of the sound, or a combination of both. There is a device that allows blind people to perceive the state of objects in the outside world as a single sound image in their heads.

However, as mentioned above, blind people's hearing is very sensitive, and wearing the Ear-7on on one ear, even with one ear, hinders hearing the sounds of the outside world. Also, if you set the sonar to output the sound from the speaker, the sound from the speaker may be easy to hear in a small space such as indoors, but
Outside, it is difficult to hear unless you turn up the volume.1Furthermore, when the sound goes outside, it draws attention to their blindness, which is convenient, but on the other hand, some people don't like it because it draws too much attention. . Blind people can also read Braille with their fingertips, indicating that they have a keen sense of touch.

Therefore, a blind person's sonar is a small, lightweight, and inexpensive distance measuring device that can measure distances as small as possible within a distance of about 10 meters, knows the direction, shortens distance measurement time, and has no mechanically moving parts. As a medium for allowing blind people to perceive, it is preferable that it can be used in combination with a tactile method that does not interfere with hearing the sounds of the outside world, and an auditory method.

[Means for solving problems]

The present invention provides novel configuration means as set forth in the claims in order to eliminate the problems of the conventional technical means described above.

[Effect]

According to the above-mentioned means of the present invention, the following effects can be achieved.

First, by pressing two juxtaposed push buttons, it is possible to distinguish between auditory and tactile information to determine the distance and direction to an object.

First, the shape of a pressed button can be determined by the sense of touch.

Thirdly, there is an effect that the emission angle of the infrared beam can be changed. Therefore, during normal walking, there is no need to move the main body to scan, but when an obstacle is perceived, the infrared beam can be narrowed and the direction can be determined.

If, y, in the infrared region, unlike in the visible region, there is no selective reflection, that is, color recognition, so distance information can be obtained only from the intensity of reflected light. Therefore, a short-range radar device can be obtained, and it can be made small, lightweight, and inexpensive.

S. By pasting or coating a retroreflective film on an object in advance, it is possible to clearly perceive a specific object due to its significant reflected light. Coding has the effect of making it possible to perceive what the object is. 1 [Example] Next, the present invention will be described in detail with reference to the embodiments shown in Fig. 7 and subsequent figures. Identical symbols indicate identical members. Therefore, duplicate explanations will be omitted.

FIG. 7 shows a part of the external appearance of the main body of the device of the present invention.

In FIG. 1(a), symbols /a and /b represent a single outer casing made by plastic molding, and /c.

The ld portion is a fitting portion between them.

Push button switches α and JA indicated by dotted lines are juxtaposed on the upper surface of the outer casing. These details are shown in Figure 1 (b) <C)
and the third stroke will be explained.

On the back side of the push button switch α, 2b, there are guide grooves 1g shown in FIG. 3, etc., but they are not shown as 1-.

Island ♂ is a view of FIG. 1(a) viewed from the direction of arrow l.

In Fig. 1(b), protrusions /g, /f (Fig. 1(a)
) are also indicated with the same symbol. ), push button switches Ja and 2b are arranged side by side. Push button switch Ja,
, Lh are molded with projecting stripes (thin and long protrusions) that are perpendicular to each other as shown in the figure, so a blind person can press the push button switch α, Lh by placing his or her finger on it.
There is an effect that can be perceived as either JA.

The heights of the protrusions /g and /f are equal to or higher than the heights of the push button switches a and xb. Therefore,
When the main unit is stored in a bag, etc., the push button switch Ja is pressed by the stored item.

The uA is closed, and it is possible to prevent unnecessary children from draining the battery.

What is shown in FIG. 1(C) is a push button switch 2g.

The shape of the push button part 2b is made different to make it easier to distinguish between them. That is, the pressing part of the push-button switch 3a is rectangular, but the pressing part 3 of the push-button switch 3b is circular, with an ominous bulge in the center.

Therefore, by touching both with your finger, you can identify one of them. The push button switches 3a, 3b perform the same function as the simple button switches α, :lh.

Details of the push button switches 2a, 2b will be described later with reference to FIG.

FIG. 2 is a view of FIG. 1 (α) seen from the direction of arrow B, and shows the front side of the main body.

In FIG. 2, red filter plates lα and dab are fitted into holes of the same shape on the front surface of the main body.

On the back of the filter plates lla and ah, there is a converging lens s.
a and sb are indicated by dotted lines. Filter tags α and b and lenses sa and sb are shown with the same symbols in FIG.

The filter plates llα and ty-b transmit only wavelengths longer than red, and are intended to block visible and ultraviolet light incident from the outside.

Lenses sa and sb have a focal length of about 10 mm, so it is best to use aspherical plastic lenses.

This shows the configuration of the light receiving section, with the outer casing /a removed.

There is a mating groove in the fitting portion of the outer casings /b and la, but it is not shown in the figure.

A lens ga is fitted onto the front surface of the cylinder B, and a ring-shaped flange 6α is fixed to the lens ga.

The base of a flat support α is fixed to the bottom of the outer casing/h, and a light emitting diode (which emits wavelengths of 04g to 1 micron) serving as a photoelectric element is fixed to the recessed part of its upper edge. The light emitting surface thereof is located at the focal point of the lens 5α. The protruding pieces Ab and te at the left end of the cylinder A are loosely fitted into the holes of the support body 7α, and the protruding pieces Ah and Ae are resiliently repelled to the left by the spring gα9gb, but the support body 7G
The left end of the cylinder t touches and stops.

The base of the support is also fixed to the bottom surface of the outer casing lb, and a cylindrical cylinder with a semicircular upper edge is placed thereon.

Outer casing/a from above, outer casing! , V4, a support having the same structure as the support 7 is also provided on the outer casing lα, and comes into contact with the upper edge of the support so that the cylinder A can slide left and right. It is composed of What is indicated by symbol 9 is a semi-cylindrical support body, and a lens sb is fitted into the right end of the support body. The hole at the bottom of the left end is equipped with an infrared photoelectric element (
A photodiode (photodiode) // is fixed and receives infrared light incident from the right to obtain a corresponding output.

A semi-cylindrical support with the same structure is also provided for the outer casing lα to be fitted with the outer casing lb, and when the outer casings lα and /b are fitted, the one support provided for each also fits together. Accordingly, it is configured to have a cylindrical shape.

Next, push button switches (hereinafter abbreviated as electric switches).

)”*　, details of 2b will be explained.

In FIG. 3(α), the electric switches 2a and 2b are provided on the upper surface of the outer casing lα and /b.

Fig. 3(b) shows the details of the electric switch controller α, 2b. When the upper push button of the electric switch controller α is pressed in the direction of the arrow, the housed electric contact closes, and when the pressing force is removed, the spring switch is closed. 1L of electrical contacts arranged.
-T units are stored and opened and closed at the same time. Symbol 20 (l is their derived line.

Electric switch, long rod with base fixed to the back of la/g
cL,, 1g A is configured to slide left and right through long holes /g and /9 provided in the fitting portions of the outer casings ta and tb.

As shown in FIG. 3(a), the lower end of the long rod igα is in contact with the ring 6α from the left, so the electric switch 2α
is always biased to the left and stopped. Electric spin chico α
In order to prevent the
The IJ ring is fitted.

When the push button of the electric switch α is pressed, a set of internal electrical contacts are closed, and when it is further pressed and slid to the right, the cylinder 6 in FIG. 3 (α) moves to the right (in the direction of the arrow) together with the ring 6a. Moving. Assuming that the light emitting surface of the light emitting diode 10 was at the focal point before the movement, the infrared beam would be at the dotted line /21K.

/j They are emitted in parallel like b. However, when the cylinder 6 moves in the direction of the arrow, the infrared beam becomes diffused.

The effects of such means will be described later.

The case where the electric switch b is pressed from above (in the direction of arrow C) will be described below with reference to the cross-sectional view of FIG. 3(C).

An elastic metal disc U/C is fixed to the back of the push button.
Its edges are bent, and its outer periphery is fixed inside an outer casing made of plastic molding.

An end portion of a voice coil λlα, 21b wound and solidified into a ring shape is fixed to the disk 2/e.

Embedded in the bottom surface of the outer casing are the lower surfaces of two flat-shaped mild steel plate press members α whose cross-sections have the shape shown in the figure.

A ring-shaped Ferrite magnet u, 2 is fixed to the inner ring of the press member α, the press member 22a serves as a magnetic path, and the inner and outer surfaces are connected so that the magnetic flux penetrates through the voice coils 2/a and 21b. are magnetized to N and S poles.

When an alternating current is applied to the voice coil No. 2/21b, the disk 2IC, that is, the push button λ vibrates up and down. At this time, the push button is pressed downward, and the electrical contact 23 is pressed and closed.

Long rod 19α whose base is fixed to the bottom of the electric switch JA,
/9b is the outer casing lα, as shown in FIG.

/b can slide left and right through the long hole in the fitting part. It has the same structure as the electric switch 2α in that the electric switch λb is prevented from escaping upward by the E-ring.

The protrusion on the right side of the electric switch Jb is the electric switch 2a.
Therefore, when the electric switch 2b is pressed and moved to the right, the electric switch 2a also moves, and therefore, as described above, the angle at which the infrared beam is emitted by the light emitting diode IO becomes wider.

The symbol 20h is the lead-out terminal of the electric snatch 23 and the voice coil. In this embodiment, a voice coil motor is used as the drive source for vibrating the push button, but the same purpose can be achieved by using a well-known piezoelectric element.

Next, Part A? , ff diagrams, a means for obtaining distance measurement information to an object using an infrared light beam will be explained.

There are two methods, but the first principle is to focus the radiated electromagnetic waves onto the object to be measured in the form of a beam, and at this point,
To prevent a decrease in brightness, and after being projected onto a target, it is generally scattered light, so the intensity or energy of the reflected electromagnetic wave, that is, the integral value, is received as an amount inversely proportional to the second power of the distance. It is possible to obtain information about the death.

The first principle is as follows. As mentioned above, it is common knowledge that waves reflected from an object have different reflectances. However, this comes from the concept of colors in the visible range; the concept of colors outside the visible range disappears, and the reflectance remains almost constant. Therefore, by using a light emitting diode that emits light in the infrared region, for example, with a wavelength of approximately /micron, distance measurement can be performed based on the above-mentioned principle of %t. It is also possible to use a laser beam in the infrared region. The above-mentioned distance information is inversely proportional to the second power of the distance to the object, but in practice this causes significant attenuation, so
It is better to use ranging information that is inversely proportional to the power of

Next, the explanation will be given with reference to FIG.

In the embodiment shown in FIG. 6, the received illuminance of the reflected light is used as distance information, and the output of the oscillator circuit and the output of the monostable circuit 4/ are indicated by symbols E and I on the graph of the time chart of FIG. It is indicated by B-/.

Also, a sawtooth wave is created by the action of the capacitor qt and the transistor, and the output of the operational amplifier 3 is
It is indicated by graph C-/ in the figure. The output of the operational amplifier 3wo is connected to the capacitor 3g d via the transistor 39 tL because it provides the base voltage of the transistor 3q (L).
The charging current is as shown in graph C-7 in the figure. Therefore, the charging voltage of the capacitor 3rd is in the form of integrating the current shown in graph C-/, so it is proportional to the second power of the current, and the voltage of the capacitor 3rd is the voltage of the operational amplifier 3.
g, and its output becomes the voltage applied between the base and emitter of the transistor 3ta. Therefore, the current flowing to the light emitting diode 10 via the transistor 3gα is:
As time passes, it becomes like the graph C-j in FIG. Transistor 3g.

A base current is obtained through the inverting circuit θ, conducts, and discharges the capacitor 3gd.

The output of the high frequency oscillation circuit 4t3 is transmitted through the transistor 3.
Since it is input to the base of gb, the current flowing through the light emitting diode IO is modulated and becomes like the graph F-/ in FIG. Note that the graph D-rl is the output of the oscillation circuit lI3. Also, symbol 3 O is the positive terminal of the DC power supply.

The infrared light modulated by the light emitting diode/θ is transmitted through the lens Sα
The reflected and scattered light arrow from the object is converged by the object and projected in the direction of the arrow, and enters the photodiode I/ serving as the light receiving element via the lens sb. This electrical signal proportional to illuminance is amplified by an operational amplifier tig, and its output is
It is shown by the graph G-l, and the output of the filter capacitor qgα is shown by the graph 〃-/. The operational amplifier 9, which serves as an analog comparator, is supplied with a standard voltage source,
Since the reference voltage is input, the photodiode/l
When the illuminance reaches the set value, the detection signal is input to the flip-flop circuit q7 to set the offset, and its output is differentiated and input to the analog switch ys. Analog switch qS, operational amplifier 2, capacitor '16c
becomes low level as the input to the ten terminal of SAG 9 disappears. Therefore, the output of the operational amplifier is the graph in Figure 3/-
/becomes. The differential pulse of the above signal becomes the control input of the analog switch ys, and the graph of FIG. 3 becomes 1/.

Since the voltage at the output of the operational amplifier 3, that is, the input on the left side of the analog switch, increases in proportion to time, it becomes a straight line Z in the graph of FIG. 7(b). Therefore, the output voltage of the output terminal 17α of the operational amplifier O corresponds to the time from when the infrared beam starts to be quoted until the 1/1 differential pulse arrives on the graph,
-l. If there is no change in the distance to the object, it will be a straight line. Graph L, -7 shows that the distance has changed by the difference in level.

The output voltage of the terminal +A (Z provides distance information to the object to be ranged. The details of the graph in FIG. 7(a) will be explained below.

Yokosuke is the voltage obtained from the above-mentioned terminal 6α, and since it increases linearly with time as described above using the graph of FIG. 6(b), it can be considered as a time axis. The vertical axis is the received light illuminance of the 7 diodes described above.

It also increases correspondingly to the current flowing through the light emitting diode 10. The farther the distance to the object, the smaller the illuminance received by the photodiode //, ie, the input signal to the operational amplifier shown in FIG. 6, decreases in inverse proportion to the result. The distances to the object are rl and r2, and the illumination intensity of the photodiode l/ is set.

Then, at this illuminance, the output of the terminal 6α is a voltage 5. and J. The curves with symbols X and Y are drawn when the distance to the object is de1. It shows the light-receiving illumination curve of photodiode ll when r u (7 u>a, ).

At this time, when the distance is r, the brightness E increases in proportion to the time T or the voltage V, so E=, T'' or Emi, V2. Therefore, the above equation can be expressed as Lo=: K=AV, =Near 5- or.Therefore, the time to the point where the curve is cut at the set illuminance Lo is proportional to the distance to the object.That is, the terminal in Fig. 6 It will be proportional to the output voltage of lIA ex.

Finding the point where the curves X and Y cut off at the set illuminance Lo is the same as comparing the output voltage of the photodiode/l with the voltage of the reference voltage source Dada using an operational amplifier.

In Fig. g, the frequency of (-/ is 1oo-looo hertz, and the frequency of graph D-/ is about 70 kilohertz to lθθ kilohertz. Also, because the above-mentioned modulation is performed, other infrared rays, such as the sun, It is possible to remove the influence of

The embodiment shown in FIG. 9 uses the energy of the reflected light wave as distance information.

Now, considering the case where the luminous intensity of the light emitting diode 10 increases linearly, the illuminance received by the photodiode // increases the reflectance of the object by 2. When the luminous intensity is high, K t L /
It becomes r'. This is the distance in terms of distance. L is
Since it increases linearly with time, if time is t, the received light illuminance will be 7, or 2 t / r2. K
2 is a proportionality constant.

The output of the light receiving amplification circuit is also proportional to t/r'. If you integrate that signal, it becomes proportional to t'/r', and when it reaches the set value, it means that t'/r a-
/ constant value, therefore, the time t from the start of light emission until reaching the set value is proportional to r. The details will be explained with reference to the embodiment shown in FIG.

In FIG. 9, symbols 4-/, 2. Eil, 4-3,・
The voltage waveforms of the respective parts indicated by . . . are indicated by the same symbols in the time chart of FIG. 70.

The wave oscillation circuit has exactly the same function and effect as the case shown in FIG.
Graph 4-3 in the figure is a sawtooth wave.

Also, the transistor 3gα and the operational amplifier 3g perform the same function as in the case of FIG. Wave energization is being carried out.

At the same time, the output of the high-frequency oscillator circuit DA3 (shown in the graph) controls the transistor 3gI) in the saturation region, so the current flowing through the light emitting diode 10 and the light emission curve proportional to this can be calculated using the graph eater shown in FIG. It is modulated as follows.

When light is received by the photodiode //, an output proportional to the received light intensity is generated by the operational amplifier 11. This waveform becomes graph 6 in Figure 1O, and the output waveform of filter capacitor QK (L becomes graph 4-7. The synchronous detection circuit S3 corresponds to an analog switch. The detection output will be as shown in graph g.

Therefore, there is an effect that it is isolated from external noise and that only the required signal output can be obtained.

The output of the synchronous detection circuit S3 is sent to the operational amplifier 51. It is integrated with respect to time by capacitor S.

Analog switch SO is closed by the output of monostable circuit q/, and capacitor SOa is discharged only during the positive pulse width of FIG.

The output of the operational amplifier 51 is proportional to the received light intensity (which can be considered as the received light energy), and is shown in graph J-9 in FIG. 70.

The rising edge of the sawtooth wave of the graph g is proportional to t/deco, and its integral value is proportional to g, 2·7, , -1.

This becomes the rising curve of graph 7-9.

The operational amplifier 2 converts this rising curve to the reference voltage source +
A detection signal is obtained by setting a comparator level from the reference voltage of p. Therefore, the straight line portion α of the graph 9 indicates the above-mentioned comparison level. Therefore, the output of the operational amplifier 52 is obtained from the position corresponding to the intersection, and this output is passed through the differentiating circuit and the inverting circuit 4.5-A.
is converted into a hold pulse (shown in graph/θ),
This hold pulse closes the analog switch 11.1, and its output is held via a sample and hold circuit consisting of an operational amplifier and a capacitor 6C.

The output of the analog switcher S is the output of the operational amplifier 3, that is, the peak value of the rising straight portion of the sawtooth wave. This peak value becomes a voltage proportional to the time from the start of light emission until the integrated output of the operational amplifier 5/ reaches a predetermined value. In other words, since the aforementioned t2/r-2 indicates the time t until it becomes a constant value, the output of the terminal ti6a becomes a voltage proportional to the distance to the object to be measured, and the graph I-// shows is obtained. It will be done.

Next, we will explain the above-mentioned method, that is, how to make a blind person perceive the distance using a distance measuring device that calculates the distance to an object from the received light illuminance and the received light amount.

Next, the distance information to the object, that is, the terminal 'IA' in Figure 6.9.
A method for making a blind person perceive distance information using the output voltage of a will be explained.

In Fig. 1/(a), terminal 'IA (
The output of L is input to the terminal 53α, and in response to this input, electric vibration is generated by the F-P conversion circuit.

If the distance to the object responds to 1 meter, then 1=, A
The change between meters and 0.7 meters is preferably about 100 cycles to 1000 cycles.

The circuit for converting input voltage into superposition vibration may be any known circuit. The output of the F-1/conversion circuit 53 is sent to the increasing circuit signal α via the changeover switch Stt.

A sound wave is emitted from the speaker SA to the ridge widened by ss b, or a voice coil, 2/(Fig. 3 (C
), which are shown as symbols 2/α and λ/h), causing the push button to vibrate.

In some cases, the input frequency of the voice coil 2/2 is lower than the sound wave of the speaker 36 due to the tactile sensation of the human fingertip.

Figure 2(b) shows an example of the V-F conversion circuit S3. The input to terminal 53n is the output of terminal qba in FIGS.

The input at terminal S3α is amplified by transistor 59a and charges capacitor S7.

When the charging voltage reaches a predetermined value, it is discharged by the SCR or the trigger diode, and the base input of the transistor sqb is obtained.
The voice coil d/or the excitation coil 54 tX of the speaker 5A is energized.

The smaller the input voltage to the terminal 33a is, that is, the smaller the distance to the object, the greater the base current of the transistor 59α, and therefore the higher the frequency at which the transistor 39A conducts. Therefore, the sound wave from the speaker s6 becomes a high-pitched sound.

Alternatively, the vibration frequency of the push button shown in FIG. 3(c) becomes higher.

It is more effective to use a circuit that increases the amplitude by adding to the frequency change. .

Although the circuits in Figures t and q and Figure 1/1 are illustrated,
It is housed in a main body consisting of external fata and th in FIG. 1 together with a battery serving as a power source.

Hold the main body in your hand so that the lens Sα and shO surfaces in Figs. 1/Selector switch 54 in the figure! is switched, and the speaker 56 (housed inside the main body) is switched.

), a sound wave corresponding to the distance to the object is emitted.

A blind person can tell the distance to an object by hearing it. Therefore, walking while avoiding obstacles has the effect of making you feel sharp.

If the object is a pedestrian, training can also be used to learn whether the object is approaching towards you or moving away from you.

By holding the device in your hand and pointing it up, down, left, or right, you can perceive the distance to objects in the outside world, making it easier to walk.

When there is a lot of noise, such as on the road, or when it is necessary to judge external sounds based on the sounds that enter your ears, or when the generated sound waves cause a nuisance to others, press the push button switch 2b shown in Fig. 3. .

Since the button is springing back in its position, vibration is perceived by the fingertip that touches the push button shown in FIG. 3(o).

Therefore, the higher the vibration frequency, the closer the object is to the object, which can provide an effective means for walking.

It is also possible to use one power switch in common, and to press any of the pushbutton switches Ja, 2A, the actuator of the power switch is pressed and the power is turned on.

Push button switches 2 (1, ko b or 3 (t,
3b has a different shape, so it can be identified by the tactile sensation of the fingertip, and the vibrator of the fingertip and the distance measuring means using sound waves can be easily selected as needed, so it is effective for blind people to use.

Since the device of the present invention uses the infrared region, there is no selective reflection, so even in white, black, red, and blue colors, 10
This means that there is no difference in reflectance that exceeds the angle of θ, and there is a feature that practical ranging information can be obtained. However, in the case of a transparent glass plate, if the object surface is significantly tilted or the object is small, the amount of reflected light will be small, and therefore the object will be perceived to be farther than the actual distance.

If the object is close to the blind person (approximately 0.7-0.2 meters), the above-mentioned false signal 1-1. There is a risk of collision.

Reflectance 9 Even when there is a decrease in reflected light, 0, /-
Next, a description will be given of means for making the user perceive that the distance is 0.1 meter. In Fig. 3(a), the beam emitted once a year from the infrared light emitting section is parallel to the dotted line /,2 (
Although it is between 1 and /2b, the dotted line is /3a because the infrared light emitting source is not a point light source.

/3b. The shaded area is the diffusion area.

In order to know the distance of an object as far away as possible and to know the distance of a small object, it is preferable that the beam be emitted as parallel as possible.

If the infrared light receiving section is sensitive only to parallel beams, it will not be able to receive the scattered light of the infrared beam projected onto the object. Therefore, the ideal condition is to remove the lens Sb and set the acceptance angle to have a spread of 1 gO degree. However, such means causes a decrease in the illuminance of the light received by the photodiode/l, making it impossible to distinguish distant objects. Therefore, lens s
The sensitivity is increased by convergence by b, and the spread of the acceptance angle is set between the dotted line IQ n and /'7 b. For this reason, the light-receiving surface of the photodiode /l is arranged slightly shifted from the focal point of the lens sb.

Also, due to the reflection on the inner surface of the cylinder, the light receiving angle is expanded to a point between the dotted line 73a and the left side. Of course, the dotted line /4'
(Sensitivity decreases between l and /Sα and dotted lines /Q b and /ri b.

The ideal condition is to set the direction of the optical axis of lens sh along the dotted line /? a
Then, by tilting the optical axis by the amount indicated by the arrow l, the dotted line /? b direction, dotted line /? The intersection point of b and the optical axis of the lens 3a is the distance to the farthest point for object detection (generally about a meter).

Dotted line /l passing through the intersection of dotted line nt and dotted line ij b, 1
Objects to the left of g cannot receive reflected light and cannot be detected. Furthermore, objects on the right side of the dotted line //, A at the intersection of the dotted line /Qα and the dotted line 12α can be completely detected.

The intersection of point H/'Itx and lλα and the dotted line /A When you hold it and move close to the object, you get a point of 1t!
When approaching the intersection of 'i ittα and 12α, that is, the dotted line /A b (the distance to the object is preset to about 0.7 to O1-meters), the frequency of the sound emitted from the speaker decreases, or the push button The frequency of the vibration begins to decrease. Since the position of the above-mentioned intersection point has no relation to the reflectance of the object, it is effective because it allows accurate distance information in the object field.

Even when directly facing a transparent glass plate, it is possible to know when the object is close to 0.1 meters to 0.0 cm by using the above-mentioned means. Therefore, there is an effect that the danger of collision can be avoided.

As mentioned above, it is better to make the infrared beam as thin as possible, between the dotted lines /2α and /24 in FIG. 3, so that distance information about small objects can be obtained.

However, the blind person has to hold the device in his hand and rotate it up, down, left and right to change its orientation. If the infrared beam is spread out, this is not necessary. The ideal spread is cm, height /, 3 meters, width o,
It is a rectangle about s meters in size.

This shape is shown at point g9 in Figure S (a), ? ,2α, ,? ,
24 are shown as shapes with respective lengths of 0.5 meters and 7.5 meters. The blind pedestrian is the location of the light emitting diode IO.

However, the illuminance of the infrared beam emitted with the above-mentioned spread on the object surface is small, making it impractical.

dotted line,? The length in the direction of λb is set as an infrared beam with a rectangular spread as shown by the solid line 3/, and by rotating the main body held in the hand up and down in the direction of arrow F, the required area (the space that a person can pass through) is obtained. can be scanned.

At this time, when a detection signal indicating that there is an obstacle is output, the infrared beam is narrowed down by the means described later, and the infrared beam is
/ (Assuming the spread is t, by rotating the main body up, down, left and right, information on the direction and distance of the object can be obtained. 1. It has the effect of being able to avoid this while walking.

From the spread of the infrared beam shown in Figure S (b), it is possible to detect an obstacle in the space indicated by the dotted line 3q, and the infrared beam is indicated by the symbol 3.?a. By narrowing down the aperture to a small value, the effect is exactly the same as in the case of figure (a).

Next, referring to FIG. 7, a means for narrowing down the infrared beam will be explained.

In the state shown in FIG. 3(,), at the focal point of the lens 3a,
The light emitting diode 10 is large, so the infrared beam is
3/ , , , in either figure (a) or (b)? ,?
It's expanding like a self-titled name.

In this state, the blind person presses the push button switch λα shown in Figure 3.

When you walk while pressing one of the fingers, you can sense that there is an obstacle in front of you by using sound waves or by imaging your finger. At this time, 1, symbol 3/ in Figure 11,
,? ,? It is only known that the object is within the range of .

At this time, when the push button switches α and Ah are pressed and slid in the direction of the arrow in FIG. This is the focal point position of 3a. Therefore,
The infrared beam becomes parallel light and falls between the dotted lines /3α and /3b. By rotating the main body up, down, left and right, you can know the distance and direction to obstacles, so you can avoid them while walking.

When you release your hand from the push button switch, it springs back and
The power is cut off, and the cylinder B and lens Sa also spring back. Push button switch 21L.

When 24 is pressed in the direction of arrow C, the infrared beam is focused between dotted lines 13α and /3b, and when pressed in the direction of arrow C, the infrared beam is expanded, and the same purpose can be achieved.

The same purpose can also be achieved by controlling the expansion and aperture of the infrared beam by sliding the push button switch λα, 2b with a finger in the direction opposite to the direction of the arrow.

As mentioned above, by using the walking stick and the device of the present invention, it is possible to perceive the ground surface and objects above it.
Blind people are further troubled by the following problems.

Seventh, when I returned to my house, I realized that I had come in front of my house, but I noticed that the front door knob was coated with a retroreflective film (something called Scotchlite). ,
2! If rb is attached, the infrared beam projected onto it will be reflected in the projection direction, and the detection current of the photodiode/l will be multiplied by SOO. Therefore, by scanning left and right, two detection signals can be obtained from a distance, which has the effect of allowing the user to easily locate the knob by walking in that direction.

The retroreflective film is made as follows. Glass bulbs are made into a fine powder and then diffused into a transparent plastic to form a film.It has the ability to reflect light in the direction of the projected light without scattering. Since there is no scattering, 1 is not very useful as distance information, but it has the characteristic that it allows you to know the direction with certainty.

Attaching Scotch tape to the door knobs of public buildings, toilet door knobs, etc. is also effective for blind people because they can see their locations from a distance. In this case, in order to identify whether the knob is for the entrance door, the interior room, or the toilet door, use Scotchlight λ3a.
, ; It is effective to code by making the numbers of Ash different. It can also be used for the same purpose at home.

When staying at a hotel, it is nearly impossible for a blind person to walk down the hallway and turn the knob on the door to his or her own club room. In this case, if you leave it behind, the infrared beam will easily emit it when you return. In this case, since Scotchlite-kun e cannot be pasted, it is better to use one whose both sides are retroreflective films.

Several methods of assisting blind people walking on roads have already been implemented. The most common method is to create an uneven surface on the road and walk on it to get to the destination.

Although such measures are effective, they are expensive to implement and have only been implemented on seven roads. Also, this is not a good thing for ordinary pedestrians.

Currently in use, white road signs have tiny glass bulbs mixed in to increase the amount of reflected light. Therefore, when the device of the present invention is used, the sign can be identified by its strong reflected light.

When a large number of vitreous bulbs are mixed in, the identification becomes easier. Make such a white paint and as shown in Figure (h),
The paints 27a and λ7'b are applied along the road 2A.

The coating means can be easily applied in the same manner as the coating of road signs that is already practiced. A blind person should point the infrared beam downwards and see the sign, 27. This is an effective method since you can reach your destination by walking while exploring the routes a and b.

Figure (A) is an example of how to inform a blind person of a 2g crosswalk on a road.

The white line is 9α, which has the same code as the well-known crosswalk sign.
29 A, . . . are performed using white paint for the retroreflective film, and fourth, one white line 3θ is painted with the same paint at right angles to them.

If a blind person were to cross from the direction of arrow E, he would first perceive the white lines 29α, 29 A, . . . juxtaposed by the infrared beam, and then cross along the white line 30.

Therefore, it is possible to cross the road without feeling anxious.

〔Effect of the invention〕

According to the device of the present invention, the following effects can be achieved.

By using ffl/ in combination with a cane, it is possible to perceive obstacles in space above the ground.

Second, it is smaller, lighter, and less expensive than known means that utilize ultrasound. In addition, it is possible to know the direction of an object. 1. Thirdly, you can choose between using your sense of hearing and using your fingers' sense of touch.

Qthly, since it is possible to freely choose to widen or narrow down the spread of the emitted infrared beam, it is possible to easily perceive obstacles and to reliably obtain direction and ranging information.

Fifth, the push button switch that controls the emission of the infrared beam is configured to be easy for blind people to operate.

Sixth, by painting a retroreflective film on the road surface or coded and pasting it on door knobs, etc., and scanning and identifying it with an infrared beam, it can be used as a road guide and to identify objects. I can sense what is there.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of the external appearance of the device of the present invention, FIG. 2 is a front view thereof, FIG. 3 is an explanatory diagram of the push button switch, infrared light, light emitting device 5, and light receiving device, and FIG. 4 is an explanatory diagram of the device. An explanatory diagram when the device of the present invention is used for road guidance and object perception. Figure S is an explanatory diagram of an example of use when the infrared beam is expanded and narrowed down. Figure 6 is an explanatory diagram of the device of the present invention when used for road guidance and object perception. The electrical circuit diagram, Figure 7, is
A graph showing the principle of distance measurement, Fig. G is a time chart of electrical signals of each part of the electric circuit of Fig. 6, Fig. 9 is another embodiment of the electric circuit of the device of the present invention, and Fig. 1O is a graph showing the principle of distance measurement. FIG. 9 shows a time chart of electric signals of various parts of the electric circuit of the embodiment, and FIG. 11 shows an electric vibration generating circuit diagram of the apparatus of the present invention. lα, th...outer cylinder, ko, s. α, 3h...Push button switch, /t, /
f - protrusion, qα, lIA...red filter, sa, s'h...lens 6.9...cylinder, 6α...ring, ga, gh...spring, 7.7α...・Support, 10... Light emitting diode, //... Photodiode, Ah, AC
...Protruding piece, 1g 61g A, /9 a
, /9 A...-long rod, 1g, /9... long hole,
θα, 20'b...Leading wire, λ3...Electric switch, 2/, 2/α, aib...Voice coil,
2.2... Magnet 1.2 IC... Elastic disk,
2 core a...mild steel press member, □Review...door knob, ko left α, , 25 A, 2! ;tr'
...Retroreflective film, , 2 Otsu, 2g-, ・Road,
27a, uris. , 2911, 29 b,..., 30... Retroreflective film white paint, 2ri d... String, 3/ tt
, ,? ,? ct, 3/, 3. ? ...spreading of infrared beam, q/...monostable circuit, erosion, g3...oscillation circuit, 3A...DC power supply positive pole, 3g
G, , 3g b, 31 ty, 4/c
t, 3;9 a,! ;9 b-) transistor;
lIo, nail b --- inversion circuit, 3ri, 3g
. 39, Da Otsu, Even, Rini, S/, '; 2... Operational amplifier, Item... Reference voltage source, 4ts, sa... Analog switch, qri... Flip Flora 7" times M, ¥, 1'-...Light receiving illuminance curve, ,(-/,,
B-/. . . . L-/ . . . Time chart of lightning pressure at each part of the electric circuit shown in Fig. S3 . . . Synchronous detection circuit, 4-2.
4-3. ..., Enoko...$9 Time chart of the voltage of each part of the electric circuit shown in the figure, +p a...Reference voltage, 53...Electric vibration generation circuit corresponding to the voltage,
ss a, 'ss b, G Sα... Width increasing circuit, 54 (X... Excitation coil of speaker 56. 11 Figure procedure amendment (self-proposed) January 7, 1988 Commissioner of the Japan Patent Office U Indication of the Tono Ka Michibe case 1985 Patent Application No. 1 Left g2kA Title of the invention Relationship to the Person Who Amends Guide Devices for the Blind Case Patent applicant address: 32/32 Jingumae Q-chome, Shibuya-ku, Tokyo, Japan The scope of claims and the detailed description of the invention of the specification to be amended. j Contents of the amendment (a,) The full text of the claims described on pages 1 to 5 of the specification is as follows: (1) An infrared light source that emits infrared light forward in the form of a beam, a photoelectric element that receives reflected light from an object irradiated by the infrared light source, and a photoelectric element that receives reflected light from an object irradiated by the infrared light source. an electric circuit that obtains distance information to the object through the light-receiving surface of the element or light-receiving energy; an oscillation circuit that generates electric vibrations having a frequency and amplitude corresponding to the distance information obtained from the electric circuit; The above-mentioned electric circuits and oscillation circuits are opened and closed, and the first oscillation circuits are provided adjacent to each other on the outer tube of the main body.
a second push-button electric switch; and a device for driving a speaker housed in the main body to generate an oscillating sound wave by the output of the electric circuit and oscillation circuit caused by pressing the push button of the first electric switch; By pressing the push button of the electric switch (
2) In the scope of the claim recited in item (1), the 1. A guide device for a blind person, characterized in that one push button of the second push button electric switch is configured to be distinguishable. f31 In the claims set forth in paragraph (1),
Emission of an infrared light beam emitted in one of two cases: when the first or second push-button electric switch is pressed, or when the first or second push-button electric switch is slid back and forth while being pressed. A guide device for blind persons characterized in that the angle can be changed to the smallest first emission angle or a larger emission angle.' (4) Emit infrared light forward in the form of a beam. It includes an infrared light extraction section provided on the front of the main body consisting of a converging lens and an infrared light source, and a photoelectric element that converges and receives the reflected light from the object irradiated by the infrared light source. , an infrared light receiver provided on the main body at a predetermined distance from the infrared light emitting section, and information on the distance to the object via the received light illuminance or received light energy of the photoelectric element. an oscillation circuit that generates electrical vibrations having a frequency and amplitude corresponding to the distance information obtained from the electric circuit, and an electric switch circuit that opens and closes the electric circuit and the oscillation circuit. and,
By adjusting the spacing between the means for making the above-mentioned electric vibrations perceived by human hearing or touch, the infrared light emitting section and the light receiving section, and the emitting angle and light receiving angle of both.
Depending on the method, the distance between the main body and the object is 0.7 meters or more.
A guide device for a blind person comprising a mechanism in which electric vibration gradually decreases when approaching from the 0.2 to 4-torque position. (5) An infrared light emitting source that emits infrared light forward in the form of a beam, a photoelectric element that receives reflected light from an object irradiated by the infrared light emitting source, and the received light illuminance or light received energy of the photoelectric element. An electric circuit that obtains distance information to the object through the electric circuit, an oscillation circuit that generates electric vibrations having a frequency and amplitude corresponding to the distance information obtained from the electric circuit, and opening and closing of the electric circuit and the oscillation circuit. a power switch for making the above-mentioned electrical vibrations perceivable by human auditory or tactile sense;
A guide device for the blind, characterized in that it is comprised of a recursive reflective film. (6) A guide device for blind people according to claim (5), characterized in that it is constituted by a recursive/reflective film applied in a narrow strip along the edge of a road. (7) In the claims set forth in paragraph (5),
A guide device for a blind person characterized by comprising an elongated reflective film attached in parallel to both sides of a door knob. (8) In the scope of the claim set forth in paragraph (6), the product for blind persons is characterized by being composed of an elongated recursive reflective film that can be attached to and removed from a door knob by means of a hanging string. Guidance device. (9)・In the scope of the claim described in paragraph (5), the invention is composed of a recursive reflective film coated in one line in the traveling direction of a road crosswalk and in parallel in a direction perpendicular thereto. A guide device for blind persons characterized by: (h) From the top of page 1 of the specification, line 1A, the statement ``Can be determined.,'' has been changed to ``It is possible to distinguish between the first and second push buttons and inches.Returns when Fumiko is released. Since the power turns off automatically, you can avoid forgetting to turn it off.'' (C) In the Sth line from the top of page 72 of the specification, the statement ``Therefore, a short-range radar device'' is amended to ``Therefore, when this action is utilized, it is a short-range radar device.'' (d) "Figure 3" in the Sth line from the top of specification No. 730 is corrected to [Figure 3' (b) J. (Li) Line 1A from the top of the specification box, page θ, “Figure 77”
The description has been corrected to "Figure 5."<fl Akira W (H bookcase q, page 3 from the top/3rd line "Figure 7 (correct the entry for month 0 to "Figure 7 (d)"). (q) Specification □ Bottom of page 3 From the first line “Figure 7 (
b) Correct the description of j to "Figure 1 (C)". that's all

Claims (9)

[Claims] (1) An infrared light emitting source that emits infrared light forward in the form of a beam, a photoelectric element that receives reflected light from an object irradiated by the infrared light emitting source, and the received light illuminance or light received energy of the photoelectric element. An electric circuit that obtains distance information to the object through the electric circuit, an oscillation circuit that generates electric vibrations having a frequency and amplitude corresponding to the distance information obtained from the electric circuit, and opening and closing of the electric circuit and the oscillation circuit. and a first and second
a push-button electric switch, a device for driving a speaker housed in the main body to obtain an oscillating sound wave by the output of the electric circuit and oscillation circuit as described above when the push button of the first electric switch is pressed, and a second electric switch. The output of the above-mentioned air buying circuit and oscillation circuit caused by pressing the push button causes the pressing part of the push button to vibrate corresponding to the above-mentioned electric vibration, and the vibrating surface can be brought into pressure contact with the human skin. A guide device for a blind person comprising a device including a vibrator. (2) In the scope of the claim set forth in paragraph (1), the blind person is characterized in that the two push buttons of the first and second push button electric switches can be identified by the tactile sensation when touched with a finger. guide device. (3) In the scope of the claims set forth in paragraph (1), the first
Or, in two cases: when the second push-button electric switch is pressed, and when the first or second push-button electric switch is slid back and forth while being pressed, the emission angle of the emitted infrared light beam is minimized. A guide device for a blind person, characterized in that it is configured to be able to change to a first injection angle or a larger injection angle. (4) An infrared light emitting section provided on the front side of the main body, consisting of a converging lens that emits infrared light forward in the form of a beam and an infrared light source, and reflected light from objects irradiated by the infrared light source. an infrared light receiving section provided on the main body at a predetermined distance from the above-mentioned infrared light emitting section; an electric circuit that obtains distance information to the object through the electric circuit; an oscillation circuit that generates electric vibrations having a frequency and amplitude corresponding to the distance information obtained from the electric circuit; By adjusting the distance between an electric switch for opening and closing, a means for making the above-mentioned electric vibrations perceived by human hearing or tactile sense, an infrared light emitting part and a light receiving part, and the emission angle and light receiving angle of both, A guide device for a blind person, comprising a mechanism that gradually reduces electrical vibration when the distance between the main body and the object is closer than about 0.1 meter to 0.2 meter. (5) An infrared light emitting source that emits infrared light forward in the form of a beam, a photoelectric element that receives reflected light from an object irradiated by the infrared light emitting source, and the received light illuminance or light received energy of the photoelectric element. An electric circuit that obtains distance information to the object through the electric circuit, an oscillation circuit that generates electric vibrations having a frequency and amplitude corresponding to the distance information obtained from the electric circuit, and opening and closing of the electric circuit and the oscillation circuit. a power switch for making the above-mentioned electric vibrations perceivable by human hearing or touch; and a coded retroreflective film that is attached or painted on an object and irradiated with an emitted infrared light beam. A guide device for a blind person characterized by comprising: (6) A guide device for a blind person according to claim (5), characterized in that it is constituted by a retroreflective film applied in a narrow strip along the edge of a road. (7) A guide device for a blind person according to claim (5), characterized in that it is constituted by an elongated retroreflective film attached in parallel to both sides of a door knob. (8) In the scope of the claim set forth in paragraph (5), the product for blind persons is characterized by being constructed of an elongated retroreflective film that can be attached to and removed from a door knob using a hanging string. Guidance device. (9) In the scope of the claim set forth in paragraph (5), it is constituted by a retroreflective film applied in parallel in the direction of travel of a road crosswalk, or in a direction perpendicular thereto. A guide device for blind people characterized by: