CN100394902C - Intelligent blind person walking guide instrument and its walking guide method - Google Patents
Intelligent blind person walking guide instrument and its walking guide method Download PDFInfo
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- CN100394902C CN100394902C CNB2005101001572A CN200510100157A CN100394902C CN 100394902 C CN100394902 C CN 100394902C CN B2005101001572 A CNB2005101001572 A CN B2005101001572A CN 200510100157 A CN200510100157 A CN 200510100157A CN 100394902 C CN100394902 C CN 100394902C
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Abstract
The present invention provides an intelligent blind person walking guide instrument which comprises a main control module which is composed of a main control circuit and an upper ultrasonic wave detecting circuit, a phonetic warning module, a radio transmission module, a vibration warning module and an ultrasonic wave detecting module for a detecting stick in wireless connection with the main control module, wherein the phonetic warning module, the radio transmission module and the vibration warning module are connected with the main control module through wires. The present invention also provides a walking guide method of the intelligent blind person walking guide instrument: the upper ultrasonic wave detecting module and the ultrasonic wave detecting module for a detecting stick generate an ultrasonic wave; the ultrasonic wave is reflected when contacting an obstacle; a reflecting signal is sent to a main control CPU; after the distance of the obstacle is computed, different phonetic warning signals or vibration warning signals with different frequencies are sent according to different directions. The present invention has the characteristics of many functions, small volume, portability, low cost, convenient operation, etc.
Description
Technical field
The invention belongs to information processing and control technology field, the particularly a kind of intelligent blind leading instrument of assisting blind walking and the using method of leading instrument.
Background technology
There are more than 3,000 ten thousand visually impaired persons in the whole world, and China just has more than 800 ten thousand, explores the way by a walking stick usually when they walk.Whenever limited several points on the ground can only be surveyed in the road that makes a move, and instrument road surface situation is visited not unclearly, and walks also very slow.In addition, walking stick can only detect surface state, but is difficult to avoid the danger of collision obstacle above the waist.
The external present new Electronic Blind Navigation that multiple assistance blind person walks of having developed.These new Electronic Blind Navigation have all been introduced electronic computer mostly and have been carried out signal processing, some in addition used the GPS global positioning system, and set up methods such as radio base station, the expensive problem of ubiquity is not suitable for the disadvantaged group of blind this low income of deaf person.Domestic city exists complicated traffic system, although laid the sidewalk for visually impaired people on the footpath, under various reasons, the effect of sidewalk for visually impaired people is very little.And in places such as rural suburbs, the blind person also has difficulty in taking a step.Because attention degree is not enough, drop into limitedly, this respect does not all have sophisticated product to come out always.At present a lot of products can not comprehensive care when the blind person walks each position of health.
Summary of the invention
Purpose of the present invention is exactly in order to solve above-mentioned the deficiencies in the prior art part, a kind of intelligent blind leading instrument and using method thereof are provided, can detect the barrier on ground, can detect simultaneously the above barrier in ground to human body height place, have powerful, volume is little, be easy to carry, cost is low, characteristics such as easy to operate.
Purpose of the present invention is achieved through the following technical solutions: a kind of intelligent blind leading instrument, it is characterized in that comprising the main control module of forming by governor circuit and top ultrasonic listening circuit, with audio alert module, wireless transport module, the vibration alarming module of main control module wired connection, and with the spy cane ultrasonic listening module of main control module wireless connections.
Described governor circuit comprises master cpu and the amplification demodulatoring circuit that is connected with master cpu respectively, signal generating circuit, voice module interface and wireless module interface, reset circuit, clock circuit, described top ultrasonic listening module communicates with wired mode and governor circuit, and described wireless module interface carries out simplex with the detected signal of spy cane ultrasonic listening module.
Described spy cane ultrasonic listening module comprises visits cane CPU and the amplification demodulatoring circuit that is connected with CPU, signal generating circuit, wireless module interface, reset circuit, clock circuit.
Described wireless transport module comprises transmitter module and receiver module, links to each other with the master cpu serial ports, and main control module carries out serial communication with spy cane ultrasonic listening module by wireless transport module.
Described vibration alarming module comprises that one of audion 8050 and driving thereof has eccentric micromachine.
As a kind of preferred version, the CPU of described main control module adopts Micro-Processor able to programme (microprocessor) AT89S52, and described spy cane CPU adopts AT89C2051.
As another preferred version, described audio alert module adopts 2560 chips.
As another preferred version, described spy cane ultrasonic listening module is fixed in the inner chamber of the walking stick that the blind person uses; There are two holes front side, walking stick lower end, and the probe of ultrasonic sensor is fixed in the hole, and power supply and switch are located at the handle place of walking stick; There is one to be used for it is fixed on user clip above the waist on the shell of described top ultrasonic listening circuit.
The using method of intelligent blind leading instrument of the present invention is: by the ultrasound wave of top ultrasonic listening module and the generation of spy cane ultrasonic listening module, when running into barrier, be reflected, reflected signal is admitted in the master cpu, after calculating the distance of barrier, send the different audio alert signals or the vibration alarming signal of different frequency according to different azimuth.
As a kind of preferred version, after described master cpu calculates the distance of barrier, divide alarm level according to the different distance of barrier, send the different audio alert signals or the vibration alarming signal of different frequency according to different brackets.
When using leading instrument of the present invention, user is held walking stick, simultaneously the selection of top ultrasonic listening circuit is clipped in positions such as the medicated cap of user or glasses, collar, the hem.When there is barrier in ground, the place ahead or user lower part of the body the place ahead, visit cane ultrasonic listening module and signal is sent to governor circuit by wireless mode, inform user by voice or vibration alarming; When there was barrier in user the place ahead above the waist, ultrasonic listening circuit in top then was sent to governor circuit to signal by wired mode, informs user by voice or vibration alarming again.So the barrier in user the place ahead all can be detected as long as in the human body altitude range, thereby guarantee the safety of user.
The present invention compared with prior art has following advantage and beneficial effect: characteristics such as the intelligent blind leading instrument has powerful, and volume is little, is easy to carry, and cost is low, and is easy to operate.
Description of drawings
Fig. 1 is the hardware composition frame chart of intelligent blind leading instrument of the present invention;
Fig. 2 is the main control module block diagram;
Fig. 3 is the governor circuit schematic diagram;
Fig. 4 is reset circuit figure;
Fig. 5 is a clocking scheme;
Fig. 6 is signal generating circuit figure;
Fig. 7 is ultrasound wave amplification demodulatoring circuit figure;
Fig. 8 is the vibration alarming circuit diagram;
Fig. 9 is the mainframe program flow chart;
Figure 10 is the range finding subroutine flow chart.
The specific embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited thereto.
The measuring principle of intelligent blind leading instrument of the present invention is as follows:
Single-chip microcomputer produces the 40KHz square wave, produce sectional ultrasound wave by the ultrasonic emitting probe, the single-chip microcomputer intervalometer picks up counting simultaneously, ultrasound wave is propagated in air and is run into barrier, be reflected the back by ultrasound wave receiving transducer reception echo, through amplifying circuit amplification, detecting circuit detection, produce and interrupt, the single-chip microcomputer intervalometer stops timing.Single-chip microcomputer is handled data, from being transmitted into the time difference of reception, under the super prerequisite of known ultrasonic velocity V, calculates the distance of barrier according to ultrasound wave, as required distance is divided into 1 meter, 1.5 meters, 2 meters different alarm level again.Single-chip microcomputer sends signal according to the orientation and the alarm level of object, and warning system adopts audio alert, can send six kinds of different audio alert signals according to the distance and the orientation of distance, and can send three kinds of vibration alarming signals according to the distance of distance.
Intelligent blind leading instrument of the present invention comprises hardware components and software partly, hardware components mainly is made up of five parts, comprises main control module, spy cane ultrasonic listening module, audio alert module, wireless transport module, vibration alarming module that governor circuit and top ultrasonic listening circuit are formed.Hardware composition frame chart such as Fig. 1.
Governor circuit is the primary module of system of the present invention, and ultrasonic listening circuit in top communicates with wired mode and governor circuit.Governor circuit comprises amplification demodulatoring circuit, signal generating circuit, voice module interface and wireless module interface, reset circuit, clock circuit.The wireless module interface is used for carrying out simplex with the detected signal of spy cane ultrasonic listening module.It is formed as Fig. 2, shown in Figure 3.
In the intelligent blind leading instrument, CPU has adopted the Micro-Processor AT89S52 able to programme of general atmel corp.AT89S52 is a kind of low-power consumption, and high performance CMOS eight bit micro-computers are with MCS-51 product compatibility.Compare low price with similar MCS-51 product, and online programming function (ISP) is arranged.
What reset circuit adopted is to reset by key level.Reset circuit figure as shown in Figure 4.
The clock circuit of AT89S52 has adopted inner mode, utilizes the oscillating circuit in the chip, and external 12M crystal oscillator and C1, C2 (all 30pF) constitute parallel oscillatory circuit.Clock circuit as shown in Figure 5.
Hyperacoustic operating frequency of signal generating circuit is 40KHz, is produced by the single-chip microcomputer time-delay, exports by P2.7.Because voltage and current is all very faint must to be amplified it.Triode amplifies electric current, and 1: 2 transformator is with voltage amplification.Its circuit diagram as shown in Figure 6.Because ultrasonic attenuation is very fast, the echo ratio that receives a little less than, have only several millivolts.Thereby need amplify signal, to meet the input requirement of descriminator LM567.The employing two-stage is amplified, and signal can be amplified hundred times, at last by Capacitance Coupled LM567 detection.Its circuit diagram as shown in Figure 7.
Amplifying circuit adopts PO-07 to amplify.OP-07 is low offset voltage, low noise, the accurate amplification appliance of low time, temperature drift.OP-07 has the input voltage of broad, lower input current.Need only provide+9V voltage OP-07 just can work, and other amplifications IC need provide+-voltage could work.Because leading instrument of the present invention is by+9V battery powered, therefore selects for use OP-07 to have brought very big convenience for the design of power supply.
Detecting circuit adopts the LM567 chip of America NI company, and the LM567 chip is a kind of general chip of speech decoder.
Visit cane ultrasonic listening module and comprise amplification demodulatoring circuit, signal generating circuit, wireless module interface, reset circuit, clock circuit, that spy cane CPU selects for use is AT89C2051.AT89C2051 has characteristics such as volume is little, and price is low.Less at required I/O mouth, program storage requires to be more suitable for using more after a little while.
The audio alert module adopts 2560 chips of American I SD company, and the recording playback time can reach 60 seconds.Advantages such as ISD2560 series has anti-outage, tonequality is good, and is easy to use.Its maximum characteristics are E in the sheet
2The PROM capacity is 480K, and the recording playback time is long; 10 address input ends are arranged, and addressability can reach 1024; Multipotency divides 600 sections; Be provided with OVF (overflowing) end, be convenient to a plurality of device cascades.
Wireless transport module adopts general nothing coding wireless transport module.Wireless transport module is divided into transmitter module and receiver module, links to each other with microcontroller serial port, and main frame (being main control module) and slave (visiting cane ultrasonic listening module) carry out serial communication by wireless transport module; Use no coding module, write communication protocol voluntarily.
The vibration alarming module drives one by audion 8050 and has eccentric micromachine realization.Level by the control transistor base is controlled the switch of motor, and the level of importing different frequencies just can reach different vibrating effects.Its circuit diagram as shown in Figure 8.
On software design, adopted general C language to design.Use the C language more effective than other special-purpose language.The keil C that uses the exploitation of keil company is as development platform.It is the C language tool that meets ANSI (ANSI) standard fully that the C51 of Keil optimizes cross-compiler (MS-DOS) version.
Mastery routine comprises the data handling procedure of main frame (being main control module) and slave (promptly visiting cane ultrasonic listening module).As shown in Figure 9.
Described mastery routine is performed as follows: main frame carries out initialization, judges whether that at first unit uses: if unit just begins to find range, judge alarm level according to the distance that measures, and produce voice or vibrations warning; Need wait for then that if not unit slave sends the flag bit that begins to find range and finds range,, think that then slave lost efficacy, abandon slave, and main frame is set is the unit state to the user report if in 1.3 seconds, do not receive the opening flag position that slave sends.
Communicating by letter of main frame (main control module) and slave (visiting cane ultrasonic listening module) do not realize by there being coding wireless transport module simplex.Visit cane ultrasonic listening module and find the laggard row range finding of object, divide alarm level, then alarm level is issued transmitter module from serial ports, main frame receives data by receiver module again.Because therefore coding does not write communication protocol voluntarily, adds identifying code 0x55 before sending data each time.Have only when receiver module is received 0x55, just the data behind the 0x55 are handled.
Described range finding subprogram is performed as follows: the square wave drive ultrasonic emitting probe that is produced 40KHZ by the single-chip microcomputer time-delay sends one section ultrasound wave, and single-chip microcomputer starts intervalometer and picks up counting, and time-delay 20ms waits for and interrupting.Ultrasound wave runs into the barrier back reflection returns, and is received by the ultrasound wave receiving transducer, single-chip microcomputer is produced interrupt, and enters interrupt service routine.The intervalometer of having no progeny during single-chip microcomputer enters stops timing, and single-chip microcomputer is judged alarm level by timing, thereby produces corresponding alarm signal.As shown in figure 10.
Leading instrument of the present invention can be respectively at the above and below of human body, when 1 meter of distance human body, 1.5 meters, 2 meters are sent " top danger ", " top is careful ", " top is noted ", " below danger ", " below is careful ", " below is noted " six kinds of different alarm signals when barrier is arranged respectively; Also can select the mode of the side of making no distinction of rank, when running into the different distance barrier, send during warning: " danger ", " carefully ", " attention " three kinds of alarm signals; Also can select three kinds of vibration alarming signals simultaneously.Audio alert is accurate, lamprophonia.
Hyperacoustic investigative range can reach more than 10 meter, more than detection angle 60 degree, but for actual needs, alarm range is set within 2 meters, and the warning spacing also can be adjusted as required.Ultrasound probe has certain blind area, and by measuring about 30cm, but because the data of measuring when entering actual blind area are definite values, this definite value is in alarm range, and the blind area of therefore reporting to the police is 0cm.
The whole devices of intelligent blind leading instrument adopt mount technology, and the waist-mounted type main frame is made the mobile phone size, is built in walking stick from machine circuit, and power supply and switch are installed in the handgrip place of walking stick, allow user operate more freely.The whole system light and flexible, cost is low, and market using value is preferably arranged.
Claims (9)
1. intelligent blind leading instrument, it is characterized in that comprising the main control module of forming by governor circuit and top ultrasonic listening circuit, with audio alert module, wireless transport module, the vibration alarming module of main control module wired connection, and with the spy cane ultrasonic listening module of main control module wireless connections; Described governor circuit comprises master cpu and the amplification demodulatoring circuit that is connected with master cpu respectively, signal generating circuit, voice module interface and wireless module interface, reset circuit, clock circuit, described top ultrasonic listening module communicates with wired mode and governor circuit, and described wireless module interface carries out simplex with the detected signal of spy cane ultrasonic listening module.
2. intelligent blind leading instrument according to claim 1 is characterized in that, described spy cane ultrasonic listening module comprises visits cane CPU and the amplification demodulatoring circuit, signal generating circuit, wireless module interface, reset circuit, the clock circuit that are connected with spy cane CPU.
3. intelligent blind leading instrument according to claim 1 is characterized in that, the CPU of described main control module adopts programmable microprocessor AT89S52, and described spy cane CPU adopts AT89C2051.
4. intelligent blind leading instrument according to claim 1 is characterized in that, described audio alert module adopts 2560 chips.
5. intelligent blind leading instrument according to claim 1 is characterized in that described wireless transport module comprises transmitter module and receiver module, links to each other with the master cpu serial ports; Main control module carries out serial communication with spy cane ultrasonic listening module by wireless transport module.
6. intelligent blind leading instrument according to claim 1 is characterized in that, described vibration alarming module comprises that one of audion 8050 and driving thereof has eccentric micromachine.
7. according to each described intelligent blind leading instrument in the claim 1 to 6, it is characterized in that described spy cane ultrasonic listening module is fixed in the inner chamber of the walking stick that the blind person uses; There are two holes front side, walking stick lower end, and the probe of ultrasonic sensor is fixed in this two hole, and power supply and switch are located at the handle place of walking stick; There is one to be used for it is fixed on user clip above the waist on the shell of described top ultrasonic listening circuit.
8. the using method of intelligent blind leading instrument according to claim 1, it is characterized in that, produce ultrasound wave by top ultrasonic listening module and spy cane ultrasonic listening module, when running into barrier, be reflected, reflected signal is admitted to master cpu, after calculating the distance of barrier, send the different audio alert signals or the vibration alarming signal of different frequency according to different azimuth.
9. using method according to claim 8, it is characterized in that, after described master cpu calculates the distance of barrier, divide alarm level, send the different audio alert signals or the vibration alarming signal of different frequency according to different brackets according to the different distance of barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101001572A CN100394902C (en) | 2005-10-10 | 2005-10-10 | Intelligent blind person walking guide instrument and its walking guide method |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005101001572A CN100394902C (en) | 2005-10-10 | 2005-10-10 | Intelligent blind person walking guide instrument and its walking guide method |
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| CN1748662A CN1748662A (en) | 2006-03-22 |
| CN100394902C true CN100394902C (en) | 2008-06-18 |
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| CNB2005101001572A Expired - Fee Related CN100394902C (en) | 2005-10-10 | 2005-10-10 | Intelligent blind person walking guide instrument and its walking guide method |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101227539B (en) * | 2007-01-18 | 2010-09-29 | 联想移动通信科技有限公司 | Blind guiding mobile phone and blind guiding method |
| CN101455601B (en) * | 2007-12-10 | 2010-12-08 | 王文蔚 | Traffic guiding and cuing system special for blind-man |
| CN102805700A (en) * | 2011-06-03 | 2012-12-05 | 江苏新天工广告有限公司 | Blind crutch with voice prompt device |
| CN104287947A (en) * | 2014-10-30 | 2015-01-21 | 北京联合大学 | Wearable intelligent guide device for blind persons |
| CN104510597A (en) * | 2014-12-26 | 2015-04-15 | 南京航空航天大学 | Double-protecting blind guiding device |
| CN105943324A (en) * | 2016-05-26 | 2016-09-21 | 苏州经贸职业技术学院 | An ultrasonic wave-based walking stick for the blind |
| WO2018027885A1 (en) * | 2016-08-12 | 2018-02-15 | 刘文婷 | Bluetooth-based ultrasonic obstacle detection ankle band for blind persons |
| WO2018027884A1 (en) * | 2016-08-12 | 2018-02-15 | 刘文婷 | Ultrasonic obstacle detection ankle band for blind persons |
| CN108415021A (en) * | 2018-06-15 | 2018-08-17 | 苏州工业职业技术学院 | Biped robot's Intelligent tracking device |
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|---|---|---|---|---|
| CN2132503Y (en) * | 1992-05-11 | 1993-05-12 | 叶筑生 | Ultrasonic blind guiding glasses with integrated circuit |
| FR2766579A1 (en) * | 1997-07-28 | 1999-01-29 | Toma Neagu Chiric | White cane for use by blind or partially sighted person |
| FR2787198A3 (en) * | 1998-12-15 | 2000-06-16 | Bernard Lamy | Unit for estimating the distance to an obstacle, especially of use by the blind or the sight impaired |
| CN2500297Y (en) * | 2001-09-13 | 2002-07-17 | 潘爱武 | Ultrasonic echo navigator for blind person |
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2005
- 2005-10-10 CN CNB2005101001572A patent/CN100394902C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2132503Y (en) * | 1992-05-11 | 1993-05-12 | 叶筑生 | Ultrasonic blind guiding glasses with integrated circuit |
| FR2766579A1 (en) * | 1997-07-28 | 1999-01-29 | Toma Neagu Chiric | White cane for use by blind or partially sighted person |
| FR2787198A3 (en) * | 1998-12-15 | 2000-06-16 | Bernard Lamy | Unit for estimating the distance to an obstacle, especially of use by the blind or the sight impaired |
| CN2500297Y (en) * | 2001-09-13 | 2002-07-17 | 潘爱武 | Ultrasonic echo navigator for blind person |
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| CN1748662A (en) | 2006-03-22 |
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