CN113189596A - Distance detection method and device for blind assisting equipment - Google Patents

Distance detection method and device for blind assisting equipment Download PDF

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CN113189596A
CN113189596A CN202110458358.9A CN202110458358A CN113189596A CN 113189596 A CN113189596 A CN 113189596A CN 202110458358 A CN202110458358 A CN 202110458358A CN 113189596 A CN113189596 A CN 113189596A
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distance detection
detection device
ultrasonic
ultrasonic distance
user
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CN113189596B (en
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卜佳俊
章越清
于智
顾静军
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Zhejiang University ZJU
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes

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Abstract

The invention relates to a distance detection method of blind assisting equipment, which comprises the following steps: the ultrasonic distance detection device, the first ultrasonic distance detection device and the second ultrasonic distance detection device are arranged on the left leg and the right leg simultaneously, the ultrasonic waves are sent intermittently, and the time interval of returning the ultrasonic waves is obtained
Figure DDA0003041408980000011
And
Figure DDA0003041408980000012
according to the time interval of signal return
Figure DDA0003041408980000013
And
Figure DDA0003041408980000014
calculating the distance S between the user and the obstacle according to the ultrasonic propagation speed; when the distance S between the user and the obstacle is smaller than the threshold value, an alarm signal is sent, noise can be effectively reduced, misjudgment caused by the fact that the front legs rebound ultrasonic pulse signals is avoided, the fact that at least one ultrasonic detector catches the obstacle in front of the central axis of the human body of the user at the first time can be guaranteed, and safety of the user when the user keeps away the obstacle and walks is guaranteed. The invention also comprises a device for implementing the distance detection method of the blind assisting equipment.

Description

Distance detection method and device for blind assisting equipment
Technical Field
The invention relates to the technical field of ultrasonic ranging, in particular to a distance detection method and device of blind assisting equipment.
Background
At present, the blind-aiding equipment applying the ultrasonic ranging technology mainly comprises blind glasses, a blind guiding stick, obstacle avoidance shoes and an ultrasonic range finder.
The blind glasses are worn on the head, and the included angle exists in the ultrasonic wave emission range, so that a barrier lower in front can not be detected easily, certain collision risk is brought to the visually impaired user when the blind users walk, and the common blind glasses are added with functions such as character reading or face recognition, so that the phenomenon that too much information needs to be transmitted to the visually impaired user at the same time is likely to be caused, and the probability that the user misses the information or misjudges is increased. The intelligent blind guiding stick is generally designed by taking a walking stick for a traditional vision-impaired user as a prototype, brings certain burden to the hand of the vision-impaired user when the user leans on the walking stick for a long time, and is particularly not suitable for multiple dysfunctions of double-forearm amputation. The mode of avoiding barrier shoes often relies on the pressure plate of sole, and the pressure value reaches certain numerical value and launches the ultrasonic wave when seeing barrier user and stepping on ground, but this kind of mode also often can reduce the life who avoids barrier shoes because of the wearing and tearing of pressure plate, and the judgement of pressure value also can receive very big influence when seeing barrier user steps on mud ground or puddle simultaneously.
Compare in preceding three, ultrasonic ranging appearance's advantage lies in that accessories can accomplish small and exquisite nimble, can not bring unnecessary trouble to equipment appearance design, wears and also can guarantee to keep away barrier rate of accuracy and walking security in user's lower body. However, the ultrasonic range finder on the market is usually worn on one leg or one foot, and the user can swing the leg forward and backward when walking, on one hand, half of the time of the ultrasonic range finder is behind the central axis of the human body of the user, the front obstacle cannot be captured at the first time, meanwhile, the front leg can generate redundant noise and misjudgment, on the other hand, the direction is right ahead when ultrasonic waves are transmitted, and the angle generated by swinging the leg during walking can influence the correct calculation of the distance between the front obstacle and the user.
Disclosure of Invention
The present invention provides a method and an apparatus for detecting a distance of a blind assisting device to overcome the above-mentioned disadvantages of the prior art.
In order to solve the above technical problem, the present invention provides a method for detecting a distance of a blind assisting device, where the blind assisting device includes: the intelligent terminal comprises an intelligent terminal, a first ultrasonic distance detection device and a second ultrasonic distance detection device which are respectively in communication connection with the intelligent terminal, wherein the first ultrasonic distance detection device and the second ultrasonic distance detection device are respectively and fixedly arranged on the left leg and the right leg of a user;
the distance detection method of the blind assisting device comprises the following steps:
s1, marking a first ultrasonic distance detection device and a second ultrasonic distance detection device;
s2, the first ultrasonic distance detection device and the second ultrasonic distance detection device intermittently transmit ultrasonic waves and obtain the time interval of returning of the ultrasonic waves
Figure BDA0003041408960000021
And
Figure BDA0003041408960000022
s3, according to the time interval of signal return
Figure BDA0003041408960000023
And
Figure BDA0003041408960000024
calculating the distance S between the user and the obstacle according to the ultrasonic propagation speed;
and S4, when the distance S between the user and the obstacle is smaller than a threshold value, sending an alarm signal.
Preferably, step S1 further includes:
the height H of the first ultrasonic distance detection device and the height H of the second ultrasonic distance detection device from the ground and the distance M from the crotch of the user are obtained.
Preferably, step S2 collectively includes:
s21, the first ultrasonic distance detection device and the second ultrasonic distance detection device transmit ultrasonic waves to the front at intervals of first preset time, the first ultrasonic distance detection device and the second ultrasonic distance detection device send pulse signals in turn, and the time intervals of the first ultrasonic distance detection device and the second ultrasonic distance detection device for transmitting the ultrasonic waves are second preset time respectively;
s22, when the first ultrasonic distance detection device sends ultrasonic waves, recording the sending time t1 and the receiving times t1L and t1R of the first ultrasonic distance detection device and the second ultrasonic distance detection device receiving the ultrasonic waves;
s23, when the second ultrasonic distance detection device sends ultrasonic waves, recording the sending time t2 and the receiving times t2L and t2R of the first ultrasonic distance detection device and the second ultrasonic distance detection device for receiving the ultrasonic waves;
s24, calculating the time interval of the first ultrasonic distance detection device:
Figure BDA0003041408960000031
s25, calculating the time interval of the second ultrasonic distance detection device:
Figure BDA0003041408960000032
preferably, step S3 specifically includes:
s31, calculating the distance between the first ultrasonic distance detection device and the second ultrasonic distance detection device and the front obstacle
Figure BDA0003041408960000033
And
Figure BDA0003041408960000034
s32, selecting the smaller value of SL and SR as Smin, and the other value as Smax;
s33, when a user walks, the included angle between the two legs in the vertical direction is alpha,
Figure BDA0003041408960000035
s34, distance between the human middle axis and the obstacle:
Figure BDA0003041408960000036
preferably, step S3 further includes:
and S35, transmitting the distance S between the user and the obstacle to the intelligent terminal.
Preferably, the alarm signal in step S4 is an alert tone, the distance S between the user and the obstacle is smaller than a threshold, and the smaller the value, the higher the frequency of the alert tone.
The invention also provides a device for implementing the distance detection method of the blind assisting equipment, which comprises the following steps: the intelligent terminal comprises an intelligent terminal, a first ultrasonic distance detection device and a second ultrasonic distance detection device which are respectively in communication connection with the intelligent terminal, wherein the first ultrasonic distance detection device and the second ultrasonic distance detection device are respectively and fixedly arranged on the left leg and the right leg of a user;
the distance detection device of the blind assisting equipment comprises:
the marking module is suitable for marking the first ultrasonic distance detection device and the second ultrasonic distance detection device;
an ultrasonic wave receiving module adapted to intermittently transmit ultrasonic waves through the first ultrasonic distance detecting device and the second ultrasonic distance detecting device and to acquire a time interval of returning of the ultrasonic waves
Figure BDA0003041408960000041
And
Figure BDA0003041408960000042
a calculation module adapted to calculate the time interval between signal returns
Figure BDA0003041408960000043
And
Figure BDA0003041408960000044
calculating the distance S between the user and the obstacle according to the ultrasonic propagation speed;
and the alarm module is suitable for sending an alarm signal when the distance S between the user and the obstacle is smaller than a threshold value.
Further, the distance detection device of the blind assisting equipment further comprises a mounting height detection module, which is suitable for acquiring the height H from the ground of the first ultrasonic distance detection device and the height M from the second ultrasonic distance detection device to the crotch of the user.
The invention also provides a computer-readable storage medium, wherein one or more instructions are stored in the computer-readable storage medium, and a processor of the right management apparatus in the one or more instructions, when executed, implements the distance detection method for the blind assisting device as described above.
The invention also provides an electronic device, comprising a memory and a processor; at least one program instruction is stored in the memory; the processor is used for realizing the distance detection method of the blind assisting device by loading and executing the at least one program instruction.
The invention has the beneficial effects that the invention provides the distance detection method and the device of the blind-aiding equipment, wherein the distance detection method of the blind-aiding equipment adopts the mode that the ultrasonic distance detection devices are simultaneously arranged on the left leg and the right leg, the first ultrasonic distance detection device and the second ultrasonic distance detection device intermittently transmit ultrasonic waves, and the time interval of returning the ultrasonic waves is obtained
Figure BDA0003041408960000045
And
Figure BDA0003041408960000046
according to the time interval of signal return
Figure BDA0003041408960000047
And
Figure BDA0003041408960000048
calculating the distance S between the user and the obstacle according to the ultrasonic propagation speed; when the distance S between the user and the obstacle is smaller than the threshold value, an alarm signal is sent, noise can be effectively reduced, misjudgment caused by the fact that the front legs rebound ultrasonic pulse signals is avoided, the fact that at least one ultrasonic detector catches the obstacle in front of the central axis of the human body of the user at the first time can be guaranteed, and safety of the user when the user keeps away the obstacle and walks is guaranteed.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a flowchart of a distance detection method of a blind assistance device provided by the present invention.
Fig. 2 is a model diagram of ultrasonic distance measurement for obstacle avoidance walking of the distance detection method of the blind assisting device provided by the invention.
Fig. 3 is a schematic block diagram of a distance detection device of the blind assistance device provided by the present invention.
Fig. 4 is a partial functional block diagram of an electronic device provided by the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example 1
As shown in fig. 1, this embodiment 1 provides a distance detection method for a blind assistance device. The blind assisting device comprises: the intelligent terminal comprises an intelligent terminal, a first ultrasonic distance detection device and a second ultrasonic distance detection device which are in communication connection with the intelligent terminal respectively, wherein the first ultrasonic distance detection device and the second ultrasonic distance detection device are fixedly arranged on the left leg and the right leg of a user respectively.
The distance detection method of the blind assisting device comprises the following steps:
s110: marking the first ultrasonic distance detection device and the second ultrasonic distance detection device;
specifically, the first ultrasonic distance detection device and the second ultrasonic distance detection device are marked on the leg of the left and right legs to which the user is fixed, and if the first ultrasonic distance detection device is fixed on the left leg, it is marked as L, and if the second ultrasonic distance detection device is fixed on the left leg, it is marked as R.
S120: the first ultrasonic distance detection device and the second ultrasonic distance detection device intermittently transmit ultrasonic waves and acquire the time interval of returning of the ultrasonic waves
Figure BDA0003041408960000061
And
Figure BDA0003041408960000062
specifically, step S120 includes the steps of:
s121: the first ultrasonic distance detection device and the second ultrasonic distance detection device transmit ultrasonic waves to the front at a first preset time interval, the first ultrasonic distance detection device and the second ultrasonic distance detection device transmit pulse signals in turn, and the time interval of the first ultrasonic distance detection device and the second ultrasonic distance detection device transmitting the ultrasonic waves is a second preset time interval;
s122: when the first ultrasonic distance detection device transmits ultrasonic waves, recording the transmission time t1 and the receiving times t1L and t1R of the first ultrasonic distance detection device and the second ultrasonic distance detection device receiving the ultrasonic waves;
s123: when the second ultrasonic distance detection device transmits ultrasonic waves, recording the transmission time t2 and the receiving times t2L and t2R of the first ultrasonic distance detection device and the second ultrasonic distance detection device receiving the ultrasonic waves;
s124: the first ultrasonic distanceTime interval from detection device:
Figure BDA0003041408960000063
s125: time interval of the second ultrasonic distance detection means:
Figure BDA0003041408960000064
s130: according to the time interval of signal return
Figure BDA0003041408960000065
And
Figure BDA0003041408960000066
calculating the distance S between the user and the obstacle according to the ultrasonic propagation speed;
referring to fig. 2, specifically, the step S130 includes the following steps:
s131: calculating the distance between the first ultrasonic distance detection device and the second ultrasonic distance detection device and the front obstacle
Figure BDA0003041408960000067
And
Figure BDA0003041408960000068
s132: selecting the smaller value of SL and SR as Smin, and the other value as Smax;
s133: when the user walks, the included angle between the two legs in the vertical direction is alpha,
Figure BDA0003041408960000069
s134: distance of human medial axis from obstacle:
Figure BDA00030414089600000610
in this embodiment, after step S130, the method for detecting a distance of a blind assistance device further includes:
s135: and transmitting the distance S between the user and the obstacle to the intelligent terminal.
S140: and when the distance S between the user and the obstacle is less than the threshold value, sending an alarm signal.
Specifically, an initial alarm distance threshold, for example, 1.5m, is preset in the intelligent terminal, and after receiving the transmitted distance data S, the intelligent terminal compares the distance data S with the set threshold, and when the detected distance data S is greater than the threshold, the first ultrasonic distance detection device and the second ultrasonic distance detection device continue to detect the front obstacle without triggering an alarm signal; when the detected distance data S is smaller than a threshold value, judging that the vehicle possibly collides with an obstacle, and triggering an alarm signal;
the alarm signal is a prompt tone, the distance S between the user and the obstacle is smaller than a threshold value, and the smaller the numerical value is, the higher the frequency of the prompt tone is. In other embodiments, the warning signal is a shock, the user-to-obstacle distance S is less than a threshold, and the smaller the value, the higher the frequency of the shock.
In this embodiment, after step S110, the method for detecting distance of the blind assistance device further includes:
s111: the height H of the first ultrasonic distance detection device and the height H of the second ultrasonic distance detection device from the ground and the distance M from the crotch of the user are obtained.
Example 2
Referring to fig. 3, an embodiment of the present invention further provides a distance detection apparatus for a blind-aiding device, where the blind-aiding device includes: the intelligent terminal comprises an intelligent terminal, a first ultrasonic distance detection device and a second ultrasonic distance detection device which are respectively in communication connection with the intelligent terminal, wherein the first ultrasonic distance detection device and the second ultrasonic distance detection device are respectively and fixedly arranged on the left leg and the right leg of a user;
the distance detection device of the blind assisting equipment comprises: the device comprises a marking module, an ultrasonic receiving module, a calculating module and an alarming module.
And the marking module is suitable for marking the first ultrasonic distance detection device and the second ultrasonic distance detection device. Specifically, the first ultrasonic distance detection device and the second ultrasonic distance detection device are marked on the leg of the left and right legs to which the user is fixed, and if the first ultrasonic distance detection device is fixed on the left leg, it is marked as L, and if the second ultrasonic distance detection device is fixed on the left leg, it is marked as R.
An ultrasonic wave receiving module adapted to intermittently transmit ultrasonic waves through the first ultrasonic distance detecting device and the second ultrasonic distance detecting device and to acquire a time interval of returning of the ultrasonic waves
Figure BDA0003041408960000081
And
Figure BDA0003041408960000082
specifically, the ultrasonic receiving module is used for executing the following steps:
s121: the first ultrasonic distance detection device and the second ultrasonic distance detection device transmit ultrasonic waves to the front at a first preset time interval, the first ultrasonic distance detection device and the second ultrasonic distance detection device transmit pulse signals in turn, and the time interval of the first ultrasonic distance detection device and the second ultrasonic distance detection device transmitting the ultrasonic waves is a second preset time interval;
s122: when the first ultrasonic distance detection device transmits ultrasonic waves, recording the transmission time t1 and the receiving times t1L and t1R of the first ultrasonic distance detection device and the second ultrasonic distance detection device receiving the ultrasonic waves;
s123: when the second ultrasonic distance detection device transmits ultrasonic waves, recording the transmission time t2 and the receiving times t2L and t2R of the first ultrasonic distance detection device and the second ultrasonic distance detection device receiving the ultrasonic waves;
s124: time interval of the first ultrasonic distance detection means:
Figure BDA0003041408960000083
s125: time interval of the second ultrasonic distance detection means:
Figure BDA0003041408960000084
a calculation module adapted to calculate the time interval between signal returns
Figure BDA0003041408960000085
And
Figure BDA0003041408960000086
and calculating the distance S between the user and the obstacle according to the ultrasonic propagation speed. Referring to fig. 2, in particular, the calculation module is configured to perform the following steps:
s131: calculating the distance between the first ultrasonic distance detection device and the second ultrasonic distance detection device and the front obstacle
Figure BDA0003041408960000087
And
Figure BDA0003041408960000088
s132: selecting the smaller value of SL and SR as Smin, and the other value as Smax;
s133: when the user walks, the included angle between the two legs in the vertical direction is alpha,
Figure BDA0003041408960000089
s134: distance of human medial axis from obstacle:
Figure BDA00030414089600000810
in this embodiment, after step S130, the calculation module is configured to perform the following steps:
s135: and transmitting the distance S between the user and the obstacle to the intelligent terminal.
And the alarm module is suitable for sending an alarm signal when the distance S between the user and the obstacle is smaller than a threshold value. Specifically, an initial alarm distance threshold, for example, 1.5m, is preset in the intelligent terminal, and after receiving the transmitted distance data S, the intelligent terminal compares the distance data S with the set threshold, and when the detected distance data S is greater than the threshold, the first ultrasonic distance detection device and the second ultrasonic distance detection device continue to detect the front obstacle without triggering an alarm signal; when the detected distance data S is smaller than a threshold value, judging that the vehicle possibly collides with an obstacle, and triggering an alarm signal;
the alarm signal is a prompt tone, the distance S between the user and the obstacle is smaller than a threshold value, and the smaller the numerical value is, the higher the frequency of the prompt tone is. In other embodiments, the warning signal is a shock, the user-to-obstacle distance S is less than a threshold, and the smaller the value, the higher the frequency of the shock.
In this embodiment, the distance detection device of the blind assisting apparatus further includes a mounting height detection module adapted to obtain a height H from the ground and a distance M from the user crotch of the first ultrasonic distance detection device and the second ultrasonic distance detection device.
Example 3
The embodiment provides a computer-readable storage medium, in which one or more instructions are stored, and a processor of a rights management apparatus in the one or more instructions, when executed, implements the distance detection method of the blind assistance device provided in embodiment 1.
In the embodiment, the distance detection method of the blind assisting equipment adopts the mode that the ultrasonic distance detection devices are simultaneously arranged on the left leg and the right leg, the first ultrasonic distance detection device and the second ultrasonic distance detection device intermittently transmit ultrasonic waves, and the time interval of returning of the ultrasonic waves is obtained
Figure BDA0003041408960000091
And
Figure BDA0003041408960000092
according to the time interval of signal return
Figure BDA0003041408960000093
And
Figure BDA0003041408960000094
calculating the distance S between the user and the obstacle according to the ultrasonic propagation speed; when the distance S between the user and the obstacle is smaller than the threshold value, an alarm signal is sent, noise can be effectively reduced, misjudgment caused by the fact that the front legs rebound ultrasonic pulse signals is avoided, the fact that at least one ultrasonic detector catches the obstacle in front of the central axis of the human body of the user at the first time can be guaranteed, and safety of the user when the user keeps away the obstacle and walks is guaranteed.
Example 4
Referring to fig. 4, an embodiment of the present invention further provides an electronic device, including: a memory 502 and a processor 501; the memory 502 has at least one program instruction stored therein; the processor 501 loads and executes the at least one program instruction to implement the distance detection method of the blind assistance device as provided in embodiment 1.
The memory 502 and the processor 501 are coupled in a bus that may include any number of interconnected buses and bridges that couple one or more of the various circuits of the processor 501 and the memory 502 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 501 is transmitted over a wireless medium through an antenna, which further receives the data and transmits the data to the processor 501.
The processor 501 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 502 may be used to store data used by processor 501 in performing operations.
In summary, the present invention provides a distance detection method and device for a blind-aiding device, wherein the distance detection method for the blind-aiding device adopts the way of simultaneously installing ultrasonic distances on the left leg and the right legDistance detecting means, and first ultrasonic distance detecting means and second ultrasonic distance detecting means intermittently transmit ultrasonic waves and acquire a time interval at which the ultrasonic waves return
Figure BDA0003041408960000101
And
Figure BDA0003041408960000102
according to the time interval of signal return
Figure BDA0003041408960000103
And
Figure BDA0003041408960000104
calculating the distance S between the user and the obstacle according to the ultrasonic propagation speed; when the distance S between the user and the obstacle is smaller than the threshold value, an alarm signal is sent, noise can be effectively reduced, misjudgment caused by the fact that the front legs rebound ultrasonic pulse signals is avoided, the fact that at least one ultrasonic detector catches the obstacle in front of the central axis of the human body of the user at the first time can be guaranteed, and safety of the user when the user keeps away the obstacle and walks is guaranteed.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (10)

1. The distance detection method of the blind-helping equipment is characterized by comprising an intelligent terminal, a first ultrasonic distance detection device and a second ultrasonic distance detection device, wherein the first ultrasonic distance detection device and the second ultrasonic distance detection device are respectively in communication connection with the intelligent terminal;
the method comprises the following steps:
s1, marking a first ultrasonic distance detection device and a second ultrasonic distance detection device;
s2, the first ultrasonic distance detection device and the second ultrasonic distance detection device intermittently transmit ultrasonic waves and obtain the time interval of returning of the ultrasonic waves
Figure FDA0003041408950000011
And
Figure FDA0003041408950000012
s3, according to the time interval of signal return
Figure FDA0003041408950000013
And
Figure FDA0003041408950000014
calculating the distance S between the user and the obstacle according to the ultrasonic propagation speed;
and S4, when the distance S between the user and the obstacle is smaller than a threshold value, sending an alarm signal.
2. The method for detecting the distance of the blind assisting apparatus according to claim 1, wherein the step S1 further comprises:
the height H of the first ultrasonic distance detection device and the height H of the second ultrasonic distance detection device from the ground and the distance M from the crotch of the user are obtained.
3. The method for detecting the distance of the blind assisting device according to claim 2, wherein the step S2 specifically includes:
s21, the first ultrasonic distance detection device and the second ultrasonic distance detection device transmit ultrasonic waves to the front at intervals of first preset time, the first ultrasonic distance detection device and the second ultrasonic distance detection device send pulse signals in turn, and the time intervals of the first ultrasonic distance detection device and the second ultrasonic distance detection device for transmitting the ultrasonic waves are second preset time respectively;
s22, when the first ultrasonic distance detection device sends ultrasonic waves, recording the sending time t1 and the receiving times t1L and t1R of the first ultrasonic distance detection device and the second ultrasonic distance detection device receiving the ultrasonic waves;
s23, when the second ultrasonic distance detection device sends ultrasonic waves, recording the sending time t2 and the receiving times t2L and t2R of the first ultrasonic distance detection device and the second ultrasonic distance detection device for receiving the ultrasonic waves;
s24, calculating the time interval of the first ultrasonic distance detection device:
Figure FDA0003041408950000021
s25, calculating the time interval of the second ultrasonic distance detection device:
Figure FDA0003041408950000022
4. the method for detecting the distance of the blind assisting device according to claim 1, wherein the step S3 specifically includes:
s31, calculating the distance between the first ultrasonic distance detection device and the second ultrasonic distance detection device and the front obstacle
Figure FDA0003041408950000023
And
Figure FDA0003041408950000024
s32, selecting the smaller value of SL and SR as Smin, and the other value as Smax;
s33, when a user walks, the included angle between the two legs in the vertical direction is alpha,
Figure FDA0003041408950000025
s34, distance between the human middle axis and the obstacle:
Figure FDA0003041408950000026
5. the method for detecting the distance of the blind assisting apparatus according to claim 1, wherein the step S3 further comprises:
and S35, transmitting the distance S between the user and the obstacle to the intelligent terminal.
6. The method for detecting the distance between the blind assisting device according to claim 1, wherein the alarm signal is an alarm sound in step S4, and the smaller the value of the distance S between the user and the obstacle, the higher the frequency of the alarm sound.
7. The device for implementing the distance detection method of the blind assisting device in claim 1 is characterized by comprising the following steps: the intelligent terminal comprises an intelligent terminal, a first ultrasonic distance detection device and a second ultrasonic distance detection device which are respectively in communication connection with the intelligent terminal, wherein the first ultrasonic distance detection device and the second ultrasonic distance detection device are respectively and fixedly arranged on the left leg and the right leg of a user;
the distance detection device of the blind assisting equipment comprises:
the marking module is suitable for marking the first ultrasonic distance detection device and the second ultrasonic distance detection device;
an ultrasonic wave receiving module adapted to intermittently transmit ultrasonic waves through the first ultrasonic distance detecting device and the second ultrasonic distance detecting device and to acquire a time interval of returning of the ultrasonic waves
Figure FDA0003041408950000031
And
Figure FDA0003041408950000032
a calculation module adapted to calculate the time interval between signal returns
Figure FDA0003041408950000033
And
Figure FDA0003041408950000034
calculating the distance S between the user and the obstacle according to the ultrasonic propagation speed;
and the alarm module is suitable for sending an alarm signal when the distance S between the user and the obstacle is smaller than a threshold value.
8. The distance detection device of the blind-aiding device as claimed in claim 7, wherein the distance detection device of the blind-aiding device further comprises a mounting height detection module adapted to obtain a height H of the first ultrasonic distance detection device and the second ultrasonic distance detection device from the ground and a distance M from the crotch of the user.
9. A computer-readable storage medium having one or more instructions stored therein, wherein a processor of a rights management apparatus within the one or more instructions, when executed, implements a method for distance detection of a blind assistance device as claimed in any one of claims 1 to 6.
10. An electronic device comprising a memory and a processor; at least one program instruction is stored in the memory; the processor, by loading and executing the at least one program instruction, implements a distance detection method of a blind assistance device of any one of claims 1 to 6.
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Publication number Priority date Publication date Assignee Title
CN101773442A (en) * 2010-01-15 2010-07-14 北京航空航天大学 Wearable ultrasonic guiding equipment
US20150323325A1 (en) * 2014-05-06 2015-11-12 Louis Caporizzo Method and navigation system for assisting a visually impaired user to safely walk around obstructions and impediments
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CN109009905A (en) * 2018-08-21 2018-12-18 钟祥博谦信息科技有限公司 A kind of ultrasonic blind guiding method, apparatus
CN112402195A (en) * 2020-10-09 2021-02-26 浙江大学 Blind assisting equipment and blind guiding method thereof

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101773442A (en) * 2010-01-15 2010-07-14 北京航空航天大学 Wearable ultrasonic guiding equipment
US20150323325A1 (en) * 2014-05-06 2015-11-12 Louis Caporizzo Method and navigation system for assisting a visually impaired user to safely walk around obstructions and impediments
CN105105992A (en) * 2015-09-11 2015-12-02 广州杰赛科技股份有限公司 Obstacle detection method and device and intelligent wrist watch
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