CN103169598A - Wearable intelligent guide system and intelligent guide method - Google Patents
Wearable intelligent guide system and intelligent guide method Download PDFInfo
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- CN103169598A CN103169598A CN2013100842768A CN201310084276A CN103169598A CN 103169598 A CN103169598 A CN 103169598A CN 2013100842768 A CN2013100842768 A CN 2013100842768A CN 201310084276 A CN201310084276 A CN 201310084276A CN 103169598 A CN103169598 A CN 103169598A
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Abstract
The invention discloses a wearable intelligent guide system. The wearable intelligent guide system comprises a ground barrier direction device and an aerial barrier direction device. The ground barrier direction device comprises a single-chip microcomputer, a voltage follower, an inclination sensor, a pressure strain gauge, a foot ultrasonic sensor, a fixing frame, a supporting frame and a foot fixing belt, wherein the supporting frame is used for fixing the single-chip microcomputer, the fixing frame is used for fixing the supporting frame at the front end of a shoe of a user, and the foot fixing belt is used for preventing the supporting frame from falling off a vamp. The aerial barrier direction device comprises a waist fixing belt, a waist ultrasonic sensor, an accelerometer and a vibrator, the pressure strain gauge is installed in the position of an insole of the shoe and used for sensing the pressure of a foot when the user walks and triggering the foot ultrasonic sensor to detect the distance of a ground barrier, and the waist ultrasonic sensor is used for detecting the distance between an aerial barrier and the user and informing the user through the vibrator. The wearable intelligent guide system and the intelligent guide method have the advantages of being easy to wear, high in real-time performance, strong in reliability, low in cost and the like.
Description
Technical field
The invention belongs to man-machine interaction, rehabilitation accessory field, more specifically, relate to a kind of wearable intelligent blind guiding system and method.
Background technology
China is blind person maximum country in the world, and visual disorder or total blindness person account for 20% left and right of the whole world 4,500 ten thousand blind person's sums.In life, the various information in people's perception external world, have at least the external information more than 80% to obtain through vision, and this has brought great difficulty for the blind person in life.How the safety walking is problem maximum in blindman.The blind person mainly relies on blind-guide device when walking alone, device the most commonly used is common walking stick, knocks on the ground with it, can help the blind person to find 0.5 meter with interior barrier.Its major defect be can not find more a little further barrier and aerial outstanding barrier, for example, be equivalent to waist, the suspension of knee position height or outstanding object.In addition, the blind person can also utilize seeing-eye dog to lead the way, but difficult training and cost are higher.In order to facilitate blind person's safety trip, the development of blind guiding system is being carried out in countries in the world always, except traditional white walking stick and seeing-eye dog, at present the successful blind guiding system of research and development has ultrasonic blind guiding system, infrared ray avigation light system, satellite guide, radio blind guiding system etc., just progressively come into blind person's life, strengthen blind person's locomotor activity, improved blind person's quality of life.
Continuous maturation and development along with the blind guiding system technology, people have no longer contented just to industrial automation production to the demand of blind guiding system, and a more attention diversion is to being in the mankind's service for life, so the development of blind guiding system just becomes the problem that receives much concern at present.Blind guiding system is comparatively slow as the accessory development of helping the disabled at present, and main cause is that external information is complicated, is difficult to make clear and definite trajectory planning, and the ordinary people of being difficult to high costs accepts in addition.How to design reliability stronger and with low cost, more holding blind guiding system easily accepted by people becomes present study hotspot.
Summary of the invention
For the defective of prior art, the object of the present invention is to provide a kind of practicality, the safe and reliable and intelligent blind guiding system being convenient to dress.
The invention provides a kind of wearable intelligent blind guiding system, comprise for the earth bulging article inspection device of surveying ground obstacle, described earth bulging article inspection device comprises: single-chip microcomputer, the voltage follower that is connected with described single-chip microcomputer, the inclination sensor that is connected with described voltage follower respectively and pressure-strain sheet, the foot's ultrasonic sensor that is connected with described single-chip microcomputer, fixed mount, bracing frame and foot's fixing band; Support frame as described above is used for fixing described single-chip microcomputer, and is used for described single-chip microcomputer is fixed in the fixed part of user foot; During use, the pressure-strain sheet is arranged on the shoe pad place of user footwear, be used for the induction user when walking foot pressure and trigger foot's ultrasonic sensor and survey the ground obstacle distance.
Further, described intelligent blind guiding system also comprises for surveying the aerial barrage thing and being installed in the aerial barrage article inspection device of user waist.
Further, described aerial barrage article inspection device comprises: fixing strap of waist and the waist ultrasonic sensor, accelerometer and the electromagnetic shaker that are connected with described single-chip microcomputer respectively; Accelerometer is used for surveying the acceleration of user walking, and the waist ultrasonic sensor is used for surveying the distance between aerial barrage thing and user, and electromagnetic shaker is used for reminding user when detecting barrier; During use, waist ultrasonic sensor, accelerometer and electromagnetic shaker are installed on respectively on fixing strap of waist, and described fixing strap of waist is fixed in the waist of user.
Further, described intelligent blind guiding system also comprises with described single-chip microcomputer and carries out the mobile terminal of radio communication and the voice module that is connected with described mobile terminal; Mobile terminal is used for receiving obstacle distance information and starting described voice module carrying out voice suggestion to user.
Further, described intelligent blind guiding system also comprises the computer that communicates by the Internet or LAN and described mobile terminal, is used to user that remote guide and navigation are provided.
Further, described intelligent blind guiding system also comprises the power module that is connected with single-chip microcomputer for working power is provided.
The bracing frame that the present invention uses fixing band and fixed mount that single-chip microcomputer will be installed is fixed on footwear, difficult drop-off, and can adapt to different big or small footwear, practical; Use the aerial barrage article inspection device, can effectively survey the barrier (as desk, outstanding barrier etc.) of here waist height, survey more accurately the barrier on the user direction of travel; System is connected with mobile terminal (as smart mobile phone, panel computer etc.), can makes the present invention more convenient, operate simpler.
The present invention also provides a kind of blind-guiding method, comprises the steps:
S11: whether judge the output voltage of pressure-strain sheet greater than the voltage threshold of setting, and whether foot's inclination that the inclination sensor detects is less than the angle threshold of setting, if enter step S12; If not, finish;
S12: judge that whether ground obstacle distance that foot's ultrasonic sensor detects is less than the first distance threshold of setting, if enter step S13; If not, finish;
S13: shake to warn ground, user the place ahead by electromagnetic shaker and have barrier.
Further, the scope of described voltage threshold is 2-3V; The scope of angle threshold is 0-45 °; The scope of the first distance threshold is 0.5m-2m.
The present invention also provides a kind of blind-guiding method, comprises the steps:
S21: judge aerial barrage object distance that the waist ultrasonic sensor detects from whether less than the second distance threshold value of setting, if enter step S22; If not, finish;
S22: shake to warn the neat waist height in user the place ahead by electromagnetic shaker and have barrier.
Further, described blind-guiding method also comprises the steps:
S3: the travel distance of the user walking acceleration calculation user that single-chip microcomputer detects according to accelerometer;
S4: single-chip microcomputer is sent to mobile terminal with obstacle distance and the described travel distance that foot's ultrasonic sensor and waist ultrasonic sensor detect respectively;
S5: mobile terminal starts voice module also to user voice suggestion obstacle distance.
The components and parts such as working pressure foil gauge of the present invention, inclination sensor, accelerometer, ultrasound wave and single-chip microcomputer, cheap, better economic benefits are specifically arranged; Working pressure foil gauge and inclination sensor trigger the hyperacoustic mode of foot jointly, can judge accurately the user walking states; Ground obstacle detection and aerial barrage physical prospecting survey are combined, can detect more accurately the obstacle information of user on direction of travel; Use the Internet or LAN that obstacle distance and user travel distance are sent to computer, can reach the function of remote guide and navigation, further ensured the walking safety of user.
Description of drawings
The modular structure schematic diagram of the wearable intelligent blind guiding system that Fig. 1 provides for first embodiment of the invention;
The circuit connection diagram of the single-chip microcomputer that Fig. 2 provides for the embodiment of the present invention;
The modular structure schematic diagram of the wearable intelligent blind guiding system that Fig. 3 provides for second embodiment of the invention;
The modular structure schematic diagram of the wearable intelligent blind guiding system that Fig. 4 provides for third embodiment of the invention;
The wearable intelligent blind guiding system mounting structure schematic diagram that Fig. 5 provides for the embodiment of the present invention;
The mounting structure schematic diagram of earth bulging article inspection device in the wearable intelligent blind guiding system that Fig. 6 provides for the embodiment of the present invention;
The intelligent blind-guiding method that Fig. 7 provides for the embodiment of the present invention realize the main flow schematic diagram;
Ground obstacle detection method realization flow figure in the intelligent blind-guiding method that Fig. 8 provides for the embodiment of the present invention;
Aerial obstacle detection method realization flow figure in the intelligent blind-guiding method that Fig. 9 provides for the embodiment of the present invention.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
The wearable intelligent blind guiding system that the embodiment of the present invention provides is mainly used in man-machine interaction, rehabilitation accessory field, this intelligent blind guiding system can be surveyed ground and aerial barrier in the process of visually impaired people's walking, easy donning, reliability is strong, with low cost.In addition, this intelligent blind guiding system can also send to the information that collects on mobile terminal, starting shock device and voice module, and the obstacle distance of prompting user direction of travel is realized the function of long-range prompting and guide simultaneously.This invention has guaranteed the walking safety of user to blind person and visually impaired people's the daily facility of having brought, and has strengthened blind person and visually impaired people's locomotor activity, has improved their quality of life.
Fig. 1 shows the modular structure of the wearable intelligent blind guiding system that first embodiment of the invention provides, and for convenience of explanation, only shows the part relevant to the embodiment of the present invention, and details are as follows:
Wearable intelligent blind guiding system comprises: the earth bulging article inspection device that is used for surveying ground obstacle, this earth bulging article inspection device comprises: single-chip microcomputer 1, the voltage follower 4 that is connected with single-chip microcomputer 1, the inclination sensor 6 that is connected with voltage follower 4 respectively and pressure-strain sheet 5, the foot's ultrasonic sensor 8 that is connected with single-chip microcomputer 1, and be used for single-chip microcomputer 1 is fixed in the fixed part of user foot; During use, pressure-strain sheet 5 is arranged on the shoe pad place of user footwear, be used for the induction user when walking foot pressure and trigger foot's ultrasonic sensor 8 and survey the ground obstacle distances.
Wherein, fixed part comprises fixed mount, bracing frame and foot's fixing band; Bracing frame is used for fixedly single-chip microcomputer 1, and fixed mount is used for bracing frame is fixed in the front end of user footwear, and foot's fixing band is used for preventing that bracing frame from coming off in vamp.Bracing frame generally adopts plastics etc. to have the material of insulating properties, because fixed mount is not connected with other components and parts with single-chip microcomputer, generally adopts iron material, and immobilization with adhesive tape band and fixing strap of waist generally use elastic cord.Fixed part can also adopt other structure to realize.
In embodiments of the present invention, can avoid simultaneously the aerial barrage thing in order to make user, this intelligent blind guiding system also comprises: the aerial barrage article inspection device that is used for surveying the aerial barrage thing and is installed in the user waist.Wherein, the aerial barrage article inspection device comprises: fixing strap of waist and the waist ultrasonic sensor 9 that is connected with single-chip microcomputer 1 respectively, accelerometer 7 and electromagnetic shaker 3; Accelerometer 7 is used for surveying the acceleration of user walking, and waist ultrasonic sensor 9 is used for surveying the distance between aerial barrage thing and user, and electromagnetic shaker 3 is used for reminding user when detecting barrier; During use, waist ultrasonic sensor 9, accelerometer 7 and electromagnetic shaker 3 are installed on respectively on fixing strap of waist, and described fixing strap of waist is fixed in the waist of user.
in embodiments of the present invention, it is the singlechip chip of C8051F022 that single-chip microcomputer 1 can adopt model, it is the dual operational amplifier of LM358 that voltage follower 4 can adopt model, it is the single shaft obliquity sensor of SCA60C that inclination sensor 6 can adopt model, it is the pressure-strain sheet of BE350-3AA that pressure-strain sheet 5 can adopt model, it is the ultrasonic sensor of HC-SR04 that foot's ultrasonic sensor 8 and waist ultrasonic sensor 9 can adopt model, it is the micromachine of 0834L that electromagnetic shaker 3 can adopt model, it is the accelerometer of ADXL103 that accelerometer 7 can adopt model.
The invention provides a kind of practicality, the safe and reliable and intelligent blind guiding system being convenient to dress, this blind guiding system is arranged on the footwear of user and waist, utilize the traffic information in ultrasonic listening the place ahead, stair can effectively be detected, threshold, barrier and other barriers of neat waist height, process through single-chip microcomputer, send caution by electromagnetic shaker and mobile terminal to user, prompting user avoiding obstacles is realized the walking of safety.
As shown in Figure 2, voltage follower 4 is connected with the digital peripherals port IOP3.1 of single-chip microcomputer 1, foot's ultrasonic sensor 8 is connected with the digital peripherals port IOP0.2 of single-chip microcomputer 1, waist ultrasonic sensor 9 is connected with the digital peripherals port IOP1.2 of single-chip microcomputer 1, accelerometer 7 is connected with the digital peripherals port IOP2.2 of single-chip microcomputer 1, and electromagnetic shaker 3 is connected with the digital peripherals port IOP5.2 of single-chip microcomputer 1.The power port that pressure-strain sheet 5 is connected with the inclination sensor is connected with the OUTPUT port of voltage follower 4, the output that pressure-strain sheet 5 is connected with the inclination sensor is connected with digital peripherals port IOP4.2 with the digital peripherals port IOP3.2 of single-chip microcomputer 1, the output voltage of power module 2 is+5V, the output voltage of the output port IOP3.1 of the digital peripherals port 3 of single-chip microcomputer 1 is+5V that the output voltage of the output port OUTPUT of voltage follower 4 is+2.5V.
As one embodiment of the present of invention, this intelligent blind guiding system also comprises with single-chip microcomputer 1 and being connected, and is used for providing the power module 2 of working power, and power module 2 is connected with the 5V power supply port VDDIO port of single-chip microcomputer 1.Due to the difference of running voltage, voltage follower 4 couples together single-chip microcomputer 1 and pressure-strain sheet 5 and inclination sensor 6.
Be limited in due to the blind guiding system bracing frame having avoided relative motion between bracing frame and footwear on the six-freedom degree of foot, make the carriage difficult drop-off, and the design of bracing frame easily put on and take off, can be applicable to different in width, the footwear of size.User is put on intelligent blind guiding system foot device and lumbar device, the startup system, and user begins walking.When user in the process of walking, both feet alternately kiss the earth become feet, when the foot of dressing intelligent blind guiding system during as feet, the output voltage of the pressure-strain sheet in shoe pad is greater than 2V, inclination sensor on the intelligent blind guiding system bracing frame detects inclination less than 15 ° simultaneously, so trigger foot's ultrasonic sensor work, survey the obstacle distance on ground.When foot or waist ultrasonic sensor detect barrier, start the electromagnetic shaker of waist, the walking safety of reminding user.The ultrasonic sensor of waist begin the detecting obstacles object distance from.The accelerometer of waist also begins to calculate the walking acceleration of user, then is transferred to single-chip microcomputer, and single-chip microcomputer begins to calculate the travel distance of user.
During not as feet, pressure-strain sheet and inclination sensor do not trigger foot's ultrasonic sensor work, work and the ultrasonic sensor of waist and accelerometer will continue mode as above when the foot of intelligent blind guiding system.The wearable Bipedal step repeated work described above that can only blind guiding system be accompanied by user knows that user stops walking, completes the guide task one time.
The present invention has adopted microcomputer development this intelligent blind guiding system to the not restriction of motor capacity of user, in use, is given full play to people's effect, and blind guiding system and blind person work in concert and advance towards target.This blind guiding system is compared with like product, has low cost, practicality and accurate characteristics.Be mainly used in the public place, as more smooth in ground such as large supermarket, museum, stadiums, hospitals, the place of stair is arranged.
Fig. 3 shows the modular structure of the wearable intelligent blind guiding system that second embodiment of the invention provides, and compares with the first embodiment, and this intelligent blind guiding system has increased mobile terminal 10 voice modules 11; Wherein, mobile terminal 10 carries out radio communication with single-chip microcomputer 1, and voice module 11 is connected with mobile terminal 10; Mobile terminal 10 is used for receiving obstacle distance information and starting voice module 11 carrying out voice suggestion to user.Voice module 11 also can be built in mobile terminal 10.
On the basis of the first embodiment, single-chip microcomputer 1 will receive obstacle distance information and the user travel distance information that foot's ultrasonic sensor and/or waist ultrasonic sensor detect, send to mobile terminal 10 by the wireless receiving and dispatching mode, after mobile terminal 10 receives obstacle distance information, enable voice module 11, adopt the mode of voice suggestion, the distance of reminding user barrier.Remainder is identical with the first embodiment, does not repeat them here.Mobile terminal 10 can adopt smart mobile phone, panel computer etc.
Fig. 4 shows the modular structure of the wearable intelligent blind guiding system that third embodiment of the invention provides, compare with the second embodiment, this intelligent blind guiding system has increased computer 12, computer 12 communicates by the Internet or LAN and mobile terminal 10, is used to user that remote guide and navigation are provided.
On the basis of the second embodiment, after mobile terminal 10 receives obstacle distance information and user travel distance information, by the Internet/LAN, the obstacle distance information and the user travel distance information that receive are sent to computer 12, computer can be realized long-range walking prompting and navigation feature, for the safety trip of looking the barrier user provides guarantee.Remainder is identical with the second embodiment, does not repeat them here.
The wearable intelligent blind guiding system that provides for the further description embodiment of the present invention, it is existing that to describe its mounting structure in detail in conjunction with Fig. 5 and Fig. 6 as follows:
This wearable intelligent navigation blind guiding system system installation device is divided into two parts: foot's erecting device and waist erecting device.The structure of foot's erecting device is: foot side fixed support 13 and foot's rear side fixing band 14 are fixed on instep with blind guiding system bracing frame 15, be limited on the six-freedom degree of foot, can not come off due to the walking of user, and can adapt to the footwear of different sizes.Single-chip microcomputer 1, power module 2, foot's ultrasonic sensor 8 and inclination sensor 6 are fixed on blind guiding system bracing frame 15, and inclination sensor 6 is used for triggering foot's ultrasonic sensor 8, and foot's ultrasonic sensor 8 is used for surveying the ground obstacle distance.Pressure-strain sheet 5 is arranged on the shoe pad place of footwear, and the induction people is the pressure of foot when walking.The structure of waist erecting device is: waist ultrasonic sensor 9, accelerometer 7 and electromagnetic shaker 3 are fixed on fixing strap of waist 16, waist ultrasonic sensor 9 is used for surveying aerial obstacle distance, accelerometer 7 is used for measuring user walking acceleration, calculate the user travel distance, there is barrier in starting shock device 3 caution user the place aheads when foot's ultrasonic sensor 8 and waist ultrasonic sensor 9 detect barrier.
The present invention is surveyed by ground obstacle and aerial barrage physical prospecting survey mode forms, and dual mode can be distinguished use separately, surveys respectively ground or aerial barrier, has combined characteristic flexibly; The present invention adopts the foot support frame that intelligent blind guiding system is arranged on footwear, facilitates wearing off of blind person, can be applicable to the footwear of different sizes, and can not come off due to the walking of user, makes whole system easy to implement.The present invention adopts the intelligent terminal to carry out voice suggestion to user, and uses the Internet/LAN mode and computer to carry out communication, thereby realizes the Long-distance Control of system, has improved motility and use value that system controls.
A kind of blind-guiding method S1 based on above-mentioned wearable intelligent blind guiding system that the embodiment of the present invention provides specifically comprises the steps:
S11: whether judge the output voltage of pressure-strain sheet 5 greater than the voltage threshold of setting, and whether foot's inclination that inclination sensor 6 detects is less than the angle threshold of setting, if enter step S12; If not, finish;
S12: judge that whether ground obstacle distance that foot's ultrasonic sensor 8 detects is less than the first distance threshold of setting, if enter step S13; If not, finish;
S13: warn ground, user the place ahead by electromagnetic shaker 3 vibrations and have barrier.
Wherein, the scope of voltage threshold is 2-3V; The scope of angle threshold is 0-45 °; The scope of the first distance threshold is 0.5m-2m.
The another kind of blind-guiding method S2 based on above-mentioned wearable intelligent blind guiding system that the embodiment of the present invention provides specifically comprises the steps:
S21: judge aerial barrage object distance that waist ultrasonic sensor 9 detects from whether less than the second distance threshold value of setting, if enter step S22; If not, finish;
S22: there is barrier in the neat waist height in the place ahead of warning user by electromagnetic shaker 3 vibrations.
Wherein, the scope of second distance threshold value is: 0.5-1.5 rice.
On the basis based on the blind-guiding method executed in parallel method S1 of above-mentioned wearable intelligent blind guiding system and method S2 that the embodiment of the present invention provides, also comprise the steps:
S3: the travel distance of the walking acceleration calculation user of the user that single-chip microcomputer 1 detects according to accelerometer 7;
S4: single-chip microcomputer 1 is sent to mobile terminal 10 with obstacle distance and the described travel distance that foot's ultrasonic sensor 8 and waist ultrasonic sensor 9 detect respectively;
S5: mobile terminal 10 starts voice module 11 also to user voice suggestion obstacle distance.
For the blind-guiding method that the further description embodiment of the present invention provides, existing details are as follows with instantiation and in conjunction with Fig. 7-Fig. 9:
Fig. 7 shows the main flow of realizing of intelligent blind-guiding method that the embodiment of the present invention provides, comprising:
(1) user starts intelligent blind guiding system, initializes, and enters circulation:
(2) simultaneously face obstacle detection and/or aerial barrage physical prospecting are surveyed;
(3) ground foot's ultrasonic sensor 8 and waist ultrasonic sensor 9 detected by the wireless receiving and dispatching mode of single-chip microcomputer 1 and aerial barrage object distance from, and the user travel distance is sent to mobile terminal 10;
(4) mobile terminal 10 starts voice modules 11 and carries out voice suggestion to user, and sends obstacle distance and user travel distance to computer 12 by the Internet/LAN, carries out remote guide and navigation feature, then returns to (2).
Fig. 8 shows the realization flow of ground obstacle detection method, specifically comprises:
Whether the output voltage that (1) judges pressure-strain sheet 5 is greater than the voltage threshold of setting, and whether foot's inclination that inclination sensor 6 detects is less than the angle threshold of setting, if enter step (2); If not, finish; In this example, voltage threshold is 2V; Angle threshold is 15 °.
(2) judge that whether ground obstacle distance that foot's ultrasonic sensor 8 detects is less than the first distance threshold of setting, if enter step (3); If not, finish; The first distance threshold is 1m.
(3) warn ground, user the place ahead by electromagnetic shaker 3 vibrations and have barrier.
Fig. 9 shows aerial barrage physical prospecting survey method realization flow, specifically comprises:
(1) judge aerial barrage object distance that waist ultrasonic sensor 9 detects from whether less than the second distance threshold value of setting, if enter step (2); If not, finish; In this example, the second distance threshold value is 1 meter.
(2) shake by electromagnetic shaker 3 the neat waist height in the place ahead of warning user and have barrier.
Therefore, this specific embodiment has the advantages that compound mode is flexible, easy to implement, with low cost and precision is high.Can be widely used in blind person and visually impaired people's the guide of indoor and outdoor, thereby strengthen blind person and visually impaired people's locomotor activity, improve their quality of life.
Those skilled in the art will readily understand; the above is only preferred embodiment of the present invention; not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. wearable intelligent blind guiding system, comprise for the earth bulging article inspection device of surveying ground obstacle, it is characterized in that, described earth bulging article inspection device comprises: single-chip microcomputer, the voltage follower that is connected with described single-chip microcomputer, the inclination sensor that is connected with described voltage follower respectively and pressure-strain sheet, the foot's ultrasonic sensor that is connected with described single-chip microcomputer and be used for described single-chip microcomputer is fixed in the fixed part of user foot;
During use, the pressure-strain sheet is arranged on the shoe pad place of user footwear, be used for the induction user when walking foot pressure and trigger foot's ultrasonic sensor and survey the ground obstacle distance.
2. intelligent blind guiding system as claimed in claim 1, is characterized in that, described intelligent blind guiding system also comprises for surveying the aerial barrage thing and being installed in the aerial barrage article inspection device of user waist.
3. intelligent blind-guiding device as claimed in claim 2, is characterized in that, described aerial barrage article inspection device comprises: fixing strap of waist and the waist ultrasonic sensor, accelerometer and the electromagnetic shaker that are connected with described single-chip microcomputer respectively;
Accelerometer is used for surveying the acceleration of user walking, and the waist ultrasonic sensor is used for surveying the distance between aerial barrage thing and user, and electromagnetic shaker is used for reminding user when detecting barrier;
During use, waist ultrasonic sensor, accelerometer and electromagnetic shaker are installed on respectively on fixing strap of waist, and described fixing strap of waist is fixed in the waist of user.
4. intelligent blind-guiding device as described in claim 1-3 any one, is characterized in that, described intelligent blind guiding system also comprises with described single-chip microcomputer and carries out the mobile terminal of radio communication and the voice module that is connected with described mobile terminal; Mobile terminal is used for receiving obstacle distance information and starting described voice module carrying out voice suggestion to user.
5. intelligent blind guiding system as claimed in claim 4, is characterized in that, described intelligent blind guiding system also comprises the computer that communicates by the Internet or LAN and described mobile terminal, is used to user that remote guide and navigation are provided.
6. as the described intelligent blind guiding system of claim 1-5 any one, it is characterized in that, described intelligent blind guiding system also comprises the power module that is connected with single-chip microcomputer for working power is provided.
7. the blind-guiding method based on the described intelligent blind guiding system of claim 1-6 any one, is characterized in that, comprises the steps:
S11: whether judge the output voltage of pressure-strain sheet greater than the voltage threshold of setting, and whether foot's inclination that the inclination sensor detects is less than the angle threshold of setting, if enter step S12; If not, finish;
S12: judge that whether ground obstacle distance that foot's ultrasonic sensor detects is less than the first distance threshold of setting, if enter step S13; If not, finish;
S13: shake to warn ground, user the place ahead by electromagnetic shaker and have barrier.
8. method as claimed in claim 7, is characterized in that, the scope of described voltage threshold is 2-3V; The scope of angle threshold is 0-45 °; The scope of the first distance threshold is 0.5m-2m.
9. the blind-guiding method based on the described intelligent blind guiding system of claim 1-6 any one, is characterized in that, comprises the steps:
S21: judge aerial barrage object distance that the waist ultrasonic sensor detects from whether less than the second distance threshold value of setting, if enter step S22; If not, finish;
S22: shake to warn the neat waist height in user the place ahead by electromagnetic shaker and have barrier.
10. blind-guiding method as claimed in claim 8 or 9, is characterized in that, comprises the steps:
S3: the travel distance of the user walking acceleration calculation user that single-chip microcomputer detects according to accelerometer;
S4: single-chip microcomputer is sent to mobile terminal with obstacle distance and the described travel distance that foot's ultrasonic sensor and waist ultrasonic sensor detect respectively;
S5: mobile terminal starts voice module also to user voice suggestion obstacle distance.
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| CN103584982A (en) * | 2013-11-05 | 2014-02-19 | 广东欧珀移动通信有限公司 | Mobile communication equipment tactile stick navigation method and mobile communication equipment |
| CN104835287A (en) * | 2015-05-09 | 2015-08-12 | 广西科技大学 | Early warning and calling system protecting travelling safety of the aged and implementation method |
| CN104856845A (en) * | 2015-06-05 | 2015-08-26 | 京东方科技集团股份有限公司 | Intelligent shoe suitable for the blind |
| CN105012118A (en) * | 2014-04-22 | 2015-11-04 | 上海斐讯数据通信技术有限公司 | Intelligent blind-guiding method and intelligent blind-guiding rod |
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| CN106726378A (en) * | 2016-12-08 | 2017-05-31 | 上海电力学院 | Blind person's Circuit Finder based on stereoscopic vision and electroluminescent tactile array |
| CN106963605A (en) * | 2017-04-26 | 2017-07-21 | 浙江工贸职业技术学院 | A kind of supersonic sensing blind waveguided shoe |
| TWI637738B (en) * | 2017-06-03 | 2018-10-11 | 國立臺北科技大學 | Walking assisted wearable device and walking assisted method |
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| CN103584982B (en) * | 2013-11-05 | 2016-05-25 | 广东欧珀移动通信有限公司 | Mobile communication equipment blind man's stick air navigation aid and mobile communication equipment |
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| CN104835287A (en) * | 2015-05-09 | 2015-08-12 | 广西科技大学 | Early warning and calling system protecting travelling safety of the aged and implementation method |
| CN104856845A (en) * | 2015-06-05 | 2015-08-26 | 京东方科技集团股份有限公司 | Intelligent shoe suitable for the blind |
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| CN105342815A (en) * | 2015-11-16 | 2016-02-24 | 南宁学院 | Blind guiding system based on supersonic waves |
| CN105835044A (en) * | 2016-06-07 | 2016-08-10 | 电子科技大学 | Exoskeleton robot ranging smart shoe system based on integration of several sensors |
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| CN106726378A (en) * | 2016-12-08 | 2017-05-31 | 上海电力学院 | Blind person's Circuit Finder based on stereoscopic vision and electroluminescent tactile array |
| CN106963605A (en) * | 2017-04-26 | 2017-07-21 | 浙江工贸职业技术学院 | A kind of supersonic sensing blind waveguided shoe |
| TWI637738B (en) * | 2017-06-03 | 2018-10-11 | 國立臺北科技大學 | Walking assisted wearable device and walking assisted method |
| CN111568710A (en) * | 2020-04-03 | 2020-08-25 | 重庆师范大学 | Voice blind guiding equipment |
| CN114767483A (en) * | 2022-05-07 | 2022-07-22 | 宏脉信息技术（广州）股份有限公司 | Intelligent navigation cap and control method thereof |
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