阅读说明：本技术 一种用于盲人避障的穿戴装置 (Wearing device for blind people to avoid obstacles ) 是由 周洪波 陈熙 潘剑飞 申振威 李�泳 于 2021-08-16 设计创作，主要内容包括：本发明公开了一种用于盲人避障的穿戴装置,包括：三个超声波传感器,镜架,电池,两个发声单元和一个控制单元,所述超声波传感器能探测障碍物的距离。超声波传感器探测范围大,且不会像激光和红外等光学传感器一样受环境光影响,因此本发明将超声波传感器用于避障装置。传感器(1)和(2)主要负责探测空间中靠近上方的障碍物,传感器(3)主要负责探测空间中靠近下方的障碍物。通过对重点区域的分块检测,对障碍物可能出现的距离划分为若干个区间,通过第一和第二所述超声波传感器的探测范围中心线相互之间成一定角度,即其探测范围分别指向右方和左方,并使其探测范围有重合部分并以此增加识别准确率,同时能够对障碍物进行空间定位。(The invention discloses a wearing device for blind people to avoid obstacles, which comprises: the device comprises three ultrasonic sensors, a mirror bracket, a battery, two sound production units and a control unit, wherein the ultrasonic sensors can detect the distance of an obstacle. The ultrasonic sensor has a large detection range and cannot be influenced by ambient light like optical sensors such as laser and infrared sensors, so that the ultrasonic sensor is used for the obstacle avoidance device. The sensors (1) and (2) are mainly responsible for detecting obstacles close to the upper part in the space, and the sensor (3) is mainly responsible for detecting obstacles close to the lower part in the space. Through the block detection of the key area, the distance of the obstacle which may appear is divided into a plurality of areas, the center lines of the detection ranges of the first ultrasonic sensor and the second ultrasonic sensor form a certain angle with each other, namely, the detection ranges of the first ultrasonic sensor and the second ultrasonic sensor point to the right and the left respectively, the detection ranges of the first ultrasonic sensor and the second ultrasonic sensor have coincident parts, the identification accuracy is increased, and meanwhile, the obstacle can be spatially positioned.)

1. A wearing device for blind person keeps away barrier which characterized in that, wearing device includes:

three ultrasonic sensor (1) (2) (3), mirror holder (4), battery (5), two sound producing unit (6) and a control unit (7), wherein, ultrasonic sensor (1) (2) (3) can survey the distance of barrier, two sound producing unit (6) can send sound and let the information of blind person perception barrier, control unit (7) control ultrasonic sensor surveys, and it is first according to ultrasonic sensor (1) and second the position of barrier is judged to the distance information of ultrasonic sensor (2) feedback to and control sound producing unit sound production and let blind person perception barrier information, battery (5) give through power bus wearing device keep away the barrier system and supply power.

2. A wearing device for blind person obstacle avoidance according to claim 1, wherein the center lines of the detection ranges of the first ultrasonic sensor (1) and the second ultrasonic sensor (2) are at a certain angle with each other, that is, the detection ranges thereof are directed to the right and left, respectively, and have overlapping portions, the detection range of the third ultrasonic sensor (3) is directed to the lower side, both the front obstacles in the area passed by the blind person during the traveling process are detected, the center lines of the detection ranges of the sensors (1) and (2) are directed to the lower side slightly, and have a certain angle α with the horizontal line, and the sensor (3) is continuously inclined downward at a certain angle based on the detection ranges of the sensors (1) and (2) so that the detection range of the sensor can better cover the upper and lower spaces in front of the person.

3. A wearable device for blind obstacle avoidance as claimed in claim 2, wherein said three ultrasonic sensors are configured to:

if the detection range of the ultrasonic sensor is approximate to a cone, an intersection line formed by the plane and the detection ranges of the ultrasonic sensor (1) and the second ultrasonic sensor (2) is formed by intersecting the plane and the detection ranges of the ultrasonic sensor (1) and the second ultrasonic sensor (2) within a preset distance, the enclosed area is divided into three areas, namely a left area, a middle area and a right Area (ABC), the left area and the right area are the areas which can be detected by only a single sensor, and the middle area is configured to be the area cooperatively detected by the first ultrasonic sensor and the second ultrasonic sensor.

4. A wearing device for blind men to avoid obstacles according to claim 3, wherein the distance at which obstacles may appear is further divided into a plurality of sections.

5. A wearing device for blind men to avoid obstacles according to claim 4, wherein said dividing the distance at which the obstacle is likely to appear into a plurality of sections further comprises: dividing the range into 4 ranges of 0-800 mm, 800-1400 mm, 1400-2000 mm and more than 2000mm, and recording the ranges as 0, 1, 2 and 3 respectively, wherein the range 0-2 is set as a required detection range, after the detection planes of the first ultrasonic sensor (1) and the second ultrasonic sensor (2) are divided into 9 regions, judging the direction of the obstacle, and designating the required detection range as a first distance range and the non-required detection range as a second distance range.

6. A wearing device for blind men to avoid obstacles according to claim 5, wherein said method of judging the orientation of obstacles comprises:

firstly, respectively detecting a first ultrasonic sensor (1) and a second ultrasonic sensor (2), respectively obtaining distance information DL and DR of an obstacle, and if DL and DR are not in the first distance interval, judging that no obstacle exists; if DL or DR is in the first distance interval, judging whether the distance intervals where DL and DR are located are equal, if so, judging that the obstacle is in the front, namely the obstacle is in the middle area, if not, judging whether DL and DR are in the first distance interval, and if so, judging that the obstacle is in the left or/and right area.

7. A wearing device for blind people to avoid obstacles according to claim 5, characterized in that the sound unit (6) can use a buzzer or other simple sound elements, which is mainly responsible for receiving the instruction of the control unit (7) and letting the blind people sense the direction and distance information of the obstacle, and it can use one or more of the following forms in combination to let the blind people sense:

the first form: selecting a voice broadcasting mode, when the first ultrasonic sensor (1) and the second ultrasonic sensor (2) are used for judging whether obstacles exist in the 9 areas or not, the sound generating unit sends out voice broadcasting to judge whether obstacles exist in different areas, and for the third ultrasonic sensor (3), the distance can be divided into areas as the first ultrasonic sensor (1) and the second ultrasonic sensor (2) do, and the area where the obstacles are located is subjected to voice broadcasting;

the second form is a prompt sound form, the volume of the obstacle closer to the blind is higher, or the prompt frequency of the obstacle is higher, wherein when the third ultrasonic sensor (3) detects that the obstacle is in the lower part, the sound generating unit (6) can generate a low-tone prompt sound, when the first ultrasonic sensor (1) and the second ultrasonic sensor (2) detect that the 9 areas have the obstacle, the sound generating unit (6) can generate a high-tone prompt sound, if the obstacle is in the left area, only the left sound generating unit is enabled to generate a sound, but the right sound generating unit is disabled to generate a sound, if the obstacle is in the right area, the right sound generating unit is enabled to generate a sound, and if the obstacle is in the B area, both the sound generating units are enabled to generate a sound, so that the blind can intuitively sense which area the obstacle is in;

the third form is that the blind can sense the direction and distance of the barrier by directly utilizing the stereo field through the sound production unit (6), namely, a sound field capable of reflecting the position of the sound source is constructed through sound, and the direction of the sound source can be used for representing the direction of the barrier, thereby achieving the effect of sensing the stereo field information and sensing the position information of the barrier, wherein, the ultrasonic sensor transmits the distance information of the barrier to the control unit, the control unit judges the position of the barrier according to the distance information and corresponding algorithm, then controls the audio module according to the position of the barrier, plays stereo effect sound capable of reflecting different directions corresponding to the barriers in different areas, so that the blind can more intuitively judge which direction of the barrier in the space according to the stereo effect sound, wherein, the audio module is used for storing stereo field recording in advance, and plays corresponding recording when the barrier is met, and the stereo sound field audio corresponding to the detected obstacle direction can be produced and played in real time.

8. A wearing device for blind men to avoid obstacles as claimed in claim 7, for the production of stereo sound field recording, professional audio software can be used for setting sound sources at different directions to represent obstacles at different directions, dividing the detection planes of the first ultrasonic sensor (1) and the second ultrasonic sensor (2) into 9 areas, then, according to the 9 regions, the audio software can be used to make the stereo effect sounds of the sound source in the 9 regions respectively, when an obstacle is actually encountered, the stereo effect sound of the sound source in the corresponding direction is played according to the position of the obstacle, when the stereo effect sound is produced, when the audio frequency representing the obstacle in the front is produced, the sound source can be directly arranged in different areas respectively, when the audio representing the obstacle is to be made, the audio source can be arranged at a position which is more left than the left obstacle; when the audio representing the right is to be made, the sound source can be arranged at a position closer to the right than the barrier at the right, so that the blind can more easily identify whether the barrier is on the left side, the right side or the middle.

9. The wearable device for blind obstacle avoidance according to claim 1, wherein the ultrasonic sensor is further connected to an encoder, the ultrasonic sensor performs positioning feedback according to a specific code of the encoder, and simultaneously detects whether a high-frequency signal exists in an environment, if the high-frequency signal exists in the environment, it is determined whether the similarity between the high-frequency signal and the operating frequency of the ultrasonic sensor is in a first similarity interval, and if the high-frequency signal exists, the operating frequency of the ultrasonic sensor is hopped from a first main frequency to a second standby frequency, wherein the first, second and third ultrasonic sensors adopt different operating frequencies.

10. The wearable device for blind obstacle avoidance according to claim 8, wherein an emergency response library is provided, and is updated through OTG (On The Go technology), The received dynamic characteristics of The sound source are matched with The known characteristics of The sound source in The emergency response library, and if The characteristics of The sound source in emergency are met, The sound generating unit (6) performs special reminding.

Technical Field

The invention relates to the technical field of ultrasonic distance measurement, in particular to a wearing device for blind people to avoid obstacles.

Background

The blind people have various difficulties in going out and need to take auxiliary measures to avoid obstacles. At present, blind men mainly rely on a blind guiding stick or a blind guiding dog when going out, however, the blind guiding stick has the defects that the upper part of the body can not be detected, and the blind guiding dog has the defects of high use cost, small quantity and the like, so that an intelligent and effective blind person obstacle avoidance auxiliary facility needs to be researched and developed.

In recent years, various patents for blind people to avoid obstacles appear, but the patents are generally not practical, so that no mature product for blind people to avoid obstacles exists in the market. For example, the blind obstacle avoidance devices in the prior art can detect the obstacle ahead and inform the blind in the form of voice announcement or vibration feedback, but these devices are not practical.

However, the prior art has some obvious disadvantages, for example, in the prior art, an infrared sensor is used for distance measurement, and in a strong light environment, the infrared sensor generates a large error in the detection distance, and cannot accurately calculate the distance of the obstacle, and the infrared sensor also has an invalid effective distance calculation for the obstacle such as glass, so that the device cannot reliably judge the position of the obstacle in practical use; in addition, the detection range of the infrared sensor is limited, so that the distance measurement of barriers such as railings cannot be effectively carried out, and due to the fact that the number of sensors of the obstacle avoidance device in the prior art is small, the obstacles in a small space in the space through which the blind person passes in the advancing process can only be detected.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention discloses a wearing device for blind people to avoid obstacles, which comprises:

three ultrasonic sensor (1) (2) (3), mirror holder (4), battery (5), two sound producing unit (6) and a control unit (7), wherein, ultrasonic sensor (1) (2) (3) can survey the distance of barrier, two sound producing unit (6) can send sound and let the information of blind person perception barrier, control unit (7) control ultrasonic sensor surveys, and it is first according to ultrasonic sensor (1) and second the position of barrier is judged to the distance information of ultrasonic sensor (2) feedback to and control sound producing unit sound production and let blind person perception barrier information, battery (5) give through power bus wearing device keep away the barrier system and supply power.

Furthermore, the central lines of the detection ranges of the first ultrasonic sensor (1) and the second ultrasonic sensor (2) form a certain angle with each other, namely the detection ranges of the first ultrasonic sensor and the second ultrasonic sensor point to the right and the left respectively, the detection ranges of the first ultrasonic sensor and the second ultrasonic sensor are overlapped, the detection range of the third ultrasonic sensor (3) points to the lower side, all front obstacles in the area passed by the blind person in the advancing process are detected, the central lines of the detection ranges of the sensors (1) and (2) are slightly downward and form a certain angle alpha with the horizontal line, and the sensor (3) continuously inclines downward for a certain angle on the basis of the detection ranges of the sensors (1) and (2) so that the detection range of the sensors can better cover the upper space and the lower space in front of the person.

Still further, the three ultrasonic sensors are configured to:

if the detection range of the ultrasonic sensor is approximate to a cone, an intersection line formed by the plane and the detection ranges of the ultrasonic sensor (1) and the second ultrasonic sensor (2) is formed by intersecting the plane and the detection ranges of the ultrasonic sensor (1) and the second ultrasonic sensor (2) within a preset distance, the enclosed area is divided into three areas, namely a left area, a middle area and a right Area (ABC), the left area and the right area are the areas which can be detected by only a single sensor, and the middle area is configured to be the area cooperatively detected by the first ultrasonic sensor and the second ultrasonic sensor.

Furthermore, the distance where the obstacle may appear is divided into several sections.

Further, the detection plane is divided into 4 sections of 0-800 mm, 800-1400 mm, 1400-2000 mm and more than 2000mm, and the 4 sections are respectively marked as sections 0, 1, 2 and 3, wherein the section 0-2 is set as a required detection section, after the detection plane of the first ultrasonic sensor (1) and the second ultrasonic sensor (2) is divided into 9 areas, the direction of the obstacle is judged, the required detection section is designated as a first distance section, and the non-required detection distance section is designated as a second distance section "

Still further, the method for determining the orientation of the obstacle includes:

firstly, respectively detecting a first ultrasonic sensor (1) and a second ultrasonic sensor (2), respectively obtaining distance information DL and DR of an obstacle, and if DL and DR are not in the first distance interval, judging that no obstacle exists; if DL or DR is in the first distance interval, judging whether the distance intervals where DL and DR are located are equal, if so, judging that the obstacle is in the front, namely the obstacle is in the middle area, if not, judging whether DL and DR are in the first distance interval, and if so, judging that the obstacle is in the left or/and right area.

Furthermore, the sound-producing unit (6) can use a buzzer or other simple sound-producing elements, and is mainly responsible for receiving instructions of the control unit (7) and enabling the blind to perceive the direction and distance information of the obstacle, and the direction and distance information can be perceived by the blind by using one or more of the following forms:

the first form: selecting a voice broadcasting mode, when the first ultrasonic sensor (1) and the second ultrasonic sensor (2) are used for judging whether obstacles exist in the 9 areas or not, the sound generating unit sends out voice broadcasting to judge whether obstacles exist in different areas, and for the third ultrasonic sensor (3), the distance can be divided into areas as the first ultrasonic sensor (1) and the second ultrasonic sensor (2) do, and the area where the obstacles are located is subjected to voice broadcasting;

the second form is a prompt sound form, the volume of the obstacle closer to the blind is higher, or the prompt frequency of the obstacle is higher, wherein when the third ultrasonic sensor (3) detects that the obstacle is in the lower part, the sound generating unit (6) can generate a low-tone prompt sound, when the first ultrasonic sensor (1) and the second ultrasonic sensor (2) detect that the 9 areas have the obstacle, the sound generating unit (6) can generate a high-tone prompt sound, if the obstacle is in the left area, only the left sound generating unit is enabled to generate a sound, but the right sound generating unit is disabled to generate a sound, if the obstacle is in the right area, the right sound generating unit is enabled to generate a sound, and if the obstacle is in the B area, both the sound generating units are enabled to generate a sound, so that the blind can intuitively sense which area the obstacle is in;

the third form is that the blind can sense the direction and distance of the barrier by directly utilizing the stereo field through the sound production unit (6), namely, a sound field capable of reflecting the position of the sound source is constructed through sound, and the direction of the sound source can be used for representing the direction of the barrier, thereby achieving the effect of sensing the stereo field information and sensing the position information of the barrier, wherein, the ultrasonic sensor transmits the distance information of the barrier to the control unit, the control unit judges the position of the barrier according to the distance information and corresponding algorithm, then controls the audio module according to the position of the barrier, plays stereo effect sound capable of reflecting different directions corresponding to the barriers in different areas, so that the blind can more intuitively judge which direction of the barrier in the space according to the stereo effect sound, wherein, the audio module is used for storing stereo field recording in advance, and plays corresponding recording when the barrier is met, and the stereo sound field audio corresponding to the detected obstacle direction can be produced and played in real time.

Furthermore, for the production of stereo sound field recording, professional audio software can be used for setting sound sources in different directions to represent obstacles in different directions, the detection planes of the first ultrasonic sensor (1) and the second ultrasonic sensor (2) are divided into 12 areas, so that stereo effect sounds of the sound sources in the 12 areas can be produced by the audio software according to the 12 areas, when the obstacles are actually encountered, the stereo effect sounds of the sound sources in the corresponding directions are played according to the directions of the obstacles, when the stereo effect sounds are produced, when audio representing the obstacles in the front is produced, the sound sources can be directly set in the different areas, wherein when the audio representing the obstacles in the left direction is produced, the sound sources can be set in a direction which is more left than the obstacles in the left direction; to produce audio representing the right, the sound source may be arranged in a more right position than the right obstacle. Therefore, the blind can more easily identify whether the barrier is on the left side or the right side or in the middle.

Furthermore, the ultrasonic sensor is further connected with an encoder, the ultrasonic sensor performs positioning feedback according to a specific code of the encoder, and simultaneously detects whether a high-frequency signal exists in an environment, if so, it is determined whether the similarity between the high-frequency signal and the working frequency of the ultrasonic sensor is in a first similarity interval, and if so, the working frequency of the ultrasonic sensor is hopped from a first main frequency to a second standby frequency, wherein the first, second and third ultrasonic sensors adopt different working frequencies.

Furthermore, an emergency response library is arranged, The OTG (On The Go technology) is used for updating, The received dynamic characteristics of The sound source are matched with The known characteristics of The sound source in The emergency response library, and if The sound source characteristics under The emergency condition are met, The sound generating unit (6) is used for carrying out special reminding.

Compared with the prior art, the method has the advantages that the obstacle detection position can detect obstacles above the human traveling path and also can detect obstacles below the human traveling path and close to the ground, the detection range is large, the obstacles which the human will encounter in the traveling process can be effectively detected, and the blind can travel more safely; the approximate direction of the barrier can be judged by utilizing an algorithm, so that the blind can easily make a selection for the left walking or the right walking of the next walking path according to the direction of the barrier; the sounding unit can simply prompt the blind, and can also emit a three-dimensional sound field to be sensed by the blind, so that the blind can judge the direction of the barrier more directly by utilizing sharp hearing, and better man-machine interaction can be achieved.

The invention has the beneficial effects that a plurality of ultrasonic sensors are adopted, and the ultrasonic sensors are adopted, so that the detection range of the ultrasonic sensors is large, and the ultrasonic sensors cannot be influenced by ambient light like optical sensors such as laser and infrared, and the like, so that the ultrasonic sensors are a better choice for the obstacle avoidance device. The sensors (1) and (2) are mainly responsible for detecting obstacles close to the upper part in the space, and the sensor (3) is mainly responsible for detecting obstacles close to the lower part in the space. Through the block detection to the key area, divide into a plurality of intervals to the distance that the barrier probably appears, through first ultrasonic sensor and second ultrasonic sensor's detection range central line becomes certain angle each other, and its detection range points to right side and left respectively promptly to make its detection range have the coincidence part and with this increase discernment rate of accuracy, can carry out space location to the barrier simultaneously.

Meanwhile, the ultrasonic wave is set in a signal encryption and security mode to prevent other interference signals in the environment from influencing the device, the emergency response library is set to match the received dynamic characteristics of the sound source with the known characteristics of the sound source in the emergency response library, and if the sound source characteristics under emergency are met, the sound generating unit performs special reminding.

Drawings

The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. In the drawings, like reference numerals designate corresponding parts throughout the different views.

FIG. 1 is a schematic structural diagram of a wearable device for blind people obstacle avoidance according to the present invention;

FIG. 2 is a schematic side view of a detection range according to an embodiment of the present invention;

FIG. 3 is a detection range axis schematic of an embodiment of the present invention;

FIG. 4 is a plan view of the detection ranges of the sensors (1) and (2) according to one embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating the area division of the detection plane according to an embodiment of the present invention;

fig. 6 is a simplified block diagram of a wearing device for blind people to avoid obstacles according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a stereo field according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of an ultrasonic sensor layout according to an embodiment of the present invention;

fig. 9 is a schematic diagram of an ultrasonic sensor layout according to another embodiment of the present invention.

Detailed Description

The appearance of the invention is similar to glasses, and as shown in fig. 1, the invention mainly comprises three ultrasonic sensors (1), (2) and (3), a frame (4), a battery (5), two sound generating units (6) and a control unit (7). The ultrasonic sensors (1), (2) and (3) can detect the distance of the obstacle, the two sound generating units (6) can generate sound to enable the blind to perceive the information of the obstacle, the control unit (7) can control the ultrasonic sensors to detect, judge the position of the obstacle according to the distance information fed back by the ultrasonic sensors (1) and (2), control the sound generating units to generate sound to enable the blind to perceive the information of the obstacle, and the like, and the battery (5) supplies power to the whole system.

The central lines of the detection ranges of the sensors (1) and (2) form a certain angle with each other, namely the detection ranges of the sensors point to the right and the left respectively, the detection ranges of the sensors have overlapped parts, and the detection range of the sensor (3) points to the lower part. In order to better detect the front obstacles in the area passed by the blind in the advancing process, the central lines of the detection ranges of the sensors (1) and (2) are slightly downward and form a certain angle alpha with the horizontal line, and the sensor (3) is continuously inclined downward at a certain angle on the basis of the detection ranges of the sensors (1) and (2), so that the detection range of the sensor can better cover the upper space and the lower space in front of a person. If the detection range of the ultrasonic sensor is approximated to be a cone, the side view of the total detection range of the three sensors is shown in fig. 2, and the perspective view is shown in fig. 3.

The sensors (1) and (2) adopt ultrasonic sensors, and because the detection range of the ultrasonic sensors is large, the ultrasonic sensors cannot be influenced by ambient light like optical sensors such as laser and infrared, and the like, the ultrasonic sensors are a better choice for the obstacle avoidance device. The sensors (1) and (2) are mainly responsible for detecting obstacles close to the upper part in the space, and the sensor (3) is mainly responsible for detecting obstacles close to the lower part in the space.

In particular, the sensors (1) and (2) can detect not only the distance of the obstacle but also the approximate direction of the obstacle, i.e., it can be determined whether the obstacle is to the left, right or front. In order to illustrate the method in an intuitive and easy manner, the spatial detection range is simplified to a plane for description. If a plane is taken to contain the central line of the detection range of the sensors (1) and (2), and the detection range of the ultrasonic sensor is approximated to be a cone, and the detection range within 2 meters is taken for research, an intersection line graph formed by the intersection of the plane and the detection range of the sensors is shown in fig. 4, namely, three areas, namely, a left area, a middle area and a right Area (ABC), exist, the left area and the right area are the areas which can be detected by only a single sensor, and the middle area is the area which can be detected by both the sensors (1) and (2). The distance of the obstacle is divided into a plurality of sections, for example, the distance can be divided into 4 sections of 0-800 mm, 800-1400 mm, 1400-2000 mm and beyond 2000mm, and the sections are respectively marked as sections 0, 1, 2 and 3, the sections 0-2 are set as the required detection sections, and the device ignores the obstacle beyond 2000 mm. For the detection plane of sensors (1) and (2) as shown in figure 4,

under ideal conditions, the region from A0 to C2 shown in FIG. 5 can be divided into 9 regions according to the left, middle and right (ABC) region and the required detection range interval (0-2).

After dividing into 9 areas, judging the direction of the obstacle: firstly, a left sensor (2) and a right sensor (1) respectively detect, and respectively obtain distance information DL and DR of an obstacle, and if DL and DR are not in a distance interval of 0-2, judging that no obstacle exists; if DL or DR is in the distance interval of 0-2, judging whether the distance interval of DL and DR is equal, if so, judging that the obstacle is right ahead, namely the obstacle is in the area B, if not, judging whether DL and DR are in the interval of 0-2, and if so, judging that the obstacle is in the area A or/and C.

The sound production unit (6) can use a buzzer or other simple sound production elements and is mainly responsible for receiving instructions of the control unit (7) to enable the blind to perceive the direction and distance information of the barrier, and the blind can perceive the information in various forms, such as:

a voice broadcasting mode can be selected, when the sensors (1) and (2) are used for judging that the 9 areas shown in the figure 5 have the obstacles, the sound production unit sends out voice broadcasting that the obstacles exist in different areas, and for the sensor (3), the distance can be divided into the areas and the area where the obstacles exist is subjected to voice broadcasting as before;

the form of a warning sound may be adopted such that the closer the obstacle is, the higher the sound volume is, or the higher the warning frequency is. When the sensor (3) detects that an obstacle is arranged below the sensor, the sounding unit (6) can give out a low-tone prompt sound, when the sensors (1) and (2) detect that the obstacle is arranged in 9 areas as shown in fig. 5, the sounding unit (6) can give out a high-tone prompt sound, and if the obstacle is arranged in the area A, only the sounding unit on the left is enabled to sound and the sounding unit on the right is enabled not to sound, if the obstacle is arranged in the area C, only the sounding unit on the right is enabled to sound and the sounding unit on the left is enabled not to sound, and if the obstacle is arranged in the area B, both the sounding units are enabled to sound, so that the blind can intuitively know which area the obstacle is arranged in;

the blind person can also perceive the direction and distance of the barrier by directly utilizing the stereo sound field through the sound production unit (6), namely, a sound field capable of reflecting the position of the sound source is constructed through sound, and the direction of the sound source can be used for representing the direction of the barrier, so that the effect of perceiving the stereo sound field information, namely the position information of the barrier is achieved. In the device, the ultrasonic sensor transmits the distance information of the barrier to the control unit, the control unit judges the position of the barrier according to the distance information and a corresponding algorithm, then the audio module is controlled according to the position of the barrier, and stereo effect sounds which can reflect different positions are played corresponding to the barriers in different areas, so that the blind can judge which position of the barrier in the space more intuitively according to the stereo effect sounds, and the principle can be simplified as shown in fig. 6. The audio module can be used for storing stereo sound field recording in advance, playing corresponding recording when meeting an obstacle, and also can be used for making and playing stereo sound field audio corresponding to the detected obstacle direction in real time. Now, the function of playing the sound recording is described, and for the production of the stereo sound field sound recording, professional audio software can be used to set the sound source in different directions to represent that the obstacle is in different directions. For example, as described above, the detection plane of the sensors (1) and (2) is divided into 9 regions, so that the sound sources in the 9 regions can be made into the stereo effect sounds by using audio software according to the 9 regions, and when an obstacle is actually encountered, the stereo effect sounds of the sound sources in the corresponding directions are played according to the direction of the obstacle. When producing a stereo effect sound, as shown in fig. 7, to produce an audio frequency representing an obstacle in front, points B0 to B2 of the sound source in front may be directly set, respectively corresponding to the areas B0 to B2 in fig. 5 of the obstacle; when audio representing an obstacle in the left a region is to be produced, points a0 to a2 of sound sources respectively on the left may be directly set, corresponding to the obstacle a0 to a2 regions in fig. 5, respectively; to produce audio representing an obstacle in the right C region, points C0 through C2, to the right of which sound sources are respectively, may be directly set, corresponding to the C0 through C2 regions in fig. 5 of the obstacle. Wherein the connecting line formed by the points A0 to A2 and the connecting line formed by the points C0 to C2 can be arranged to form a larger angle with the central line, so that the effect of the stereo sound field is more obvious, and the blind can more clearly distinguish whether the barrier is on the left or right.

In one embodiment, we have developed a device in which three sensors poll for detection without the need to distinguish between different operating frequencies for the three sensors.

In another embodiment, the ultrasonic sensor is further connected to an encoder, the ultrasonic sensor performs positioning feedback according to a specific code of the encoder, and simultaneously detects whether a high-frequency signal exists in the environment, if so, it is determined whether the similarity between the high-frequency signal and the operating frequency of the ultrasonic sensor is in a first similarity interval, and if so, the operating frequency of the ultrasonic sensor is hopped from a first main frequency to a second standby frequency, where the first, second, and third ultrasonic sensors use different operating frequencies.

Furthermore, other ultrasonic sensors can be added in the device, the detection range of the sensors can be larger, and the detection distance can be shorter, so that the detection range of the device is increased, and the blind person can be ensured to be safer. For example, as shown in fig. 8 and fig. 9, a left ultrasonic sensor and a right ultrasonic sensor are added, the detection ranges of the two ultrasonic sensors are larger, and the detection distance is shorter. Therefore, when other obstacles are close to the left side and the right side of the blind person, the blind person can also sense the obstacles. Of course, the sensors for detecting the rear area can be added, and more sensors can be added in the device to enable the blind person to sense the obstacles in more ranges within a reasonable range.

The detection of the ground condition is further designed, in another embodiment, in order to realize the detection of the ground condition, an ultrasonic sensor for detecting the ground is added in the development equipment, namely, the detection range is lower than that of the sensor (3), the detection beam angle is extremely small, the detection distance is long, and the depression and the protrusion in front of the blind stick outside the range of the ground can be detected without detecting the blind stick. Specifically, when walking on flat ground, the sensor always detects a stable distance value, and the mechanism can be used to judge that the ground in front is flat; when the front side suddenly encounters a depression and the sensor returns a larger distance value, even the distance of the obstacle cannot be detected, the depression can be detected by using the mechanism; when the front party suddenly encounters a bump, the sensor will return a smaller distance value, and the ground bump can be detected by using the mechanism.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. It is therefore intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is the following claims, including all equivalents, that are intended to define the spirit and scope of this invention. The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.