Self-adaptive adjustable blind sidewalk detection device and method based on stepping motor

Abstract

The invention discloses a blind sidewalk detection device which is used for carrying out the following processes: sampling through a sensor at regular intervals to obtain angles of a carrier, and carrying out differentiation on the angles sampled at adjacent moments to obtain the angle variation of the carrier within the period of time; summing the angle difference negative feedback, the angle variation and the compensation quantity of a previous cycle to obtain the adjustment amount; judging the value of the angle variation of the carrier before adjustment of a stepper motor, and adaptively changing the sampling rate; and making the adjustment quantity participate into the next cycle as the compensation quantity when judging that the adjustment quantity is over-small. A detector can be adjusted in real time by using the stepper motor to keep the required detection direction, so that the detection result is more accurate; the adjustment rate can be adaptively changed, so that the adjustment range of the detector is reduced as far as possible, a more stable detection direction is achieved, and the anti-jamming capability is high; and the step lost phenomenon caused by too small adjustment quantity and a too small pulse number of the stepper motor can be prevented, and an accurate control effect is achieved.

Description

technical field

[0001] The invention belongs to the technical field of walking aids, and relates to a sidewalk detection device for blind people. Adjustment method. Background technique

[0002] As an indispensable tool for the blind to travel, the blind cane occupies a very important position when the blind travels. With the development of science and technology, sensing elements have begun to be used in canes for the blind to help blind people identify obstacles on the road. For example, Chinese patent application No. 201010156878.6 discloses a new type of cane for the blind. The ultrasonic transmitting module in the cane can detect obstacles and give voice prompts. However, although this type of technology can identify obstacles ahead, its accuracy is not guaranteed enough. In addition, because the user is in motion rather than absolutely stationary, and as the cane swings, the detection direction of the detector will continue to change, so Ultrasonic detection is pron...

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