An intelligent blind guiding stick based on STM32 and a control system thereof

Abstract

The application relates to the technical field of guide sticks, in particular to an intelligent guide stick based on an STM32 and a control system thereof, which comprises a guide stick rod, the guide stick rod is divided into three sections of upper, middle and lower, a power supply Bat, a loudspeaker SPK, an ultrasonic sensor HC-SR04, a fall judgment cancel button S2, a self-locking switch S1, an acceleration sensor ADXL345, a positioning module GSP and a short message communication module GSM are installed on the upper section of the guide stick rod; the application detects the existence of obstacles through an ultrasonic ranging circuit to give an obstacle avoidance reminder, detects the water level through a water level sensor to give a water accumulation reminder, combines the acceleration sensor to realize real-time monitoring of three-axis acceleration to achieve fall detection, and can also realize a GPS positioning function; if a user falls down and the button is not pressed within a certain time, an emergency help short message will be automatically sent to a preset number, and the current position information of the user is attached to the short message; meanwhile, the guide stick will play a help voice to ask for help from people around.

Description

Technical Field

[0001] This invention relates to the field of guide cane technology, and in particular to an STM32-based smart guide cane and its control system. Background Technology

[0002] Guide canes are essential tools to assist visually impaired individuals in walking, playing a vital role in alleviating their mobility difficulties and reducing personal safety hazards. Currently, my country has a large number of visually impaired individuals, and although there are many guide canes available, their quality varies greatly. The main problems lie in their relatively limited functionality, which fails to meet the needs of the general public, and the fact that some products also pose certain safety risks. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent guide cane based on STM32 and its control system to solve the above-mentioned problems. This addresses the issues that currently there are many guide canes, but their quality varies greatly. The main problems are that their functions are relatively simple, making it difficult to meet the needs of the public, and some products also have certain safety hazards.

[0004] The present invention achieves the above-mentioned objectives through the following technical solution: an intelligent guide cane based on STM32, comprising a guide cane shaft divided into three sections: upper, middle, and lower. The upper section of the guide cane shaft is equipped with a power supply (Bat), a speaker (SPK), an ultrasonic sensor (HC-SR04), a fall detection cancellation button (S2), a self-locking switch (S1), an accelerometer (ADXL345), a positioning module (GSP), and a text messaging communication module (GSM). The lower section of the guide cane shaft is externally equipped with reflective tape (RT), and a water level sensor (WS) is installed at the bottom of the lower section.

[0005] Preferably, the bottom of the lower section of the guide cane is also equipped with a roller, the upper section of the guide cane is covered with a sponge sleeve, and the top of the upper section of the guide cane is connected with an anti-slip rope.

[0006] Preferably, the rolling wheel includes a bearing sleeve installed at the bottom of the lower section of the guide cane, with a shaft running transversely through the bearing sleeve. The two ends of the shaft are distributed on both sides of the lower section of the guide cane, and a wheel is installed at both ends of the shaft.

[0007] Preferably, the rolling wheel further includes several miniature supports arrayed outside the wheel disk, and sub-rollers are mounted inside the miniature supports via pins, with the rolling direction of the sub-rollers being consistent with the rolling direction of the wheel disk.

[0008] Preferably, every two adjacent sub-rollers form a group, and the distance between every two groups is greater than the distance between two adjacent sub-rollers.

[0009] Preferably, the rolling wheel is also equipped with a deceleration structure, which includes a connecting shaft connected to the internal shaft pins of several micro-supports outside the wheel. A circular roller is fixedly sleeved on the outside of the connecting shaft. Several spring pieces are arrayed on the outside of the circular roller. An arc-shaped deceleration baffle is installed on the bottom of the lower section of the guide cane near the circular roller. A spring piece is installed on the concave arc surface of the deceleration baffle facing the circular roller. The deceleration baffle is always opposite to the circular roller at the bottom of the wheel. When the circular roller rotates, the spring piece 1 on the outside of the circular roller will contact and pass over the spring piece 2 on the concave arc surface of the deceleration baffle.

[0010] Preferably, both the first and second springs are arc-shaped, and the concave arc surface of the first spring faces in the opposite direction to that of the second spring.

[0011] Preferably, the deceleration structure further includes a second deceleration baffle installed at the bottom of the lower section of the guide cane and on the side opposite to the circular roller. The second deceleration baffle has the same shape as the first deceleration baffle, and a second spring is also installed in the concave arc surface of the second deceleration baffle. Another wheel has a third spring arrayed on the side facing the second deceleration baffle. When the wheel rotates, the third spring outside the wheel contacts and passes over the second spring inside the second deceleration baffle in turn.

[0012] Preferably, the third spring and the second spring in the deceleration baffle are both arc-shaped, and the concave arc surface of the third spring faces in the opposite direction to the concave arc surface of the second spring in the deceleration baffle.

[0013] A control system for an intelligent guide cane based on STM32 includes an STM32F103C8T6 control chip CPU2, an RT9161 voltage regulator chip U2, an ADXL345 accelerometer sensor circuit U3, an HC-SR04 ultrasonic ranging circuit U4, a SIM900A SMS sending circuit U5, a NEO-6M GPS positioning circuit U6, a SYN6288 speech synthesis chip U7, a water level sensor interface P1, accelerometer interfaces P2 and P3, a speech synthesis circuit interface P4, a speaker SPK, crystal oscillators X1, X2 and Y1, LEDs LED1, LED2 and LED3, transistors NPN and Q1, resistors R1 to R15, and capacitors C1 to C19.

[0014] PA1 of the STM32F103C8T6 main control chip is connected to AOUT of the water level sensor interface P1. PA2 and PA3 are connected to RXD and TXD of the NEO-6M GPS positioning circuit, respectively. PA4 and PA5 are connected to SCL and SDA of the ADXL345 accelerometer circuit, respectively. PA6 and PA7 are connected to TRIG and ECHO of the HC-SR04 ultrasonic ranging circuit, respectively. PA9 and PA10 are connected to RXD and TXD of the SIM900A circuit, respectively. PB10 is connected to RXD of the SYN6288 voice synthesis chip. PB12 is connected to the fall detection cancellation button S2. XTAL-IN and XTAL-OUT are connected to the two ends of crystal oscillator X1. PC14 and PC15 are connected to the two ends of crystal oscillator X2. The 5V power supply is connected to the self-locking switch S1. BP0 and BN0 of the SYN6288 voice synthesis chip are connected to BP0 and BN0 of the speaker SPK, respectively. XOUT is connected to the two ends of crystal oscillator Y1.

[0015] The beneficial effects of this invention are:

[0016] 1. This invention uses an ultrasonic ranging circuit to detect obstacles and provide obstacle avoidance warnings, a water level sensor to detect water levels and provide water accumulation warnings, and an accelerometer to monitor triaxial acceleration in real time to detect falls. It also has GPS positioning functionality. If a user falls and the button is not pressed within a certain time, an emergency SOS SMS will be automatically sent to a preset number, along with the user's current location information. At the same time, the guide cane will play an SOS message to alert those around the user.

[0017] 2. This invention features a rolling wheel installed at the bottom of the guide cane. The rolling wheel lifts the bottom of the guide cane off the ground, preventing the water level sensor from being completely in contact with the ground. This avoids the system misjudging the presence of water on the ground due to moisture. Furthermore, the rolling wheel allows blind people to push the guide cane directly on flat surfaces without constantly lifting and lowering it to test for obstacles, making it easier for blind people to use the guide cane.

[0018] 3. This invention uses a rolling wheel divided into a main wheel and several sub-rollers distributed around the main wheel. On a flat surface, the sub-rollers propel the guide cane. When there are minor bumps or gaps, the sub-rollers automatically switch to the main wheel, allowing the main wheel to traverse these bumps and gaps. When the sub-rollers automatically switch to the main wheel, the blind person's feel in holding the guide cane changes, effectively alerting them to minor obstacles ahead. Currently, blind people constantly tap the ground with their guide canes to determine if there are obstacles ahead, which can easily lead to skipping bumps and gaps. The rolling wheel of this invention solves this problem.

[0019] 4. This invention incorporates a deceleration structure within the rolling wheel, which not only allows the guide cane to slide on the road surface but also reduces its rolling speed, preventing blind people from falling when pushing the cane too fast. Furthermore, the combination of the rolling wheel and the deceleration structure produces a crisp metallic sound, automatically alerting nearby pedestrians and preventing others from bumping into the blind person. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0021] Figure 2 This is a side view of the structure of the present invention;

[0022] Figure 3 Based on Figure 1 A magnified schematic diagram of the scroll wheel structure from a different perspective;

[0023] Figure 4 Based on Figure 2 A magnified schematic diagram of the scroll wheel structure from a different perspective;

[0024] Figure 5 This is a schematic diagram of the structure of the circular roller and the deceleration baffle in this invention;

[0025] Figure 6 This is a schematic diagram of the circular roller structure in this invention;

[0026] Figure 7 This is a schematic diagram of the deceleration baffle in the present invention;

[0027] Figure 8 This is a schematic diagram of the structure of the spring sheet three and the deceleration baffle two in this invention;

[0028] Figure 9 This is a schematic diagram of the internal cross-section of a guide cane.

[0029] Figure 10 This is a circuit diagram of the guide cane control system.

[0030] In the diagram: 1. Guide cane; 2. Sponge sleeve; 3. Anti-slip rope; 4. Roller; 41. Bearing sleeve; 42. Shaft; 43. Wheel; 44. Miniature bracket; 45. Sub-roller; 46. Spring piece three; 47. Connecting shaft; 48. Circular roller; 49. Deceleration plate one; 410. Deceleration plate two; 481. Spring piece one; 491. Spring piece two. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figure 1 , Figure 9-10 In specific implementation: A smart guide cane based on STM32 and its control system includes a guide cane 1, which is divided into three sections: upper, middle, and lower. The upper section of the guide cane 1 is equipped with a power supply (Bat), a speaker (SPK), an ultrasonic sensor (HC-SR04), a fall detection cancellation button (S2), a self-locking switch (S1), an accelerometer (ADXL345), a positioning module (GSP), and a text messaging module (GSM). The lower section of the guide cane 1 is externally equipped with reflective tape (RT), and a water level sensor (WS) is installed at the bottom of the lower section. The control system includes an STM32F103C8T6 control chip (CPU2), an RT9161 voltage regulator chip (U2), an ADXL345 accelerometer sensor circuit (U3), an HC-SR04 ultrasonic ranging circuit (U4), a SIM900A text messaging circuit (U5), and a NEO-6M... GPS positioning circuit U6, SYN6288 voice synthesis chip U7, water level sensor interface P1, accelerometer interfaces P2 and P3, voice synthesis circuit interface P4, speaker SPK, crystal oscillator X1, X2 and Y1, LED lights LED1, LED2 and LED3, transistor NPN and Q1, resistors R1 to R15, capacitors C1 to C19.

[0033] PA1 of the STM32F103C8T6 main control chip is connected to AOUT of the water level sensor interface P1. PA2 and PA3 are connected to RXD and TXD of the NEO-6M GPS positioning circuit, respectively. PA4 and PA5 are connected to SCL and SDA of the ADXL345 accelerometer circuit, respectively. PA6 and PA7 are connected to TRIG and ECHO of the HC-SR04 ultrasonic ranging circuit, respectively. PA9 and PA10 are connected to RXD and TXD of the SIM900A circuit, respectively. PB10 is connected to RXD of the SYN6288 voice synthesis chip. PB12 is connected to the fall detection cancellation button S2. XTAL-IN and XTAL-OUT are connected to the two ends of crystal oscillator X1. PC14 and PC15 are connected to the two ends of crystal oscillator X2. The 5V power supply is connected to the self-locking switch S1. BP0 and BN0 of the SYN6288 voice synthesis chip are connected to BP0 and BN0 of the speaker SPK, respectively. XOUT is connected to the two ends of crystal oscillator Y1.

[0034] The system uses an STM32F103C8T6 microcontroller as the main control unit, employs an ultrasonic ranging circuit for distance detection, a GPS circuit for remote positioning, and a water level sensor for water accumulation detection. When obstacles appear within the safe range or the water level is too high to walk directly ahead, the voice broadcast circuit will play different voice messages depending on the situation. Simultaneously, an accelerometer circuit monitors real-time acceleration. If the user's three-axis acceleration reaches an abnormal value range, a fall detection is initiated, and a corresponding voice message is played. If the user does not press the cancel detection button within a certain time, a distress SMS will be sent to a preset contact number via a GSM circuit. The distress SMS will include the user's location information determined by the GPS circuit. The entire system includes a voice broadcast circuit, an ultrasonic ranging circuit, a water accumulation and fall detection circuit, a GPS positioning circuit, a GSM communication circuit, and an acceleration detection circuit.

[0035] The ultrasonic ranging circuit detects obstacles and provides obstacle avoidance warnings; the water level sensor detects water levels and provides flood warnings; the accelerometer performs real-time triaxial acceleration monitoring to detect falls; and it also features GPS positioning. If a user falls and the button is not pressed within a certain time, an emergency SOS SMS will be automatically sent to a preset number, along with the user's current location information. At the same time, the guide cane will play an SOS message to alert those around the user.

[0036] Please see Figure 4-8 In order to lift the bottom of the guide cane 1 off the ground and prevent the water level sensor WS from being completely in contact with the ground, thus avoiding the system from misjudging that there is standing water on the ground, a roller 4 is also installed at the bottom of the lower section of the guide cane 1. The roller 4 can lift the bottom of the guide cane 1 off the ground and prevent the water level sensor WS from being completely in contact with the ground.

[0037] Please see Figure 1-8 The rolling wheel 4 includes a bearing sleeve 41 installed at the bottom of the lower section of the guide cane 1. A shaft 42 runs horizontally through the inside of the bearing sleeve 41. The two ends of the shaft 42 are distributed on both sides of the lower section of the guide cane 1. A wheel 43 is installed at both ends of the shaft 42. The rolling wheel 4 also includes several miniature brackets 44 arrayed outside the wheel 43. Sub-rollers 45 are installed inside the miniature brackets 44 through axle pins. The rolling direction of the sub-rollers 45 is the same as the rolling direction of the wheel 43.

[0038] When a blind person walks on a flat road, the guide cane moves on the road using the sub-roller 45. That is, the disc 43 does not roll, only the sub-roller 45 rolls. When there is a small bump or gap, the sub-roller 45 cannot get over it and is obstructed. Then the disc 43 starts to roll and uses the disc 43 to get over these obstacles. During this switching process, the blind person's hand feel changes when holding the guide cane, and the blind person can know that there are obstacles in front of them. After the disc 43 gets over these obstacles, the sub-roller 45 continues to roll.

[0039] To ensure stability while walking, each pair of adjacent sub-rollers 45 is grouped together, and the distance between each pair of groups is greater than the distance between two adjacent sub-rollers 45. This way, when pushing, there are two sub-rollers 45 on each side of the guide cane for support.

[0040] In addition, please see Figure 1-8 To prevent blind people from pushing their guide canes too fast, a deceleration mechanism is installed inside the rolling wheel 4 to reduce the movement speed. This deceleration mechanism includes a connecting shaft 47 connected to several miniature brackets 44 on the outside of the wheel 43 by internal shaft pins. A circular roller 48 is fixedly sleeved on the outside of the connecting shaft 47. Several spring pieces 481 are arrayed on the outside of the circular roller 48. An arc-shaped deceleration baffle 49 is installed on the bottom of the lower section of the guide cane 1 near the circular roller 48. A spring piece 491 is installed on the concave arc surface of the deceleration baffle 49 facing the circular roller 48. The deceleration baffle 49 is always opposite to the circular roller 48 at the bottom of the wheel 43. When rotating, the spring piece 481 on the outside of the roller 48 will contact and pass over the spring piece 491 on the concave arc surface of the deceleration baffle 49. The deceleration structure also includes a deceleration baffle 410 installed at the bottom of the lower section of the guide cane 1 and on the side away from the roller 48. The deceleration baffle 410 has the same shape as the deceleration baffle 49, and the spring piece 491 is also installed in the concave arc surface of the deceleration baffle 410. Another wheel 43 has spring pieces 46 arranged on the side facing the deceleration baffle 410. When the wheel 43 rotates, the spring pieces 46 on the outside of the wheel 43 will contact and pass over the spring piece 491 in the deceleration baffle 410 in turn.

[0041] When a blind person pushes their guide cane on a flat surface, the guide cane moves on the surface using the sub-roller 45. When the sub-roller 45 rotates, it drives the roller 48 to rotate. The spring piece 481 on the outside of the roller 48 will successively hit the spring piece 491 and then pass over the spring piece 491. At this time, the collision between the spring piece 481 and the spring piece 491 will reduce the speed of the sub-roller 45. Since the spring piece 481 and the spring piece 491 are metal, they will produce a crisp metallic sound when they collide.

[0042] When there is a small bump or gap, the sub-roller 45 cannot pass over it and is thus obstructed. The wheel 43 then begins to roll. The rolling of the wheel 43 causes the spring 46 on one side to continuously collide with the spring 491 inside the deceleration plate 410. After the collision, the spring 46 slides past the spring 491. Similarly, this reduces the speed and generates a signal, which is used to alert people around.

[0043] Of course, for those sections of stairs, blind people still need to constantly raise and lower their guide canes to test for obstacles ahead.

[0044] Please see Figure 1-2 The upper section of the guide cane 1 is covered with a sponge sleeve 2, and the top of the upper section of the guide cane 1 is connected to an anti-slip rope 3.

[0045] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A smart guide cane based on STM32, comprising a guide cane handle (1), wherein the guide cane handle (1) is divided into three sections: upper, middle, and lower, characterized in that, The upper section of the guide cane (1) is equipped with a power supply Bat, a speaker SPK, an ultrasonic sensor HC-SR04, a fall detection cancellation button S2, a self-locking switch S1, an acceleration sensor ADXL345, a positioning module GSP, and a text message communication module GSM. The lower section of the guide cane (1) is equipped with reflective tape RT, and the bottom of the lower section of the guide cane (1) is equipped with a water level sensor WS. The lower section of the guide cane (1) is also equipped with a rolling wheel (4). The rolling wheel (4) includes a bearing sleeve (41) installed at the lower section of the guide cane (1). A shaft (42) runs horizontally through the bearing sleeve (41). The two ends of the shaft (42) are distributed on both sides of the lower section of the guide cane (1). A wheel disc (43) is installed at both ends of the shaft (42). The rolling wheel (4) also includes several miniature supports (44) arrayed outside the wheel disc (43). Inside the miniature support (44), a sub-roller (45) is mounted via a pivot pin. The rolling direction of the sub-roller (45) is the same as that of the wheel (43). A speed reduction structure is also installed inside the rolling wheel (4). The speed reduction structure includes a connecting shaft (47) that is connected to the internal pivot pins of several miniature supports (44) outside the wheel (43). A circular roller (48) is fixedly sleeved on the outside of the connecting shaft (47). The outside of the circular roller (48) has several spring pieces (481). An arc-shaped deceleration plate (49) is installed on the bottom of the lower section of the guide cane (1) near the circular roller (48). A spring plate (491) is installed on the concave arc surface of the deceleration plate (49) facing the circular roller (48). The first deceleration baffle (49) is always opposite to the round roller (48) at the bottom of the wheel (43). When the round roller (48) rotates, the first spring piece (481) outside the round roller (48) will contact the second spring piece (491) on the concave arc surface of the first deceleration baffle (49) and pass over the second spring piece (491). Both the first spring (481) and the second spring (491) are arc-shaped structures, and the concave arc surface of the first spring (481) faces the opposite direction to the concave arc surface of the second spring (491). The deceleration structure also includes a second deceleration baffle (410) installed at the bottom of the lower section of the guide cane (1) and on the side opposite to the roller (48). The second deceleration baffle (410) has the same shape as the first deceleration baffle (49), and a second spring piece (491) is also installed in the concave arc surface of the second deceleration baffle (410). Another wheel (43) has a spring plate three (46) arrayed on the side facing the deceleration baffle two (410). When the wheel (43) rotates, the spring plate three (46) outside the wheel (43) contacts and passes through the spring plate two (491) inside the deceleration baffle two (410) in turn. The third spring (46) and the second spring (491) in the second deceleration baffle (410) are both arc-shaped, and the concave arc surface of the third spring (46) faces the opposite direction to the concave arc surface of the second spring (491) in the second deceleration baffle (410).

2. The STM32-based smart guide cane according to claim 1, characterized in that: The upper section of the guide cane (1) is covered with a sponge sleeve (2), and the top of the upper section of the guide cane (1) is connected with an anti-slip rope (3).

3. The STM32-based smart guide cane according to claim 1, characterized in that: Each pair of adjacent sub-rollers (45) forms a group, and the distance between each pair of groups is greater than the distance between two adjacent sub-rollers (45).

4. The control system for the STM32-based intelligent guide cane according to any one of claims 1-3, characterized in that: Includes STM32F103C8T6 control chip CPU2, RT9161 voltage regulator chip U2, ADXL345 accelerometer sensor circuit U3, HC-SR04 ultrasonic ranging circuit U4, SIM900A SMS sending circuit U5, NEO-6M GPS positioning circuit U6, SYN6288 voice synthesis chip U7, water level sensor interface P1, accelerometer interfaces P2 and P3, voice synthesis circuit interface P4, speaker SPK, crystal oscillator X1, X2 and Y1, LEDs LED1, LED2 and LED3, transistors NPN and Q1, resistors R1 to R15, and capacitors C1 to C19; PA1 of the STM32F103C8T6 main control chip is connected to AOUT of the water level sensor interface P1. PA2 and PA3 are connected to RXD and TXD of the NEO-6M GPS positioning circuit, respectively. PA4 and PA5 are connected to SCL and SDA of the ADXL345 accelerometer circuit, respectively. PA6 and PA7 are connected to TRIG and ECHO of the HC-SR04 ultrasonic ranging circuit, respectively. PA9 and PA10 are connected to RXD and TXD of the SIM900A circuit, respectively. PB10 is connected to RXD of the SYN6288 voice synthesis chip. PB12 is connected to the fall detection cancellation button S2. XTAL-IN and XTAL-OUT are connected to the two ends of crystal oscillator X1. PC14 and PC15 are connected to the two ends of crystal oscillator X2. The 5V power supply is connected to the self-locking switch S1. BP0 and BN0 of the SYN6288 voice synthesis chip are connected to BP0 and BN0 of the speaker SPK, respectively. XOUT is connected to the two ends of crystal oscillator Y1.

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