基于搭载Linux平台Raspberry Pi 的导盲机器人 控制系统设计

中国盲人数量占全球盲人比例较大,而国内导盲犬昂贵且稀少,无法普及,提出一种适合于普通盲人的导盲机 器人,在于取代导盲犬,成为广大盲人群体都可以接受的廉价、实用并且便携的导盲工具。本导盲机器人使用搭载Linux （Debian 发行版）平台的Raspberry Pi 作为系统的中央处理单元,通过五个超声波距离传感器从盲人前进的不同角度收集周围 环境距离信息,在超声波传感器初步定位障碍物的基础上,通过摄像头采集图像数据进一步处理判断障碍物位置,融合两种判 断结果通过振动信号将障碍物位置和距离反馈给盲人。在实验环境下实现辅助盲人进行躲避障碍物的功能。     

A Navigation Aid for Blind People

This paper presents a navigation aid for the blind based on a microcontroller with synthetic speech output. The system consists of two vibrators, two ultrasonic sensors mounted on the user??s shoulders and another one integrated into the cane. It is able to give information to the blind about urban walking routes and to provide real-time information on the distance of over-hanging obstacles within 6 m along the travel path ahead of the user. The suggested system can then sense the surrounding environment via sonar sensors and sending vibro-tactile feedback to the user of the position of the closest obstacles in range. For the ultrasonic cane, it is used to detect any obstacle on the ground. Experimental results show the effectiveness of the proposed system for blind navigation.     

基于树莓派与微信的室内物联网安防系统

为实现对室内环境的安防监控,利用传感器和摄像头对室内环境进行数据采集,并通过树莓派将数据上传至服务器或数据库中,供用户通过微信公众平台查看.当室内环境出现异常情况时,微信公众平台自动向用户发送报警信息,并根据时间间隔和异常情况是否得到处理确定是否重新发送报警信息.测试结果表明:系统工作可靠,可移植性高,对室内安防具有重要意义.     

Fuzzy expert system with double knowledge base for ultrasonic classification

This article shows a pattern recognition method for object classification using ultrasonic sensors and a dual knowledge base fuzzy expert system. The developed system uses a pair of ultrasonic sensors for obtaining information about the object shape from the ultrasonic echo signal envelope. In order to reduce the size of the database, a set of parameters is calculated for extracting knowledge about the object. However, the information provided by ultrasonic sensors contains a very high uncertainty level. This uncertainty is caused by several environmental effects, which are very difficult to eliminate in industrial applications. Among these environment factors are the air temperature and humidity, the air movement, etc. They create variations in the proprieties of the medium and disturbances during the acoustic propagation process. The presented system has been specially designed for industrial applications, where it is very difficult to reduce these disturbances and where it is necessary to use intelligent systems with high autonomy. The fuzzy expert system proposed has a dual knowledge base, that is, a statistical knowledge located on the memberships functions, and the standard rule-based knowledge. This expert system deals with the uncertainties in the information, and it is able to generate and modify the knowledge base and the decision rules in an automatic way. Furthermore, it is able to adapt the knowledge base to the slow changes produced by disturbing factors, such as humidity and temperature. On the other hand, because this system maintains a rule-based structure it is very easy to incorporate expert human knowledge.     

移动机器人的多传感器测距系统设计

在移动机器人的路径规划过程中,必须掌握障碍物的距离信息.基于超声波和红外传感器的测距原理,设计了一种移动机器人多传感器测距系统,可测量0～200 cm距离内存在的障碍物,测量误差小于1 %.采用超声波和红外2种传感器组成3组测距采集系统,采集机器人3个不同方位的障碍物信息,解决了单一传感器测距盲区的问题,并详细介绍了该系统的软件和硬件设计.     

AudioMan：电子行走辅助系统的设计与实现

针对现有的电子行走辅助(ETA)系统在普及和应用中的缺陷,自行设计了一种易使用的ETA系统模型AudioMan。该模型结合图像处理和听觉显示技术,给盲人用户提供道路方向和障碍物位置等环境信息。系统提出通过控制乐音的参数来实现可听化,用可听化来传递图像信息。可用性测试和评估结果表明,AudioMan所建立的用户听觉模型比现有的ETA系统更有效。     

基于模糊控制的盲人避障系统设计

文章基于多个超声波传感器对地面信息的采集,利用模糊控制算法将采集的信息转化为指引盲人避障的语音提示。该系统采用超低功耗的MSP430单片机作为主控单元,外围设计了五路超声波传感器采集全方位的路面信息。通过分析路面信息,从而给出盲人前进方向以及前进的速度语音提示,实现盲人避障的功能。     

视障人士户外行走辅助系统研究

为了解决视障者的出行问题,设计了一种便携式智能户外行走辅助系统模型：AudioGuide。系统利用GPS接收器获取用户的当前位置信息,利用地图信息数据库存储环境信息,并利用最佳路径分析算法为用户提供安全可靠的路径。AudioGuide系统通过控制乐音的参数来实现可听化,用可听化、听标或耳标来传递环境信息,具有结构简单、携带方便、易使用等特点。     

基于ARM的智能导航盲杖系统设计

针对目前市场上盲用导航产品的不足,采用基于ARM11的S3C6410微处理器和基于Win CE软件,设计了智能导航盲杖系统.通过GPS模块,该系统可以提供盲用定位与导航功能.利用超声波测障模块,系统能够实现一定范围内的障碍物告警,极大地解决了盲人独立出行困难的问题.     

一种新型便携式超声波测厚仪的设计

设计了一种便携式新型超声波测厚仪,系统采用ATMEGA128单片机作为主控芯片,并包含超声波发射接收电路、LCD液晶显示电路、电源电路、键盘电路、232通信电路、实时和计数器电路.实现了精确测量、丰富的信息量实时的显示、电池和USB切换供电功能,并把测量的数据通过串口传输到PC中进行了分析与比较,给出了测量误差产生的原...     

基于K近邻和动态时间规整算法的盲人物联网手杖系统

针对盲人出行时的安全和监护问题,提出了一种基于机器学习算法的盲人物联网手杖系统的设计,该系统具有避障、定位、报警和通信等多种功能。首先,该系统具有红外线避障和超声波测距避障的基本功能,可以用于盲人日常出行对路况障碍物的检测,并且实时利用语音和电机震动给予提醒;其次,该系统还具有远程通信求助功能,可以向指定号码发送求助短信及电话;同时,系统还加入了全球定位系统（GPS）、加速度计陀螺仪姿态角度解算功能和以K近邻（KNN）和动态时间规整（DTW）算法为基础的异常姿态报警功能,它能将各类信息数据传输至云端服务器存储;最后,采用微信小程序代替原生APP作为监护操作界面,并提供一键报警、天气查询、盲人安全资讯等功能。测试实验结果表明,所提系统的姿态识别成功率达到了86%,正确率比姿态角系统提高将近31%。该盲人物联网手杖系统可以极大地提高盲人出行的安全性,使盲人能够在发生意外时及时求助,实现了对盲人姿态的安全监护和定位监护。     

一种新颖的基于二分法和模糊控制的移动机器人避障系统

针对超声波传感器波束角窄导致移动机器人存在避障盲区的现状,研究了一种新颖的超声波避障系统。该系统采用六个超声波传感器构成特别设计的超声波阵列,实现无盲区检测中大型移动机器人前方及左右两侧障碍物的位置,充分保障运行安全性;同时在避障算法上,采用二分法和模糊控制相结合的控制算法,简化了模糊控制规则使系统具有很好的智能性和实时性,实现了移动机器人选择最佳避障路径并对新增的动态障碍物进行避障。将此避障控制系统应用于移动机器人上,实验结果表明：在未知环境下,实现对移动机器人周边的无盲区检测,并且能够实时根据周围障碍物的动态情况选择最佳避障路径,避免了其它避障控制算法中易出现的误避障和二次避障的情况。     

Ultrasonic sensor data integration and its application to environment perception

To move in an unknown or uncertain environment, a mobile robot must collect information from various sensors and use it to construct a representation of the external world. Ultrasonic sensors can provide range data for this purpose in a simple and cost-effective way. However, most ultrasonic sensors are not sufficient for environment recognition because of their large beam opening angles. In this article the beam-opening-angle problem is solved by fusing data from multiple ultrasonic sensors. We propose two methods for sensor data fusion. One uses an artificial neural network (ANN), and the other is based on a mathematical model. Simulations and experiments show that the mathematical model is more accurate when there is no noise in the sensor readings, but the ANN method is better when the sensors are subject to much noise. To extract line segments from the ultrasonic image, we develop a line extractor that is more efficient than traditional line fitting methods in this application. Experimental results show that this method is effective for environment perception in a robotic system. © 1996 John Wiley & Sons, Inc.     

Empirical studies on programming language stimuli

Comprehending and debugging computer programs are inherently difficult tasks. The current approach to building program execution and debugging environments is to use exclusively visual stimuli on programming languages whose syntax and semantics has often been designed without empirical guidance. We present an alternative: Sodbeans, an open-source integrated development environment designed to output carefully chosen spoken auditory cues to supplement empirically evaluated visual stimuli. Originally designed for the blind, earlier work suggested that Sodbeans may benefit sighted programmers as well. We evaluate Sodbeans in two experiments. First, we report on a formal debugging experiment comparing (1) a visual debugger, (2) an auditory debugger, and (3) a multimedia debugger, which includes both visual and auditory stimuli. The results from this study indicate that while auditory debuggers on their own are significantly less effective for sighted users when compared with visual and multimedia debuggers, multimedia debuggers might benefit sighted programmers under certain circumstances. Specifically, we found that while multimedia debuggers do not provide instant usability, once programmers have some practice, their performance in answering comprehension questions improves. Second, we created and evaluated a pilot survey analyzing individual elements in a custom programming language (called HOP) to garner empirical metrics on their comprehensibility. Results showed that some of the most widely used syntax and semantics choices in commercial programming languages are extraordinarily unintuitive for novices. For example, at an aggregate level, the word for , as in a for loop, was rated reliably worse than repeat by more than 673% by novices. After completing our studies, we implemented the HOP programming language and integrated it into Sodbeans.     

基于ZigBee的便携式矿用多参数传感器设计

基于ZigBee无线通信技术,结合现有的煤矿传感器,设计了一款便携式矿用安全监测传感器。该传感器具有自组网、小体积、高效率、低功耗、低成本的特点,集信号采集、液晶显示和组网通信功能于一体。该传感器集成监测瓦斯浓度、温度、电流、压力等多种环境参数,有效弥补了矿用单参数传感器功能单一的不足;以无线通信代替有线通信,可固定安装或由工作人员随身携带,覆盖更多的监测盲点,更有利于系统的扩展和维护。     

自动增益电路在超声波测距系统中的应用研究

介绍了一种基于单片机的超声波测距系统,应用场效应管的可变电阻功能,设计了一种自动增益电路来对超声波的声波衰减进行补偿,给出了自动增益电路原理图,并分析和实验了其功能,实验结果验证了设计的自动增益电路具有线性度高、电路简单以及动态性能好等优点,较好地改善了超声波声强与测距精度随距离远近变化大的缺点,并减小了超声波探头的测量盲区。     

STM32的车载雷达预警抬头显示器设计

本文是基于STM32便携式车身全方位雷达抬头显示器的硬件和软件程序设计.与传统 OBD车载器相比,该车载抬头显示器既可以监测车身在泊车过程中的危险距离并可产生预警提示,又可以在车辆运行中精确定位安全距离的方位.该方案设计的全方位抬头显示器可以投影显示汽车运行参数和周围雷达测量距离,能够给驾驶人员提供一个驾驶安全预警提示值.结合STM32控制单元作为数据处理依据,使用超声波雷达传感器测量车辆周围距离信息,配合OBD II接口读取车辆信息,最终将提示信息显示在抬头显示器上.     

自主机器人非视觉传感器数据采集系统的研制

介绍了一种基于数字信息处理器(DSP)的非视觉传感器数据采集系统。它以DSPTMS320LF2407A为核心,集成了超声波传感器、红外测障传感器、红外测距传感器和方位传感器等模块,通过多传感器信息融合,可以弥补超声波传感器的盲区问题和多次反射问题,本系统通过串口或者通用系列总线(USB)进行通信。经实验验证:该系统结构简单、配置灵活、功耗低,具有较高的可靠性和实时性。     

路口导盲及马路障碍物检测提醒系统的设计

为了帮助盲人自行通过路口并检测提醒盲人道路上的障碍物情况,设计制作了一个路口导盲及马路障碍物检测提醒系统,该系统通过超声波模块检测障碍物信息,通过方向传感器模块和无线通信模块获取盲人的朝向信息和盲人当前朝向路口的红绿灯信息,并利用震动模块和语音模块对盲人进行提醒。最后制作出系统实物并模拟验证了该系统是有效可行的。     

AudioBrowser: a mobile browsable information access for the visually impaired

Although a large amount of research has been conducted on building interfaces for the visually impaired that allows users to read web pages and generate and access information on computers, little development addresses two problems faced by the blind users. First, sighted users can rapidly browse and select information they find useful, and second, sighted users can make much useful information portable through the recent proliferation of personal digital assistants (PDAs). These possibilities are not currently available for blind users. This paper describes an interface that has been built on a standard PDA and allows its user to browse the information stored on it through a combination of screen touches coupled with auditory feedback. The system also supports the storage and management of personal information so that addresses, music, directions, and other supportive information can be readily created and then accessed anytime and anywhere by the PDA user. The paper describes the system along with the related design choices and design rationale. A user study is also reported.