JPS5826207A - Detector for flatness - Google Patents

Abstract

PURPOSE:To detect the flatness without the influence of the oscillation of mounting parts by determining the coordinates of respective points from the reflected light of the light radiated to >=3 points of the predetermined points to be detected in a position to be detected and operating the volume of the solid body assumed by the respective points. CONSTITUTION:Light is projected from a device 2 for emitting detection light onto >=3 points of points Pi to be detected on a ground surface 8 through the projecting part 1T of a body case 1 mounted to the waist part of a blind person by means of a belt or the like. The directions of the irradiating light are beforehand so set that said points to be detected come at the positions where, for example, P1-P4 are not aligned on a straight line. A semiconductor position detector 9 is provided in a photodetecting part 1R, and in accordance with the detection signals thereof, the distance l1 from the points Pi are measured in a detecting circuit 13. Since the direction cosine of the detected light incident to the photodetecting part is roughly equal to the irradiating light, the coordinates of the respective points Pi are obtained from said cosine and the li, and the volume of the tetrahedron that the points P1-P4 assume is operated from the coordinates. Judgement is so made that, when said volume is 0, the respective points are on the same plane and when not 0, there are rugged parts.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a flatness detection device for detecting the flatness of a detection target region, such as the presence or absence of uneven portions.

For example, when a blind person walks, they only use a cane to sense the presence of dangerous concave areas such as depressions on the ground surface, which is the walking surface, or convex obstacles such as blocks of rock, which is extremely difficult to detect. There is a risk of falling due to tripping on a dangerous concave area or a convex obstacle. It is extremely effective if there is. For this reason, recently, a photoelectric switch type device has been developed, which emits pulse-modulated detection light from a light-emitting element onto the ground surface, which is the detection target, and receives the reflected light from the ground surface with a light-receiving element. This detection device measures the distance by projecting a detection light onto a predetermined detection point on a flat ground surface and receiving the reflected light, and then uses it as a reference value. measures the distance while walking sequentially and compares the measured values with the reference value, and when the measured value is equal to the waste standard value, it is determined that it is a flat surface, and when the measured value is greater than 5 ω straight, it is determined that it is a concave part. When the measured jfi'i is smaller than the Go standard value, it is determined to be a convex part. However, with the above configuration, the detection distance fluctuates due to the swing of the body, which is the attachment part, when walking. However, there was a problem that needed to be solved immediately, that is, the determination of uneven parts became uncertain.

The present invention has been devised in view of the above circumstances, and its purpose is to detect the flatness of the detection area without being affected by the rocking of the mounting area. We are in the process of providing equipment.

An embodiment of the present invention will be described below with reference to the drawings.

1 is a main case attached to the waist of a blind person using a belt, etc.;
This will be explained with reference to the figure. Reference numeral 2 denotes a light emitter, which has a light emitting element 5 made of a light emitting diode or a laser diode, etc., and a focusing lens 4, and the light emitting element 5 is driven by a pulse modulation circuit 5 to emit detection light as pulse modulated light. do.

The detection light from this light emitting element 5 is collected by 7 lenses 4.
Further, the light is transmitted through an X-axis scanner 6 and a Y-motion scanner 7, each of which includes a mirror, etc., and then is projected from a light projector 1T of the main body case 1 onto a target detection point P1 on the ground surface 8, which is a detection area. This detected point P1 is set to three or more points,
In particular, in this embodiment, 1. It is set as T1 and four detected points that do not wake up.
The detection light is projected and scanned by an X-axis scanner 6 and a Y-axis scanner 70 at 1.1 of the detection points Pl, P2, Ps, and P4.

Reference numeral 9 denotes a power q detector, which includes a storage lens 10 and a semiconductor device (hereinafter abbreviated as PSD) 11.
has. And the light reception of PSDl 1 with IMJ11
The detected point Pi (1=1
．． 2.3.4) The reflected light from the light receiving part of the main body case 1 -
The incident image is formed via the IB and the imaging lens 1a. In this case, the Y motion scanner 7 and the PSD
PSDll is arranged in a triangular manner with respect to the detected point P=>, so that PSDll transmits the reflected light from the detected point P1 to Light reception according to the short distance 11 (1:f, 2.3.4) between 0 (origin) and the detected point P1 (1:f, 2.3.4) to the center, which is the midpoint of
J, 111 (i=11z, se'). Here, the PSD 11 has the following functions. That is, when light is incident on the light receiving surface 11a of the PSDll while being biased by the bias power source 12,
It generates a six-valued photocurrent factor according to the amount of incident light, and also generates a signal current factor A, s' given by the following equation from the pair of electrodes A and B (where factor A + I 11 ; )
is output as a position signal. As shown in FIG. 3, electrode A of PSDll.

If the distance between electrode A and the light receiving point 111t is x i t 1-1a 2 m 314), then ■B; ...
...There is the relationship (2), so inertia current work A, work II
The distance xs (that is, the position of the light receiving point 111) can be known from K, and the distance to the detected point Ps can be determined according to this distance xsK.
When I is measured, + is obtained. 13 is a detection circuit, which will be described below.

14.15 is a light receiving circuit which outputs DC signal voltages V A , V l:+ which monotonically increase according to the signal current A, respectively; this is an oscillation pulse which is a synchronizing signal from the pulse variable vI4 circuit 5; It receives P^ and integrates the signal current A. 16 is the signal voltage VA, VBf)
'HJ' is an adder that calculates Vh + VsJf, and the calculation result is given to the pulse modulation circuit 5. In this case, the pulse modulation circuit 5 sets the sum signal [VA + VBJ and compares it with the reference voltage E8, 1'- When VA4-VnJ>Es, that is, when the amount of light received at IFJ is greater than the reference value, the 141I wave number of the oscillation pulse Po is lowered, and "VA+Va
When J<EsO [Fl], that is, when the amount of light received by PSDll is less than the reference value, the frequency of the oscillation pulse PQ is increased.

Therefore, the light emitting element 3 driven by this vomiting pulse POK is subjected to nollus number modulation, and the 4 of the light emitting element 5 is
Note: d decreases when the amount of light received by PSDll is large]
It seems to increase when the amount of light received by one PSDll is small (・
As a result, the pulse modulation circuit 5 controls the amount of light received by the PSDll to always be at a constant level. , 17I
tiM No. 1t% V A , V n I) Difference [V
A −V B J 'l'(-r+'J'PJ: Subtraction *b, +s is the difference signal of this calculation result "VA-VBJK
Based on the distance P 1 from the detected point Pi, f is calculated by a calculation determination circuit, and 19 is an output circuit that generates an output signal based on the determination result of the calculation determination circuit 18.

As mentioned above, the center point O of the main body case 1 and the detected point PL
Distance I! s is the difference signal V of the subtracter 17; [V^-Vm
The JO function can be expressed as t, t, t, l 1-f (v). In this case, as shown in FIG. 4, with the center point O of the main body case 1 as the origin,
'l is the Y axis, the front and back direction of the main body case 1 is the X axis, the vertical direction is the Z axis, and the detection point Ps is to the east.
The foot of the vertical line drawn from to the XY plane is Hl (5 = 1.2,
3.4), the azimuth deltm1e2m5*4) of the line connecting the center point (origin) O and the detected point P+ is ψl=
j'PiOX, extra 11 degrees 19 i (t c=1 @
2 #5. #4) U is possible. Now, the detected point P
Considering the coordinates of i, XzroI! MU iθ凰 mock ψ凰 ...song... (31Y
ica/1g1nθ Gororo ψl ...... Song (41
Z + Tomi! tmaθ Otori...Song...
(C shown by 51, however, I in Xs, Ys and Zt is ' 1 m 2 m 5 * 4). In this case, the detection light from the light projecting section 1T of the main body case 1, that is, the light projecting section 1T is the origin. The azimuth and co-latitude of the line connecting the light projector 1T and the detection point Ps are set in advance and constant, and the distance between the light projector 1T and the light receiver 1P in the main body case 1 is the distance Since the azimuth angle and co-latitude of the detected light are set to be extremely small with respect to l! (2) ψ1. (2) θl#i
ψ1 (i.e. e) and θi (i.e. j−aoa”a+
) has been set in advance, which makes the distance #
By measuring Jl, the coordinates X+ of the detected point PI,
Yt and ZI can be calculated. Furthermore, the detected point Pt (Xi mYt , Z
l), PJ (X2, Y1!.

Zg), Ps(x8.Ys, Z81 & P4 (X4
, Y4, Z4) is given by the determinant of Δ. The calculation/judgment circuit 18 performs the calculation of the coordinates Xs, Yi, and Zt of the detected point PsO, and the calculation of the volume Δ. Then, the calculation judgment circuit 1
8 determines from the calculation result of the volume Δ that there is a detection point P* and a P portion (a recess or a convex portion) when the volume Δ is zero (Δvalue 0). In addition, even if the ground surface ♂ has some unevenness, it is often better to treat it as a flat surface.
Therefore, in determining flatness, rather than strictly determining Δ-0, it is more suitable for the actual situation to have some degree of freedom and to determine that the flatness is flat when Δ==0±α.

Further, when the arithmetic determination circuit 18 determines that it is not a flat surface, it determines whether it is a concave portion or a convex portion and provides an output signal to a circuit 19, and the output circuit 19 operates an alarm (not shown). The device is designed to generate a loud sound, or to operate a sound generator (not shown) to generate sounds such as "abunai" and "uneven part gaarimasu".

By the way, when the main body case 1 is attached to the lower back of a blind person, as shown in FIG. 7, the vertical movement of the lower back 20. The rotation 21 around the Yld and the rotation 22 around the Z axis are particularly important, but the rotation 21 around the Y axis is particularly important, followed by the vertical movement 20 of the waist.

Here, when considering the influence of the rocking of the main body case 1 on the flatness detection, the predetermined detected surface 23, which is the detected region,
The main body case 1 swings relative to the main body case 1 when the main body case 1 is stationary and the detection surface 25 is shown by the two-dot chain line in the detection image t.
This is equivalent to swinging as shown by g', and therefore, the detected points P, P2, . Ps and P4 are detected points P
1', P g', P s' and P 4'. Therefore, even if the detected surface 23 becomes the detected surface 25', the detected points Pl' and Pg' are determined by K.

'p m' and P4' are the same plane of detection x 23
Even if there is an uneven part on the detection surface 23 and the detection surface 25 changes like the detection surface 23', the geometrical shape of the uneven part is saved as 0
So, main case 1. Even if the surface 25 swings, it is possible to reliably detect and determine the flatness of the detection surface 25, which is the detection region, without being affected by the swing.

In addition, in the above embodiment, four detected points P1 which are not on a straight line
．． Although Pt, Ps, and P4 are set, for example, even if the elm detection point is set at three points on a straight line in the walking direction, it is difficult to calculate the distance to the detected point and the direction cosine of the detected light. Based on the results, the flatness of the detected region can be detected in the same manner, and the point is that three or more detected points may be set.

Further, in the above embodiment, the detection light from one light emitting element 5 is
Four detection points P'+, P2 . The light was projected onto PLP4, but instead, four light emitting elements were provided corresponding to the detection points PI, PI, Pl and P4, respectively, and these light emitting elements were made to emit light at different times. Good too.

In addition, the present invention is not limited to the embodiments described above and shown in the drawings, but includes, for example, not only a flatness detection device for walking blind people, but also a general flatness detection device for detecting the flatness of a detected part. It goes without saying that the invention may be modified and implemented as appropriate without departing from the spirit of the invention, such as being applicable to the invention.

As described above, the present invention includes a light emitting device that emits detection light toward 93 or more scheduled detection points of a detection target region, and the detection light of the light emitting device is based on the detection light of the light emitting device. A position detector is provided to receive the reflected light from the detection site, and the distance to the reflection point is measured based on the signal from the position detector, and the detected site is determined based on the calculation result of this distance and the direction cosine of the detection light. The structure is equipped with a detection circuit that determines the flatness of the detection area, so even if the mounting area oscillates, the flatness of the detected area can be reliably detected without being affected by this. It is something that plays.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a perspective view of the detection operation state (OIgF), FIG. 2 is a boot star diagram showing the electrical configuration, and FIG. 3 is a functional explanatory diagram of the semiconductor device detection element. FIG. 4 is a diagram for explaining the principle, #Els diagram and FIG. 6 are perspective views of different detected parts, respectively, and FIG. 7 is a JIE1 diagram for explaining the operation. l! Among the 11 pages, 1 is the main body case, 2 is the light emitter, 3 is the light emitting element, 8 is the ground 111 to be detected], and 9 is the position detection □-
11 is a semiconductor device detection element, 13 is a detection circuit, P direct (Pl, Pl, Ps, P4) is a detected point, /i is a distance,
The zigzag indicates the azimuth angle, and the latitude of the azimuth. Applicant Industrial Relations Director Makoto Ishiita - Figure 1 Figure 2 Pi Figure 3 Figure 4 Figure 5 Figure 60 1s Figure 7 - Procedural amendment 1981 2/ρ Japan Patent Office Commissioner Shima 1) Mr. Haruki l. Case Indication Patent Application 1982-72≠075 2. Title of the invention: Flatness Detection Device 3. Person making the amendment: Applicant S. Pages 1 to 7 of the specification to be amended. ! Up to page 1. The contents of the amendment from page 1 to page 12 are replaced with the attached specification. Description 1, title of the invention, flatness detection device 2, scope of claims! , a light emitter that emits detection light toward three or more scheduled detection points of the detection target area, and a position detector that receives reflected light from the detection target area based on the detection light of the light emitter. and a detection circuit that measures the distance to the reflection point based on the signal from the position detector and determines the flatness of the detected region based on the calculation result of this distance and the direction cosine of the detected light. A flatness detection device. 1. The flatness detection device according to claim 1, wherein the detected points are set to four points that are not on a straight line. 3. Detailed Description of the Invention The present invention relates to a flatness detection device for detecting the flatness of a detection target region, such as the presence or absence of uneven portions. For example, when a blind person walks, they only need to use a cane to sense the presence of dangerous concave areas such as depressions on the ground surface, or the presence of convex obstacles such as blocks of stone, which is extremely difficult to detect. There is a risk of falling due to being tripped by an obstacle in a location or convexity.Therefore, it would be extremely useful if there was a device that could detect the presence or absence of unevenness in the detection area such as the ground surface, that is, the flatness of the detection area. It is valid. For this reason, recently, pulse illumination has been applied to the ground surface, which is the detection area, from flat light emitting elements.
A photoelectric switch type detection device d is considered in which light is emitted from L9 detection elements and the reflected light from the ground surface is received by a photodiode. This detection device first projects a detection light onto a planned detection point on a flat ground surface and receives the reflected light to measure the distance and use it as a reference value. The measured value is compared with the reference value, and when the measured value is equal to the reference value, it is determined to be a flat surface, and when the measured value is larger than the reference value, it is determined to be a concave part, and the measured value is equal to the reference value. It is configured to determine that it is a convex portion when it is small upward. However, with the above configuration, there is a problem that needs to be solved in implementation in that the detection range varies due to the rocking of the body, which is the attachment site, when walking, making the determination of uneven parts uncertain. The present invention has been made in view of the above circumstances, and its purpose is to reliably detect the flatness of the detection area without being affected by the rocking of the mounting area. K provides equipment. An embodiment of the present invention will be described below with reference to the drawings. Reference numeral 1 denotes a main body case which is attached to the waist of a blind person using a belt or the like, and its internal structure will be described below with reference to Fig. 2. 2 is a light emitting device f;ff, which has a light emitting element 3 made of a light emitting diode or a laser guide board, and a focusing lens 'held, and the light emitting element 5 is driven by a pulse modulation circuit 5Kj to detect pulse modulated light. Emits light. The detection light from this light emitting element 5 is then transmitted to a condensing lens 4.
Further, the light is transmitted through an X-axis circumferential scanner 6 and a Y-axis scanner 7 comprising mirrors, etc., and then is projected from the main body case 10 to the light projecting section 1T to a scheduled detection point P1 on the ground surface 8, which is a detection region. This detected point P1 is set to three or more points,
In particular, in this embodiment, four detection points are set that are not located on a straight line 'P*, P snow, Pg, and P4, and the detection light is detected by the action of the X-axis circumferential scanner 6 and the Y-axis scanner 70. Point PI, P! , PI, and P4 are repeatedly projected and scanned in this order. Reference numeral 9 denotes a position detector, which has an imaging lens 10 and a semiconductor device detection element (hereinafter abbreviated as PSD) 11. And the P
The light receiving surface 11aK of the SDll is such that the reflected light from the detection point P1 (1-1, 2, 5, 4) which is a reflection point on the ground surface 80 is used for the light receiving portion 1B of the main body case 1 and @1. The incident image is formed through the beam. In this case, the Y marine scanner 7 and the PSDll are arranged in a triangular manner with respect to the detection point P1, and therefore the PSDll transmits the reflected light from the detection point P1 to the light projecting section 1T and the light receiving section in the main body case 1. Light is received at the light receiving point 111 (1-wl, 2.3.4) corresponding to the distance 11 (1■1.213.4) between the center a (point M) O, which is the intermediate point of the part 1B, and the detected point P1. do. Here, the PSD 11 has the following functions. That is, PSDll is connected to the bias power supply 12 by
, : When light enters the light-receiving surface 11a in a p-biased state, a photoelectric current Q is formed with a value corresponding to the amount of incident light, and the pair of electrodes A and B generates The signal current A is output (however, IA 10m 9m 1m) as a position signal. That is, as shown in Figure 3,
Electrode A of PSDll. 3 and the distance from electrode A to the light receiving point 111 as ...
...There is the relationship (2), so the signal current Em can know a better distance Xi (that is, the position of the light receiving point 111), and the distance 11 from the detected point Pt can be determined according to this distance xt.
can be measured. 13 is a detection circuit, which will be described below. Reference numerals 14 and 15 are light receiving circuits that output DC signal voltages Vh and VB that monotonically increase in accordance with the signal current A and iC, respectively. M, it's a turtle that integrates more. 16 is the signal voltage VA, 'IwO sum [Vi+Vn
The calculation result is given to the pulse modulation circuit 5 in the addition a. which calculates J. In this case, the pulse modulation circuit 5 is
Compare the sum signal "Vm+VmJ and the set reference voltage E8, and when "7^+Vnj > E s), immediately change PS D
11 (When the D light reception jl is a little more than the reference value, the frequency of the oscillation pulse Po, wL & low L, "VA+VnJ <R:s
When the amount of light received by lp and Ps) 11 is less than the reference value, the frequency of the oscillation pulse Po is increased. Therefore, the number of pulses is changed for the light emitting element 3 driven by this oscillation pulse Po1C. The light emitting element 30 is a PS
When the amount of light received by the Dll is large, it decreases, and when the amount of light received by the PSDll is small, it increases, and as a result, the pulse modulation circuit 5 controls the amount of light received by the PSDll so that it is always at a constant level. 17 is faith! Voltage vA, vnof
16 is a calculation circuit that calculates the distance 11 to the detected point P1 based on the difference signal ``vA-V!IJ'' of this calculation result, 19 is a calculation circuit that calculates Judgment circuit 180 This is an output circuit that generates an output signal based on the judgment result.As described above, the center point ○ of the main body case 1 and the detected point PM
The distance/i from the subtractor 17 is the difference signal V=1'-VA-v
It can be expressed as a function of nj, that is, /if[V). In this case, as shown in FIG. 4, the center point ○ of the main body case 1 is the origin, the direction connecting the light projecting part 1T and the light receiving part 1F is the Y axis, and the front and rear direction of the umbrella case 10 is the X axis,
With the vertical direction as the two axes, further lower the detected point Pi to the XY plane.
#4), L, center point (origin) O, and detected point P
Azimuth angle ψ1 of the line connecting 1 (1== 1 m 2 s
5 a 4) is ψ1-2P1ox#additional latitude#+
(iz1@2#3#4) Within an appropriate range of the far difference signal V, it is possible to combine it with a quadratic function or the like. Now, considering the coordinates of the detected point Ps, Xix/lsk+#tawgs +++song++l+'
+l1(3)Yl-1!1lIkI#111 to ψi
−−−−・・・・・・・・・・・・・(4) Z+m寞−／ゑ゛(−く■−ツウ・・・・・・・・・・・・・・・(
5) However, the value of Xs, Yt and ZIK is 1.2. ! ! , 4). In this case, main case 1
0 The detection light from the light projecting section 1T, that is, the azimuth and co-latitude of a line connecting the light projecting section 1T and the detected point Pi with the light projecting section 1T as the origin are set in advance and are constant. Case 1
Since the distance 11 between the light projecting part 1T and the receiving part IB is set to be significantly A~, the above-mentioned detected light azimuth angle and co-latitude are equal to the above-mentioned azimuth angle ψ. and colatitude #1, and therefore the direction cosine J) ads q s , uaa a s , −ψ
l (i.e., n) and i (i.e., 1-w"#t) are set in advance, and this is K, so the distance is
In particular, when measuring the coordinates Xr, Yt of the detected point Ps
and Zs can be calculated. Furthermore, four detected points Pt (Xt, Yl, Zl), Pz
(Xt, Ys. Zt), Ps (Xs, Ys, Zs) and P4 (X4.
74 , Z4 The volume Δ of the square tetrahedron of 20 is given by the determinant of . The calculation/determination circuit 18 calculates the coordinates Xs, Yt, and Zs of the detected point Pt and calculates the volume Δ. Then, the calculation determination circuit 18 determines from the calculation result of the volume Δ that the volume Δ is zero (CΔヰ0)
When , it is determined that the detected points P'+, P, Ps, and P4 are on the same plane. 1 When the volume Δ is positive (+) or negative (-), there is a wide width p (concavity or convexity). It is determined that Note that even if the ground surface 8 has some unevenness, it is often better to regard it as a flat surface.Therefore, when determining the flatness Km, it is necessary to strictly determine Δ-=0. It is more suitable for the actual situation to allow some degree of freedom and to determine that it is a plane when Δ-0±α. Further, the calculation/judgment circuit 18 can also perform calculations to determine whether the surface determined to be not a flat surface is a concave portion or a convex portion and to determine the size of the surface. Then, the output circuit 19 operates an alarm device (not shown) to generate an alarm sound tube, or activates a sound generator (not shown) to emit sounds such as "I'm safe" or "I'm in trouble". It is designed to occur. By the way, when the main body case 1 is attached to the waist of a blind person, the body of the blind person can move up and down 20. As shown in FIG. The rotation 21 around the Y axis and the rotation 22 around the Z axis are particularly important, but the rotation 21 around the Y axis is particularly important, followed by the vertical movement 20 of the waist. Now, considering the influence of the rocking of the main body case 1 on the flatness detection, the rocking of the main body case 1 with respect to the predetermined detection surface 25, which is the detected part, means that the main body case 1 is stationary. When the detection target surface 23 is detected by the two-dot chain line [2! S
It is equivalent to oscillating like ', and this is K, so
Detected point P1. Pz, Ps and P4 are the detected points P1
', P *', P m' and P 4'. Therefore, even if the detected surface 23 becomes the detected surface 23', the detected points P1' and P2' will be the same. Are P8' and P4 on the same detection surface 23'? Even if the detected surface 23 has an uneven portion and the detected surface 23 changes to the detected surface 23', the geometrical shape of the uneven portion is preserved. Even if the main body case 1 swings, the flatness of the detected part 1g1zs can be reliably detected and determined without being affected by the swinging. In addition, in the above embodiment, four detected points P1 which are not on a straight line
．． Although we asked you to set P*, Ps, and P4, for example, even if you set the detected point at three points on a straight line in the walking direction, it is difficult to calculate the distance to the detected point and the direction cosine of the detected light. Based on the results, the flatness of the detected region can be detected in the same manner, and the point is that three or more detected points may be set. Further, in the above embodiment, the detection light from one light emitting element 5 is
Scanned by the axial circumference scanner 6 and the Y-axis scanner 7, four detected points P1. Pg, Pa. The light was projected onto P4, but instead the above detection point Pt
, P! , PR, and P4, and these light emitting elements may emit light with a time difference. In addition, the present invention is not limited to the embodiments described above and shown in the drawings, but is applicable not only to flatness detection devices for walking blind people, but also to flatness detection devices in general for detecting the flatness of a detected part. It goes without saying that the invention may be modified and implemented as appropriate without departing from the scope of the invention.

Claims (1)

[Claims]! , a light emitter that emits detection light toward three or more scheduled detection points of the detection target area, and a position detector that receives reflected light from the detection target area based on the detection light of the light emitter. and a detection circuit that measures the distance to the reflection point based on the signal from the device detector and determines the flatness of the detected region based on the calculation result of this distance and the direction cosine of the detected light. A flatness detection device. 1. The flatness detection device according to claim 1, wherein the detected points are set to four points that are not on a straight line.