基于步态检测算法的避障装置研制  

Development of obstacle avoidance device based on gait detection algorithm

作　　者：吴文竹[1] 唐俊铨[1] 

机构地区：[1]重庆医药高等专科学校,重庆401331

出　　处：《医疗卫生装备》2017年第2期1-5,15,共6页Chinese Medical Equipment Journal

基　　金：重庆市卫生局医学科技计划项目(2013-2-150);重庆医药高等专科学校自然科学类重点资助项目(ygz2013102)

摘　　要：目的 :研制一种供视力障碍人士使用的带步态检测功能的鞋套式避障装置。方法 :该避障装置由穿戴鞋套和电子控制盒2个部分组成。硬件部分以MSP430F1132单片机作为控制核心,应用三轴加速度传感器采集脚部加速度,采用超声传感器测障、太阳能电池供电;软件部分研究一种步态检测算法,设计脚步运动状态检测程序,区分静止状态和运动状态。结果:该装置在脚部有迈步动作且落地时检测障碍,在脚静止、抖动和迈步悬空过程中不测障,减少了误报警,简化了使用流程。结论:该装置实时性好、测障率高、误报警少、便携性强、成本低、操作简单方便,具有一定的研究和实用价值。Objective To develop a shoe-cover-style obstacle avoidance device based on gait detection algorithm for the visually impaired. Methods The device was composed of shoes covers and an electric control box. The hardware involved in MSP430F1132 SCM as the control unit, triaxial accelerometer to measure foot acceleration, ultrasonic sensor to detect obstacles and solar battery for power supply. A gait detection algorithm was proposed to implement a foot motion states detection program, and the motion states included static and moving ones. Results The device executed obstacle detection when the feet were raised and let down, and obstacle detection were stopped in case the feet were kept unmoving, shaking and hanging. The rate for mis-alarm was decreased and the operation procedure was simplified. Conclusion The device behaves well in timeliness, efficiency, mis-alarm, portability, low cost and easy operation, and thus is worthy studying and practical application.

关 键 词：步态检测算法 避障装置 鞋套式 超声波传感器 三轴加速度传感器 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置] R496[自动化与计算机技术—控制科学与工程]