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1、超声波触觉视觉系统超声波触觉视觉系统Members: Rohan Sharma (rs423cornell.edu ) 成员：罗汉夏尔马成员：罗汉夏尔马 （rs423cornell.edu ）Jeff Buente (jsb89cornell.edu ) 杰夫杰夫 Buente （jsb89cornell.edu ）High Level Design 高层次设计 Hardware 硬件 Software 软件 Results 结果 Conclusions 结论 Appendix 附录Ultrasonic Haptic Vision System 超声波触觉视觉系统Introduction 简介
2、简介The ultrasonic haptic vision system enables a person to navigate hallways and around large objects without sight, through the use of an ultrasonic rangefinder that haptically interfaces with the user via tiny vibrating motors mounted on the users head.超声波触觉视觉系统使一个人来导航的走 廊和大型物体周围没有看到通过超声波测距仪的 hapti
3、cally 通过微小振动与对用户的头部安装马达的用户界面使用。 The idea behind this project was to construct a sixth sensory system that interacts with the body in an intuitive and user friendly fashion and enables the user to navigate without vision.背后的这个项目的想法是建立了第六感觉系统与人体的相互作用在 直观和用户友好的方式，使用户浏览没有远见。 We also implemented RF trans
4、mission in order to provide feedback to a program running on the computer to keep track of the sensory data obtained from the mobile user mounted sensor system.我们还实施了射频传输，以提供反馈程 序在计算机上运行保持移动用户从感官获得的数据轨道上的传感器系统。 This enabled the person sitting at the computer to observe all the distances between the
5、surrounding obstacles and the user wearing the hat.这使得它能够在电脑前坐着的人，观察周围之间的所有障碍和用户 戴帽子的距离。 The rangefinder rotated on a motor atop the hardhat in order to take the sensory data at discrete points around the user.测距仪旋转上盖的安全帽上的马达，以便采取在各地用 户的感官离散点的数据。 The hat and required hardware is all battery powered
6、so that it is totally mobile and can be used as intended, so that movement is not restricted by the length of wires.帽子和所需的硬件，因此所有的电池供电，这是完全移动，可用于如预期，使运动不 被电线长度的限制。High Level Design 高层次设计高层次设计Rationale | Logical Structure | Hardware and Software Tradeoffs 理由 | 逻辑结构 | 硬件和软件的 权衡Rationale and Sources 理由
7、和来源理由和来源The rationale behind this project was to demonstrate an idea by creating a working prototype of a sensory system to enable the sight impaired to navigate through hallways and around large objects.这个项目背后的理由是要证明，创造了一个工作原型，感官系统，使障人士浏览走 廊和大型物体周围的景象的想法。 We also thought that the idea of integratin
8、g all of the different hardware and using sensory hardware to actuate feedback hardware was very interesting. 我们还以为是整合不同的硬件和使用的所有硬件驱动感官反馈硬件的想法是非常有趣。 Putting all of this in a mobile package was no easy task but it was a great learning experience.移 动包放在这一切是不容易的任务，但它是一个很好的学习经验。 The source of the idea b
9、ehind our project was from work done by graduate students at the University of Tokyo.对我们的 项目背后的思想来源是从工作做在东京大学研究生。 They created a headband with infrared sensors with vibrating motors that vibrate when an object is found within range.他们创造了一个 与振动电机的振动，当一个对象范围内的红外传感器发现头带。 The module was not mobile and w
10、as linked to a PC and the range of the sensors was minimal as they were infrared.模 块没有移动，并与个人电脑和传感器的范围是最小的，因为他们是红外线。 This idea spurred our interest in using a haptic feedback system to alert the user to objects at greater distance in the vicinity.这种想法刺激了用触觉反馈系统，以提醒在附近有更大的距离，用户 对象我们的利益。Logical Struct
11、ure 逻辑结构逻辑结构The basic logical structure of our project involves the sensory input from the ultrasonic rangefinder and its method of acquisition, the bipolar stepper motor that changes the sensor position to read ranges at different angles, the miniature vibrating motors that provides haptic feedback
12、 to the user and the microcontroller which enables the three major components to communicate effectively.我们项目的基本逻辑结构，涉及从超声波测距仪的感觉输入和它的 方法收购，双极步进电机，传感器的位置变化在不同的角度看，微型振动马达，提供触觉 反馈给用户和范围微控制器使三种主要成分进行有效的沟通。 We also had a base station which communicates with the mobile station via radio-frequency transmi
13、ssion, receives all of the hardware states and sensory information and displays it in an intuitive way for debugging and general informative display of the sensory information.我们也有一个与基站通过无线电频率传 输移动站的通信，接收所有的硬件状态和感觉信息，并显示在一个用于调试和一般的感官 信息的信息显示直观的方式。 The motor atop the hard hat turns the ultrasonic sen
14、sor, which reads the distance to the nearest object at different angles and sends this information to the microcontroller which in turn sets the vibrator strength in that direction accordingly, to alert the user to the distance to the nearest object in that direction.山顶的安全帽马达转动超声波传感器， 它读取距离，在不同的角度最近
15、对象并将其发送到微控制器而这又设置在该方向振动强度 相应的信息，提醒用户到的距离最近的对象在这一方向努力。 At the same time the microcontroller relays this range information at the current angle back to the base station to display it on the computer.在同一时间继电器，微控制器在目前这个角度回基站的范围的信 息显示在计算机上。Logical Structure of Transmission End 逻辑结构的传输结束Logical Structure
16、of Receiving End 接收端的逻辑结构Hardware and Software Tradeoffs 硬件和软件的权衡硬件和软件的权衡Anything that we determined could be easily implemented in hardware or software we opted to do in software because our processor was not very taxed for computing power, to begin with.什么我 们可以很容易地确定在硬件或软件实现我们选择了做软件，因为我们的处理器不是很征税 的计算能力，首先。 The original idea was to use a L297 Stepper Motor Controller to control the bipolar stepper motor step sequences, but we decided that this was
