A method of detecting obstacle by US cane

摘要

A ultrasonic cane is an electronic travel aid that measures distances to the ground by using ultrasonic sensors. This paper presents a method for detecting the kind of danger arid the distances from riser to objects with an ultrasonic cane. For processing the data of measured distances statistically by using a microcomputer, first, we investigate the histograms of distances in cases of flat grounds, obstacles arid down steps, respectively. Then, we judge the kind of danger based on both the mean distance and the mean return number of flat grounds. The experimental results are shown for outdoor environments.