CN112033417B - Real-time navigation method and device for visually impaired people - Google Patents
Real-time navigation method and device for visually impaired people Download PDFInfo
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- CN112033417B CN112033417B CN202011048002.XA CN202011048002A CN112033417B CN 112033417 B CN112033417 B CN 112033417B CN 202011048002 A CN202011048002 A CN 202011048002A CN 112033417 B CN112033417 B CN 112033417B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
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Abstract
The invention provides a real-time navigation method and a real-time navigation device for visually impaired people, wherein the method comprises the following steps: acquiring navigation data, wherein the navigation data comprises: speed, direction, obstacle distance, obstacle size, and voice; performing an adjustment operation on the speech, wherein the adjustment operation at least comprises one of the following operations: a timbre adjustment facing velocity, a stereo adjustment facing direction, a pitch adjustment facing barrier distance, and a loudness adjustment facing barrier size; and executing the adjusted voice playing operation. The invention can provide navigation service for the visually impaired people under the condition of near zero time delay. Compared with the existing navigation scheme, the method can provide high real-time performance, usability, accuracy and information richness, and obviously improve the daily exercise experience of the visually impaired people.
Description
Technical Field
The invention relates to the field of computers, in particular to a real-time navigation method and device for visually impaired people.
Background
The crowd with visual disorder is limited by the limited visual ability of the crowd, usually depends on a guide dog, voice navigation or a special tool, but the existing scheme seriously influences the practical use experience and reduces the navigation efficiency due to the serious problems of high time delay, low indication accuracy, limited freedom degree and the like. Taking voice navigation as an example, the method predicts an advancing route by analyzing the environment of the user, and then describes the advancing route, the advancing direction and other information to the user through language by continuously carrying out voice prompt. However, due to conditions such as comprehension ability and comprehension speed of the user, the voice navigation may have phenomena such as wrong comprehension, slow comprehension, and incapability of comprehension, which may result in the user being unable to advance normally.
Disclosure of Invention
The present invention aims to provide a real-time navigation method and apparatus for visually impaired people that overcomes or at least partially solves the above mentioned problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
one aspect of the present invention provides a real-time navigation method for visually impaired people, comprising: acquiring navigation data, wherein the navigation data comprises: speed, direction, obstacle distance, obstacle size, and voice; performing an adjustment operation on the speech, wherein the adjustment operation at least comprises one of the following operations: a timbre adjustment facing velocity, a stereo adjustment facing direction, a pitch adjustment facing barrier distance, and a loudness adjustment facing barrier size; and executing the adjusted voice playing operation.
Wherein the speed-oriented timbre adjustment comprises: when it is determined that the user needs to accelerate, slowing down the attenuation speed of the overtone intensity of the sound; and when the user is determined to need to decelerate, accelerating the attenuation speed of the harmonic overtone intensity.
Wherein the directionally-oriented stereo adjustment comprises: calculating the intensity of each sound channel by a-4.5 dB translation rule; wherein: the total volume V is normalized to 1, and the left and right channel intensities corresponding to the target advancing direction θ of the user are respectively:
wherein the adjustment of the tone facing the obstacle distance comprises: converting the distance of the obstacle relative to the user into tones, and early warning the occurrence of the target obstacle; wherein: relative to the target obstacle with the user distance of L, the adjusted tone is as follows: r isp 
Wherein the upper limit of the early warning is T, the original pitch is P, and the pitch adjusting radius is rp。
WhereinThe loudness adjustment for the size of the obstacle includes: converting the cross section area of the obstacle relative to the user into loudness, and early warning the danger degree of the target obstacle; wherein: for an object with a cross-sectional area S, the adjusted loudness is:
wherein, the length and width of the current visual field are W, H, and the proportion of the object in the visual field is
The original loudness is V, and the loudness adjusting radius is rv。
In another aspect, the present invention provides a real-time navigation device for visually impaired people, comprising: an obtaining module, configured to obtain navigation data, where the navigation data includes: speed, direction, obstacle distance, obstacle size, and voice; the adjusting module is used for executing adjusting operation on the voice, wherein the adjusting operation at least comprises one of the following operations: a timbre adjustment facing velocity, a stereo adjustment facing direction, a pitch adjustment facing barrier distance, and a loudness adjustment facing barrier size; and the playing module is used for executing the adjusted voice playing operation.
The adjusting module adjusts the tone of the speed in the following mode: the adjusting module is specifically used for slowing down the attenuation speed of the overtone intensity of the sound when the user acceleration is determined to be needed; and when the user is determined to need to decelerate, accelerating the attenuation speed of the harmonic overtone intensity.
Wherein the adjustment module faces the stereo adjustment of the direction by: the adjusting module is specifically used for calculating the intensity of each sound channel through a-4.5 dB translation rule; wherein: the total volume V is normalized to 1, and the left and right channel intensities corresponding to the target advancing direction θ of the user are respectively:
wherein, the tone adjustment of adjustment module towards barrier distance is through following mode: adjustment module, in particular for positioning an obstacle relative to a surfaceConverting the distance of the user into tones, and early warning the occurrence of a target obstacle; wherein: relative to the target obstacle with the user distance of L, the adjusted tone is as follows:
wherein the upper limit of the early warning is T, the original pitch is P, and the pitch adjusting radius is rp。
Wherein the adjustment module adjusts the loudness of the obstacle-oriented size by: the adjusting module is specifically used for converting the section area of the obstacle relative to the user into loudness and early warning the danger degree of the target obstacle; wherein: for an object with a cross-sectional area S, the adjusted loudness is:
wherein, the length and width of the current visual field are W, H, and the proportion of the object in the visual field is
The original loudness is V, and the loudness adjusting radius is rv。
Therefore, by the real-time navigation method and the device for the visually impaired people, provided by the invention, the navigation instruction is converted into the special combination of stereo, loudness, tone and timbre of sound through real-time sound adjustment, the information of advancing, moving direction and speed is fed back to the visually impaired people in real time, and the obstacle distance and size are reflected, so that the higher-level flexibility and safety of movement of the visually impaired people are promoted.
By the aid of the real-time property of stereo, loudness, tone and timbre change, the invention can provide navigation service for visually impaired people under the condition of near zero time delay. Compared with the existing navigation scheme, the method can provide high real-time performance, usability, accuracy and information richness, and obviously improve the daily exercise experience of the visually impaired people.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a real-time navigation method for visually impaired people according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a real-time navigation device for visually impaired people according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows a flowchart of a real-time navigation method for visually impaired people according to an embodiment of the present invention, and referring to fig. 1, the real-time navigation method for visually impaired people according to an embodiment of the present invention includes:
s1, acquiring navigation data, wherein the navigation data comprises: speed, direction, obstacle distance, obstacle size, and voice;
s2, executing the adjusting operation of the voice, wherein the adjusting operation at least comprises one of the following operations: a timbre adjustment facing velocity, a stereo adjustment facing direction, a pitch adjustment facing barrier distance, and a loudness adjustment facing barrier size.
As an optional implementation of the embodiment of the present invention, the speed-oriented timbre adjustment comprises: when it is determined that the user needs to accelerate, slowing down the attenuation speed of the overtone intensity of the sound; and when the user is determined to need to decelerate, accelerating the attenuation speed of the harmonic overtone intensity.
Specifically, in order to indicate the proper forward speed for the user, the present invention embodies the speed requirement by adjusting the timbre. Specifically, when the user is required to accelerate, the overtone intensity of the sound is attenuated at a slower speed, so that the tone color is harder; when the speed needs to be reduced, the overtone intensity attenuation speed is increased, so that the tone color is softer.
In order to ensure that the daily life of the user is not influenced, after the movement speed reaches the target speed, the sound is paused until new navigation information is available.
As an alternative implementation of the embodiment of the present invention, the directional stereo adaptation comprises: calculating the intensity of each sound channel by a-4.5 dB translation rule; wherein: the total volume V is normalized to 1, and the left and right channel intensities corresponding to the target advancing direction θ of the user are respectively:
specifically, according to the delta-wave effect, a person distinguishes directions by distinguishing the magnitude of the intensity of a plurality of sound sources. The intensity of each sound channel is calculated by a-4.5 dB translation rule (-4.5dB Pan Law). For a dual-channel scene, the total volume V is first normalized to 1, and then the left and right channel intensities corresponding to the current heading direction are respectively:
therefore, for the user's target heading direction θ, the corresponding left and right channel intensity ratio can be calculated, thereby serving to reflect the change in heading direction in real time.
As an optional implementation of the embodiment of the present invention, the adjusting of the pitch facing the obstacle distance includes: converting the distance of the obstacle relative to the user into tones, and early warning the occurrence of the target obstacle; wherein: relative to the target obstacle with the user distance of L, the adjusted tone is as follows:
wherein on the early warningWith a limit of T, original pitch of P, pitch adjustment radius of rp。
Specifically, in order to reflect the distance between the user and the front obstacle, the invention provides that the distance between the obstacle and the user is converted into a tone so as to early warn the occurrence of the target obstacle in advance. For an object with a distance L relative to a user, assuming that the upper warning limit is T, the original pitch is P, and the pitch adjustment radius is rpThen the corresponding adjusted pitch is:
in the formula, the distance from the user to the object is L, the target object with the radius of T is warned, and the distance of the object with the distance exceeding the warning upper limit T is assumed to be T. In order to prevent the tone from being too big, the invention adjusts the radius rpFor the upper limit, the adjustment value is calculated by using the ratio of the object distance to T as a weight.
As an optional implementation of the embodiment of the present invention, the loudness adjustment facing the size of the obstacle comprises: converting the cross section area of the obstacle relative to the user into loudness, and early warning the danger degree of the target obstacle; wherein: for an object with a cross-sectional area S, the adjusted loudness is:
wherein, the length and width of the current visual field are W, H, and the proportion of the object in the visual field is
The original loudness is V, and the loudness adjusting radius is rv。
Specifically, in order to embody the size of the front obstacle, the invention provides that the cross section area of the obstacle relative to the user is converted into loudness, so as to early warn the danger degree of the target obstacle. For an object with a cross-sectional area S, assuming that the length and width of the current field of view are W, H, the proportion of the object in the field of view is:
let the original loudness be V and the loudness adjustment radius be rvThen the corresponding adjusted loudness is:
and S3, executing the adjusted voice playing operation.
Specifically, according to the voice adjustment strategy, the currently played voice or the navigation voice can be adjusted, and then the voice is played through the voice equipment with no less than two channels, so that the real-time navigation of the visually impaired people is realized.
In addition, in order to realize navigation based on voice adjustment, distance, direction, speed, object size and tone, stereo, timbre and loudness can be adjusted in a pairwise combination manner so as to meet the requirements of different people. For example, for hearing insensitive people, the speed of movement can be reflected by the tone, thereby reducing the dependence on hearing sensitivity. In addition, 4 elements can be corresponding to 4 dimensions of physical feedback, dependence on hearing is completely avoided, and real-time navigation is achieved through touch sense.
Therefore, the real-time navigation method for the visually impaired people, provided by the embodiment of the invention, faces the navigation problem of the visually impaired people, realizes accurate navigation by modifying the voice information, and realizes real-time accurate navigation by converting the navigation direction, speed, obstacle distance and size into sound stereo, tone and loudness, thereby improving the motion experience of the visually impaired people. The invention realizes the embedding of navigation information into voice by speed-oriented tone adjustment, direction-oriented stereo adjustment, barrier distance-oriented tone adjustment and barrier size-oriented loudness adjustment, and improves the instantaneity and the information richness.
Therefore, the real-time navigation method for the visually impaired people provided by the embodiment of the invention has the following effects:
1. compared with the existing navigation method, the navigation method can remarkably improve navigation instantaneity, accuracy and information richness, and by adjusting sound in real time, the navigation method can feed back navigation information of multiple dimensions to a user in real time, and has remarkable influence on improving the fluency of forward movement and movement of the user;
2. the invention realizes navigation only by adjusting voice, does not increase user burden obviously, has lower learning cost and low realization complexity, and is beneficial to realizing a complete solution scheme in embedded equipment.
Fig. 2 is a schematic structural diagram of a real-time navigation device for visually impaired people according to an embodiment of the present invention, in which the method is applied to the real-time navigation device for visually impaired people, and only the structure of the real-time navigation device for visually impaired people is briefly described below, and for other reasons, please refer to the related description in the real-time navigation method for visually impaired people, referring to fig. 2, the real-time navigation device for visually impaired people according to an embodiment of the present invention includes:
an obtaining module, configured to obtain navigation data, where the navigation data includes: speed, direction, obstacle distance, obstacle size, and voice;
the adjusting module is used for executing adjusting operation on the voice, wherein the adjusting operation at least comprises one of the following operations: a timbre adjustment facing velocity, a stereo adjustment facing direction, a pitch adjustment facing barrier distance, and a loudness adjustment facing barrier size;
and the playing module is used for executing the adjusted voice playing operation.
As an optional implementation of the embodiment of the present invention, the adjusting module adjusts the timbre oriented to the speed by: the adjusting module is specifically used for slowing down the attenuation speed of the overtone intensity of the sound when the user acceleration is determined to be needed; and when the user is determined to need to decelerate, accelerating the attenuation speed of the harmonic overtone intensity.
As an optional implementation of the embodiment of the present invention, the adjusting module performs directional stereo adjustment by: an adjustment module, in particular for calculating the individual channels by means of a-4.5 dB panning lawThe strength of (c); wherein: the total volume V is normalized to 1, and the left and right channel intensities corresponding to the target advancing direction θ of the user are respectively:
as an optional implementation of the embodiment of the present invention, the adjustment module adjusts the pitch facing the obstacle distance by: the adjusting module is specifically used for converting the distance of the obstacle relative to the user into tones and early warning the occurrence of the target obstacle; wherein: relative to the target obstacle with the user distance of L, the adjusted tone is as follows:
wherein the upper limit of the early warning is T, the original pitch is P, and the pitch adjusting radius is rp。
As an optional implementation of the embodiment of the present invention, the adjusting module adjusts the loudness facing the size of the obstacle by: the adjusting module is specifically used for converting the section area of the obstacle relative to the user into loudness and early warning the danger degree of the target obstacle; wherein: for an object with a cross-sectional area S, the adjusted loudness is:
wherein, the length and width of the current visual field are W, H, and the proportion of the object in the visual field is
The original loudness is V, and the loudness adjusting radius is rv。
Therefore, the real-time navigation device for the visually impaired people provided by the embodiment of the invention is oriented to the problem of visually impaired people navigation, realizes accurate navigation by modifying voice information, and realizes real-time accurate navigation by converting the navigation direction, speed, obstacle distance and size into sound stereo, tone and loudness, thereby improving the motion experience of the visually impaired people. The invention realizes the embedding of navigation information into voice by speed-oriented tone adjustment, direction-oriented stereo adjustment, barrier distance-oriented tone adjustment and barrier size-oriented loudness adjustment, and improves the instantaneity and the information richness.
Therefore, the real-time navigation device for the visually impaired people provided by the embodiment of the invention has the following effects:
1. compared with the existing navigation method, the navigation method can remarkably improve navigation instantaneity, accuracy and information richness, and by adjusting sound in real time, the navigation method can feed back navigation information of multiple dimensions to a user in real time, and has remarkable influence on improving the fluency of forward movement and movement of the user;
2. the invention realizes navigation only by adjusting voice, does not increase user burden obviously, has lower learning cost and low realization complexity, and is beneficial to realizing a complete solution scheme in embedded equipment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (2)
1. A real-time navigation method for visually impaired people is characterized by comprising the following steps:
acquiring navigation data, wherein the navigation data comprises: speed, direction, obstacle distance, obstacle size, and voice;
performing an adjustment operation on the speech, wherein the adjustment operation includes at least one of: a timbre adjustment facing the velocity, a stereo adjustment facing the direction, a pitch adjustment facing an obstacle distance, and a loudness adjustment facing an obstacle size;
executing the adjusted voice playing operation;
wherein the timbre adjustment oriented to the velocity comprises:
when it is determined that the user needs to accelerate, slowing down the attenuation speed of the overtone intensity of the sound; when the user is determined to need to decelerate, the attenuation speed of the harmonic overtone intensity is accelerated;
the stereo adjustment facing the direction comprises:
calculating the intensity of each sound channel by a-4.5 dB translation rule; wherein:
the total volume V is normalized to 1, and the left and right channel intensities corresponding to the target advancing direction θ of the user are respectively:
the obstacle facing distance tone adjustment comprises:
converting the distance of the obstacle relative to the user into tones, and early warning the occurrence of the target obstacle; wherein:
relative to the target obstacle with the user distance of L, the adjusted tone is as follows:
wherein the upper limit of the early warning is T, the original pitch is P, and the pitch adjusting radius is rp；
The barrier-size-oriented loudness adjustment includes:
converting the cross section area of the obstacle relative to the user into loudness, and early warning the danger degree of the target obstacle; wherein:
for an object with a cross-sectional area S, the adjusted loudness is:
wherein, the length and width of the current visual field are W, H, and the proportion of the object in the visual field is
The original loudness is V, and the loudness adjusting radius is rv。
2. A real-time navigation device for visually impaired people, comprising:
an obtaining module, configured to obtain navigation data, where the navigation data includes: speed, direction, obstacle distance, obstacle size, and voice;
an adjusting module, configured to perform an adjusting operation on the voice, where the adjusting operation at least includes one of: a timbre adjustment facing the velocity, a stereo adjustment facing the direction, a pitch adjustment facing an obstacle distance, and a loudness adjustment facing an obstacle size;
the playing module is used for executing the adjusted voice playing operation;
wherein:
the adjusting module adjusts the tone of the speed in the following way:
the adjusting module is specifically used for slowing down the attenuation speed of the overtone intensity of the sound when the user acceleration is determined to be needed; when the user is determined to need to decelerate, the attenuation speed of the harmonic overtone intensity is accelerated;
the adjustment module faces stereo adjustment of the direction by:
the adjusting module is specifically used for calculating the intensity of each sound channel through a-4.5 dB translation rule; wherein: the total volume V is normalized to 1, and the left and right channel intensities corresponding to the target advancing direction θ of the user are respectively:
the adjustment module adjusts the pitch towards the obstacle distance by:
the adjusting module is specifically used for converting the distance between the obstacle and the user into tones and early warning the occurrence of the target obstacle; wherein: relative to the target obstacle with the user distance of L, the adjusted tone is as follows:
wherein the upper limit of the early warning is T, the original pitch is P, and the pitch adjusting radius is rp；
The adjusting module adjusts loudness for the size of the obstacle by:
the adjusting module is specifically used for converting the cross-sectional area of the obstacle relative to the user into loudness and early warning the danger degree of the target obstacle; wherein: for an object with a cross-sectional area S, the adjusted loudness is:
wherein, the length and width of the current visual field are W, H, and the proportion of the object in the visual field is
The original loudness is V, and the loudness adjusting radius is rv。
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