CN103226018A - Blind guiding method based on mobile terminal and mobile terminal - Google Patents
Blind guiding method based on mobile terminal and mobile terminal Download PDFInfo
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- CN103226018A CN103226018A CN2013101186107A CN201310118610A CN103226018A CN 103226018 A CN103226018 A CN 103226018A CN 2013101186107 A CN2013101186107 A CN 2013101186107A CN 201310118610 A CN201310118610 A CN 201310118610A CN 103226018 A CN103226018 A CN 103226018A
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Abstract
Embodiment provided by the present invention discloses a blind guiding method based on mobile terminal and mobile terminal. The mobile terminal receives destination voice commands including the destination address; obtains the starting address and generates an optimal route based on the starting address and the destination address; obtains real-time address and generates blind guiding prompts based on the real-time address and the optimal route; searches voice guide instructions matching with the blind guiding prompts in the preset guide directive voice database, and broadcasts obtained voice guide instructions, wherein the voice guide instructions are the voice instructions prerecorded by the user and used for leading guid dogs. According to the invention, the non-efficient guiding defect of guide dogs in an unfamiliar environment is overcome, and the disadvantage of guide devices unable to cope with emergencies is avoided, which provides the convenience for daily life and work of the blind..
Description
Technical field
The present invention relates to moving communicating field, relate in particular to a kind of blind-guiding method and portable terminal based on portable terminal.
Background technology
People's most information in life process all obtains by vision, and the blind person has lost vision, and this work to them, life, study etc. have brought inconvenience.Need the auxiliary of guide instrument when therefore, the blind person walks alone.
A variety of guide instruments have been arranged at present, even the portable terminal of often using in our daily life, for example mobile phone all has guiding function.These mobile phones with guiding function carry out intellectual analysis based on sensing instrument, imaging device mostly, be converted into readable information then, it is exactly effectively to judge and to drive visually impaired person to make correct reaction that this also is the reason that many blind-guide devices can't substitute seeing-eye dog to the environment of burst that this method has a great drawback.
But, utilize seeing-eye dog guiding visually impaired person to carry out activity, also there is limitation.Owing to just begin soon to train after the seeing-eye dog birth with owner, with custom owner's password indication, familiar environment on every side, so scope of activities is relatively limited, in case be in the strange environment, then can't be familiar with landform in the short time, thereby lose the effect of guide.
Summary of the invention
Embodiment of the invention technical matters to be solved is, a kind of blind-guiding method based on portable terminal is provided, and can improve seeing-eye dog carries out guide under foreign environment accuracy, for the blind person facilitates.
In order to solve the problems of the technologies described above, the embodiment of the invention provides a kind of blind-guiding method based on portable terminal, comprising:
Reception comprises the destination phonetic order of destination-address;
Obtain start address and generate optimal path according to described start address and described destination-address;
Obtain the real-time address and generate the guide prompting according to described real-time address and described optimal path;
Search the voice guide instruction that is complementary with described guide prompting in the guide instruction sound bank that sets in advance, and play and search the voice guide instruction that obtains, described voice guide instruction is the phonetic order that is used to indicate seeing-eye dog of user's typing in advance.
Wherein, described method also comprises:
Reception is resolved described destination-address after comprising the step of destination phonetic order of destination-address, judges whether store described destination-address in the map data base, if judged result then points out the user to re-enter described destination phonetic order for not; If judged result is for being then to carry out the described step of obtaining start address.
Wherein, describedly obtain start address and specifically comprise according to the step that described start address and described destination-address generate optimal path:
Obtain start address;
In map data base, search with described start address according to described start address and described destination-address and to be starting point, to be all feasible paths of terminal point with described destination-address;
From described all feasible paths, select travel distance the shortest and/or barrier is minimum and/or the path of the least number of times of going across the road, as optimal path.
Wherein, describedly obtain the real-time address and specifically comprise according to the step that described real-time address and described optimal path generate the guide prompting:
Obtain the real-time address;
Contrast described real-time address and described optimal path, when the position of described real-time address correspondence is flex point on the described optimal path, generate and the turning of described flex point to corresponding guide prompting.
Wherein, described method also comprises:
Judge whether this locality stores voice guide instruction, if describedly judge that the local judged result that whether stores the instruction of voice guide is for being then to carry out the step that described reception comprises the destination phonetic order of destination-address; If the local judged result that whether stores the instruction of voice guide of described judgement is then pointed out the user to import described voice guide and is instructed, and be stored in the guide instruction sound bank for not.
Correspondingly, the present invention also provides a kind of portable terminal, comprising:
Destination phonetic order receiver module is used to receive the destination phonetic order that comprises destination-address;
The optimal path generation module is used to obtain start address, generates optimal path according to described start address and described destination-address;
Guide prompting generation module is used to obtain the real-time address, generates the guide prompting according to described real-time address and described optimal path;
The guide module, be used for searching the voice guide instruction that is complementary with described guide prompting at the guide instruction sound bank that sets in advance, and play and search the voice guide instruction that obtains, described voice guide instruction is the phonetic order that is used to indicate seeing-eye dog of user's typing in advance.
Wherein, described portable terminal also comprises:
The destination-address parsing module is used to resolve described destination-address, judges whether store described destination-address in the map data base, when judged result for not the time, the prompting user re-enters described destination phonetic order; When judged result when being, notify described optimal path generation module to obtain start address.
Wherein, described optimal path generation module comprises:
The start address acquisition module is used to obtain start address;
Feasible path is searched module, is used for searching with described start address at map data base according to described start address and described destination-address being starting point, being all feasible paths of terminal point with described destination-address;
The optimum path calculation module is used for selecting travel distances the shortest and/or barrier is minimum and/or the path of the least number of times of going across the road from described all feasible paths, as optimal path.
Wherein, described guide prompting generation module comprises:
The real-time address acquisition module is used to obtain the real-time address;
The contrast module is used to contrast described real-time address and described optimal path, when the position of described real-time address correspondence is flex point on the described optimal path, generates with turning to corresponding guide of described flex point and points out.
Wherein, described portable terminal also comprises:
Initialization module, be used to judge whether this locality stores the instruction of voice guide, judge that when described the local judged result that whether stores the instruction of voice guide when being, notifies the phonetic order receiver module reception of described destination to comprise the destination phonetic order of destination-address; Judge the local judged result that whether stores the instruction of voice guide for not the time when described, the prompting user imports described voice guide instruction, and is stored in the guide instruction sound bank.
Implement the embodiment of the invention, has following beneficial effect: by searching optimal path automatically, the indication of generation guide, and the corresponding voice guide instruction of sending simulation owner password, can utilize seeing-eye dog in strange environment, to help blind person's activity, not only overcome the seeing-eye dog defective of guide in foreign environment efficiently, and avoided using blind-guide device can't tackle the drawback of emergency situations, for blind person's daily life, work are provided convenience.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the first embodiment process flow diagram of the blind-guiding method based on portable terminal provided by the invention;
Fig. 2 is the second embodiment process flow diagram of the blind-guiding method based on portable terminal provided by the invention;
Fig. 3 is the process flow diagram of the method for generation optimal path provided by the invention;
Fig. 4 is the process flow diagram of the method for generation guide prompting provided by the invention;
Fig. 5 is the first example structure synoptic diagram of portable terminal provided by the invention;
Fig. 6 is the second example structure synoptic diagram of portable terminal provided by the invention;
Fig. 7 is the structural representation of optimal path generation module provided by the invention;
Fig. 8 is the structural representation of guide prompting generation module provided by the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
Seeing also Fig. 1, is the first embodiment process flow diagram of the blind-guiding method based on portable terminal provided by the invention, comprising:
Step S100, reception comprise the destination phonetic order of destination-address.For example, the destination phonetic order can be " Enterprises of Futian District Che Kung Temple ", " Hongshan District, Wuhan City Lu Xiang ", also can be " sunlight golf mansion ", " optical valley Ginza " etc.In order to realize this function more accurately, the guiding function key can be set on portable terminal, when detecting the guiding function key and be pressed, receive the destination phonetic order by microphone.
Step S101, obtain start address, generate optimal path according to described start address and described destination-address.Usually be provided with the GPS module on the mobile device, the GPS module can be communicated by letter with gps satellite in real time, obtains the gps signal of current position.The gps signal of the current position that can obtain according to the GPS module is determined start address, also can determine start address by the starting point phonetic order of user's input.
Step S102, obtain the real-time address, generate the guide prompting according to described real-time address and described optimal path.Similarly, the gps signal of the current position that can obtain by the GPS module is determined the real-time address, then according to the position of real-time address with respect to optimal path, generates the guide prompting.For example, need turn round when detecting, when going across the road, can generate the guide prompting.
Step S103, in the guide that sets in advance instruction sound bank, search the voice guide instruction that is complementary with described guide prompting, and play and search the voice guide instruction that obtains, described voice guide instruction is the phonetic order that is used to indicate seeing-eye dog of user's typing in advance.Because seeing-eye dog must be trained with owner for a long time, just can understand the phonetic order that owner sends then, misread the phonetic order of mechanization and accurate guide for fear of seeing-eye dog, can prerecord the voice guide instruction that the user sends, the voice when thereby analog subscriber indication seeing-eye dog carries out guide, the indication seeing-eye dog is correctly worked.
Blind-guiding method based on portable terminal provided by the invention, by searching optimal path automatically, the indication of generation guide, and the corresponding voice guide instruction of sending simulation owner password, can utilize seeing-eye dog in strange environment, to help blind person's activity, not only overcome the seeing-eye dog defective of guide in foreign environment efficiently, and avoided using blind-guide device can't tackle the drawback of emergency situations, for blind person's daily life, work are provided convenience.
Though obtain destination-address among the embodiment shown in Figure 1 earlier, obtain start address again, this only is used to illustrate, and is not used in restriction.In other embodiments of the invention, also can obtain start address earlier, obtain destination-address again.For example, when the starting point phonetic order by user's input obtained start address, first phonetic order that can set reception was the starting point phonetic order, and second phonetic order is the destination phonetic order; First phonetic order that also can set reception is the destination phonetic order, and second phonetic order is the starting point phonetic order.
Seeing also Fig. 2, is the second embodiment process flow diagram of the blind-guiding method based on portable terminal provided by the invention, comprising:
Step S200, judge whether this locality stores voice guide instruction.
If the judged result of step S200 is not, then execution in step S201.Step S201, the instruction of prompting user input voice guide, and be stored in the guide instruction sound bank.Next return execution in step S200.
If the judged result of step S200 is for being, execution in step S202 then.Step S202, reception comprise the destination phonetic order of destination-address.
Step S203, resolve described destination-address, judge whether store described destination-address in the map data base.
If the judged result of step S203 is not, then execution in step S204.Step S204, prompting user re-enter described destination phonetic order.Next continue execution in step S202.
If the judged result of step S203 is for being, execution in step S205 then.Step S205, obtain start address, generate optimal path according to described start address and described destination-address.
Step S206, obtain the real-time address, generate the guide prompting according to described real-time address and described optimal path.
Step S207, in the guide that sets in advance instruction sound bank, search the voice guide instruction that is complementary with described guide prompting, and play and search the voice guide instruction that obtains, described voice guide instruction is the phonetic order that is used to indicate seeing-eye dog of user's typing in advance.
Among this embodiment, whether store the voice guide and instruct and judge whether to start for the first time guide software by prejudging this locality, can when being defined as starting first, trigger voice guide instruction input function, after this voice guide instruction such as make things convenient for user's typing direction, move so that directly utilizing portable terminal commander seeing-eye dog to carry out guide.In addition, by judging the destination-address that whether stores user's input in the map data base, and when not finding this destination-address, point out the user to re-enter the destination phonetic order and obtain new destination-address, can in destination-address (being the destination phonetic order) that the user says and map data base, put down in writing inconsistent the time can't navigate, for example, sometimes, certain geographic position A may be recited as title B in map data base, and in spoken language, usually use title C, when the user sends the destination phonetic order when (comprising C) according to usual saying, can re-enter the destination phonetic order by automatically prompting user.
Seeing also Fig. 3, is the process flow diagram of the method for generation optimal path provided by the invention, comprising:
Step S300, obtain start address.
Step S301, in map data base, search with described start address according to described start address and described destination-address and to be starting point, to be all feasible paths of terminal point with described destination-address.
Step S302, from described all feasible paths, select travel distance the shortest and/or barrier is minimum and/or the path of the least number of times of going across the road, as optimal path.
Optimal path generation method shown in Figure 3 only is the preferred embodiment of step S101 or step S205, in other embodiments of the invention, can also use other any suitable algorithm well known to those skilled in the art to obtain optimal path.Because the optimal path among the present invention is the guide path at the blind person, so this optimal path preferably minimum, the least number of times of going across the road of barrier, the guide facility is the most complete or wagon flow is minimum path.These routing informations all are stored in the map data base, so that these information of storing in the database according to the map when generating optimal path are calculated.In addition, can also carry out real-time update to these data.
Seeing also Fig. 4, is the process flow diagram of the method for generation guide prompting provided by the invention, comprising:
Step S400, obtain the real-time address.
Step S401, contrast described real-time address and described optimal path when the position of described real-time address correspondence is flex point on the described optimal path, generates with turning to corresponding guide of described flex point and point out.For example, in the time need turning right at certain flex point place on the optimal path, the prompting of the guide of generation can be to be used to represent the guide prompting of turning right.
Guide prompting generation method shown in Figure 4 only is the preferred embodiment of step S102 or step S206, in other embodiments of the invention, can also use other any suitable method well known to those skilled in the art to obtain the guide prompting.
Seeing also Fig. 5, is the first example structure synoptic diagram of portable terminal provided by the invention, and portable terminal 500 comprises:
Destination phonetic order receiver module 510 is used to receive the destination phonetic order that comprises destination-address.For example, the destination phonetic order can be " Enterprises of Futian District Che Kung Temple ", " Hongshan District, Wuhan City Lu Xiang ", also can be " sunlight golf mansion ", " optical valley Ginza " etc.In order to realize this function more accurately, the guiding function key can be set on portable terminal, when detecting the guiding function key and be pressed, receive the destination phonetic order by microphone.
Optimal path generation module 520 is used to obtain start address, generates optimal path according to described start address and described destination-address.Usually be provided with the GPS module on the mobile device, the GPS module can be communicated by letter with gps satellite in real time, obtains the gps signal of current position.The gps signal of the current position that can obtain according to the GPS module is determined start address, also can determine start address by the starting point phonetic order of user's input.
Guide prompting generation module 530 is used to obtain the real-time address, generates the guide prompting according to described real-time address and described optimal path.Similarly, the gps signal of the current position that can obtain by the GPS module is determined the real-time address, then according to the position of real-time address with respect to optimal path, generates the guide prompting.For example, need turn round when detecting, when going across the road, can generate the guide prompting.
Portable terminal provided by the invention, by searching optimal path automatically, the indication of generation guide, and the corresponding voice guide instruction of sending simulation owner password, can utilize seeing-eye dog in strange environment, to help blind person's activity, not only overcome the seeing-eye dog defective of guide in foreign environment efficiently, and avoided using blind-guide device can't tackle the drawback of emergency situations, for blind person's daily life, work are provided convenience.
Though portable terminal obtains destination-address earlier among the embodiment shown in Figure 4, obtain start address again, this only is used to illustrate, and is not used in restriction.In other embodiments of the invention, also can obtain start address earlier, obtain destination-address again.For example, when the starting point phonetic order by user's input obtained start address, first phonetic order that can set portable terminal 500 receptions was the starting point phonetic order, and second phonetic order is the destination phonetic order; First phonetic order that also can set portable terminal 500 receptions is the destination phonetic order, and second phonetic order is the starting point phonetic order.
See also Fig. 6, it is the second example structure synoptic diagram of portable terminal provided by the invention, except destination phonetic order receiver module 510 shown in Figure 5, optimal path generation module 520, guide prompting generation module 530 and guide module 540, portable terminal 500 also comprises:
Initialization module 550, be used to judge whether this locality stores the instruction of voice guide, judge that when described the local judged result that whether stores the instruction of voice guide when being, notifies the phonetic order receiver module reception of described destination to comprise the destination phonetic order of destination-address; Judge the local judged result that whether stores the instruction of voice guide for not the time when described, the prompting user imports described voice guide instruction, and is stored in the guide instruction sound bank.Whether store the voice guide and instruct and judge whether to start for the first time guide software by prejudging this locality, can when being defined as starting first, trigger voice guide instruction input function, after this voice guide instruction such as make things convenient for user's typing direction, move so that directly utilizing portable terminal commander seeing-eye dog to carry out guide.
Destination-address parsing module 560, be used for resolving the described destination-address that the destination phonetic order comprises, judge whether store described destination-address in the map data base, when judged result for not the time, the prompting user re-enters described destination phonetic order; When judged result when being, notify described optimal path generation module to obtain start address.By judging the destination-address that whether stores user's input in the map data base, and when not finding this destination-address, point out the user to re-enter the destination phonetic order and obtain new destination-address, can in destination-address (being the destination phonetic order) that the user says and map data base, put down in writing inconsistent the time can't navigate, for example, sometimes, certain geographic position A may be recited as title B in map data base, and in spoken language, usually use title C, when the user sends the destination phonetic order when (comprising C) according to usual saying, can re-enter the destination phonetic order by automatically prompting user.
Seeing also Fig. 7, is the structural representation of optimal path generation module 520 provided by the invention, comprising:
Start address acquisition module 521 is used to obtain start address;
Feasible path is searched module 522, is used for searching with described start address at map data base according to described start address and described destination-address being starting point, being all feasible paths of terminal point with described destination-address;
Optimum path calculation module 523 is used for selecting travel distances the shortest and/or barrier is minimum and/or the path of the least number of times of going across the road from described all feasible paths, as optimal path.
Optimal path generation module 520 shown in Figure 7 only is a preferred embodiment, in other embodiments of the invention, other any suitable algorithm well known to those skilled in the art can also be applied in the optimal path generation module 520 and obtain optimal path.Because the optimal path among the present invention is the guide path at the blind person, so this optimal path preferably minimum, the least number of times of going across the road of barrier, the guide facility is the most complete or wagon flow is minimum path.These routing informations all are stored in the map data base, so that these information of storing in the database according to the map when generating optimal path are calculated.In addition, can also carry out real-time update to these data.
Seeing also Fig. 8, is the structural representation of guide prompting generation module 530 provided by the invention, comprising:
Real-time address acquisition module 531 is used to obtain the real-time address;
Guide prompting generation module 530 shown in Figure 8 only is a preferred embodiment, in other embodiments of the invention, other any suitable method well known to those skilled in the art can also be applied in the guide prompting generation module 530 and obtain the guide prompting.
One of ordinary skill in the art will appreciate that all or part of flow process that realizes in the foregoing description method, be to instruct relevant hardware to finish by computer program, described program can be stored in the computer read/write memory medium, this program can comprise the flow process as the embodiment of above-mentioned each side method when carrying out.Wherein, described storage medium can be magnetic disc, CD, read-only storage memory body (Read-Only Memory, ROM) or at random store memory body (Random Access Memory, RAM) etc.
Above disclosed only is a kind of preferred embodiment of the present invention, certainly can not limit the present invention's interest field with this, one of ordinary skill in the art will appreciate that all or part of flow process that realizes the foregoing description, and, still belong to the scope that invention is contained according to the equivalent variations that claim of the present invention is done.
Claims (10)
1. the blind-guiding method based on portable terminal is characterized in that, comprising:
Reception comprises the destination phonetic order of destination-address;
Obtain start address and generate optimal path according to described start address and described destination-address;
Obtain the real-time address and generate the guide prompting according to described real-time address and described optimal path;
Search the voice guide instruction that is complementary with described guide prompting in the guide instruction sound bank that sets in advance, and play and search the voice guide instruction that obtains, described voice guide instruction is the phonetic order that is used to indicate seeing-eye dog of user's typing in advance.
2. the blind-guiding method based on portable terminal as claimed in claim 1 is characterized in that, described method also comprises:
Reception is resolved described destination-address after comprising the destination phonetic order of destination-address, judges whether store described destination-address in the map data base, if judged result then points out the user to re-enter described destination phonetic order for not; If judged result is for being then to carry out the described step of obtaining start address.
3. the blind-guiding method based on portable terminal as claimed in claim 1 is characterized in that, describedly obtains start address and specifically comprises according to the step that described start address and described destination-address generate optimal path:
Obtain start address;
In map data base, search with described start address according to described start address and described destination-address and to be starting point, to be all feasible paths of terminal point with described destination-address;
From described all feasible paths, select travel distance the shortest and/or barrier is minimum and/or the path of the least number of times of going across the road, as optimal path.
4. the blind-guiding method based on portable terminal as claimed in claim 1 is characterized in that, describedly obtains the real-time address and specifically comprises according to the step that described real-time address and described optimal path generate the guide prompting:
Obtain the real-time address;
Contrast described real-time address and described optimal path, when the position of described real-time address correspondence is flex point on the described optimal path, generate and the turning of described flex point to corresponding guide prompting.
5. the blind-guiding method based on portable terminal as claimed in claim 1 is characterized in that, described method also comprises:
Judge whether this locality stores voice guide instruction, if describedly judge that the local judged result that whether stores the instruction of voice guide is for being then to carry out the step that described reception comprises the destination phonetic order of destination-address; If the local judged result that whether stores the instruction of voice guide of described judgement is then pointed out the user to import described voice guide and is instructed, and be stored in the guide instruction sound bank for not.
6. a portable terminal is characterized in that, comprising:
Destination phonetic order receiver module is used to receive the destination phonetic order that comprises destination-address;
The optimal path generation module is used to obtain start address and generates optimal path according to described start address and described destination-address;
Guide prompting generation module is used to obtain the real-time address and generates the guide prompting according to described real-time address and described optimal path;
The guide module, be used for searching the voice guide instruction that is complementary with described guide prompting at the guide instruction sound bank that sets in advance, and play and search the voice guide instruction that obtains, described voice guide instruction is the phonetic order that is used to indicate seeing-eye dog of user's typing in advance.
7. portable terminal as claimed in claim 6 is characterized in that, described portable terminal also comprises:
The destination-address parsing module is used to resolve described destination-address, judges whether store described destination-address in the map data base, when judged result for not the time, the prompting user re-enters described destination phonetic order; When judged result when being, notify described optimal path generation module to obtain start address.
8. portable terminal as claimed in claim 6 is characterized in that, described optimal path generation module comprises:
The start address acquisition module is used to obtain start address;
Feasible path is searched module, is used for searching with described start address at map data base according to described start address and described destination-address being starting point, being all feasible paths of terminal point with described destination-address;
The optimum path calculation module is used for selecting travel distances the shortest and/or barrier is minimum and/or the path of the least number of times of going across the road from described all feasible paths, as optimal path.
9. portable terminal as claimed in claim 6 is characterized in that, described guide prompting generation module comprises:
The real-time address acquisition module is used to obtain the real-time address;
The contrast module is used to contrast described real-time address and described optimal path, when the position of described real-time address correspondence is flex point on the described optimal path, generates with turning to corresponding guide of described flex point and points out.
10. portable terminal as claimed in claim 6 is characterized in that, described portable terminal also comprises:
Initialization module, be used to judge whether this locality stores the instruction of voice guide, judge that when described the local judged result that whether stores the instruction of voice guide when being, notifies the phonetic order receiver module reception of described destination to comprise the destination phonetic order of destination-address; Judge the local judged result that whether stores the instruction of voice guide for not the time when described, the prompting user imports described voice guide instruction, and is stored in the guide instruction sound bank.
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| CN106454736A (en) * | 2016-10-28 | 2017-02-22 | 努比亚技术有限公司 | Method and device for guiding blind to avoid obstacle |
| CN106782492A (en) * | 2017-02-17 | 2017-05-31 | 安徽金猫数字科技有限公司 | A kind of blind person voice navigation system based on Android |
| US9829322B2 (en) | 2016-03-03 | 2017-11-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for directing a vision-impaired user to a vehicle |
| CN108010529A (en) * | 2017-11-28 | 2018-05-08 | 广西职业技术学院 | A kind of filling method and device of express delivery list |
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| WO2019036937A1 (en) * | 2017-08-23 | 2019-02-28 | 深圳前海达闼云端智能科技有限公司 | Method and device for sending prompt information, and server |
| CN110549339A (en) * | 2019-09-11 | 2019-12-10 | 上海软中信息系统咨询有限公司 | navigation method, navigation device, navigation robot and storage medium |
| CN110897840A (en) * | 2019-12-02 | 2020-03-24 | 姜国宁 | Intelligent navigation method and device for blind people going out |
| US10912281B2 (en) | 2016-02-24 | 2021-02-09 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for communicating with a guide animal |
| CN113069330A (en) * | 2021-03-24 | 2021-07-06 | 南京大学 | Outdoor travel direction induction method for visually impaired people based on intelligent terminal |
| CN113252037A (en) * | 2021-04-22 | 2021-08-13 | 深圳市眼科医院 | Indoor guiding method and system for blind people and walking device |
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| US9829322B2 (en) | 2016-03-03 | 2017-11-28 | Toyota Motor Engineering & Manufacturing North America, Inc. | Systems and methods for directing a vision-impaired user to a vehicle |
| US9996730B2 (en) | 2016-03-18 | 2018-06-12 | Toyota Motor Engineering & Manufacturing North America, Inc. | Vision-assist systems adapted for inter-device communication session |
| CN106454736A (en) * | 2016-10-28 | 2017-02-22 | 努比亚技术有限公司 | Method and device for guiding blind to avoid obstacle |
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| CN110549339A (en) * | 2019-09-11 | 2019-12-10 | 上海软中信息系统咨询有限公司 | navigation method, navigation device, navigation robot and storage medium |
| CN110897840A (en) * | 2019-12-02 | 2020-03-24 | 姜国宁 | Intelligent navigation method and device for blind people going out |
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| CN113069330A (en) * | 2021-03-24 | 2021-07-06 | 南京大学 | Outdoor travel direction induction method for visually impaired people based on intelligent terminal |
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| CN113252037A (en) * | 2021-04-22 | 2021-08-13 | 深圳市眼科医院 | Indoor guiding method and system for blind people and walking device |
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