CN106156751A - A kind of method and device playing audio-frequency information to destination object - Google Patents

Abstract

nullThe present invention relates to technical field of information processing，A kind of method and apparatus playing audio-frequency information to destination object is proposed，In this scenario，Determine and be in preset direction and with destination object at a distance of the environmental area of predeterminable range，Determine the enveloping surface for destination object for the environmental area again，Enveloping surface refers to the face putting composition that the distance in the some or all of subregion in environmental area and between destination object is minimum of a value and/or maximum，And the corresponding audio-frequency information of point including enveloping surface plays out to destination object，So，According to the audio-frequency information heard, destination object can determine in environmental area, which place exists barrier，And then avoiding obstacles，The program blind man's stick can be swept less than region，And the barrier in the region being less than before destination object determines，Therefore，The defect that the degree of accuracy is relatively low and scope of activities is limited present in prior art can be solved.

Description

A kind of method and device playing audio-frequency information to destination object

Technical field

The present invention relates to technical field of information processing, particularly relate to a kind of to destination object play audio-frequency information method and Device.

Background technology

Calculating according to the Second China National Sample Survey on Disability data, the current number with visual disabilities of China is about 12,330,000 people, And it is blind to there are about 450,000 people every year.Visually impaired people's (including blind person) causes its action to be inconvenient for owing to visual perception is limited, gives Life brings very big puzzlement.

Currently mainly use following several ways to solve the inconvenience that visually impaired people brings owing to visual perception is limited:

A kind of for using the mode of blind man's stick, blind man's stick is as a kind of appurtenance, and detection method is hand reciprocating point by point scanning, But the spatial information using this mode of blind man's stick to be obtained is limited, for example, the obstacle (such as branch) of eminence, tiny obstacle Region that (such as iron wire) etc. cannot be swept in time and mobile object, it is impossible to accurately determine barrier；

Also have a kind of mode for using seeing-eye dog, but seeing-eye dog can only remember fixing several circuits, visually impaired people's Scope of activities is limited, simultaneously because training and maintenance cost are high, the method is difficult to popularize.

Therefore, there is the defect that the degree of accuracy is relatively low and scope of activities is limited in the mode of current avoidance.

Content of the invention

In view of the above problems, it is proposed that the present invention, in order to provide one overcome the problems referred to above or solve at least in part A kind of method and device playing audio-frequency information to destination object of the problems referred to above, is used for solving present in prior art accurately Spend the limited defect of relatively low and visually impaired people scope of activities.

According to a first aspect of the present invention, provide a kind of method playing audio-frequency information to destination object, comprising:

Determine that the direction that destination object is relative is preset direction；

Determine and be in described preset direction and with described destination object at a distance of the environmental area of predeterminable range；

Determining the enveloping surface for described destination object for the described environmental area, described enveloping surface refers in described environmental area Some or all of subregion in and described destination object between distance be that the point of minimum of a value and/or maximum is constituted Face；

The corresponding audio-frequency information of point including described enveloping surface plays out to described destination object.

In one embodiment, the method according to the above-mentioned embodiment of the present invention, determines described environmental area Before enveloping surface for described destination object, described method also includes:

Gather the presentation information of described environmental area, described presentation information includes observing with the naked eye and/or energy The electromagnetic field spectral information for characterizing object that enough equipment collects；

Go out the road surface in described environmental area according to described presentation infomation detection, and based on the road surface detecting and described table Image information identifies the barrier in described environmental area；

Determine the enveloping surface for described destination object for the described environmental area, comprising:

Determine the enveloping surface of described environmental area according to described barrier.

In some embodiments, the method according to any of the above-described embodiment of the present invention, according to described presentation Infomation detection goes out the road surface in described environmental area, comprising:

Calculate the three-dimensional information of described environmental area according to described presentation information；

Detect the road surface in described environmental area according to described three-dimensional information；

Identify the barrier in described environmental area based on the road surface detecting and described presentation information, comprising:

Identify the barrier in described environmental area based on the road surface detecting and described three-dimensional information.

In some embodiments, the method according to any of the above-described embodiment of the present invention, based on detect Road surface and described three-dimensional information identify the barrier in described environmental area, comprising:

Any point A including is met the object of following rule as depression barrier:

D ＜ d1

Wherein, described d is the distance of described any point A and described road surface；Described d1 is less than described road surface, and is recognized For being the max-thresholds of depression barrier, described d1 ＜ 0；

Any point A including is met the object of following rule as protruding barrier:

D2 ＜ d ＜ d3

Wherein, described d2 is for higher than described road surface, and is considered as the minimum threshold of protruding barrier, described d2 ＞ 0；Institute State the height of the safe space that d3 is needed for described destination object.

In some embodiments, the method according to any of the above-described embodiment of the present invention, determines described environment Region is for the enveloping surface of described destination object, comprising:

Identify that described environmental area includes the first kind subregion of barrier and do not includes the sub-district of Equations of The Second Kind of barrier Territory；

For each subregion in described first kind subregion, determine on the barrier that this region includes with described mesh Distance between mark object is the first kind point of minimum of a value；

For each subregion in described Equations of The Second Kind subregion, determine on this zone boundary with described destination object it Between distance be the Equations of The Second Kind point of maximum；

Connect described first kind point and described Equations of The Second Kind point constitutes enveloping surface.

In some embodiments, the method according to any of the above-described embodiment of the present invention, for including obstacle The described enveloping surface of the environmental area of thing meets following regular:

E (x)=f (x, y^*)

Wherein, described y^*Meet following regular:

$y^{*}=\underset{y\∈A}{\mathrm{argmin}}\left(f\right(x,y\left)\right)$

Wherein, described E (x) is the enveloping surface for the environmental area including barrier, and described x is in described environmental area The abscissa of object, described y is the ordinate of the object in described environmental area.

In some embodiments, the method according to any of the above-described embodiment of the present invention, by described enveloping surface Including the corresponding audio-frequency information of point play out to described destination object, comprising:

The different corresponding audio-frequency information of point of corresponding distance value that described enveloping surface is included with alternative sounds amplitude to Described destination object plays out, and the corresponding distance value of described first kind point is more than the corresponding distance value of described Equations of The Second Kind point, institute State the second volume that the first volume of first kind point broadcasting is play less than described Equations of The Second Kind point；Or

The different corresponding audio-frequency information of point of corresponding distance value that described enveloping surface is included with alternative sounds frequency to Described destination object plays out, and the corresponding distance value of described first kind point is more than the corresponding distance value of described Equations of The Second Kind point, institute State the second tone that the first tone of first kind point broadcasting is play less than described Equations of The Second Kind point；Or

The corresponding distance value of point including described enveloping surface plays out to described destination object with speech form.

In some embodiments, the method according to any of the above-described embodiment of the present invention, by described enveloping surface Including the corresponding audio-frequency information of point play out to described destination object, comprising:

Determine described enveloping surface relative to described destination object direction from left to right, and according to determine from a left side to Right direction, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object；Or

Determine described enveloping surface relative to described destination object direction from right to left, and according to determine from the right side to Left direction, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object.

In the second aspect of embodiment of the present invention, provide a kind of device playing audio-frequency information to destination object, Including:

Determining module, for determining that the direction that destination object is relative is preset direction；

Described determining module is additionally operable to, and determines and is in described preset direction and with described destination object at a distance of predeterminable range Environmental area；

Described determining module is additionally operable to, and determines the enveloping surface for described destination object for the described environmental area, described envelope Face refer to the distance in the some or all of subregion in described environmental area and between described destination object be minimum of a value and/ Or the face that the point of maximum is constituted；

Playing module, broadcasts to described destination object for the corresponding audio-frequency information of point including described enveloping surface Put.

In one embodiment, the device according to the above-mentioned embodiment of the present invention, described device also includes adopting Collection module, detection module and identification module, wherein:

Described acquisition module, for gathering the presentation information of described environmental area, described presentation information includes using meat Observe the electromagnetic field spectral information for characterizing object that is that observe and/or that can collect with equipment；

Described detection module, for going out the road surface in described environmental area according to described presentation infomation detection；

Described identification module, for identifying in described environmental area based on the road surface detecting and described presentation information Barrier；

When described determining module determines described environmental area for the enveloping surface of described destination object, particularly as follows:

Determine the enveloping surface of described environmental area according to described barrier.

In some embodiments, the device according to any of the above-described embodiment of the present invention, described detection module When going out the road surface in described environmental area according to described presentation infomation detection, particularly as follows:

Calculate the three-dimensional information of described environmental area according to described presentation information；

Detect the road surface in described environmental area according to described three-dimensional information；

Described identification module identifies the obstacle in described environmental area based on the road surface detecting and described presentation information During thing, particularly as follows:

Identify the barrier in described environmental area based on the road surface detecting and described three-dimensional information.

In some embodiments, the device according to any of the above-described embodiment of the present invention, described identification module When identifying the barrier in described environmental area based on the road surface detecting and described three-dimensional information, particularly as follows:

Any point A including is met the object of following rule as depression barrier:

D ＜ d1

Wherein, described d is the distance of described any point A and described road surface；Described d1 is less than described road surface, and is recognized For being the max-thresholds of depression barrier, described d1 ＜ 0；

Any point A including is met the object of following rule as protruding barrier:

D2 ＜ d ＜ d3

Wherein, described d2 is for higher than described road surface, and is considered as the minimum threshold of protruding barrier, described d2 ＞ 0；Institute State the height of the safe space that d3 is needed for described destination object.

In some embodiments, the device according to any of the above-described embodiment of the present invention, described determining module When determining described environmental area for the enveloping surface of described destination object, particularly as follows:

Identify that described environmental area includes the first kind subregion of barrier and do not includes the sub-district of Equations of The Second Kind of barrier Territory；

For each subregion in described first kind subregion, determine on the barrier that this region includes with described mesh Distance between mark object is the first kind point of minimum of a value；

For each subregion in described Equations of The Second Kind subregion, determine on this zone boundary with described destination object it Between distance be the Equations of The Second Kind point of maximum；

Connect described first kind point and described Equations of The Second Kind point constitutes enveloping surface.

In some embodiments, the device according to any of the above-described embodiment of the present invention, for including obstacle The described enveloping surface of the environmental area of thing meets following regular:

E (x)=f (x, y^*)

Wherein, described y^*Meet following regular:

$y^{*}=\underset{y\∈A}{\mathrm{argmin}}\left(f\right(x,y\left)\right)$

Wherein, described E (x) is the enveloping surface for the environmental area including barrier, and described E (x) is described enveloping surface, Described x is the abscissa of the object in described environmental area, and described y is the ordinate of the object in described environmental area.

In some embodiments, the device according to any of the above-described embodiment of the present invention, described playing module By corresponding for described enveloping surface midpoint audio-frequency information to described destination object plays out when, particularly as follows:

The different corresponding audio-frequency information of point of corresponding distance value that described enveloping surface is included with alternative sounds amplitude to Described destination object plays out, and the corresponding distance value of first kind point that described enveloping surface includes includes more than described enveloping surface The corresponding distance value of Equations of The Second Kind point, the second sound that the first volume that described first kind point is play is play less than described Equations of The Second Kind point Amount；Or

The different corresponding audio-frequency information of point of corresponding distance value that described enveloping surface is included with alternative sounds frequency to Described destination object plays out, and the corresponding distance value of described first kind point is more than the corresponding distance value of described Equations of The Second Kind point, institute State the second tone that the first tone of first kind point broadcasting is play less than described Equations of The Second Kind point；Or

The corresponding distance value of point including described enveloping surface plays out to described destination object with speech form.

In some embodiments, the device according to any of the above-described embodiment of the present invention, described playing module The corresponding audio-frequency information of point that described enveloping surface is included when described destination object plays out, particularly as follows:

Determine described enveloping surface relative to described destination object direction from left to right, and according to determine from a left side to Right direction, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object；Or

Determine described enveloping surface relative to described destination object direction from right to left, and according to determine from the right side to Left direction, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object.

In the embodiment of the present invention, a kind of method playing audio-frequency information to destination object is proposed, comprising: determine destination object Relative direction is preset direction；Determine and be in described preset direction and with described destination object at a distance of the ambient zone of predeterminable range Territory；Determining the enveloping surface for described destination object for the described environmental area, described enveloping surface refers to the portion in described environmental area Point or whole subregion in and described destination object between distance be the face that the point of minimum of a value and/or maximum is constituted；Will The corresponding audio-frequency information of point that described enveloping surface includes plays out to described destination object；In this scenario, determine and be in Described preset direction and the environmental area with described destination object predeterminable range apart, then determine described environmental area for institute State the enveloping surface of destination object, described enveloping surface refer in the some or all of subregion in described environmental area with described mesh Distance between mark object is the face putting composition of minimum of a value and/or maximum, and the point that just described enveloping surface includes is corresponding Audio-frequency information play out to described destination object, so, destination object can determine ring according to the audio-frequency information heard In region, border there is barrier, and then avoiding obstacles in which place, the program blind man's stick can be swept less than local obstacle Thing is determined, and also can determine the barrier in the region being less than before destination object, therefore, it can solve The defect that present in prior art, the degree of accuracy is relatively low and scope of activities is limited.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, the feature and advantage can Become apparent, below the detailed description of the invention especially exemplified by the present invention.

Brief description

By reading the detailed description of hereafter preferred embodiment, various other advantage and benefit common for this area Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred embodiment, and is not considered as to the present invention Restriction.And it in whole accompanying drawing, is denoted by the same reference numerals identical parts.In the accompanying drawings:

Figure 1A is a kind of flow chart playing audio-frequency information to destination object proposing according to embodiments of the invention；

The schematic diagram of the preset direction for proposing according to embodiments of the invention for the Figure 1B；

A kind of front view of the scene for the existence barrier according to embodiments of the invention proposition for Fig. 1 C；

A kind of top view of the scene for the existence barrier according to embodiments of the invention proposition for Fig. 1 D；

Fig. 1 E is a kind of schematic diagram of the first kind point according to embodiments of the invention proposition and Equations of The Second Kind point；

Fig. 1 F is the another kind of schematic diagram of the first kind point according to embodiments of the invention proposition and Equations of The Second Kind point；

Fig. 1 G is the another kind of schematic diagram of the first kind point according to embodiments of the invention proposition and Equations of The Second Kind point；

The schematic diagram of the coordinate system by being suitable in the embodiment of the present invention for Fig. 1 H；

Fig. 2 A is the schematic diagram of the device playing audio-frequency information to destination object proposing according to embodiments of the present invention；

Fig. 2 B is the external structure schematic diagram of the acquisition module proposing according to embodiments of the present invention；

Fig. 2 C is the internal structure schematic diagram of the acquisition module proposing according to embodiments of the present invention；

Fig. 2 D is the concrete schematic diagram of the device playing audio-frequency information to destination object proposing according to embodiments of the present invention；

Fig. 2 E is the concrete schematic diagram of the device playing audio-frequency information to destination object proposing according to embodiments of the present invention A kind of application scenarios schematic diagram；

Fig. 2 F is the concrete schematic diagram of the device playing audio-frequency information to destination object proposing according to embodiments of the present invention Another kind of application scenarios schematic diagram.

Detailed description of the invention

It is more fully described the exemplary embodiment of the disclosure below with reference to accompanying drawings.Although accompanying drawing shows the disclosure Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure and should be by embodiments set forth here Limited.On the contrary, these embodiments are provided to be able to be best understood from the disclosure, and can be by the scope of the present disclosure Complete conveys to those skilled in the art.

Figure 1A schematically shows the method 10 playing audio-frequency information to destination object according to embodiment of the present invention Schematic flow sheet.As shown in Figure 1A, the method 10 can include step 100, the 110th, 120 and 130.

Step 100: determine that the direction that destination object is relative is preset direction.

In the embodiment of the present invention, sight line model that acquisition module that preset direction can be held for destination object can gather Enclosing, as shown in Figure 1B, wherein, acquisition module can be binocular head, or can be also other lens apparatus, does not do at this and has Body limits.

Step 110: determine and be in described preset direction and with described destination object at a distance of the environmental area of predeterminable range.

Step 120: determine the enveloping surface for described destination object for the described environmental area, described enveloping surface refers to described ring Distance in some or all of subregion in region, border and between described destination object is the point of minimum of a value and/or maximum The face constituting.

In the embodiment of the present invention, further, it is determined that before the enveloping surface that described environmental area is for described destination object, Described method also includes operating as follows:

Gather the presentation information of described environmental area, described presentation information includes observing with the naked eye and/or energy The electromagnetic field spectral information for characterizing object that enough equipment collects；

Go out the road surface in described environmental area according to described presentation infomation detection, and based on the road surface detecting and described table Image information identifies the barrier in described environmental area.

When determining described environmental area for the enveloping surface of described destination object, it is alternatively possible in the following way:

Determine the enveloping surface of described environmental area according to described barrier.

In the embodiment of the present invention, electromagnetic field spectral information described above can be object emission, it is also possible to be thing Body reflection, or also can be object refraction, it is not specifically limited at this.

In the embodiment of the present invention, electromagnetic field spectral information described above can include radio wave information, infrared ray Information, visible ray information, ultraviolet information, at least one in X-ray information, and gamma ray information, wherein, it is seen that light is believed Breath can include laser.

In the embodiment of the present invention, during acquisition tables image information, 1 frame that obtains per second is to 120 frames.

In the embodiment of the present invention, when going out the road surface in described environmental area according to described presentation infomation detection, alternatively, can With in the following way:

Calculate the three-dimensional information of described environmental area according to described presentation information；

Detect the road surface in described environmental area according to described three-dimensional information；

When identifying the barrier in described environmental area based on the road surface detecting and described presentation information, alternatively, Can be in the following way:

Identify the barrier in described environmental area based on the road surface detecting and described three-dimensional information.

In actual application, barrier can be divided into two kinds, and a kind of is sunk barrier, for example, ground occurs Hole；A kind of for barrier more than ground, for example, the branch of drop down, bicycle above.

Therefore, when identifying the barrier in described environmental area based on the road surface detecting and described three-dimensional information, can Selection of land, can be in the following way:

Any point A including is met the object of following rule as depression barrier:

D ＜ d1

Wherein, described d is the distance of described any point A and described road surface；Described d1 is less than described road surface, and is recognized For being the max-thresholds of depression barrier, described d1 ＜ 0；

Any point A including is met the object of following rule as protruding barrier:

D2 ＜ d ＜ d3

Wherein, described d2 is for higher than described road surface, and is considered as the minimum threshold of protruding barrier, described d2 ＞ 0；Institute State the height of the safe space that d3 is needed for described destination object.

For example, d1 is-5cm, then will face down towards ground, and and road surface between distance less than the barrier conduct of-5cm Depression barrier.

Again for example, d2 is 5cm, and d3 is 1.75m, then will towards ground upwards, and and road surface between distance be more than 5cm, And the barrier less than 1.75m is as protruding barrier.

In the embodiment of the present invention, when determining described environmental area for the enveloping surface of described destination object, it is alternatively possible to In the following way:

Identify that described environmental area includes the first kind subregion of barrier and do not includes the sub-district of Equations of The Second Kind of barrier Territory；

For each subregion in described first kind subregion, determine on the barrier that this region includes with described mesh Distance between mark object is the first kind point of minimum of a value；

For each subregion in described Equations of The Second Kind subregion, determine on this zone boundary with described destination object it Between distance be the Equations of The Second Kind point of maximum；

Connect described first kind point and described Equations of The Second Kind point constitutes enveloping surface.

For example, the environmental area in destination object front has two barriers: barrier the 1st, barrier 2, shown in Fig. 1 C Schematic diagram is the front view of this scene, and the schematic diagram shown in Fig. 1 D is the top view of this scene, and Fig. 1 E is first kind point and second The schematic diagram of class point.

Again for example, the environmental area in destination object front has two barriers: barrier the 1st, barrier 2, wherein, obstacle Thing 1 is positioned at the left side, and barrier 2 is positioned at the right, and Fig. 1 F is the schematic diagram of the first kind point under this scene and Equations of The Second Kind point.

Again for example, having two barriers in the environmental area in destination object front: barrier the 1st, barrier 2, Fig. 1 G is for being somebody's turn to do First kind point under scene and the schematic diagram of Equations of The Second Kind point.

In the embodiment of the present invention, the described enveloping surface for the environmental area including barrier meets following regular:

E (x)=f (x, y^*)

Wherein, described y^*Meet following regular:

$y^{*}=\underset{y\∈A}{\mathrm{argmin}}\left(f\right(x,y\left)\right)$

Wherein, described E (x) is the enveloping surface for the environmental area including barrier, and described x is in described environmental area The abscissa of object, described y is the ordinate of the object in described environmental area.

It should be noted that the embodiment of the present invention can use coordinate system as shown in fig. 1h.

If the collection of the barrier can being observed in described environmental area is combined into O₀,O₁,O₂,…O_n, barrier O_{W (w=0,1 ... n)}The collection of point on the surface being observed be combined into S_w, a given x, can find a y^*Make S_w(x,y^*) At all S_w(x, y) inside destination object described in distance nearest, then E (x)={ S₀(x,y^*),S₁(x,y^*),S₂(x,y^*),…S_n (x,y^*)}。

(x y) is the set of equation of the curved surface can being observed in described environmental area to described f.

In the embodiment of the present invention, after execution of step 120, can also carry out step 130: described enveloping surface is included The corresponding audio-frequency information of point plays out to described destination object.

Wherein, the corresponding audio-frequency information of point including described enveloping surface is when described destination object plays out, optional Ground, can be in the following way:

The different corresponding audio-frequency information of point of corresponding distance value that described enveloping surface is included with alternative sounds amplitude to Described destination object plays out, and the corresponding distance value of described first kind point is more than the corresponding distance value of described Equations of The Second Kind point, institute State the second volume that the first volume of first kind point broadcasting is play less than described Equations of The Second Kind point；Or

The different corresponding audio-frequency information of point of corresponding distance value that described enveloping surface is included with alternative sounds frequency to Described destination object plays out, and the corresponding distance value of described first kind point is more than the corresponding distance value of described Equations of The Second Kind point, institute State the second tone that the first tone of first kind point broadcasting is play less than described Equations of The Second Kind point；Or

The corresponding distance value of point including described enveloping surface plays out to described destination object with speech form.

Wherein, alternatively, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object When, it would however also be possible to employ following manner:

Determine described enveloping surface relative to described destination object direction from left to right, and according to determine from a left side to Right direction, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object；Or

Determine described enveloping surface relative to described destination object direction from right to left, and according to determine from the right side to Left direction, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object.

Certainly, above-mentioned several ways also can be used in combination, and for example, determines described enveloping surface relative to described target pair As direction from left to right, and according to the direction from left to right determined, the corresponding distance value that described enveloping surface is included The different corresponding audio-frequency informations of point plays out to described destination object with alternative sounds amplitude, and described first kind point is corresponding Distance value is more than the corresponding distance value of described Equations of The Second Kind point, and the first volume that described first kind point is play is less than described Equations of The Second Kind point The second volume play.

Again for example, determine described enveloping surface relative to described destination object direction from left to right, and according to determining Direction from left to right, the different corresponding audio-frequency information of point of the corresponding distance value including described enveloping surface is not with in unison Voice frequency plays out to described destination object, the corresponding distance value of described first kind point more than described Equations of The Second Kind point corresponding away from Distance values, the second tone that the first tone that described first kind point is play is play less than described Equations of The Second Kind point.

Again for example, determine described enveloping surface relative to described destination object direction from left to right, and according to determining Direction from left to right, the corresponding distance value of point including described enveloping surface is carried out to described destination object with speech form Play.

Again for example, determine described enveloping surface relative to described destination object direction from right to left, and according to determining Direction from right to left, the different corresponding audio-frequency information of point of the corresponding distance value including described enveloping surface is not with in unison Sound amplitude plays out to described destination object, the corresponding distance value of described first kind point more than described Equations of The Second Kind point corresponding away from Distance values, the second volume that the first volume that described first kind point is play is play less than described Equations of The Second Kind point.

Again for example, determine described enveloping surface relative to described destination object direction from right to left, and according to determining Direction from right to left, the different corresponding audio-frequency information of point of the corresponding distance value including described enveloping surface is not with in unison Voice frequency plays out to described destination object, the corresponding distance value of described first kind point more than described Equations of The Second Kind point corresponding away from Distance values, the second tone that the first tone that described first kind point is play is play less than described Equations of The Second Kind point.

Again for example, determine described enveloping surface relative to described destination object direction from right to left, and according to determining Direction from right to left, the corresponding distance value of point including described enveloping surface is carried out to described destination object with speech form Play.

So, when blind person hears the audio-frequency information of broadcasting from left to right or from right to left, can construct in brain Going out which place, front has a barrier, thus effective avoidance.

For example, during the enveloping surface that the point in broadcasting Fig. 1 E constructs, with the sound amplitude of 4,444 11 444 333333 Playing out, the sound amplitude of the bigger expression of numeral is bigger, and so, destination object (i.e. blind person) is hearing the audio-frequency information of broadcasting After, brain constructs preceding object thing location.

Again for example, during the enveloping surface that the point in broadcasting Fig. 1 F constructs, with the sound amplitude of 1,111 333,333 22222 Playing out, the sound amplitude of the bigger expression of numeral is bigger, and so, destination object (i.e. blind person) is hearing the audio-frequency information of broadcasting After, brain constructs preceding object thing location.

Again for example, during the enveloping surface that the point in broadcasting Fig. 1 G constructs, with the sound width of 1,111 3 22,222 33333 Degree plays out, and the sound amplitude of the bigger expression of numeral is bigger, and so, destination object (i.e. blind person) is believed at the audio frequency hearing broadcasting After breath, brain constructs preceding object thing location.

Again for example, in the such scene in similar corridor, the scene corresponding to audio frequency 987611116789 from left to right A corridor, represents bass with 1 here often, and 9 represent high pitch, and numeral bigger representative voice frequency is higher, on the contrary sound audio Rate is lower, left side wall distally extend be successively 9876 audio frequency, 1111 is the audio frequency that corridor distally extends, 6789 be from A distant place revert to the audio frequency of the wall on the right.Playing such audio frequency by real-time, blind person can recover similar in brain The such scene in corridor.

It should be noted that so that destination object can relatively accurately determine the barrier in environmental area, The point corresponding audio-frequency information circulation that can include described enveloping surface plays out, broadcasting for example per second three times, or repeatedly, It is the example of loop play herein, be not specifically limited at this.

In this scenario, determine and be in preset direction and with destination object at a distance of the environmental area of predeterminable range, more really Make the enveloping surface for destination object for the environmental area, enveloping surface refer in the some or all of subregion in environmental area with Distance between destination object is the face putting composition of minimum of a value and/or maximum, and the corresponding sound of point including enveloping surface Frequently information plays out to destination object, and so, destination object can determine in environmental area according to the audio-frequency information heard There is barrier, and then avoiding obstacles in which place, the program blind man's stick can be swept less than region, and before destination object The barrier in the region being less than can be determined, therefore, it can to solve the degree of accuracy present in prior art relatively low and The limited defect of the scope of activities of visually impaired people.

Fig. 2 A schematically shows the device 20 playing audio-frequency information to destination object according to embodiment of the present invention Schematic diagram, this device includes determining module 200 and playing module 210, wherein:

Determining module 200, for determining that the direction that destination object is relative is preset direction；

Described determining module 200 is additionally operable to, determine be in described preset direction and with described destination object at a distance of preset away from From environmental area；

Described determining module 200 is additionally operable to, and determines the enveloping surface for described destination object for the described environmental area, described bag Network face refers to that the distance in the some or all of subregion in described environmental area and between described destination object is minimum of a value And/or the face that the point of maximum is constituted；

Playing module 210, is carried out to described destination object for the corresponding audio-frequency information of point including described enveloping surface Play.

In the embodiment of the present invention, what acquisition module 220 that preset direction can be held for destination object can gather regards Line scope, as shown in Figure 1B, wherein, acquisition module 220 can be binocular head, or also can be other lens apparatus, This is not specifically limited.

In the embodiment of the present invention, further, described device also includes acquisition module the 220th, detection module 230 and identifies mould Block 240, wherein:

Described acquisition module 220, for gathering the presentation information of described environmental area, described presentation information includes using The electromagnetic field spectral information for characterizing object that is that be observed visually and/or that can collect with equipment；

Described detection module 230, for going out the road surface in described environmental area according to described presentation infomation detection；

Described identification module 240, for identifying described environmental area based on the road surface detecting and described presentation information In barrier；

When described determining module 200 determines described environmental area for the enveloping surface of described destination object, alternatively, specifically For:

Determine the enveloping surface of described environmental area according to described barrier.

In the embodiment of the present invention, electromagnetic field spectral information described above can be object emission, it is also possible to be thing Body reflection, or also can be object refraction, it is not specifically limited at this.

In the embodiment of the present invention, electromagnetic field spectral information described above can include radio wave information, infrared ray Information, visible ray information, ultraviolet information, at least one in X-ray information, and gamma ray information, wherein, it is seen that light is believed Breath can include laser.

In the embodiment of the present invention, during acquisition tables image information, 1 frame that obtains per second is to 120 frames.

In the embodiment of the present invention, described detection module 230 goes out in described environmental area according to described presentation infomation detection During road surface, particularly as follows:

Calculate the three-dimensional information of described environmental area according to described presentation information；

Detect the road surface in described environmental area according to described three-dimensional information.

Described identification module 240 identifies the barrier in described environmental area based on the road surface detecting and described presentation information When hindering thing, alternatively, particularly as follows:

Identify the barrier in described environmental area based on the road surface detecting and described three-dimensional information.

In actual application, barrier can be divided into two kinds, and a kind of is sunk barrier, for example, ground occurs Hole；A kind of for barrier more than ground, for example, the branch of drop down, bicycle above.

Therefore, described identification module 240 identifies described environmental area based on the road surface detecting and described three-dimensional information In barrier when, alternatively, particularly as follows:

Any point A including is met the object of following rule as depression barrier:

D ＜ d1

Wherein, described d is the distance of described any point A and described road surface；Described d1 is less than described road surface, and is recognized For being the max-thresholds of depression barrier, described d1 ＜ 0；

Any point A including is met the object of following rule as protruding barrier:

D2 ＜ d ＜ d3

Wherein, described d2 is for higher than described road surface, and is considered as the minimum threshold of protruding barrier, described d2 ＞ 0；Institute State the height of the safe space that d3 is needed for described destination object.

For example, d1 is-5cm, then will face down towards ground, and and road surface between distance less than the barrier conduct of-5cm Depression barrier.

Again for example, d2 is 5cm, and d3 is 1.75m, then will towards ground upwards, and and road surface between distance be more than 5cm, And the barrier less than 1.75m is as protruding barrier.

In the embodiment of the present invention, described determining module 200 determines the envelope for described destination object for the described environmental area During face, alternatively, particularly as follows:

Identify that described environmental area includes the first kind subregion of barrier and do not includes the sub-district of Equations of The Second Kind of barrier Territory；

For each subregion in described first kind subregion, determine on the barrier that this region includes with described mesh Distance between mark object is the first kind point of minimum of a value；

For each subregion in described Equations of The Second Kind subregion, determine on this zone boundary with described destination object it Between distance be the Equations of The Second Kind point of maximum；

Connect described first kind point and described Equations of The Second Kind point constitutes enveloping surface.

For example, the environmental area in destination object front has two barriers: barrier the 1st, barrier 2, shown in Fig. 1 C Schematic diagram is the front view of this scene, and the schematic diagram shown in Fig. 1 D is the top view of this scene, and Fig. 1 E is first kind point and second The schematic diagram of class point.

Again for example, the environmental area in destination object front has two barriers: barrier the 1st, barrier 2, wherein, obstacle Thing 1 is positioned at the left side, and barrier 2 is positioned at the right, and Fig. 1 F is the schematic diagram of the first kind point under this scene and Equations of The Second Kind point.

Again for example, having two barriers in the environmental area in destination object front: barrier the 1st, barrier 2, Fig. 1 G is for being somebody's turn to do First kind point under scene and the schematic diagram of Equations of The Second Kind point.

In the embodiment of the present invention, the described enveloping surface for the environmental area including barrier meets following regular:

E (x)=f (x, y^*)

Wherein, described y^*Meet following regular:

$y^{*}=\underset{y\∈A}{\mathrm{argmin}}\left(f\right(x,y\left)\right)$

Wherein, described E (x) is the enveloping surface for the environmental area including barrier, and described E (x) is described enveloping surface, Described x is the abscissa of the object in described environmental area, and described y is the ordinate of the object in described environmental area.

It should be noted that the embodiment of the present invention can use coordinate system as shown in fig. 1h.

If the collection of the barrier can being observed in described environmental area is combined into O₀,O₁,O₂,…O_n, barrier O_{W (w=0,1 ... n)}The collection of point on the surface being observed be combined into S_w, a given x, can find a y^*Make S_w(x,y^*) At all S_w(x, y) inside destination object described in distance nearest, then E (x)={ S₀(x,y^*),S₁(x,y^*),S₂(x,y^*),…S_n (x,y^*)}。

(x y) is the set of equation of the curved surface can being observed in described environmental area to described f.

In the embodiment of the present invention, described playing module 210 by corresponding for described enveloping surface midpoint audio-frequency information to described mesh Mark object is when playing out, alternatively, particularly as follows:

The different corresponding audio-frequency information of point of corresponding distance value that described enveloping surface is included with alternative sounds amplitude to Described destination object plays out, and the corresponding distance value of first kind point that described enveloping surface includes includes more than described enveloping surface The corresponding distance value of Equations of The Second Kind point, the second sound that the first volume that described first kind point is play is play less than described Equations of The Second Kind point Amount；Or

The different corresponding audio-frequency information of point of corresponding distance value that described enveloping surface is included with alternative sounds frequency to Described destination object plays out, and the corresponding distance value of described first kind point is more than the corresponding distance value of described Equations of The Second Kind point, institute State the second tone that the first tone of first kind point broadcasting is play less than described Equations of The Second Kind point；Or

The corresponding distance value of point including described enveloping surface plays out to described destination object with speech form.

Wherein, the corresponding audio-frequency information of point that described enveloping surface is included by described playing module 210 is to described destination object When playing out, particularly as follows:

Determine described enveloping surface relative to described destination object direction from left to right, and according to determine from a left side to Right direction, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object；Or

Determine described enveloping surface relative to described destination object direction from right to left, and according to determine from the right side to Left direction, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object.

Certainly, above-mentioned several ways also can be used in combination, and for example, described playing module 210 determines described enveloping surface Relative to described destination object direction from left to right, and according to the direction from left to right determined, by described envelope bread The different corresponding audio-frequency information of point of the corresponding distance value that includes plays out to described destination object with alternative sounds amplitude, institute State the corresponding distance value of first kind point and be more than the corresponding distance value of described Equations of The Second Kind point, the first volume that described first kind point is play The second volume play less than described Equations of The Second Kind point.

Again for example, described playing module 210 determines described enveloping surface relative to described destination object side from left to right To, and according to the direction from left to right determined, the different point of the corresponding distance value including described enveloping surface is corresponding Audio-frequency information plays out to described destination object with alternative sounds frequency, and the corresponding distance value of described first kind point is more than described The corresponding distance value of Equations of The Second Kind point, the second sound that the first tone that described first kind point is play is play less than described Equations of The Second Kind point Adjust.

Again for example, described playing module 210 determines described enveloping surface relative to described destination object side from left to right To, and according to the direction from left to right determined, the corresponding distance value of point that described enveloping surface is included with speech form to Described destination object plays out.

Again for example, described playing module 210 determines described enveloping surface relative to described destination object side from right to left To, and according to the direction from right to left determined, the different point of the corresponding distance value including described enveloping surface is corresponding Audio-frequency information plays out to described destination object with alternative sounds amplitude, and the corresponding distance value of described first kind point is more than described The corresponding distance value of Equations of The Second Kind point, the second sound that the first volume that described first kind point is play is play less than described Equations of The Second Kind point Amount.

Again for example, described playing module 210 determines described enveloping surface relative to described destination object side from right to left To, and according to the direction from right to left determined, the different point of the corresponding distance value including described enveloping surface is corresponding Audio-frequency information plays out to described destination object with alternative sounds frequency, and the corresponding distance value of described first kind point is more than described The corresponding distance value of Equations of The Second Kind point, the second sound that the first tone that described first kind point is play is play less than described Equations of The Second Kind point Adjust.

Again for example, described playing module 210 determines described enveloping surface relative to described destination object side from right to left To, and according to the direction from right to left determined, the corresponding distance value of point that described enveloping surface is included with speech form to Described destination object plays out.

So, when blind person hears the audio-frequency information of broadcasting from left to right or from right to left, can construct in brain Going out which place, front has a barrier, thus effective avoidance.

For example, when described playing module 210 plays the enveloping surface that the point in Fig. 1 E constructs, with 4,444 11 444 The sound amplitude of 333333 plays out, and the sound amplitude of the bigger expression of numeral is bigger, and so, destination object (i.e. blind person) listening After the audio-frequency information play, brain constructs preceding object thing location.

Again for example, when described playing module 210 plays the enveloping surface that the point in Fig. 1 F constructs, with 1,111 333333 The sound amplitude of 22222 plays out, and the sound amplitude of the bigger expression of numeral is bigger, and so, destination object (i.e. blind person) listening After the audio-frequency information play, brain constructs preceding object thing location.

Again for example, when described playing module 210 plays the enveloping surface that the point in Fig. 1 G constructs, with 1,111 3 22222 The sound amplitude of 33333 plays out, and the sound amplitude of the bigger expression of numeral is bigger, and so, destination object (i.e. blind person) listening After the audio-frequency information play, brain constructs preceding object thing location.

Again for example, in the such scene in similar corridor, the scene corresponding to audio frequency 987611116789 from left to right A corridor, represents bass with 1 here often, and 9 represent high pitch, and numeral bigger representative voice frequency is higher, on the contrary sound audio Rate is lower, left side wall distally extend be successively 9876 audio frequency, 1111 is the audio frequency that corridor distally extends, 6789 be from A distant place revert to the audio frequency of the wall on the right.Playing such audio frequency by real-time, blind person can recover similar in brain The such scene in corridor.

It should be noted that so that destination object can relatively accurately determine the barrier in environmental area, The point corresponding audio-frequency information circulation that can include described enveloping surface plays out, broadcasting for example per second three times, or repeatedly, It is the example of loop play herein, be not specifically limited at this.

It should be noted that device 20 from audio-frequency information to destination object or the collection mould of playing in the embodiment of the present invention Block 220 can be binocular head, as shown in Fig. 2 B, 2C, say, that binocular head can possess all functions of device 20, Or, it is also possible to only possessing the function of acquisition module 220, being not specifically limited at this, wherein Fig. 2 B is the outside of binocular head Structure, Fig. 2 C is the internal structure of binocular head.

In the embodiment of the present invention, play to destination object and the device 20 of audio-frequency information can also add structure light sensing Device, flight time (ToF) sensor, laser (LiDAR) sensor, accelerometer, magnetometer, gyroscope are at interior inertia sensing One or any combination in device, structured light sensor, flight time (ToF) sensor, laser (LiDAR) sensor, adds Speedometer, magnetometer, gyroscope can be the current energy of all parts in effect played in this programme for the interior inertial sensor Enough functions realizing, do not describe in detail one by one at this.

In the embodiment of the present invention, the device 20 playing audio-frequency information to destination object can be mobile phone, panel computer, notes This computer, embedded system and based on special chip (include FPGA (Field-Programmable Gate Array, existing Field programmable gate array), ASIC ((Application Specific Integrated Circuits, special IC) Including) system at least one.

In the embodiment of the present invention, acquisition module 220 can be single module, in device 20 in addition to acquisition module 220 Other modules may be located in terminal, then, acquisition module 220 and terminal by USB (Universal Serial Bus, USB) interface be connected, as shown in Figure 2 D.

Device 20 shown in Fig. 2 D in a particular application, can as shown in Figure 2 E, and destination object, such as blind person will gather mould Block 220 is worn on the head, and holds terminal in hand, or, it is also possible to as shown in Figure 2 F, destination object, such as blind person will gather mould Block 220 is worn over elsewhere, on front or waist, holds terminal in hand.

In this scenario, determine and be in preset direction and with destination object at a distance of the environmental area of predeterminable range, more really Make the enveloping surface for destination object for the environmental area, enveloping surface refer in the some or all of subregion in environmental area with Distance between destination object is the face putting composition of minimum of a value and/or maximum, and the corresponding sound of point including enveloping surface Frequently information plays out to destination object, and so, destination object can determine in environmental area according to the audio-frequency information heard There is barrier, and then avoiding obstacles in which place, the program blind man's stick can be swept less than region, and before destination object The barrier in the region being less than can be determined, therefore, it can to solve the degree of accuracy present in prior art relatively low and The limited defect of the scope of activities of visually impaired people.

Method and apparatus is not intrinsic to any certain computer, virtual system or miscellaneous equipment related provided herein. Various general-purpose systems also can be used together with based on teaching in this.As described above, construct required by this kind of device Structure be apparent from.Additionally, the present invention is also not for any certain programmed language.It is understood that, it is possible to use various Programming language realizes the content of invention described herein, and the description done language-specific above is to disclose this Bright preferred forms.

In specification mentioned herein, illustrate a large amount of detail.It is to be appreciated, however, that the enforcement of the present invention Example can be put into practice in the case of not having these details.In some instances, it is not shown specifically known method, structure And technology, in order to do not obscure the understanding of this description.

Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more of each inventive aspect, exist Above in the description of the exemplary embodiment of the present invention, each feature of the present invention is grouped together into single enforcement sometimes In example, figure or descriptions thereof.But, the method for the disclosure should be construed to reflect an intention that i.e. required guarantor The application claims protecting more feature than the feature being expressly recited in each claim.More precisely, such as right As claim is reflected, inventive aspect is all features less than single embodiment disclosed above.Therefore, it then follows tool Claims of body embodiment are thus expressly incorporated in this detailed description of the invention, the wherein conduct of each claim itself The independent embodiment of the present invention.

Those skilled in the art are appreciated that and can carry out the module in the device in embodiment adaptively Change and they are arranged in one or more devices different from this embodiment.Can be the some modules in embodiment It is combined into a module or module or assembly, and multiple submodule or submodule or sub-component can be put them in addition. In addition at least some in such feature and/or process or module excludes each other, any combination can be used right All features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so disclosed any method Or all processes of equipment or module are combined.Unless expressly stated otherwise, this specification (includes that adjoint right is wanted Ask, make a summary and accompanying drawing) disclosed in each feature can be replaced by providing identical, equivalent or similar purpose alternative features.

Although additionally, it will be appreciated by those of skill in the art that some embodiments described herein include other embodiments In some included feature rather than further feature, but the combination of the feature of different embodiment means to be in the present invention's Within the scope of and form different embodiments.For example, in detail in the claims, embodiment required for protection one of arbitrarily Can mode use in any combination.

Each device embodiment of the present invention can realize with hardware, or to run on one or more processor Software module realize, or with combinations thereof realize.It will be understood by those of skill in the art that and can use in practice Microprocessor or digital signal processor (DSP) realize the some or all moulds in device according to embodiments of the present invention The some or all functions of block.The present invention is also implemented as the part for performing method as described herein or complete The device program (for example, computer program and computer program) in portion.The program of such present invention of realization can store On a computer-readable medium, or can have the form of one or more signal.Such signal can be from internet Download on website and obtain, or provide on carrier signal, or provide with any other form.

The present invention will be described rather than limits the invention to it should be noted above-described embodiment, and ability Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims, Any reference symbol that should not will be located between bracket is configured to limitations on claims.Word "comprising" does not excludes the presence of not Arrange element in the claims or step.Word "a" or "an" before being positioned at element does not excludes the presence of multiple such Element.The present invention can come in fact by means of the hardware including some different elements and by means of properly programmed computer Existing.If in the module claim listing equipment for drying, several in these devices can be by same hardware branch Specifically embody.Word first, second and third use do not indicate that any order.These word explanations can be run after fame Claim.

Claims (10)

1. the method playing audio-frequency information to destination object, comprising:

Determine that the direction that destination object is relative is preset direction；

Determine and be in described preset direction and with described destination object at a distance of the environmental area of predeterminable range；

Determining the enveloping surface for described destination object for the described environmental area, described enveloping surface refers to the portion in described environmental area Point or whole subregion in and described destination object between distance be the face that the point of minimum of a value and/or maximum is constituted；

The corresponding audio-frequency information of point including described enveloping surface plays out to described destination object.

2. the method for claim 1, before determining the enveloping surface for described destination object for the described environmental area, described Method also includes:

Gather the presentation information of described environmental area, that described presentation information includes observing with the naked eye and/or can use The electromagnetic field spectral information for characterizing object that equipment collects；

Go out the road surface in described environmental area according to described presentation infomation detection, and believe based on the road surface detecting and described presentation Breath identifies the barrier in described environmental area；

Determine the enveloping surface for described destination object for the described environmental area, comprising:

Determine the enveloping surface of described environmental area according to described barrier.

3. method as claimed in claim 2, goes out the road surface in described environmental area according to described presentation infomation detection, comprising:

Calculate the three-dimensional information of described environmental area according to described presentation information；

Detect the road surface in described environmental area according to described three-dimensional information；

Identify the barrier in described environmental area based on the road surface detecting and described presentation information, comprising:

Identify the barrier in described environmental area based on the road surface detecting and described three-dimensional information.

4. method as claimed in claim 2 or claim 3, identifies described ambient zone based on the road surface detecting and described three-dimensional information Barrier in territory, comprising:

Any point A including is met the object of following rule as depression barrier:

D ＜ d1

Wherein, described d is the distance of described any point A and described road surface；Described d1 is less than described road surface, and is considered as The max-thresholds of depression barrier, described d1 ＜ 0；

Any point A including is met the object of following rule as protruding barrier:

D2 ＜ d ＜ d3

Wherein, described d2 is for higher than described road surface, and is considered as the minimum threshold of protruding barrier, described d2 ＞ 0；Described d3 The height of the safe space needed for described destination object.

5. the method for claim 1, determines the enveloping surface for described destination object for the described environmental area, comprising:

Identify that described environmental area includes the first kind subregion of barrier and do not includes the Equations of The Second Kind subregion of barrier；

For each subregion in described first kind subregion, determine on the barrier that this region includes with described target pair Distance between as is the first kind point of minimum of a value；

For each subregion in described Equations of The Second Kind subregion, determine on this zone boundary and between described destination object The Equations of The Second Kind point that distance is maximum；

Connect described first kind point and described Equations of The Second Kind point constitutes enveloping surface.

6. the method as described in any one of claim 1-5, the described enveloping surface for the environmental area including barrier meets Following rule:

E (x)=f (x, y^*)

Wherein, described y^*Meet following regular:

$y^{*}=\underset{y\∈A}{\arg \min }\left(f(x,y)\right)$

Wherein, described E (x) is the enveloping surface for the environmental area including barrier, and described x is the thing in described environmental area The abscissa of body, described y is the ordinate of the object in described environmental area.

7. method as claimed in claim 6, the corresponding audio-frequency information of point including described enveloping surface is to described destination object Play out, comprising:

The different corresponding audio-frequency information of point of corresponding distance value that described enveloping surface is included with alternative sounds amplitude to described Destination object plays out, and the corresponding distance value of described first kind point is more than the corresponding distance value of described Equations of The Second Kind point, and described the The second volume that the first volume that 1 class point is play is play less than described Equations of The Second Kind point；Or

The different corresponding audio-frequency information of point of corresponding distance value that described enveloping surface is included with alternative sounds frequency to described Destination object plays out, and the corresponding distance value of described first kind point is more than the corresponding distance value of described Equations of The Second Kind point, and described the The second tone that the first tone that 1 class point is play is play less than described Equations of The Second Kind point；Or

The corresponding distance value of point including described enveloping surface plays out to described destination object with speech form.

8. method as claimed in claim 6, the corresponding audio-frequency information of point including described enveloping surface is to described destination object Play out, comprising:

Determine described enveloping surface relative to described destination object direction from left to right, and according to determine from left to right Direction, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object；Or

Determine described enveloping surface relative to described destination object direction from right to left, and according to determine from right to left Direction, the corresponding audio-frequency information of point including described enveloping surface plays out to described destination object.

9. the device to destination object broadcasting audio-frequency information, comprising:

Determining module, for determining that the direction that destination object is relative is preset direction；

Described determining module is additionally operable to, and determines and is in described preset direction and the environment with described destination object predeterminable range apart Region；

Described determining module is additionally operable to, and determines the enveloping surface for described destination object for the described environmental area, and described enveloping surface is Refer to that the distance in the some or all of subregion in described environmental area and between described destination object is minimum of a value and/or The face that the point of big value is constituted；

Playing module, plays out to described destination object for the corresponding audio-frequency information of point including described enveloping surface.

10. device as claimed in claim 9, described device also includes acquisition module, detection module and identification module, wherein:

Described acquisition module, for gathering the presentation information of described environmental area, described presentation information includes with the naked eye seeing The electromagnetic field spectral information for characterizing object that is that observe and/or that can collect with equipment；

Described detection module, for going out the road surface in described environmental area according to described presentation infomation detection；

Described identification module, for identifying the obstacle in described environmental area based on the road surface detecting and described presentation information Thing；

When described determining module determines described environmental area for the enveloping surface of described destination object, particularly as follows:

Determine the enveloping surface of described environmental area according to described barrier.