CN106156751B - A kind of method and device playing audio-frequency information to target object - Google Patents
A kind of method and device playing audio-frequency information to target object Download PDFInfo
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- CN106156751B CN106156751B CN201610590735.3A CN201610590735A CN106156751B CN 106156751 B CN106156751 B CN 106156751B CN 201610590735 A CN201610590735 A CN 201610590735A CN 106156751 B CN106156751 B CN 106156751B
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
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Abstract
The present invention relates to technical field of information processing, it is proposed a kind of method and apparatus for playing audio-frequency information to target object, in this scenario, it determines in preset direction and with target object at a distance of the environmental area of pre-determined distance, determine that environmental area is directed to the enveloping surface of target object again, enveloping surface refers to the face constituted in some or all of subregion in environmental area with the distance between target object for the point of minimum value and/or maximum value, and the corresponding audio-frequency information of point that enveloping surface includes is played out to target object, in this way, target object can determine that there are barriers in which place in environmental area according to the audio-frequency information heard, 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 target object is determined, therefore, it can solve and deposit in the prior art The defect that accuracy is lower and scope of activities is limited.
Description
Technical field
The present invention relates to technical field of information processing more particularly to it is a kind of to target object play audio-frequency information method and
Device.
Background technique
It being calculated according to the Second China National Sample Survey on Disability data, number with visual disabilities is about 12,330,000 people at present for China,
And there are about 450,000 people blindness every year.Visually impaired people (including blind person) causes its action to be inconvenient since visual perception is limited, gives
Life brings very big puzzlement.
Visually impaired people is mainly solved using following several modes at present since visual perception is limited bring inconvenience:
A method of to use blind man's stick, for blind man's stick as a kind of appurtenance, detection method is hand reciprocating point by point scanning,
But use this mode of blind man's stick spatial information obtained limited, for example, obstacle (such as branch), the tiny obstacle of eminence
The region and mobile object that (such as iron wire) can not be swept in time, can not accurately determine barrier；
There are also a kind of for by the way of seeing-eye dog, but seeing-eye dog can only be remembered to fix several routes, visually impaired people's
Scope of activities is limited, simultaneously because trained and maintenance cost is high, this method is difficult to popularize.
Therefore, the mode of avoidance haves the defects that accuracy is lower and scope of activities is limited at present.
Summary of the invention
In view of the above problems, the present invention is proposed, overcome the above problem in order to provide one kind or at least is partially solved
A kind of method and device that audio-frequency information is played to target object of the above problem, it is existing in the prior art accurate for solving
Spend the limited defect of lower and visually impaired people scope of activities.
According to the present invention in a first aspect, provide it is a kind of to target object play audio-frequency information method, comprising:
Determine that the opposite direction of target object is preset direction；
It determines in the preset direction and with the target object at a distance of the environmental area of pre-determined distance；
Determine that the environmental area is directed to the enveloping surface of the target object, the enveloping surface refers in the environmental area
Some or all of subregion in constituted for the point of minimum value and/or maximum value with the distance between the target object
Face；
The corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object.
In one embodiment, method described in above embodiment according to the present invention, determines the environmental area
Before the enveloping surface of the target object, the method also includes:
Acquire the presentation information of the environmental area, the presentation information include can observe with the naked eye and/or energy
Enough equipment is collected for characterizing the electromagnetic field spectral information of object；
Go out the road surface in the environmental area according to the presentation infomation detection, and based on the road surface and the table detected
Image information identifies the barrier in the environmental area；
Determine that the environmental area is directed to the enveloping surface of the target object, comprising:
The enveloping surface of the environmental area is determined according to the barrier.
In some embodiments, method described in any of the above-described embodiment according to the present invention, according to the presentation
Infomation detection goes out the road surface in the environmental area, comprising:
The three-dimensional information of the environmental area is calculated according to the presentation information；
The road surface in the environmental area is detected according to the three-dimensional information；
The barrier in the environmental area is identified based on the road surface and the presentation information detected, comprising:
The barrier in the environmental area is identified based on the road surface and the three-dimensional information detected.
In some embodiments, method described in any of the above-described embodiment according to the present invention, based on what is detected
Road surface and the three-dimensional information identify the barrier in the environmental area, comprising:
Any point A for including is met into the object of following rule as recess barrier:
D < d1
Wherein, the d is any point A at a distance from the road surface；The d1 is and to be recognized lower than the road surface
For the max-thresholds for being recess barrier, the d1 < 0；
Any point A for including is met into the object of following rule as raised barrier:
D2 < d < d3
Wherein, the d2 is higher than the road surface, and is considered as the minimum threshold of raised barrier, the d2 > 0；Institute
State the height that d3 is safe space needed for the target object.
In some embodiments, method described in any of the above-described embodiment according to the present invention, determines the environment
Region is directed to the enveloping surface of the target object, comprising:
Identify in the environmental area including barrier first kind subregion and do not include barrier the second class sub-district
Domain；
For each of first kind subregion subregion, determine on barrier that the region includes with the mesh
Mark the first kind point that the distance between object is minimum value；
For each of the second class subregion subregion, determine on the zone boundary with the target object it
Between distance be maximum value the second class point；
It connects the first kind point and the second class point constitutes enveloping surface.
In some embodiments, method described in any of the above-described embodiment according to the present invention, for including obstacle
The enveloping surface of the environmental area of object meets following rule:
E (x)=f (x, y*)
Wherein, the y*Meet following rule:
Wherein, the E (x) is the enveloping surface for the environmental area for including barrier, and the x is in the environmental area
Object abscissa, the y be the environmental area in object ordinate.
In some embodiments, method described in any of the above-described embodiment according to the present invention, by the enveloping surface
Including the corresponding audio-frequency information of point played out to the target object, comprising:
The different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface with alternative sounds amplitude to
The target object plays out, and the corresponding distance value of the first kind point is greater than the corresponding distance value of the second class point, institute
The first volume for stating the broadcasting of first kind point is lower than the second volume that the second class point plays；Or
The different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface with alternative sounds frequency to
The target object plays out, and the corresponding distance value of the first kind point is greater than the corresponding distance value of the second class point, institute
The first tone for stating the broadcasting of first kind point is lower than the second tone that the second class point plays；Or
The corresponding distance value of point that the enveloping surface includes is played out with speech form to the target object.
In some embodiments, method described in any of the above-described embodiment according to the present invention, by the enveloping surface
Including the corresponding audio-frequency information of point played out to the target object, comprising:
Determine the direction of the enveloping surface from left to right relative to the target object, and according to determine from a left side to
Right direction, the corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object；Or
Determine the direction of the enveloping surface from right to left relative to the target object, and according to determine from the right side to
Left direction, the corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object.
In the second aspect of embodiment of the present invention, a kind of device that audio-frequency information is played to target object is provided,
Include:
Determining module, for determining that the opposite direction of target object is preset direction；
The determining module is also used to, and is determined in the preset direction and with the target object at a distance of pre-determined distance
Environmental area；
The determining module is also used to, and determines that the environmental area is directed to the enveloping surface of the target object, the envelope
Face refer in some or all of subregion in the environmental area with the distance between the target object for minimum value and/
Or the face that the point of maximum value is constituted；
Playing module, the corresponding audio-frequency information of point for including by the enveloping surface are broadcast to the target object
It puts.
In one embodiment, device described in above embodiment according to the present invention, described device further include adopting
Collect module, detection module and identification module, in which:
The acquisition module, for acquiring the presentation information of the environmental area, the presentation information includes that can use meat
It is that eye is observed and/or equipment can be used collected for characterizing the electromagnetic field spectral information of object；
The detection module, for going out the road surface in the environmental area according to the presentation infomation detection；
The identification module, for being identified in the environmental area based on the road surface and the presentation information that detect
Barrier；
When the determining module determines that the environmental area is directed to the enveloping surface of the target object, specifically:
The enveloping surface of the environmental area is determined according to the barrier.
In some embodiments, device described in any of the above-described embodiment according to the present invention, the detection module
When going out the road surface in the environmental area according to the presentation infomation detection, specifically:
The three-dimensional information of the environmental area is calculated according to the presentation information；
The road surface in the environmental area is detected according to the three-dimensional information；
The identification module identifies the obstacle in the environmental area based on the road surface and the presentation information detected
When object, specifically:
The barrier in the environmental area is identified based on the road surface and the three-dimensional information detected.
In some embodiments, device described in any of the above-described embodiment according to the present invention, the identification module
When identifying the barrier in the environmental area based on the road surface and the three-dimensional information detected, specifically:
Any point A for including is met into the object of following rule as recess barrier:
D < d1
Wherein, the d is any point A at a distance from the road surface；The d1 is and to be recognized lower than the road surface
For the max-thresholds for being recess barrier, the d1 < 0；
Any point A for including is met into the object of following rule as raised barrier:
D2 < d < d3
Wherein, the d2 is higher than the road surface, and is considered as the minimum threshold of raised barrier, the d2 > 0；Institute
State the height that d3 is safe space needed for the target object.
In some embodiments, device described in any of the above-described embodiment according to the present invention, the determining module
When determining that the environmental area is directed to the enveloping surface of the target object, specifically:
Identify in the environmental area including barrier first kind subregion and do not include barrier the second class sub-district
Domain；
For each of first kind subregion subregion, determine on barrier that the region includes with the mesh
Mark the first kind point that the distance between object is minimum value；
For each of the second class subregion subregion, determine on the zone boundary with the target object it
Between distance be maximum value the second class point；
It connects the first kind point and the second class point constitutes enveloping surface.
In some embodiments, device described in any of the above-described embodiment according to the present invention, for including obstacle
The enveloping surface of the environmental area of object meets following rule:
E (x)=f (x, y*)
Wherein, the y*Meet following rule:
Wherein, the E (x) is the enveloping surface for the environmental area for including barrier, and the E (x) is the enveloping surface,
The x is the abscissa of the object in the environmental area, and the y is the ordinate of the object in the environmental area.
In some embodiments, device described in any of the above-described embodiment according to the present invention, the playing module
When the corresponding audio-frequency information in the enveloping surface midpoint is played out to the target object, specifically:
The different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface with alternative sounds amplitude to
The target object plays out, and the corresponding distance value of first kind point that the enveloping surface includes is greater than the enveloping surface and includes
The corresponding distance value of second class point, the first volume that the first kind point plays are lower than the second sound that the second class point plays
Amount；Or
The different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface with alternative sounds frequency to
The target object plays out, and the corresponding distance value of the first kind point is greater than the corresponding distance value of the second class point, institute
The first tone for stating the broadcasting of first kind point is lower than the second tone that the second class point plays；Or
The corresponding distance value of point that the enveloping surface includes is played out with speech form to the target object.
In some embodiments, device described in any of the above-described embodiment according to the present invention, the playing module
When the corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object, specifically:
Determine the direction of the enveloping surface from left to right relative to the target object, and according to determine from a left side to
Right direction, the corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object；Or
Determine the direction of the enveloping surface from right to left relative to the target object, and according to determine from the right side to
Left direction, the corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object.
In the embodiment of the present invention, a kind of method for playing audio-frequency information to target object is proposed, comprising: determine target object
Opposite direction is preset direction；It determines in the preset direction and with the target object at a distance of the ambient zone of pre-determined distance
Domain；Determine that the environmental area is directed to the enveloping surface of the target object, the enveloping surface refers to the portion in the environmental area
Point or whole subregion in the face that is constituted with the distance between the target object for the point of minimum value and/or maximum value；It will
The corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object；In this scenario, it determines to be in
The preset direction and with the target object at a distance of the environmental area of pre-determined distance, then determine the environmental area for institute
State the enveloping surface of target object, the enveloping surface refer in some or all of subregion in the environmental area with the mesh
The face that the distance between object is constituted for the point of minimum value and/or maximum value is marked, and the point for including by the enveloping surface is corresponded to
Audio-frequency information played out to the target object, in this way, target object can determine ring according to the audio-frequency information heard
Which place is there are barrier in the region of border, and then avoiding obstacles, the program blind man's stick can be swept less than place obstacle
Object is determined, and the barrier in the region being less than before target object can also be determined, therefore, can solve
The defect that accuracy existing in the prior art is lower and scope of activities is limited.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Figure 1A is a kind of flow chart that audio-frequency information is played to target object that embodiment according to the present invention proposes；
Figure 1B is the schematic diagram of the preset direction proposed according to the embodiment of the present invention；
Fig. 1 C be according to the embodiment of the present invention propose there are a kind of front views of the scene of barrier；
Fig. 1 D be according to the embodiment of the present invention propose there are a kind of top views of the scene of barrier；
Fig. 1 E is a kind of schematic diagram of the first kind point and the second class point that are proposed according to the embodiment of the present invention；
Fig. 1 F is another schematic diagram of the first kind point and the second class point that are proposed according to the embodiment of the present invention；
Fig. 1 G is another schematic diagram of the first kind point and the second class point that are proposed according to the embodiment of the present invention；
Fig. 1 H is by the schematic diagram for the coordinate system being applicable in the embodiment of the present invention；
Fig. 2A is the schematic diagram of the device to target object broadcasting audio-frequency information proposed according to embodiments of the present invention；
Fig. 2 B is the external structure schematic diagram of the acquisition module proposed according to embodiments of the present invention；
Fig. 2 C is the schematic diagram of internal structure of the acquisition module proposed according to embodiments of the present invention；
Fig. 2 D is the specific schematic diagram of the device to target object broadcasting audio-frequency information proposed according to embodiments of the present invention；
Fig. 2 E is the specific schematic diagram of the device to target object broadcasting audio-frequency information proposed according to embodiments of the present invention
A kind of application scenarios schematic diagram；
Fig. 2 F is the specific schematic diagram of the device to target object broadcasting audio-frequency information proposed according to embodiments of the present invention
Another application scenarios schematic diagram.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
Figure 1A schematically shows the method 10 that audio-frequency information is played to target object of embodiment according to the present invention
Flow diagram.As shown in Figure 1A, this method 10 may include step 100,110,120 and 130.
Step 100: determining that the opposite direction of target object is preset direction.
In the embodiment of the present invention, sight model that preset direction can acquire for the acquisition module that target object is held
It encloses, as shown in Figure 1B, wherein acquisition module can be binocular head, or may be other lens apparatus, do not do have herein
Body limits.
Step 110: determining in the preset direction and with the target object at a distance of the environmental area of pre-determined distance.
Step 120: determining that the environmental area is directed to the enveloping surface of the target object, the enveloping surface refers to the ring
It with the distance between the target object is the point of minimum value and/or maximum value in some or all of subregion in the region of border
The face of composition.
In the embodiment of the present invention, further, it is determined that before the environmental area is for the enveloping surface of the target object,
The method also includes operating as follows:
Acquire the presentation information of the environmental area, the presentation information include can observe with the naked eye and/or energy
Enough equipment is collected for characterizing the electromagnetic field spectral information of object；
Go out the road surface in the environmental area according to the presentation infomation detection, and based on the road surface and the table detected
Image information identifies the barrier in the environmental area.
When determining that the environmental area is directed to the enveloping surface of the target object, it is alternatively possible in the following way:
The enveloping surface of the environmental area is determined according to the barrier.
In the embodiment of the present invention, electromagnetic field spectral information described above can be object emission, be also possible to object
Body reflection, or it is also possible to object refraction, it is not specifically limited herein.
In the embodiment of the present invention, electromagnetic field spectral information described above may include radio wave information, infrared ray
At least one of information, visible optical information, ultraviolet light information, X-ray information and gamma ray information, wherein visible light letter
Breath may include laser.
In the embodiment of the present invention, when acquisition tables image information, 1 frame per second that obtains is to 120 frames.
It, optionally, can when going out the road surface in the environmental area according to the presentation infomation detection in the embodiment of the present invention
With in the following way:
The three-dimensional information of the environmental area is calculated according to the presentation information；
The road surface in the environmental area is detected according to the three-dimensional information；
When identifying the barrier in the environmental area based on the road surface and the presentation information detected, optionally,
It can be in the following way:
The barrier in the environmental area is identified based on the road surface and the three-dimensional information detected.
In practical application, barrier can be divided into two kinds, and one kind is sunk barrier, for example, occur on ground
Hole；A kind of barrier to be more than ground, for example, the bicycle of the branch droping down, front.
It therefore, can when identifying the barrier in the environmental area based on the road surface and the three-dimensional information detected
Selection of land, can be in the following way:
Any point A for including is met into the object of following rule as recess barrier:
D < d1
Wherein, the d is any point A at a distance from the road surface；The d1 is and to be recognized lower than the road surface
For the max-thresholds for being recess barrier, the d1 < 0；
Any point A for including is met into the object of following rule as raised barrier:
D2 < d < d3
Wherein, the d2 is higher than the road surface, and is considered as the minimum threshold of raised barrier, the d2 > 0；Institute
State the height that d3 is safe space needed for the target object.
, then will be towards ground downwards for example, d1 is -5cm, and it is less than with the distance between road surface the barrier conduct of -5cm
Be recessed barrier.
In another example d2 5cm, d3 1.75m, then will face upward towards ground, and it is greater than 5cm with the distance between road surface,
And the barrier less than 1.75m is as raised barrier.
In the embodiment of the present invention, when determining that the environmental area is directed to the enveloping surface of the target object, it is alternatively possible to
In the following way:
Identify in the environmental area including barrier first kind subregion and do not include barrier the second class sub-district
Domain；
For each of first kind subregion subregion, determine on barrier that the region includes with the mesh
Mark the first kind point that the distance between object is minimum value；
For each of the second class subregion subregion, determine on the zone boundary with the target object it
Between distance be maximum value the second class point；
It connects the first kind point and the second class point constitutes enveloping surface.
For example, there are two barriers in environmental area in front of target object: barrier 1, barrier 2, shown in Fig. 1 C
Schematic diagram is the front view of the scene, and schematic diagram shown in Fig. 1 D is the top view of the scene, and Fig. 1 E is first kind point and second
The schematic diagram of class point.
In another example there are two barriers in environmental area in front of target object: barrier 1, barrier 2, wherein obstacle
Object 1 is located at the left side, and barrier 2 is located at the right, and Fig. 1 F is the schematic diagram of the first kind point and the second class point under the scene.
In another example there are two barriers in environmental area in front of target object: barrier 1, barrier 2, Fig. 1 G is should
The schematic diagram of first kind point and the second class point under scene.
In the embodiment of the present invention, meet following rule for the enveloping surface for the environmental area for including barrier:
E (x)=f (x, y*)
Wherein, the y*Meet following rule:
Wherein, the E (x) is the enveloping surface for the environmental area for including barrier, and the x is in the environmental area
Object abscissa, the y be the environmental area in object ordinate.
It should be noted that can be using coordinate system as shown in fig. 1H in the embodiment of the present invention.
If the collection for the barrier that can be observed in the environmental area is combined into O0,O1,O2,…On, barrier
OW (w=0,1 ... n)The collection of point on the surface being observed be combined into Sw, an x is given, a y can be found*So that Sw(x,y*)
In all SwTarget object described in the distance of (x, y) point the inside is nearest, then E (x)={ S0(x,y*),S1(x,y*),S2(x,y*),…Sn
(x,y*)}。
The f (x, y) is the set of the equation for the curved surface that can be observed in the environmental area.
In the embodiment of the present invention, after executing the step 120, step 130 can also be performed: including by the enveloping surface
The corresponding audio-frequency information of point is played out to the target object.
Wherein, optional when the corresponding audio-frequency information of point that the enveloping surface includes being played out to the target object
Ground, can be in the following way:
The different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface with alternative sounds amplitude to
The target object plays out, and the corresponding distance value of the first kind point is greater than the corresponding distance value of the second class point, institute
The first volume for stating the broadcasting of first kind point is lower than the second volume that the second class point plays；Or
The different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface with alternative sounds frequency to
The target object plays out, and the corresponding distance value of the first kind point is greater than the corresponding distance value of the second class point, institute
The first tone for stating the broadcasting of first kind point is lower than the second tone that the second class point plays；Or
The corresponding distance value of point that the enveloping surface includes is played out with speech form to the target object.
Wherein, optionally, the corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object
When, it can also be in the following way:
Determine the direction of the enveloping surface from left to right relative to the target object, and according to determine from a left side to
Right direction, the corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object；Or
Determine the direction of the enveloping surface from right to left relative to the target object, and according to determine from the right side to
Left direction, the corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object.
Certainly, above-mentioned several ways can also be used in combination, for example, determining the enveloping surface relative to the target pair
As direction from left to right, and according to the direction from left to right determined, the corresponding distance value for including by the enveloping surface
The different corresponding audio-frequency informations of point are played out with alternative sounds amplitude to the target object, and the first kind point is corresponding
Distance value is greater than the corresponding distance value of the second class point, and the first volume that the first kind point plays is lower than the second class point
The second volume played.
In another example determine the direction of the enveloping surface from left to right relative to the target object, and according to determining
Direction from left to right, the different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface is with not in unison
Voice frequency is played out to the target object, the corresponding distance value of the first kind point be greater than the second class point it is corresponding away from
From value, the first tone that the first kind point plays is lower than the second tone that the second class point plays.
In another example determine the direction of the enveloping surface from left to right relative to the target object, and according to determining
Direction from left to right, the corresponding distance value of point for including by the enveloping surface with speech form to the target object carry out
It plays.
In another example determine the direction of the enveloping surface from right to left relative to the target object, and according to determining
Direction from right to left, the different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface is with not in unison
Sound amplitude is played out to the target object, the corresponding distance value of the first kind point be greater than the second class point it is corresponding away from
From value, the first volume that the first kind point plays is lower than the second volume that the second class point plays.
In another example determine the direction of the enveloping surface from right to left relative to the target object, and according to determining
Direction from right to left, the different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface is with not in unison
Voice frequency is played out to the target object, the corresponding distance value of the first kind point be greater than the second class point it is corresponding away from
From value, the first tone that the first kind point plays is lower than the second tone that the second class point plays.
In another example determine the direction of the enveloping surface from right to left relative to the target object, and according to determining
Direction from right to left, the corresponding distance value of point for including by the enveloping surface with speech form to the target object carry out
It plays.
In this way, can be constructed in brain when blind person hears the audio-frequency information of broadcasting from left to right or from right to left
There is barrier in which place of front out, thus effective avoidance.
For example, when playing the enveloping surface that the point in Fig. 1 E constructs, with 4,444 11 444 333333 sound amplitude
It plays out, the sound amplitude of the bigger expression of number is bigger, in this way, target object (i.e. blind person) is in the audio-frequency information for hearing broadcasting
Afterwards, the location of front obstacle is constructed in brain.
In another example when playing the enveloping surface that the point in Fig. 1 F constructs, with 1,111 333,333 22222 sound amplitude
It plays out, the sound amplitude of the bigger expression of number is bigger, in this way, target object (i.e. blind person) is in the audio-frequency information for hearing broadcasting
Afterwards, the location of front obstacle is constructed in brain.
In another example when playing the enveloping surface that the point in Fig. 1 G constructs, with 1,111 3 22,222 33333 sound width
Degree plays out, and the sound amplitude of the bigger expression of number is bigger, in this way, target object (i.e. blind person) is in the audio letter for hearing broadcasting
After breath, the location of front obstacle is constructed in brain.
In another example in the scene as similar corridor, scene corresponding to audio 987611116789 from left to right
An often corridor represents bass here with 1, and 9 represent high pitch, and number is bigger, and representative voice frequency is higher, otherwise sound audio
Rate is lower, left side wall distally extend successively be 9876 audio, 1111 be the audio that corridor distally extends, 6789 be from
A distant place revert to the audio of the wall on the right.By playing such audio in real time, blind person can recover similar in brain
Scene as corridor.
It should be noted that in order to enable target object can relatively accurately determine the barrier in environmental area,
The corresponding audio-frequency information circulation of the point that can include by the enveloping surface plays out, such as broadcasting per second is three times, or repeatedly,
Herein it is the example of loop play, is not specifically limited herein.
In this scenario, it determines in preset direction and with target object at a distance of the environmental area of pre-determined distance, then really
Make environmental area be directed to target object enveloping surface, enveloping surface refer in some or all of subregion in environmental area with
The face that the distance between target object is constituted for the point of minimum value and/or maximum value, and the corresponding sound of point for including by enveloping surface
Frequency information is played out to target object, in this way, target object can determine in environmental area according to the audio-frequency information heard
Which place is there are barrier, and then avoiding obstacles, the program blind man's stick can be swept less than region and target object before
The barrier in the region being less than can determine, therefore, can solve accuracy existing in the prior art it is lower and
The limited defect of the scope of activities of visually impaired people.
Fig. 2A schematically shows the device 20 that audio-frequency information is played to target object of embodiment according to the present invention
Schematic diagram, which includes determining module 200 and playing module 210, in which:
Determining module 200, for determining that the opposite direction of target object is preset direction；
The determining module 200 is also used to, determine in the preset direction and with the target object at a distance of it is default away from
From environmental area；
The determining module 200 is also used to, and determines that the environmental area is directed to the enveloping surface of the target object, the packet
It is minimum value that network face, which refers in some or all of subregion in the environmental area with the distance between the target object,
The face that the point of maximum value is constituted and/or；
Playing module 210, the corresponding audio-frequency information of point for including by the enveloping surface are carried out to the target object
It plays.
In the embodiment of the present invention, view that preset direction can acquire for the acquisition module 220 that target object is held
Line range, as shown in Figure 1B, wherein acquisition module 220 can be binocular head, or may be other lens apparatus,
This is not specifically limited.
In the embodiment of the present invention, further, described device further includes acquisition module 220, detection module 230 and identification mould
Block 240, in which:
The acquisition module 220, for acquiring the presentation information of the environmental area, the presentation information includes that can use
It is being observed visually and/or equipment can be used collected for characterizing the electromagnetic field spectral information of object；
The detection module 230, for going out the road surface in the environmental area according to the presentation infomation detection；
The identification module 240, for identifying the environmental area based on the road surface and the presentation information that detect
In barrier；
When the determining module 200 determines that the environmental area is directed to the enveloping surface of the target object, optionally, specifically
Are as follows:
The enveloping surface of the environmental area is determined according to the barrier.
In the embodiment of the present invention, electromagnetic field spectral information described above can be object emission, be also possible to object
Body reflection, or it is also possible to object refraction, it is not specifically limited herein.
In the embodiment of the present invention, electromagnetic field spectral information described above may include radio wave information, infrared ray
At least one of information, visible optical information, ultraviolet light information, X-ray information and gamma ray information, wherein visible light letter
Breath may include laser.
In the embodiment of the present invention, when acquisition tables image information, 1 frame per second that obtains is to 120 frames.
In the embodiment of the present invention, the detection module 230 goes out in the environmental area according to the presentation infomation detection
When road surface, specifically:
The three-dimensional information of the environmental area is calculated according to the presentation information；
The road surface in the environmental area is detected according to the three-dimensional information.
The identification module 240 identifies the barrier in the environmental area based on the road surface and the presentation information detected
When hindering object, optionally, specifically:
The barrier in the environmental area is identified based on the road surface and the three-dimensional information detected.
In practical application, barrier can be divided into two kinds, and one kind is sunk barrier, for example, occur on ground
Hole；A kind of barrier to be more than ground, for example, the bicycle of the branch droping down, front.
Therefore, the identification module 240 identifies the environmental area based on the road surface and the three-dimensional information detected
In barrier when, optionally, specifically:
Any point A for including is met into the object of following rule as recess barrier:
D < d1
Wherein, the d is any point A at a distance from the road surface；The d1 is and to be recognized lower than the road surface
For the max-thresholds for being recess barrier, the d1 < 0；
Any point A for including is met into the object of following rule as raised barrier:
D2 < d < d3
Wherein, the d2 is higher than the road surface, and is considered as the minimum threshold of raised barrier, the d2 > 0；Institute
State the height that d3 is safe space needed for the target object.
, then will be towards ground downwards for example, d1 is -5cm, and it is less than with the distance between road surface the barrier conduct of -5cm
Be recessed barrier.
In another example d2 5cm, d3 1.75m, then will face upward towards ground, and it is greater than 5cm with the distance between road surface,
And the barrier less than 1.75m is as raised barrier.
In the embodiment of the present invention, the determining module 200 determines that the environmental area is directed to the envelope of the target object
When face, optionally, specifically:
Identify in the environmental area including barrier first kind subregion and do not include barrier the second class sub-district
Domain；
For each of first kind subregion subregion, determine on barrier that the region includes with the mesh
Mark the first kind point that the distance between object is minimum value；
For each of the second class subregion subregion, determine on the zone boundary with the target object it
Between distance be maximum value the second class point；
It connects the first kind point and the second class point constitutes enveloping surface.
For example, there are two barriers in environmental area in front of target object: barrier 1, barrier 2, shown in Fig. 1 C
Schematic diagram is the front view of the scene, and schematic diagram shown in Fig. 1 D is the top view of the scene, and Fig. 1 E is first kind point and second
The schematic diagram of class point.
In another example there are two barriers in environmental area in front of target object: barrier 1, barrier 2, wherein obstacle
Object 1 is located at the left side, and barrier 2 is located at the right, and Fig. 1 F is the schematic diagram of the first kind point and the second class point under the scene.
In another example there are two barriers in environmental area in front of target object: barrier 1, barrier 2, Fig. 1 G is should
The schematic diagram of first kind point and the second class point under scene.
In the embodiment of the present invention, meet following rule for the enveloping surface for the environmental area for including barrier:
E (x)=f (x, y*)
Wherein, the y*Meet following rule:
Wherein, the E (x) is the enveloping surface for the environmental area for including barrier, and the E (x) is the enveloping surface,
The x is the abscissa of the object in the environmental area, and the y is the ordinate of the object in the environmental area.
It should be noted that can be using coordinate system as shown in fig. 1H in the embodiment of the present invention.
If the collection for the barrier that can be observed in the environmental area is combined into O0,O1,O2,…On, barrier
OW (w=0,1 ... n)The collection of point on the surface being observed be combined into Sw, an x is given, a y can be found*So that Sw(x,y*)
In all SwTarget object described in the distance of (x, y) point the inside is nearest, then E (x)={ S0(x,y*),S1(x,y*),S2(x,y*),…Sn
(x,y*)}。
The f (x, y) is the set of the equation for the curved surface that can be observed in the environmental area.
In the embodiment of the present invention, the playing module 210 is by the corresponding audio-frequency information in the enveloping surface midpoint to the mesh
When mark object plays out, optionally, specifically:
The different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface with alternative sounds amplitude to
The target object plays out, and the corresponding distance value of first kind point that the enveloping surface includes is greater than the enveloping surface and includes
The corresponding distance value of second class point, the first volume that the first kind point plays are lower than the second sound that the second class point plays
Amount；Or
The different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface with alternative sounds frequency to
The target object plays out, and the corresponding distance value of the first kind point is greater than the corresponding distance value of the second class point, institute
The first tone for stating the broadcasting of first kind point is lower than the second tone that the second class point plays；Or
The corresponding distance value of point that the enveloping surface includes is played out with speech form to the target object.
Wherein, the corresponding audio-frequency information of point that the enveloping surface is included by the playing module 210 is to the target object
When playing out, specifically:
Determine the direction of the enveloping surface from left to right relative to the target object, and according to determine from a left side to
Right direction, the corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object；Or
Determine the direction of the enveloping surface from right to left relative to the target object, and according to determine from the right side to
Left direction, the corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object.
Certainly, above-mentioned several ways can also be used in combination, for example, the playing module 210 determines the enveloping surface
Relative to the direction of the target object from left to right, and according to the direction from left to right determined, by the envelope bread
The different corresponding audio-frequency information of point of the corresponding distance value included is played out with alternative sounds amplitude to the target object, institute
The corresponding distance value of first kind point is stated greater than the first volume that the corresponding distance value of the second class point, the first kind point play
The second volume played lower than the second class point.
In another example the playing module 210 determines the side of the enveloping surface from left to right relative to the target object
To, and according to the direction from left to right determined, the different point of the corresponding distance value for including by the enveloping surface is corresponding
Audio-frequency information is played out with alternative sounds frequency to the target object, and the corresponding distance value of the first kind point is greater than described
The corresponding distance value of second class point, the first tone that the first kind point plays are lower than the second sound that the second class point plays
It adjusts.
In another example the playing module 210 determines the side of the enveloping surface from left to right relative to the target object
To, and according to the direction from left to right determined, the corresponding distance value of point for including by the enveloping surface with speech form to
The target object plays out.
In another example the playing module 210 determines the side of the enveloping surface from right to left relative to the target object
To, and according to the direction from right to left determined, the different point of the corresponding distance value for including by the enveloping surface is corresponding
Audio-frequency information is played out with alternative sounds amplitude to the target object, and the corresponding distance value of the first kind point is greater than described
The corresponding distance value of second class point, the first volume that the first kind point plays are lower than the second sound that the second class point plays
Amount.
In another example the playing module 210 determines the side of the enveloping surface from right to left relative to the target object
To, and according to the direction from right to left determined, the different point of the corresponding distance value for including by the enveloping surface is corresponding
Audio-frequency information is played out with alternative sounds frequency to the target object, and the corresponding distance value of the first kind point is greater than described
The corresponding distance value of second class point, the first tone that the first kind point plays are lower than the second sound that the second class point plays
It adjusts.
In another example the playing module 210 determines the side of the enveloping surface from right to left relative to the target object
To, and according to the direction from right to left determined, the corresponding distance value of point for including by the enveloping surface with speech form to
The target object plays out.
In this way, can be constructed in brain when blind person hears the audio-frequency information of broadcasting from left to right or from right to left
There is barrier in which place of front out, thus effective avoidance.
For example, when the playing module 210 plays the enveloping surface that the point in Fig. 1 E constructs, with 4,444 11 444
333333 sound amplitude plays out, and the sound amplitude of the bigger expression of number is bigger, in this way, target object (i.e. blind person) is being listened
To after the audio-frequency information of broadcasting, the location of front obstacle is constructed in brain.
In another example when the playing module 210 plays the enveloping surface that the point in Fig. 1 F constructs, with 1,111 333333
22222 sound amplitude plays out, and the sound amplitude of the bigger expression of number is bigger, in this way, target object (i.e. blind person) is being listened
To after the audio-frequency information of broadcasting, the location of front obstacle is constructed in brain.
In another example when the playing module 210 plays the enveloping surface that the point in Fig. 1 G constructs, with 1,111 3 22222
33333 sound amplitude plays out, and the sound amplitude of the bigger expression of number is bigger, in this way, target object (i.e. blind person) is being listened
To after the audio-frequency information of broadcasting, the location of front obstacle is constructed in brain.
In another example in the scene as similar corridor, scene corresponding to audio 987611116789 from left to right
An often corridor represents bass here with 1, and 9 represent high pitch, and number is bigger, and representative voice frequency is higher, otherwise sound audio
Rate is lower, left side wall distally extend successively be 9876 audio, 1111 be the audio that corridor distally extends, 6789 be from
A distant place revert to the audio of the wall on the right.By playing such audio in real time, blind person can recover similar in brain
Scene as corridor.
It should be noted that in order to enable target object can relatively accurately determine the barrier in environmental area,
The corresponding audio-frequency information circulation of the point that can include by the enveloping surface plays out, such as broadcasting per second is three times, or repeatedly,
Herein it is the example of loop play, is not specifically limited herein.
It should be noted that the device 20 or acquisition mould for playing audio-frequency information to target object in the embodiment of the present invention
Block 220 can be binocular head, as shown in Fig. 2 B, 2C, that is to say, that the institute that binocular head can have device 20 is functional,
Alternatively, can also only have the function of acquisition module 220, it is not specifically limited herein, wherein Fig. 2 B is the outside of binocular head
Structure, Fig. 2 C are the internal structure of binocular head.
In the embodiment of the present invention, structure light sensing can also be added into the device 20 of target object broadcasting audio-frequency information
Inertia sensing including device, flight time (ToF) sensor, laser (LiDAR) sensor, accelerometer, magnetometer, gyroscope
One of device or any combination, structured light sensor, laser (LiDAR) sensor, add flight time (ToF) sensor
Effect of the inertial sensor played in this programme including speedometer, magnetometer, gyroscope can be the current energy of all parts
The function of enough realizing, herein without being described in detail one by one.
In the embodiment of the present invention, the device 20 for playing audio-frequency information to target object can be mobile phone, tablet computer, notes
This computer, embedded system and based on special chip (including FPGA (Field-Programmable Gate Array, it is existing
Field programmable gate array), ASIC ((Application Specific Integrated Circuits, specific integrated circuit)
At least one of system inside).
In the embodiment of the present invention, acquisition module 220 can be individual module, in device 20 in addition to acquisition module 220
Other modules can be located in terminal, then, acquisition module 220 and terminal by USB (Universal Serial Bus,
Universal serial bus) interface be connected, as shown in Figure 2 D.
Device 20 shown in Fig. 2 D in a particular application, can be as shown in Figure 2 E, and target object, such as blind person will acquire mould
Block 220 is worn on the head, and terminal is held in the hand, alternatively, can also be as shown in Figure 2 F, target object, such as blind person will acquire mould
Block 220 is worn over elsewhere, and on front or waist, terminal is held in the hand.
In this scenario, it determines in preset direction and with target object at a distance of the environmental area of pre-determined distance, then really
Make environmental area be directed to target object enveloping surface, enveloping surface refer in some or all of subregion in environmental area with
The face that the distance between target object is constituted for the point of minimum value and/or maximum value, and the corresponding sound of point for including by enveloping surface
Frequency information is played out to target object, in this way, target object can determine in environmental area according to the audio-frequency information heard
Which place is there are barrier, and then avoiding obstacles, the program blind man's stick can be swept less than region and target object before
The barrier in the region being less than can determine, therefore, can solve accuracy existing in the prior art it is lower and
The limited defect of the scope of activities of visually impaired people.
Method and apparatus are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of device
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, such as right
As claim reflects, inventive aspect is all features less than single embodiment disclosed above.Therefore, it then follows tool
Thus claims of body embodiment are expressly incorporated in the specific embodiment, wherein each claim conduct itself
Separate embodiments of the invention.
Those skilled in the art will understand that can be carried out adaptively to the module in the device in embodiment
Change and they are arranged in one or more devices unlike this embodiment.It can be several modules in embodiment
It is combined into a module or module or component, and furthermore they can be divided into multiple submodule or submodules or sub-component.
Other than such feature and/or at least some of process or module exclude each other, any combination pair can be used
All features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed any method
Or all processes or module of equipment are combined.Unless expressly stated otherwise, this specification (is wanted including adjoint right
Ask, make a summary and attached drawing) disclosed in each feature can be replaced by providing identical, equivalent, or similar purpose alternative features.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
Each Installation practice of the invention can be implemented in hardware, or to run on one or more processors
Software module realize, or be implemented in a combination thereof.It will be understood by those of skill in the art that can be used in practice
Microprocessor or digital signal processor (DSP) realize some or all moulds in device according to an embodiment of the present invention
The some or all functions of block.The present invention is also implemented as a part or complete for executing method as described herein
The program of device (for example, computer program and computer program product) in portion.It is such to realize that program of the invention can store
On a computer-readable medium, it or may be in the form of one or more signals.Such signal can be from internet
Downloading obtains on website, is perhaps provided on the carrier signal or is provided in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.If several in these devices can be through the same hardware branch in the module claim for listing equipment for drying
To embody.The use of word first, second, and third does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (9)
1. a kind of method for playing audio-frequency information to target object, comprising:
Determine that the opposite direction of target object is preset direction；
It determines in the preset direction and with the target object at a distance of the environmental area of pre-determined distance；
Determine that the environmental area is directed to the enveloping surface of the target object, the enveloping surface refers to the portion in the environmental area
Point or whole subregion in the face that is constituted with the distance between the target object for the point of minimum value and/or maximum value；
The corresponding audio-frequency information of point that the enveloping surface includes is played out to the target object；
Wherein determine that the environmental area is directed to the enveloping surface of the target object, comprising:
Identify in the environmental area including barrier first kind subregion and do not include barrier the second class subregion；
For each of first kind subregion subregion, determine on barrier that the region includes with the target pair
As the distance between be minimum value first kind point；
For each of the second class subregion subregion, determine on the zone boundary between the target object
Distance is the second class point of maximum value；
It connects the first kind point and the second class point constitutes enveloping surface.
2. the method as described in claim 1, described before determining the environmental area for the enveloping surface of the target object
Method further include:
The presentation information of the environmental area is acquired, the presentation information can be observed with the naked eye and/or can be used
Equipment is collected for characterizing the electromagnetic field spectral information of object；
Go out the road surface in the environmental area according to the presentation infomation detection, and is believed based on the road surface detected and the presentation
Breath identifies the barrier in the environmental area；
Determine that the environmental area is directed to the enveloping surface of the target object, comprising:
The enveloping surface of the environmental area is determined according to the barrier.
3. method according to claim 2 goes out the road surface in the environmental area according to the presentation infomation detection, comprising:
The three-dimensional information of the environmental area is calculated according to the presentation information；
The road surface in the environmental area is detected according to the three-dimensional information；
The barrier in the environmental area is identified based on the road surface and the presentation information detected, comprising:
The barrier in the environmental area is identified based on the road surface and the three-dimensional information detected.
4. method as claimed in claim 3 identifies the environmental area based on the road surface and the three-dimensional information detected
In barrier, comprising:
Any point A for including is met into the object of following rule as recess barrier:
D < d1
Wherein, the d is any point A at a distance from the road surface；The d1 is
The max-thresholds of recess barrier, the d1 < 0；
Any point A for including is met into the object of following rule as raised barrier:
D2 < d < d3
Wherein, the d2 is higher than the road surface, and is considered as the minimum threshold of raised barrier, the d2 > 0；The d3
For the height of safe space needed for the target object.
5. method according to any of claims 1-4 meets for the enveloping surface for the environmental area for including barrier
Following rule:
E (x)=f (x, y*)
Wherein, the y*Meet following rule:
Wherein, the E (x) is the enveloping surface for the environmental area for including barrier, and the x is the object in the environmental area
The abscissa of body, the y are the ordinate of the object in the environmental area.
6. method as claimed in claim 5, the corresponding audio-frequency information of point for including by the enveloping surface is to the target object
It plays out, comprising:
The different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface is with alternative sounds amplitude to described
Target object plays out, and the corresponding distance value of the first kind point is greater than the corresponding distance value of the second class point, and described the
The first volume that one kind point plays is lower than the second volume that the second class point plays；Or
The different corresponding audio-frequency information of point of the corresponding distance value for including by the enveloping surface is with alternative sounds frequency to described
Target object plays out, and the corresponding distance value of the first kind point is greater than the corresponding distance value of the second class point, and described the
The first tone that one kind point plays is lower than the second tone that the second class point plays；Or
The corresponding distance value of point that the enveloping surface includes is played out with speech form to the target object.
7. method as claimed in claim 5, the corresponding audio-frequency information of point for including by the enveloping surface is to the target object
It plays out, comprising:
Determine the direction of the enveloping surface from left to right relative to the target object, and according to determine from left to right
Direction plays out the corresponding audio-frequency information of point that the enveloping surface includes to the target object；Or
Determine the direction of the enveloping surface from right to left relative to the target object, and according to determine from right to left
Direction plays out the corresponding audio-frequency information of point that the enveloping surface includes to the target object.
8. a kind of device for playing audio-frequency information to target object, comprising:
Determining module, for determining that the opposite direction of target object is preset direction；
The determining module is also used to, and is determined in the preset direction and with the target object at a distance of the environment of pre-determined distance
Region；
The determining module is also used to, and determines that the environmental area is directed to the enveloping surface of the target object, the enveloping surface is
Refer in some or all of subregion in the environmental area with the distance between the target object as minimum value and/or most
The face that the point being worth greatly is constituted；
Playing module, the corresponding audio-frequency information of point for including by the enveloping surface are played out to the target object；
Wherein determine that the environmental area is directed to the enveloping surface of the target object, comprising:
Identify in the environmental area including barrier first kind subregion and do not include barrier the second class subregion；
For each of first kind subregion subregion, determine on barrier that the region includes with the target pair
As the distance between be minimum value first kind point；
For each of the second class subregion subregion, determine on the zone boundary between the target object
Distance is the second class point of maximum value；
It connects the first kind point and the second class point constitutes enveloping surface.
9. device as claimed in claim 8, described device further includes acquisition module, detection module and identification module, in which:
The acquisition module, for acquiring the presentation information of the environmental area, the presentation information includes with the naked eye seeing
It is observing and/or equipment can be used collected for characterizing the electromagnetic field spectral information of object；
The detection module, for going out the road surface in the environmental area according to the presentation infomation detection；
The identification module, for identifying the obstacle in the environmental area based on the road surface and the presentation information that detect
Object；
When the determining module determines that the environmental area is directed to the enveloping surface of the target object, specifically:
The enveloping surface of the environmental area is determined according to the barrier.
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| CN107307980B (en) * | 2017-06-16 | 2020-08-04 | 昆山肇观电子科技有限公司 | Method and device for prompting information to target object |
| CN108279419A (en) * | 2018-01-18 | 2018-07-13 | 上海瀚莅电子科技有限公司 | Fire field environment display methods, device, helmet and readable storage medium storing program for executing |
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| CN105074600A (en) * | 2013-02-27 | 2015-11-18 | 夏普株式会社 | Surrounding environment recognition device, autonomous mobile system using same, and surrounding environment recognition method |
| WO2016047890A1 (en) * | 2014-09-26 | 2016-03-31 | 숭실대학교산학협력단 | Walking assistance method and system, and recording medium for performing same |
| CN105005999A (en) * | 2015-08-12 | 2015-10-28 | 北京航空航天大学 | Obstacle detection method for blind guiding instrument based on computer stereo vision |
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