CN106705971A - Blind people navigation method and system - Google Patents
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- CN106705971A CN106705971A CN201611048135.0A CN201611048135A CN106705971A CN 106705971 A CN106705971 A CN 106705971A CN 201611048135 A CN201611048135 A CN 201611048135A CN 106705971 A CN106705971 A CN 106705971A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a blind people navigation method, which comprises the following steps of obtaining a first distance between a first distance measuring device and the ground, and obtaining a second distance between a second distance measuring device and the ground, wherein an included angle between a distance measuring ray sent by the first distance measuring device and a horizontal plane is smaller than an included angle between a distance measuring ray sent by the second distance measuring device and the horizontal plane; obtaining the absolute value of a difference value of the first distance and the second distance; if the absolute value does not exceed a first threshold value, judging a pavement to be a flat pavement; if the absolute value exceeds the preset first threshold value, obtaining the first distance and the second distance again; if the trend of the first distance is decreased and the trend of the second distance is increased, judging the pavement to be an upslope pavement; if the trend of the first distance is increased and the trend of the second distance is decreased, judging the pavement to be a downslope pavement. According to the different changes of the first distance and the second distance, the different pavement conditions are correspondingly obtained, so that blind people users can know the pavement conditions; great convenience is provided for blind people to go out.
Description
Technical field
The present invention relates to field of navigation technology, more particularly to a kind of navigation method and system for blindman.
Background technology
Blind person's trip is always a problem for maximum in blindman, and nowadays urban construction speed is so fast, daily
There is road administration construction, road updates, and blind person cannot take one's bearings completely outside without appropriate guiding.Complicated traffic
Environment brings huge hidden danger for the safety trip of blind person.The safety for how ensureing blind person is asking of need to solving of the whole society
Topic.
Existing common blind-guiding stick is explored and is limited in scope, and constantly manually control blind-guiding stick is explored to need blind person, i.e.,
Use ultrasonic wave to increase investigative range, but do not broken away from still manually operated.And the guide of such electron detection formula
Cane can judge whether front has barrier, but cannot detect whether front has ditch to cheat, and such situation stills need manually operated leading
Blind man's stick.The result that this navigation equipment is obtained can not accurately be delivered to user, user is accurately obtained surrounding ring
Border and road conditions, in-convenience in use.
Therefore, how road conditions are more accurately recognized, to inform user, as asking for this area urgent need to resolve
Topic.
The content of the invention
It is an object of the invention to provide a kind of navigation method and system for blindman, road conditions can be more accurately recognized, to accuse
User is known, so as to facilitate user accurately to travel.
The purpose of the present invention is achieved through the following technical solutions：
A kind of blind man navigation method, including：
The first distance of the first range unit and ground is obtained, the second distance of the second range unit and ground is obtained；Its
Described in the range finding ray that sends of the first range unit and horizontal plane angle less than the range finding that second range unit sends
The angle of ray and horizontal plane；
The absolute value of the difference of the first distance and second distance is obtained, if the absolute value is not less than default first threshold
Value, then judge that road surface is smooth-riding surface；
If the absolute value exceed default first threshold, the first distance and second distance are obtained again, if first away from
From trend be reduce and second distance trend for increase, then judges road surface be rising road surface；If the trend of the first distance is
The trend of increase and second distance then judges road surface as road surface is declined to reduce.
Preferably, methods described is further included：If the absolute value exceedes default Second Threshold, wherein Second Threshold
More than first threshold；The first distance and second distance are then obtained again, if the trend of the first distance and second distance is reduction,
Then judge that road surface is upward slope road surface；
If the trend of the first distance and second distance is first to reduce increasing again, judge that road surface is up stair；
If the trend of the first distance and second distance is first to increase reducing again, judge that road surface is descending stair；
If first is increase apart from the trend of second distance, judge that road surface is descending road surface.
Preferably, methods described is further included：If the absolute value exceedes default 3rd threshold value, wherein the 3rd threshold value
More than Second Threshold；Then obtain the first distance and second distance again, if in the presence of first distance increase and second distance reduce
Data, then judge there is hanging barrier on road surface；
If the trend of the first distance and second distance is reduction, judge there is wall on road surface；
If first is increase apart from the trend of second distance, judge there is the cliff of displacement on road surface.
Preferably, methods described is further included：When the absolute value exceedes default Second Threshold, according to preset angle
Degree, increase range finding ray that the range finding ray that sends of the first range unit sends with the angle and the second range unit of horizontal plane and
The angle of horizontal plane.
Preferably, methods described is further included：Motion detection apparatus detect kinematic parameter, if kinematic parameter exceedes threshold
Value, then the first distance and second distance that will be obtained before is removed, and reacquires the first distance and second distance；Wherein, institute
Stating kinematic parameter at least includes level angle.
The present invention discloses a kind of navigation system for blinds, including：
First range unit, the first distance for obtaining the first range unit and ground, and
Second range unit, the second distance for obtaining the second range unit and ground；Wherein described first range finding dress
The angle of the range finding ray and horizontal plane for sending is put less than find range ray and the folder of horizontal plane that second range unit sends
Angle；
Processing unit, the absolute value of the difference for obtaining the first distance and second distance, if the absolute value not less than
Default first threshold, then judge that road surface is smooth-riding surface；
Decision maker, if exceeding default first threshold for the absolute value, obtains the first distance and second again
Distance, if the trend of the first distance be reduce and second distance trend for increase, judges road surface be rising road surface；If first
The trend of distance be increase and second distance trend for reduce, then judges road surface be decline road surface.
Preferably, the decision maker is further used for：If the absolute value exceedes default Second Threshold, wherein second
Threshold value is more than first threshold；The first distance and second distance are then obtained again, if the trend of the first distance and second distance is
Reduce, then judge that road surface is upward slope road surface；
If the trend of the first distance and second distance is first to reduce increasing again, judge that road surface is up stair；
If the trend of the first distance and second distance is first to increase reducing again, judge that road surface is descending stair；
If first is increase apart from the trend of second distance, judge that road surface is descending road surface.
Preferably, the decision maker is further used for：If the absolute value exceedes default 3rd threshold value, wherein the 3rd
Threshold value is more than Second Threshold；Then obtain the first distance and second distance again, if in the presence of first distance increase and second distance subtract
Small data, then judge there is hanging barrier on road surface；
If the trend of the first distance and second distance is reduction, judge there is wall on road surface；
If first is increase apart from the trend of second distance, judge there is the cliff of displacement on road surface.
Preferably, the decision maker is further used for：When the absolute value exceedes default Second Threshold, according to pre-
If angle, the range finding that the range finding ray that the first range unit of increase sends sends with the angle and the second range unit of horizontal plane is penetrated
The angle of line and horizontal plane.
Preferably, the system is further included：Motion detection apparatus, for detecting kinematic parameter, if kinematic parameter is super
Threshold value is crossed, then the first distance and second distance that will be obtained before are removed, and reacquire the first distance and second distance；Its
In, the kinematic parameter at least includes level angle.
Blind man navigation method of the invention obtains second due to the first distance including obtaining the first range unit and ground
Range unit and the second distance on ground；The range finding ray that wherein described first range unit sends is less than with the angle of horizontal plane
Range finding ray and the angle of horizontal plane that second range unit sends；Obtain the first distance and second distance difference it is exhausted
To value, if the absolute value is not less than default first threshold, judge that road surface is smooth-riding surface；If the absolute value exceedes pre-
If first threshold, then obtain the first distance and second distance again, if the trend of the first distance be reduce and second distance
Trend is increase, then judge road surface as road surface is risen；If the trend of the first distance be increase and second distance trend for reduce,
Road surface is then judged as road surface is declined.Adopt in this way, it is possible to obtained respectively by the first range unit and the second range unit
The first distance and second distance with ground are taken, the first distance and the absolute value of the difference of second distance then asked, with reference to reality
The data for summing up and are tested, according to the difference that the first distance and second distance change, so that correspondence obtains different pavement behaviors,
User is then transferred to, such blind userses can just learn the situation on road surface, so as to be travelled according to different pavement behavior, energy
It is enough more accurately to recognize road conditions, the trip of blind person is greatly facilitated, improve care of the society to blind person.
Brief description of the drawings
Fig. 1 is the flow chart of the blind man navigation method of the embodiment of the present invention；
Fig. 2 is the schematic diagram of the navigation system for blinds of the embodiment of the present invention.
Specific embodiment
Although operations to be described as flow chart the treatment of order, many of which operation can by concurrently,
Concomitantly or simultaneously implement.The order of operations can be rearranged.Treatment when its operations are completed can be terminated,
It is also possible to have the additional step being not included in accompanying drawing.Treatment can correspond to method, function, code, subroutine, son
Program etc..
Computer equipment includes user equipment and the network equipment.Wherein, user equipment or client include but is not limited to electricity
Brain, smart mobile phone, PDA etc.；The network equipment includes but is not limited to single network server, the service of multiple webserver compositions
Device group or the cloud being made up of a large amount of computers or the webserver based on cloud computing.Computer equipment can isolated operation realize
The present invention, also can access network and realizes the present invention by with the interactive operation of other computer equipments in network.Calculate
Network residing for machine equipment includes but is not limited to internet, wide area network, Metropolitan Area Network (MAN), LAN, VPN etc..
Term " first ", " second " etc. is may have been used herein to describe unit, but these units should not
When limited by these terms, it is used for the purpose of making a distinction a unit and another unit using these terms.Here institute
The term "and/or" for using includes any and all combination of the listed associated item of one of them or more.When one
Unit is referred to as " connection " or during " coupled " to another unit, and it can be connected or coupled to another unit, or
There may be temporary location.
Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless
Context clearly refers else, and singulative " one " otherwise used herein above, " one " also attempt to include plural number.Should also
When understanding, term used herein above " including " and/or "comprising" specify stated feature, integer, step, operation,
The presence of unit and/or component, and do not preclude the presence or addition of one or more other features, integer, step, operation, unit,
Component and/or its combination.
The invention will be further described with preferred embodiment below in conjunction with the accompanying drawings.
Embodiment one
As shown in figure 1, a kind of blind man navigation method disclosed in the present embodiment, including：
S101, the first distance for obtaining the first range unit and ground, obtain the second of the second range unit and ground away from
From；The range finding ray that wherein described first range unit sends sends with the angle of horizontal plane less than second range unit
The angle of range finding ray and horizontal plane；
S102, obtain the first distance and second distance difference absolute value, if the absolute value is not less than default the
One threshold value, then judge that road surface is smooth-riding surface；
If S103, the absolute value exceed default first threshold, the first distance and second distance are obtained again, if the
The trend of one distance be reduce and second distance trend for increase, then judges road surface be rising road surface；If first distance becomes
Gesture be increase and second distance trend for reduce, then judges road surface be decline road surface.
Blind man navigation method of the invention obtains second due to the first distance including obtaining the first range unit and ground
Range unit and the second distance on ground；The range finding ray that wherein described first range unit sends is less than with the angle of horizontal plane
Range finding ray and the angle of horizontal plane that second range unit sends；Obtain the first distance and second distance difference it is exhausted
To value, if the absolute value is not less than default first threshold, judge that road surface is smooth-riding surface；If the absolute value exceedes pre-
If first threshold, then obtain the first distance and second distance again, if the trend of the first distance be reduce and second distance
Trend is increase, then judge road surface as road surface is risen；If the trend of the first distance be increase and second distance trend for reduce,
Road surface is then judged as road surface is declined.Adopt in this way, it is possible to obtained respectively by the first range unit and the second range unit
The first distance and second distance with ground are taken, the first distance and the absolute value of the difference of second distance then asked, with reference to reality
The data for summing up and are tested, according to the difference that the first distance and second distance change, so that correspondence obtains different pavement behaviors,
User is then transferred to, such blind userses can just learn the situation on road surface, so as to be travelled according to different pavement behavior, energy
It is enough more accurately to recognize road conditions, the trip of blind person is greatly facilitated, improve care of the society to blind person.
In the present embodiment, for example, the first range unit is laser range finder, the second range unit is another laser ranging
Instrument, the first range unit is obtained and the second range unit is arranged on user, be may be mounted at sustained height, for example, install
On the left side and the right of shirtfront, the range finding ray (such as laser beam) that such first range unit sends is and horizontal plane between
Angle is 30 degree, and the length of range finding ray will be measured after the range finding radiation exposure of the first range unit to ground, for example, set
It is La, can be so that La be as 160cm as an example.Then the range finding ray (such as laser beam) that the second range unit sends and horizontal plane
Between angle be 60 degree, the length of range finding ray will be measured after the range finding radiation exposure of the second range unit to ground,
Lb is for example set to, can be so that Lb be as 130cm as an example.The absolute value of the difference of so La and Lb is exactly 30cm, if default
One threshold value is 35cm, then the absolute value is not above first threshold, illustrates that ground is normal smooth-riding surface.Then system will
The result for obtaining informs user, for example, blind person is told by way of voice, and such blind person just can be along smooth-riding surface always
Walk or travel.
And if measure first is 170cm apart from La, second distance Lb is 130cm, then the difference of La and Lb is absolute
Value is exactly 40cm, has exceeded first threshold 35cm, then illustrate ground out-of-flatness, in order to determine whether pavement behavior, is continued
Obtain the first distance and second distance, if obtain the first distance trend be reduce and second distance trend for increase,
First for for example obtaining again is 168cm apart from La, and second distance Lb is 132cm, then judge road surface as road surface is risen, for example, go up
Slope, or have barrier such as stone, brick etc..If the trend of the first distance for obtaining is the trend of increase and second distance to subtract
Small, first for for example obtaining again is 173cm apart from La, and second distance Lb is 126cm, then judge road surface as road surface, example is declined
Such as hole, low-lying area.Certainly, if the trend of the first distance be reduce and second distance trend for increase so that the first distance and
The absolute value of the difference of second distance is less than or equal to first threshold, and that is it is determined that be evenness of road surface.
Certainly, above-mentioned case collects, and range unit can also be other distance measuring methods, such as infrared distance measurement, ultrasonic wave
Range finding etc..The mounting means of range unit can also be arranged on other positions, such as belly etc..
In the present embodiment, methods described is further included：If the absolute value exceedes default Second Threshold, wherein second
Threshold value is more than first threshold；The first distance and second distance are then obtained again, if the trend of the first distance and second distance is
Reduce, then judge that road surface is upward slope road surface；
If the trend of the first distance and second distance is first to reduce increasing again, judge that road surface is up stair；
If the trend of the first distance and second distance is first to increase reducing again, judge that road surface is descending stair；
If first is increase apart from the trend of second distance, judge that road surface is descending road surface.
Adopt in this way, it is possible to the further specific specific situation judged in Uneven road, facilitate blind person to use
Family is on foot.For example, in above-mentioned case, if measure first is 175cm apart from La, second distance Lb is 130cm, then La and
The absolute value of the difference of Lb is exactly 45cm, if Second Threshold is 40cm, then the absolute value of the difference of La and Lb is just more than the
Two threshold values, then will determine whether.If the trend of the first distance and second distance is reduction, such as again
First for obtaining is 173cm apart from La, and second distance Lb is 129cm, then judge that road surface is upward slope road surface；If the first distance and
The trend of second distance is first to reduce and increases again, and the first distance for for example obtaining again is followed successively by La for 172cm, 174cm, together
The second distance Lb that Shi Yici is obtained is 127cm, 129cm, then judge that road surface is up stair；If the first distance and second distance
Trend be first to increase and reduce again, the first distance for for example obtaining again is followed successively by La for 178cm, 176cm, while obtaining successively
The second distance Lb for taking is 135cm, 131cm, then judge that road surface is descending stair；If first is apart from the trend of second distance
Increase, first for for example obtaining again is 179cm apart from La, and second distance Lb is 133cm, then judge that road surface is descending road surface.
The situation on road surface thus can be more accurately judged, so as to facilitate the traveling of blind userses.
In the present embodiment, methods described is further included：If the absolute value exceedes default 3rd threshold value, wherein the 3rd
Threshold value is more than Second Threshold；Then obtain the first distance and second distance again, if in the presence of first distance increase and second distance subtract
Small data, then judge there is hanging barrier on road surface；
If the trend of the first distance and second distance is reduction, judge there is wall on road surface；
If first is increase apart from the trend of second distance, judge there is the cliff of displacement on road surface.
Adopt in this way, it is possible to the further specific situation for judging road surface.For example, in above-mentioned case, if surveyed
First for obtaining is 180cm apart from La, and second distance Lb is 130cm, then the absolute value of the difference of La and Lb is exactly 50cm, if the
Three threshold values are 46cm, then the absolute value of the difference of La and Lb just exceedes Second Threshold, then will determine whether.
If in the presence of the data that the first distance increase and second distance reduce, such as in the data for obtaining again, such as first is apart from La
181cm, second distance Lb are 129cm, then judge there is hanging barrier on road surface；If the trend of the first distance and second distance
Reduction is, such as in the data for obtaining again, such as first is 179cm apart from La, and second distance Lb is 129cm, then judge
There is wall on road surface；If first is increase apart from the trend of second distance, such as in the data for obtaining again, such as first
It is 182cm apart from La, second distance Lb is 131cm, then judge there is the cliff of displacement on road surface.Thus can more accurately judge
The situation on road surface, so as to facilitate the traveling of blind userses.
According to one of example, methods described is further included：When the absolute value exceedes default Second Threshold,
According to predetermined angle, the range finding ray that the first range unit of increase sends sends with the angle and the second range unit of horizontal plane
The angle of range finding ray and horizontal plane.
Current measurement situation thus can be more accurately adapted to, for example, in above-mentioned case, first for measuring is apart from La
It is 175cm, second distance Lb is 130cm, then the absolute value of the difference of La and Lb is exactly 45cm, and Second Threshold is 40cm, then
The absolute value of the difference of La and Lb just exceedes Second Threshold, the range finding ray and water that at this moment can just send the first range unit
The angle of plane increases, and the range finding ray that the second range unit sends also is increased with the angle of horizontal plane, and increased angle sets
It is set to identical, such as all 5 degree of increases, then the range finding ray that the first range unit sends just is 35 degree with the angle of horizontal plane,
The range finding ray that second range unit sends is just 65 degree with the angle of horizontal plane.
According to other in which example, methods described is further included：Motion detection apparatus detect kinematic parameter, if motion
Parameter exceedes threshold value, then the first distance and second distance that will obtain before are removed, and reacquire the first distance and second away from
From；Wherein, the kinematic parameter at least includes level angle.
Thus can be in user as there is change by a relatively large margin, when such as bending over, leaning to one side, second step is recalculated in setting
Content, abandon some because body posture change caused by improper data so that more accurately obtain road conditions, to blind
The traveling of people is accurately instructed.Motion detection apparatus can be the devices such as gyroscope, so as to sense the change of angle, work as angle
Change exceeded set threshold value after, just explanation show improper data.
In the present embodiment, for more detailed understanding technical scheme, air navigation aid includes：
The first step, the distance that blind person and distant place ground are obtained by laser range finder
Two sets of laser range finders are positioned in putting for front, and there is certain horizontal sextant angle, also there is folder between two sets
Angle.It is a that horizontal sextant angle is smaller, more greatly b, laser is got to the ground of front certain distance, obtains the length of this segment distance
La and Lb, rangefinder keeps determining La and Lb with certain frequency；
Second step, calculating front are low-lying or prominent, and computational methods are as follows：
Calculating determines absolute value | Xa | of the difference of the La and Lb of acquisition twice, if | Xa | is more than minimum allowable limit Fa,
Early warning can be recorded,
Judge front situation according to the situation of the Xb obtained after slightly postponing again：
La and Lb singles reduce increase, and there is protrusion in front；
The increase of La and Lb singles reduces, and front has ditch to cheat；
If | Xa | is more than minimum allowable limit Fb, laser emission frequency will be reduced, increase horizontal sextant angle；
Judge front situation according to the situation of the Xb obtained after slightly postponing again：
Judge that La and Lb reduces simultaneously for continuous three times, there is upward abrupt slope in front；
The continuous rules of La and Lb reduce increase, and there are up stair in front；
The continuous rule increases of La and Lb reduce, and there are descending stair in front；
Judge that La and Lb increases simultaneously for continuous three times, the oriented oblique abrupt slope in front；
If | Xa | just reduces laser emission frequency more than minimum allowable limit Fc；
While single Lb reduces, there is hanging object in La increases；
Judge that La and Lb reduces simultaneously for continuous three times, the oriented wall in front；
Judge that La and Lb increases simultaneously for continuous three times, the oriented cliff of displacement in front；
After judging for continuous three times | Xa | less than Fa, angle and tranmitting frequency restPose；
Wherein Fa<Fb<Fc；
3rd step, gyroscope amendment record：Horizontal plane state is obtained by gyroscope, if there is change by a relatively large margin,
When such as bending over, leaning to one side, the content of second step is recalculated in setting, abandons some because improper caused by body posture change
Data.
4th step, the result of acquisition is passed in blind person's acceptable mode, such as voice broadcast etc..
According to one of embodiment of the invention, as shown in Fig. 2 this implementation discloses a kind of navigation system for blinds, including：
First range unit 201, the first distance for obtaining the first range unit and ground, and
Second range unit 202, the second distance for obtaining the second range unit and ground；Wherein described first range finding
The range finding ray that device sends is less than range finding ray and horizontal plane that second range unit sends with the angle of horizontal plane
Angle；
Processing unit 203, the absolute value of the difference for obtaining the first distance and second distance, if the absolute value does not surpass
Default first threshold is crossed, then judges that road surface is smooth-riding surface；
Decision maker 204, if exceeding default first threshold for the absolute value, obtains the first distance and the again
Two distances, if the trend of the first distance be reduce and second distance trend for increase, judges road surface be rising road surface；If the
The trend of one distance be increase and second distance trend for reduce, then judges road surface be decline road surface.
Adopt in this way, it is possible to obtain first with ground respectively by the first range unit and the second range unit
Distance and second distance, the first distance and the absolute value of the difference of second distance then asked, Binding experiment sum up the number for coming
According to according to the difference that the first distance and second distance change, so that correspondence obtains different pavement behaviors, being then transferred to use
Family, such blind userses can just learn the situation on road surface, so as to be travelled according to different pavement behavior, can be more accurate
Identification road conditions, greatly facilitate the trip of blind person, improve care of the society to blind person.
In the present embodiment, for example, the first range unit is laser range finder, the second range unit is another laser ranging
Instrument, the first range unit is obtained and the second range unit is arranged on user, be may be mounted at sustained height, for example, install
On the left side and the right of shirtfront, the range finding ray (such as laser beam) that such first range unit sends is and horizontal plane between
Angle is 30 degree, and the length of range finding ray will be measured after the range finding radiation exposure of the first range unit to ground, for example, set
It is La, can be so that La be as 160cm as an example.Then the range finding ray (such as laser beam) that the second range unit sends and horizontal plane
Between angle be 60 degree, the length of range finding ray will be measured after the range finding radiation exposure of the second range unit to ground,
Lb is for example set to, can be so that Lb be as 130cm as an example.The absolute value of the difference of so La and Lb is exactly 30cm, if default
One threshold value is 35cm, then the absolute value is not above first threshold, illustrates that ground is normal smooth-riding surface.Then system will
The result for obtaining informs user, for example, blind person is told by way of voice, and such blind person just can be along smooth-riding surface always
Walk or travel.
And if measure first is 170cm apart from La, second distance Lb is 130cm, then the difference of La and Lb is absolute
Value is exactly 40cm, has exceeded first threshold 35cm, then illustrate ground out-of-flatness, in order to determine whether pavement behavior, is continued
Obtain the first distance and second distance, if obtain the first distance trend be reduce and second distance trend for increase,
First for for example obtaining again is 168cm apart from La, and second distance Lb is 132cm, then judge road surface as road surface is risen, for example, go up
Slope, or have barrier such as stone, brick etc..If the trend of the first distance for obtaining is the trend of increase and second distance to subtract
Small, first for for example obtaining again is 173cm apart from La, and second distance Lb is 126cm, then judge road surface as road surface, example is declined
Such as hole, low-lying area.Certainly, if the trend of the first distance be reduce and second distance trend for increase so that the first distance and
The absolute value of the difference of second distance is less than or equal to first threshold, and that is it is determined that be evenness of road surface.
Certainly, above-mentioned case collects, and range unit can also be other distance measuring methods, such as infrared distance measurement, ultrasonic wave
Range finding etc..The mounting means of range unit can also be arranged on other positions, such as belly etc..
According to one of example, the decision maker is further used for：If the absolute value exceedes default second threshold
Value, wherein Second Threshold are more than first threshold；The first distance and second distance are then obtained again, if the first distance and second distance
Trend be reduction, then judge that road surface is upward slope road surface；
If the trend of the first distance and second distance is first to reduce increasing again, judge that road surface is up stair；
If the trend of the first distance and second distance is first to increase reducing again, judge that road surface is descending stair；
If first is increase apart from the trend of second distance, judge that road surface is descending road surface.
Adopt in this way, it is possible to the further specific specific situation judged in Uneven road, facilitate blind person to use
Family is on foot.For example, in above-mentioned case, if measure first is 175cm apart from La, second distance Lb is 130cm, then La and
The absolute value of the difference of Lb is exactly 45cm, if Second Threshold is 40cm, then the absolute value of the difference of La and Lb is just more than the
Two threshold values, then will determine whether.If the trend of the first distance and second distance is reduction, such as again
First for obtaining is 173cm apart from La, and second distance Lb is 129cm, then judge that road surface is upward slope road surface；If the first distance and
The trend of second distance is first to reduce and increases again, and the first distance for for example obtaining again is followed successively by La for 172cm, 174cm, together
The second distance Lb that Shi Yici is obtained is 127cm, 129cm, then judge that road surface is up stair；If the first distance and second distance
Trend be first to increase and reduce again, the first distance for for example obtaining again is followed successively by La for 178cm, 176cm, while obtaining successively
The second distance Lb for taking is 135cm, 131cm, then judge that road surface is descending stair；If first is apart from the trend of second distance
Increase, first for for example obtaining again is 179cm apart from La, and second distance Lb is 133cm, then judge that road surface is descending road surface.
The situation on road surface thus can be more accurately judged, so as to facilitate the traveling of blind userses.
According to one of example, the decision maker is further used for：If the absolute value exceedes default 3rd threshold
Value, wherein the 3rd threshold value is more than Second Threshold；Then obtain the first distance and second distance again, if in the presence of first distance increase and
The data that second distance reduces, then judge there is hanging barrier on road surface；
If the trend of the first distance and second distance is reduction, judge there is wall on road surface；
If first is increase apart from the trend of second distance, judge there is the cliff of displacement on road surface.
Adopt in this way, it is possible to the further specific situation for judging road surface.For example, in above-mentioned case, if surveyed
First for obtaining is 180cm apart from La, and second distance Lb is 130cm, then the absolute value of the difference of La and Lb is exactly 50cm, if the
Three threshold values are 46cm, then the absolute value of the difference of La and Lb just exceedes Second Threshold, then will determine whether.
If in the presence of the data that the first distance increase and second distance reduce, such as in the data for obtaining again, such as first is apart from La
181cm, second distance Lb are 129cm, then judge there is hanging barrier on road surface；If the trend of the first distance and second distance
Reduction is, such as in the data for obtaining again, such as first is 179cm apart from La, and second distance Lb is 129cm, then judge
There is wall on road surface；If first is increase apart from the trend of second distance, such as in the data for obtaining again, such as first
It is 182cm apart from La, second distance Lb is 131cm, then judge there is the cliff of displacement on road surface.Thus can more accurately judge
The situation on road surface, so as to facilitate the traveling of blind userses.
According to one of example, the decision maker is further used for：When the absolute value exceedes default second threshold
During value, according to predetermined angle, increase find range ray and the angle and the second range unit of horizontal plane that the first range unit sends
The range finding ray and the angle of horizontal plane for sending.
Current measurement situation thus can be more accurately adapted to, for example, in above-mentioned case, first for measuring is apart from La
It is 175cm, second distance Lb is 130cm, then the absolute value of the difference of La and Lb is exactly 45cm, and Second Threshold is 40cm, then
The absolute value of the difference of La and Lb just exceedes Second Threshold, the range finding ray and water that at this moment can just send the first range unit
The angle of plane increases, and the range finding ray that the second range unit sends also is increased with the angle of horizontal plane, and increased angle sets
It is set to identical, such as all 5 degree of increases, then the range finding ray that the first range unit sends just is 35 degree with the angle of horizontal plane,
The range finding ray that second range unit sends is just 65 degree with the angle of horizontal plane.
According to other in which example, the system is further included：Motion detection apparatus, for detecting kinematic parameter,
If kinematic parameter exceedes threshold value, the first distance and second distance that will obtain before are removed, and reacquire the first distance and
Second distance；Wherein, the kinematic parameter at least includes level angle.
Thus can be in user as there is change by a relatively large margin, when such as bending over, leaning to one side, second step is recalculated in setting
Content, abandon some because body posture change caused by improper data so that more accurately obtain road conditions, to blind
The traveling of people is accurately instructed.Motion detection apparatus can be the devices such as gyroscope, so as to sense the change of angle, work as angle
Change exceeded set threshold value after, just explanation show improper data.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
Specific implementation of the invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should be all considered as belonging to of the invention
Protection domain.
Claims (10)
1. a kind of blind man navigation method, it is characterised in that including：
The first distance of the first range unit and ground is obtained, the second distance of the second range unit and ground is obtained；Wherein institute
Range finding ray that the first range unit sends is stated with the angle of horizontal plane less than the range finding ray that second range unit sends
With the angle of horizontal plane；
The absolute value of the difference of the first distance and second distance is obtained, if the absolute value is not less than default first threshold,
Judge that road surface is smooth-riding surface；
If the absolute value exceedes default first threshold, the first distance and second distance are obtained again, if the first distance
Trend be reduce and second distance trend for increase, then judges road surface be rising road surface；If the trend of the first distance is increase
And the trend of second distance then judges road surface as road surface is declined to reduce.
2. air navigation aid according to claim 1, it is characterised in that methods described is further included：If the absolute value
More than default Second Threshold, wherein Second Threshold is more than first threshold；The first distance and second distance are then obtained again, if the
The trend of one distance and second distance is reduction, then judge that road surface is upward slope road surface；
If the trend of the first distance and second distance is first to reduce increasing again, judge that road surface is up stair；
If the trend of the first distance and second distance is first to increase reducing again, judge that road surface is descending stair；
If first is increase apart from the trend of second distance, judge that road surface is descending road surface.
3. air navigation aid according to claim 2, it is characterised in that methods described is further included：If the absolute value
More than default 3rd threshold value, wherein the 3rd threshold value is more than Second Threshold；The first distance and second distance are then obtained again, if depositing
In the data that the first distance increase and second distance reduce, then judge there is hanging barrier on road surface；
If the trend of the first distance and second distance is reduction, judge there is wall on road surface；
If first is increase apart from the trend of second distance, judge there is the cliff of displacement on road surface.
4. air navigation aid according to claim 2, it is characterised in that methods described is further included：When the absolute value
During more than default Second Threshold, according to predetermined angle, increase find range ray and the folder of horizontal plane that the first range unit sends
Range finding ray and the angle of horizontal plane that angle and the second range unit send.
5. air navigation aid according to claim 1, it is characterised in that methods described is further included：Motion detection apparatus
Detection kinematic parameter, if kinematic parameter exceedes threshold value, the first distance and second distance that will be obtained before are removed, and are obtained again
Take the first distance and second distance；Wherein, the kinematic parameter at least includes level angle.
6. a kind of navigation system for blinds, it is characterised in that including：
First range unit, the first distance for obtaining the first range unit and ground, and
Second range unit, the second distance for obtaining the second range unit and ground；Wherein described first range unit hair
Range finding ray and the angle of horizontal plane that the range finding ray for going out sends with the angle of horizontal plane less than second range unit；
Processing unit, the absolute value of the difference for obtaining the first distance and second distance, if the absolute value is not less than default
First threshold, then judge that road surface is smooth-riding surface；
Decision maker, if exceeding default first threshold for the absolute value, obtains the first distance and second distance again,
If the trend of the first distance be reduce and second distance trend for increase, judges road surface be rising road surface；If the first distance
Trend be increase and second distance trend for reduce, then judges road surface be decline road surface.
7. navigation system according to claim 6, it is characterised in that the decision maker is further used for：If described exhausted
Exceed default Second Threshold to value, wherein Second Threshold is more than first threshold；The first distance and second distance are then obtained again,
If the trend of the first distance and second distance is reduction, judge that road surface is upward slope road surface；
If the trend of the first distance and second distance is first to reduce increasing again, judge that road surface is up stair；
If the trend of the first distance and second distance is first to increase reducing again, judge that road surface is descending stair；
If first is increase apart from the trend of second distance, judge that road surface is descending road surface.
8. navigation system according to claim 7, it is characterised in that the decision maker is further used for：If described exhausted
Default 3rd threshold value is exceeded to value, wherein the 3rd threshold value is more than Second Threshold；The first distance and second distance are then obtained again,
If in the presence of the data that the first distance increase and second distance reduce, judging there is hanging barrier on road surface；
If the trend of the first distance and second distance is reduction, judge there is wall on road surface；
If first is increase apart from the trend of second distance, judge there is the cliff of displacement on road surface.
9. navigation system according to claim 7, it is characterised in that the decision maker is further used for：When described exhausted
When exceeding default Second Threshold to value, according to predetermined angle, increase range finding ray and horizontal plane that the first range unit sends
Angle and the angle of range finding ray and horizontal plane that sends of the second range unit.
10. navigation system according to claim 6, it is characterised in that the system is further included：Motion detection is filled
Put, for detecting kinematic parameter, if kinematic parameter exceedes threshold value, the first distance and second distance that will be obtained before are removed,
And reacquire the first distance and second distance；Wherein, the kinematic parameter at least includes level angle.
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| CN110215341A (en) * | 2019-06-18 | 2019-09-10 | 深圳市中诺通讯有限公司 | A kind of method and system suitable for blind person's trip |
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