CN107328426B - A kind of indoor positioning navigation methods and systems suitable for people with visual impairment - Google Patents
A kind of indoor positioning navigation methods and systems suitable for people with visual impairment Download PDFInfo
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- CN107328426B CN107328426B CN201710434231.7A CN201710434231A CN107328426B CN 107328426 B CN107328426 B CN 107328426B CN 201710434231 A CN201710434231 A CN 201710434231A CN 107328426 B CN107328426 B CN 107328426B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3605—Destination input or retrieval
- G01C21/3608—Destination input or retrieval using speech input, e.g. using speech recognition
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
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Abstract
The present invention provides a kind of indoor positioning navigation methods and systems suitable for people with visual impairment, and user terminal executes following steps: environmental data receiving step, for receiving the collected environmental data of environment detection unit；Two dimensional topology figure requests sending step, sends and requests to server, and request provides the two dimensional topology figure of this building；Positioning step calculates the current location of user by two dimensional topology figure combination user's mobile data；Navigation step, federated user current location and destination, an optimal route is calculated using Route Planning Algorithm, and Voice Navigation is carried out for user, during Voice Navigation, when environment detection unit detects barrier, receive the transmission of environment detection unit has barrier data information, and voice prompting user gets around barrier.The beneficial effects of the present invention are: the present invention is suitable for all types of user crowd, especially there are good booster action, the popularization and application of value to vision disorder crowd.
Description
Technical field
The present invention relates to indoor positioning and field of navigation technology more particularly to a kind of interior suitable for people with visual impairment are fixed
Position navigation methods and systems.
Background technique
China's vision disorder people person quantity alreadys exceed 10,000,000, and also this growth of this number at present.Vision disorder
Person's quantity is so much, why see in our daily lifes but seldom? because they dare not really go out.It is almost all of
Communal facility is all far from being to people with visual impairment friendly.It is unfriendly due to facility and traffic, if nobody accompanies, eyesight
It is difficult to move even one step that obstacle person can be described as.So they go out, need people with.This increases many costs to going out, not only
It is monetary cost.We should not only require government to continue to put into effect more complete policy and regulation, or produce more
Be conducive to the product of people with visual impairment daily life.Vision disorder crowd is so huge, it should obtain personages of various circles of society's
Love and treatment.As ordinary people, we itself should also do a little things in power for disabled person.
How destination is smoothly run to, is a lead-pipe cinch feelings for ordinary people, but for eyesight
Obstacle person is the significant problem that they face.Most of building in China all do not account for people with visual impairment this
Special group and be designed.This causes them not live independently, even safely walks.Although current market has
Many products for vision disorder crowd navigation, but they have the shortcomings that very big, and it is daily to be not yet able to satisfy people with visual impairment
Life requirement.
Summary of the invention
The present invention provides a kind of indoor positioning air navigation aid suitable for people with visual impairment, user terminal executes following step
It is rapid:
Environmental data receiving step, for receiving the collected environmental data of environment detection unit；
Two dimensional topology figure requests sending step, the corresponding one or more WIFI of detection building, and is corresponded to using WIFI
The MAC Address of router send and request to server, request provides the two dimensional topology figure of this building；
Positioning step receives the two dimensional topology figure that server is sent, passes through two dimensional topology figure combination user's mobile data meter
The current location of user, the present position of voice prompting user are calculated, and inquires the destination that user wants；
Navigation step receives the destination phonetic order that user says, federated user current location and destination, uses road
Line planning algorithm calculates an optimal route, and carries out Voice Navigation for user, during Voice Navigation, when environment is visited
When survey unit detects barrier, receive the transmission of environment detection unit has barrier data information, and voice prompting user
Get around barrier.
As a further improvement of the present invention, in the positioning step, according to two dimensional topology figure and user's current environment
Information carries out preliminary indoor positioning information using SLAM location algorithm, then using WIFI and inertance element to preliminary interior
Location information further progress calibration, to obtain position of the user on two dimensional topology figure.
As a further improvement of the present invention, it in the navigation step, is calculated using Dijkstra Route Planning Algorithm
An optimal route out；In the navigation step, user according in given route walking process, according to inertance element and
Displacement of the user on map calculates user and is averaged a paces distance, to guide user to move ahead by step number.
As a further improvement of the present invention, the environment detection unit includes:
Laser radar unit, for detecting the environment around user；
Obstacle detection unit, the barrier for detecting in laser radar unit check frequency, in front of user.
As a further improvement of the present invention, handheld device acquires constructure inner structure using transportable laser radar
Data obtain the indoor two dimensional topology figure of the building using instant positioning and layout reconfiguration technique, and are allowed to be associated with one
Or the MAC Address of multiple WIFI routers, then the two dimensional topology diagram data and associated MAC Address are uploaded and saved to clothes
Business device.
The present invention also provides a kind of indoor positioning navigation system suitable for people with visual impairment, user terminal executes as follows
Module:
Environmental data receiving module, for receiving the collected environmental data of environment detection unit；
Two dimensional topology figure request sending module for detecting the corresponding one or more WIFI of building, and uses WIFI
The MAC Address of corresponding router sends to server and requests, and request provides the two dimensional topology figure of this building；
Locating module passes through the mobile number of two dimensional topology figure combination user for receiving the two dimensional topology figure of server transmission
According to the current location for calculating user, the present position of voice prompting user, and inquire the destination that user wants；
Navigation module, the destination phonetic order said for receiving user, federated user current location and destination, make
An optimal route is calculated with Route Planning Algorithm, and carries out Voice Navigation for user and works as ring during Voice Navigation
When border probe unit detects barrier, receive the transmission of environment detection unit has barrier data information, and voice prompting
User gets around barrier.
As a further improvement of the present invention, in the locating module, according to two dimensional topology figure and user's current environment
Information carries out preliminary indoor positioning information using SLAM location algorithm, then using WIFI and inertance element to preliminary interior
Location information further progress calibration, to obtain position of the user on two dimensional topology figure.
As a further improvement of the present invention, it in the navigation module, is calculated using Dijkstra Route Planning Algorithm
An optimal route out；In the navigation module, user according in given route walking process, according to inertance element and
Displacement of the user on map calculates user and is averaged a paces distance, to guide user to move ahead by step number.
As a further improvement of the present invention, the environment detection unit includes:
Laser radar unit, for detecting the environment around user；
Obstacle detection unit, the barrier for detecting in laser radar unit check frequency, in front of user.
As a further improvement of the present invention, handheld device acquires constructure inner structure using transportable laser radar
Data obtain the indoor two dimensional topology figure of the building using instant positioning and layout reconfiguration technique, and are allowed to be associated with one
Or the MAC Address of multiple WIFI routers, then the two dimensional topology diagram data and associated MAC Address are uploaded and saved to clothes
Business device.
The beneficial effects of the present invention are: the present invention is suitable for all types of user crowd, especially have very to vision disorder crowd
Good booster action, the popularization and application of value.
Detailed description of the invention
Fig. 1 is handheld device structural schematic diagram of the invention.
Fig. 2 is the process for using figure of provider of the invention.
Fig. 3 is the process for using figure of general user of the invention.
Specific embodiment
In the present invention, there are two classes: provider and general user for user, include that vision disorder is used in general user
Family.
Interior of building is scanned using handheld device in provider, obtains the corresponding two dimensional topology figure of the building and makes
Associate with the MAC Address of one or more WIFI routers of the building, the handheld device is then operated, by two
Dimension layout and associated MAC Address are sent in Cloud Server by global network and are saved.
As shown in Figure 1, handheld device includes transportable laser radar system, WIFI module and 4G mobile communication module,
Handheld device acquires constructure inner structure data using transportable laser radar, utilizes instant positioning and layout reconfiguration technique
The indoor two dimensional topology figure of the building is obtained, and is allowed to be associated with one or more WIFI router mac address, then should
Layout data and associated MAC Address, which upload, to be saved to cloud server end.For the ease of indoor positioning and navigation Service
Provider uses, so the equipment for being fabricated to hand-held, some intelligence can be mounted to by being certainly also fabricated to handheld device
Upper side part, such as be mounted to telecar, unmanned plane etc..In this way, which implementer need to only hold equipment acquisition building
Object internal structure data, or the smart machine of the carry component is allowed to go acquisition constructure inner structure data without implementing
Person goes in person.Since transportable laser radar system can collect constructure inner structure data, and average weight, therefore this reality
Example is applied using it.In addition, being associated with for the collected two dimensional topology figure of institute with the MAC Address of the WIFI router of the building
Get up, the present embodiment is that this handheld device is attached to WIFI module.Why they are associated, be because when user into
When entering a building, by detecting this MAC Address for building interior WIFI router, then found according to this address
The corresponding two dimensional topology figure of the building.Amazon Cloud Server is just used in the present embodiment, without using local server.When
So, the cloud service of other Cloud Server providers offer is also provided.In order to transmit data in Cloud Server, this implementation
Example is that this handheld device is attached to a 4G mobile communication module, allows to utilize 4G mobile communication technology and Cloud Server
Communication.Certainly, this equipment can also be communicated directly using the WIFI that can connect to public network with Cloud Server.
General user uses user terminal, and user terminal can be the smart phone for being equipped with application program, plate
The electronic equipments such as computer.Environment detection unit includes laser radar unit and obstacle detection unit, and laser radar unit is worn over use
The shoulder at family forms shoulder and wears formula equipment；Obstacle detection unit is worn over the shank position of user, forms shank and wears formula equipment.User
It takes user terminal and carrying shoulder wears formula equipment and shank is worn formula equipment and stepped into building, user terminal can use voice prompting
The present location of user, then voice can be used to provide the destination wanted to go to for user, and then user terminal can be mentioned with voice
Show how user walks to destination.When user has used this technology after a certain period of time, this technology can calculate user one step
The size cut down, therefore when voice prompting user, unit of the paces as distance can be used.In this way, which voice mentions
Show for vision disorder user, it can be more friendly.
Shoulder, which wears formula equipment, and shank wears formula equipment all is connected using the smart phone of Bluetooth technology and user, to carry out
Data communication.This shoulder wears the environment of formula equipment utilization laser radar system scanning user's surrounding, and the environment detection that will acquire
Data transmission is to user terminal.The scanning range of laser radar adopted here is one horizontal, centered on own
360 degree of planes.Since the neck of user can block the scanning of a part, thus its horizontal scan angle about in 180 degree and
Within the scope of 270 degree, without reaching 360 degree.But the angle that the SLAM algorithm taken in the present embodiment is not required for scanning reaches
To 360 degree.Shank wear formula equipment using based on time-of-flight depth camera detection user front and be located at shoulder
Wear the barrier in formula equipment scan blind spot.When the barrier in detection front hinders user's walking, it can send out to user terminal
Warning information is sent, then user terminal issues the user with voice alarm.
The invention discloses a kind of indoor positioning air navigation aid suitable for people with visual impairment, user terminal executes following step
It is rapid:
Environmental data receiving step, for receiving the collected environmental data of environment detection unit；
Two dimensional topology figure requests sending step, the corresponding one or more WIFI of detection building, and is corresponded to using WIFI
The MAC Address of router send and request to server, request provides the two dimensional topology figure of this building；
Positioning step receives the two dimensional topology figure that server is sent, passes through two dimensional topology figure combination user's mobile data meter
The current location of user, the present position of voice prompting user are calculated, and inquires the destination that user wants；
User's mobile data refers to the usual unit data collected in user terminal.
Navigation step receives the destination phonetic order that user says, federated user current location and destination, uses road
Line planning algorithm calculates an optimal route, and carries out Voice Navigation for user, during Voice Navigation, when environment is visited
When survey unit detects barrier, receive the transmission of environment detection unit has barrier data information, and voice prompting user
Get around barrier.
In the positioning step, SLAM is used according to two dimensional topology figure and user's current context information
(Simultaneous Localization And Mapping) location algorithm carries out preliminary indoor positioning information, then adopts
Preliminary indoor positioning information further progress is calibrated with WIFI and inertance element, to obtain user on two dimensional topology figure
Position.Specifically, it is that user carries out preliminary interior that shoulder, which wears formula equipment environment detection data collected using SLAW algorithm,
Then positioning further calibrates this positioning with inertance element indoor positioning technologies using WIFI, to improve positioning
Precision.
In the navigation step, an optimal route is calculated using Dijkstra Route Planning Algorithm；Described
In navigation step, user, according to the displacement of inertance element and user on map, calculates according in given route walking process
User is averaged a paces distance out, to guide user to move ahead by step number.
By variation of the usual unit of user terminal in user's walking, user is distinguished in walking certain time
Paces number, at the same time, application program will record walking distance of the user within this time, calculate use then in conjunction with the two
The average paces in family apart from size.
The process for using of general user is as follows: 1. when user puts on and starts that shoulder wears formula and shank wears formula equipment, starting this
After application program, the neighbouring equipment of this application scan simultaneously carries out bluetooth connection automatically, and then shoulder wears formula and shank wears formula equipment
Constantly respectively collected data are sent to smart phone；2. application program receives these data, and detect building where user
The corresponding one or more WIFI of object is built, and is sent out using the MAC Address of the corresponding router of these WIFI to Cloud Server unit
Request is sent, request provides the two dimensional topology of this building；3. it is corresponding to return to this MAC Address after Cloud Server receives this request
Two dimensional topology figure, this two dimensional topology figure is the two dimensional topology figure of this building；4. this application program receive this two
After tieing up layout, joint shoulder wears the collected data of formula equipment and user's mobile data, calculates the current location of user, then
The present position of voice prompting user, and inquire the destination that user wants to go to；5. user says the purpose for wanting to go to
Ground；6. this application program receives this order, federated user current location and destination, using Route Planning Algorithm, calculate
An optimal route out, and Voice Navigation is carried out for user.During Voice Navigation, wearing formula equipment due to shank can not
It is disconnected to detect in front of user and wear the barrier in formula equipment scan blind spot positioned at shoulder, when discovery barrier, this application program
Corresponding prompt can be provided；Furthermore application program can also calculate user and be averaged the sizes of a paces.
The invention also discloses a kind of indoor positioning navigation system suitable for people with visual impairment, including user terminal to execute
Following module:
Environmental data receiving module, for receiving the collected environmental data of environment detection unit；
Two dimensional topology figure request sending module for detecting the corresponding one or more WIFI of building, and uses WIFI
The MAC Address of corresponding router sends to server and requests, and request provides the two dimensional topology figure of this building；
Locating module passes through the mobile number of two dimensional topology figure combination user for receiving the two dimensional topology figure of server transmission
According to the current location for calculating user, the present position of voice prompting user, and inquire the destination that user wants；
Locating module passes through the mobile number of two dimensional topology figure combination user for receiving the two dimensional topology figure of server transmission
According to the current location for calculating user, the present position of voice prompting user, and inquire the destination that user wants；
In the locating module, carried out according to two dimensional topology figure and user's current context information using SLAM location algorithm
Then preliminary indoor positioning information calibrates preliminary indoor positioning information further progress using WIFI and inertance element,
To obtain position of the user on two dimensional topology figure.
In the navigation module, an optimal route is calculated using Dijkstra Route Planning Algorithm；Described
In navigation module, user, according to the displacement of inertance element and user on map, calculates according in given route walking process
User is averaged a paces distance out, to guide user to move ahead by step number.
Indoor positioning navigation system includes: handheld device using transportable laser radar acquisition constructure inner structure number
According to, obtain the indoor two dimensional topology figure of the building using instant positioning and layout reconfiguration technique, and be allowed to be associated with one or
Then the two dimensional topology diagram data and associated MAC Address are uploaded and are saved to cloud clothes by the MAC Address of multiple WIFI routers
Business device.
The present invention is suitable for all types of user crowd, especially has good booster action to vision disorder crowd, and value pushes away
Wide application.
To sum up, in the present invention, provider (such as store) acquires interior of building using portable laser radar in advance
Structured data, calculates the indoor two dimensional topology figure of the building using instant positioning with layout reconfiguration technique, and by the layout
It is uploaded to server end (including local server or Cloud Server)；2. user environment probe unit and user terminal
(including smart machine) is detected and is perceived to the indoor environment that it is presently in, and obtains user's using smart machine
Mobile message, then by corresponding data upload onto the server end or from server end with getting the locating indoor arrangement built
Figure；3. environment detection data and user's mobile data that server or local intelligent equipment utilization user upload/get, are adopted
Even if calculating current environment layout with instant positioning and map restructing algorithm, and combines existing indoor two dimensional topology figure to obtain and use
The current indoor location in family.Meanwhile in conjunction with user's mobile data, further school is carried out to position by the way of closed loop feedback
Standard, to improve positioning accuracy；4. calculating optimal route, and benefit using path planning algorithm according to the destination locations that user provides
With interactive unit, guidance user moves towards destination, to complete navigation task.Compare existing indoor positioning and airmanship, this hair
It is bright to combine inertial navigation technology and positioning immediately with map reconfiguration technique, the deficiency of existing indoor navigation technology is improved,
Improve the precision and reliability of navigation.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (4)
1. a kind of indoor positioning air navigation aid suitable for people with visual impairment, which is characterized in that user terminal executes following steps:
Environmental data receiving step, for receiving the collected environmental data of environment detection unit；
Two dimensional topology figure requests sending step, the corresponding one or more WIFI of detection building, and uses the corresponding road WIFI
It sends and requests from the MAC Address of device to server, request provides the two dimensional topology figure of this building；
Positioning step receives the two dimensional topology figure that server is sent, is calculated by two dimensional topology figure combination user's mobile data
The current location of user, the present position of voice prompting user, and inquire the destination that user wants；
Navigation step is received the destination phonetic order that user says, federated user current location and destination, is advised using route
Cost-effective method calculates an optimal route, and carries out Voice Navigation for user, during Voice Navigation, when environment detection list
When member detects barrier, receive the transmission of environment detection unit has barrier data information, and voice prompting user gets around
Barrier;
Handheld device acquires constructure inner structure data using transportable laser radar, is reconstructed using instant positioning with layout
Technology obtains the indoor two dimensional topology figure of the building, and is allowed to be associated with the MAC Address of one or more WIFI routers, so
The two dimensional topology diagram data and associated MAC Address are uploaded afterwards and saved to server；
In the positioning step, carried out tentatively according to two dimensional topology figure and user's current context information using SLAM location algorithm
Indoor positioning information, then preliminary indoor positioning information further progress is calibrated using WIFI and inertance element, thus
Obtain position of the user on two dimensional topology figure；
In the navigation step, an optimal route is calculated using Dijkstra Route Planning Algorithm；In the navigation
In step, user, according to the displacement of inertance element and user on map, calculates use according in given route walking process
Family is averaged a paces distance, to guide user to move ahead by step number.
2. indoor positioning air navigation aid according to claim 1, which is characterized in that the environment detection unit includes:
Laser radar unit, for detecting the environment around user；
Obstacle detection unit, the barrier for detecting in laser radar unit check frequency, in front of user.
3. a kind of indoor positioning navigation system suitable for people with visual impairment, which is characterized in that user terminal executes following module:
Environmental data receiving module, for receiving the collected environmental data of environment detection unit；
Two dimensional topology figure request sending module, for detecting the corresponding one or more WIFI of building, and it is corresponding using WIFI
The MAC Address of router send and request to server, request provides the two dimensional topology figure of this building；
Locating module passes through two dimensional topology figure combination user's mobile data meter for receiving the two dimensional topology figure of server transmission
The current location of user, the present position of voice prompting user are calculated, and inquires the destination that user wants；
Navigation module, the destination phonetic order said for receiving user, federated user current location and destination, use road
Line planning algorithm calculates an optimal route, and carries out Voice Navigation for user, during Voice Navigation, when environment is visited
When survey unit detects barrier, receive the transmission of environment detection unit has barrier data information, and voice prompting user
Get around barrier;
Handheld device acquires constructure inner structure data using transportable laser radar, is reconstructed using instant positioning with layout
Technology obtains the indoor two dimensional topology figure of the building, and is allowed to be associated with the MAC Address of one or more WIFI routers, so
The two dimensional topology diagram data and associated MAC Address are uploaded afterwards and saved to server；
In the locating module, carried out tentatively according to two dimensional topology figure and user's current context information using SLAM location algorithm
Indoor positioning information, then preliminary indoor positioning information further progress is calibrated using WIFI and inertance element, thus
Obtain position of the user on two dimensional topology figure；
In the navigation module, an optimal route is calculated using Dijkstra Route Planning Algorithm；In the navigation
In module, user, according to the displacement of inertance element and user on map, calculates use according in given route walking process
Family is averaged a paces distance, to guide user to move ahead by step number.
4. indoor positioning navigation system according to claim 3, which is characterized in that the environment detection unit includes:
Laser radar unit, for detecting the environment around user；
Obstacle detection unit, the barrier for detecting in laser radar unit check frequency, in front of user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/092770 WO2018223490A1 (en) | 2017-05-23 | 2017-07-13 | Indoor positioning and navigating method and system suitable for person with visual impairment |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710370497X | 2017-05-23 | ||
| CN201710370497 | 2017-05-23 |
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| CN107328426B true CN107328426B (en) | 2019-05-07 |
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| CN201710434231.7A Active CN107328426B (en) | 2017-05-23 | 2017-06-09 | A kind of indoor positioning navigation methods and systems suitable for people with visual impairment |
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| WO (1) | WO2018223490A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107976191A (en) * | 2017-11-10 | 2018-05-01 | 北京金坤科创技术有限公司 | A kind of indoor positioning navigation system and method towards visually impaired person |
| CN108095987B (en) * | 2017-12-06 | 2020-10-16 | 英业达科技有限公司 | Vision-impaired navigation system and method thereof |
| EP3851797A1 (en) | 2020-01-14 | 2021-07-21 | Tata Consultancy Services Limited | Systems and methods for performing inclusive indoor navigation |
| CN112197777A (en) * | 2020-08-28 | 2021-01-08 | 星络智能科技有限公司 | Blind person navigation method, server and computer readable storage medium |
| CN112066995A (en) * | 2020-10-23 | 2020-12-11 | 合肥斌能信息科技有限公司 | Intelligent interactive indoor navigation system |
| CN112198810B (en) * | 2020-11-06 | 2023-05-16 | 青岛海尔空调器有限总公司 | Method and device for navigation control of intelligent household equipment and intelligent household equipment |
| CN113687810A (en) * | 2021-05-25 | 2021-11-23 | 青岛海尔科技有限公司 | Voice navigation method and device, storage medium and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100563615C (en) * | 2007-04-19 | 2009-12-02 | 上海交通大学 | System for guiding blind in exhibition |
| EP2395495A3 (en) * | 2010-06-11 | 2015-03-25 | Tata Consultancy Services Ltd. | Hand-held navigation aid for individuals with visual impairment |
| CN102186141B (en) * | 2011-05-06 | 2013-11-06 | 中国华录集团有限公司 | Blind user navigation service system based on global positioning system (GPS) and 3rd-generation (3G) network |
| US9539164B2 (en) * | 2012-03-20 | 2017-01-10 | Xerox Corporation | System for indoor guidance with mobility assistance |
| CN103191006B (en) * | 2013-03-26 | 2015-10-28 | 北京美尔斯通科技发展股份有限公司 | The comprehensive positioning navigation system of a kind of indoor wireless |
| CN103940423B (en) * | 2014-05-09 | 2015-06-03 | 朱涧箐 | Intelligent bus blind guide system and method |
| CN105241460B (en) * | 2015-10-20 | 2018-03-27 | 广东欧珀移动通信有限公司 | A kind of path generating method and user terminal |
| CN105973264A (en) * | 2016-07-21 | 2016-09-28 | 触景无限科技（北京）有限公司 | Intelligent blind guiding system |
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| WO2018223490A1 (en) | 2018-12-13 |
| CN107328426A (en) | 2017-11-07 |
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