CN107334609B - A kind of system and method playing audio-frequency information to target object - Google Patents
A kind of system and method playing audio-frequency information to target object Download PDFInfo
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- CN107334609B CN107334609B CN201610590664.7A CN201610590664A CN107334609B CN 107334609 B CN107334609 B CN 107334609B CN 201610590664 A CN201610590664 A CN 201610590664A CN 107334609 B CN107334609 B CN 107334609B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/06—Walking aids for blind persons
- A61H3/068—Sticks for blind persons
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Abstract
The present invention relates to technical field of information processing, it is proposed a kind of system and method for playing audio-frequency information to target object, in this scenario, 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 place barrier determine, and the barrier in the region being less than before target object can also be determined, therefore, it can solve the defect that accuracy existing in the prior art 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 system and
Method.
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 system and method that audio-frequency information is played to target object of the above problem 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, providing a kind of system for playing audio-frequency information to target object, including information
Acquire equipment and mobile terminal, in which:
The information collecting device is in preset direction and with target object at a distance of the ambient zone of pre-determined distance for acquiring
The presentation information in domain, and the presentation information is sent to mobile terminal, the presentation information includes that can observe with the naked eye
And/or can be collected for characterizing the electromagnetic field spectral information of object with equipment, the preset direction is the target
The relative direction of object；
The mobile terminal, for determining that the environmental area is directed to the packet of the target object according to the presentation information
Network face, the enveloping surface refer in some or all of subregion in the environmental area between the target object away from
The face constituted from the point for minimum value and/or maximum value；The corresponding audio-frequency information of point for including by the enveloping surface is to the mesh
Mark object plays out.
In one embodiment, system described in above embodiment according to the present invention, the mobile terminal according to
When the presentation information determines that the environmental area is directed to the enveloping surface of the target object, specifically:
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；
The enveloping surface of the environmental area is determined according to the barrier.
In some embodiments, system described in any of the above-described embodiment according to the present invention, the mobile terminal
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 mobile terminal 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, system described in any of the above-described embodiment according to the present invention, the mobile terminal
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, system described in any of the above-described embodiment according to the present invention, the mobile terminal
When determining that the environmental area is directed to the enveloping surface of the target object according to the presentation information, specifically:
According to the presentation information identify in the environmental area including barrier first kind subregion and not include hinder
Hinder the second class subregion of object；
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, system described in any of the above-described embodiment according to the present invention, the mobile terminal
The enveloping surface of determining first kind subregion meets following rule:
E (x)=f (x, y*)
Wherein, the y*Meet following rule:
Wherein, the E (x) is the enveloping surface of the first kind subregion, and the x is the object in the environmental area
Abscissa, the y are the ordinate of the object in the environmental area.
In some embodiments, system described in any of the above-described embodiment according to the present invention, the mobile terminal
When the corresponding audio-frequency information of point that the enveloping surface includes 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 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, system described in any of the above-described embodiment according to the present invention, the mobile terminal
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 some embodiments, system described in any of the above-described embodiment according to the present invention, the information collection
Equipment is binocular head.
Second aspect according to the present invention provides a kind of method for playing audio-frequency information to target object, comprising:
Acquisition is in preset direction and with target object at a distance of the presentation information of the environmental area of pre-determined distance, the presentation
Information can observe with the naked eye and/or can be believed with the collected electromagnetic field spectrum for characterizing object of equipment
Breath, the preset direction are the relative direction of the target object；
Determine that the environmental area is directed to the enveloping surface of the target object according to the presentation information, 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；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, according to the presentation information
When determining that the environmental area is directed to the enveloping surface of the target object, specifically:
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；
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, according to the presentation
Information determines that the environmental area is directed to the enveloping surface of the target object, comprising:
According to the presentation information identify in the environmental area including barrier first kind subregion and not include hinder
Hinder the second class subregion of object；
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, the first kind
The enveloping surface in region meets following rule:
E (x)=f (x, y*)
Wherein, the y*Meet following rule:
Wherein, the E (x) is the enveloping surface of the first kind subregion, and the x is the object in the environmental area
Abscissa, the y are the ordinate of the object in the environmental area.
In some embodiments, method described in any of the above-described embodiment according to the present invention, by the enveloping surface
The corresponding audio-frequency information in midpoint is 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 embodiment of the present invention, a kind of system for playing audio-frequency information to target object, including information collecting device are proposed
And mobile terminal, in which: the information collecting device, for acquiring in preset direction and with target object at a distance of pre-determined distance
Environmental area presentation information, and the presentation information is sent to mobile terminal, the presentation information includes that can use meat
That eye is observed and/or can be collected for characterizing the electromagnetic field spectral information of object with equipment, the preset direction be
The relative direction of the target object；The mobile terminal, for determining that the environmental area is directed to according to the presentation information
The enveloping surface of the target object, the enveloping surface refer in some or all of subregion in the environmental area with it is described
The distance between target object is the face of the point composition of minimum value and/or maximum value；The point for including by the enveloping surface is corresponding
Audio-frequency information is played out to the target object, in this way, target object can determine environment according to the audio-frequency information heard
Which place is there are barrier in region, and then avoiding obstacles, the program blind man's stick can be swept less than place barrier
It determines, and the barrier in the region being less than before target object can also be determined, therefore, be can solve existing
There is the defect that accuracy is lower and scope of activities is limited present in technology.
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 the schematic diagram for the system 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. 1 I is the external structure schematic diagram of the information collecting device proposed according to embodiments of the present invention；
Fig. 1 J is the schematic diagram of internal structure of the information collecting device proposed according to embodiments of the present invention；
Fig. 1 K is the specific schematic diagram of the system to target object broadcasting audio-frequency information proposed according to embodiments of the present invention；
Fig. 1 L is the specific schematic diagram of the system to target object broadcasting audio-frequency information proposed according to embodiments of the present invention
A kind of application scenarios schematic diagram；
Fig. 1 M is the specific schematic diagram of the system to target object broadcasting audio-frequency information proposed according to embodiments of the present invention
Another application scenarios schematic diagram.
Fig. 2 is the schematic diagram of the method to target object broadcasting audio-frequency information proposed according to embodiments of the present invention.
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.
Refering to fig. 1 shown in A, a kind of system 10 that audio-frequency information is played to target object, including information collecting device are proposed
100 and mobile terminal 110, in which:
The information collecting device 100, for acquiring the ring in preset direction and with target object at a distance of pre-determined distance
The presentation information in border region, and the presentation information is sent to mobile terminal 110, the presentation information includes can be with the naked eye
Observing and/or equipment can be used collected for characterizing the electromagnetic field spectral information of object, the preset direction is institute
State the relative direction of target object；
The mobile terminal 110, for determining the environmental area for the target object according to the presentation information
Enveloping surface, the enveloping surface refers in some or all of subregion in the environmental area between the target object
Distance be minimum value and/or maximum value the face that constitutes of point；The corresponding audio-frequency information of point for including by the enveloping surface is to institute
Target object is stated to play out.
In the embodiment of the present invention, preset direction can hold what information collecting device 100 can acquire for target object
Range of visibility, as shown in Figure 1B, wherein information collecting device 100 can be binocular head, or may be that other camera lenses are set
It is standby, it is not specifically limited herein.
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 the 100 acquisition tables image information of information collecting device, 1 frame per second that obtains is to 120
Frame.
In the embodiment of the present invention, the mobile terminal 110 determines the environmental area for institute according to the presentation information
When stating the enveloping surface of target object, specifically:
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；
The enveloping surface of the environmental area is determined according to the barrier.
In the embodiment of the present invention, the mobile terminal 110 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 mobile terminal 110 identifies the barrier in the environmental area based on the road surface and the presentation information detected
When hindering object, 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 mobile terminal 110 identifies the environmental area based on the road surface and the three-dimensional information detected
In barrier when, 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 mobile terminal 110 determines the environmental area for institute according to the presentation information
When stating the enveloping surface of target object, specifically:
According to the presentation information identify in the environmental area including barrier first kind subregion and not include hinder
Hinder the second class subregion of object；
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, optionally, the enveloping surface for the first kind subregion that the mobile terminal 110 determines meets such as
Lower rule:
E (x)=f (x, y*)
Wherein, the y*Meet following rule:
Wherein, the E (x) is the enveloping surface of the first kind subregion, and the x is the object in the environmental area
Abscissa, the y are 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
O(w=0,1 ... n) by wThe collection of point on the surface being observed be combined into Sw, an x is given, a y* can be found and make 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 corresponding audio-frequency information of point that the enveloping surface is included by the mobile terminal 110 is to institute
When stating target object and playing out, 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 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 the embodiment of the present invention, optionally, the corresponding audio letter of the point that the enveloping surface is included by the mobile terminal 110
It ceases when being 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.
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.
It should be noted that the information collecting device 100 in the embodiment of the present invention can be binocular head, such as Fig. 1 I, 1J
Shown, wherein Fig. 1 I is the external structure of binocular head, and Fig. 1 J is the internal structure of binocular head.
In the embodiment of the present invention, structure light sensing can also be added into the system 10 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, mobile terminal 110 can be mobile phone, tablet computer, laptop, or can also use
Embedded system and (including (Field-Programmable Gate Array, scene can compile FPGA based on special chip
Journey gate array), ASIC's (including (Application Specific Integrated Circuits, specific integrated circuit))
At least one of system is replaced.
In the embodiment of the present invention, information collecting device 100 and mobile terminal 110 can pass through USB (Universal
Serial Bus, universal serial bus) interface be connected, as shown in figure iK.
System 10 in a particular application, can as can be seen in 1L, target object, such as blind person is by information collecting device 100
It is worn on the head, mobile terminal 110 is held in the hand, alternatively, can also as depicted in figure iM, target object, such as blind person is by information
Acquisition equipment 100 is worn over elsewhere, and on front or waist, mobile terminal 110 is held in the hand.
In this scenario, target object can determine which place exists in environmental area according to the audio-frequency information heard
Barrier, and then avoiding obstacles, the program blind man's stick can be swept less than the barrier in place determine, and can also be with
The barrier in the region being less than before target object is determined, therefore, it is existing in the prior art accurate to can solve
Spend the limited defect of lower and scope of activities.
As shown in fig.2, a kind of method 20 that audio-frequency information is played to target object is also proposed in the embodiment of the present invention, it should
Method 20 includes step 200, step 210.
Step 200: acquisition in preset direction and with target object at a distance of the presentation information of the environmental area of pre-determined distance,
The presentation information can observe with the naked eye and/or equipment can be used collected for characterizing the electromagnetic field of object
Spectral information, the preset direction are the relative direction of the target object；
Step 210: determine that the environmental area is directed to the enveloping surface of the target object according to the presentation information, it is described
It is minimum that enveloping surface, 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 value and/or maximum value is constituted；The corresponding audio-frequency information of point for including by the enveloping surface to the target object into
Row plays.
In the embodiment of the present invention, preset direction can acquire for the information collecting device 100 that target object is held
Range of visibility, as shown in Figure 1B, wherein information collecting device 100 can be binocular head, or may be other camera lenses
Equipment is not specifically limited herein.
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 the 100 acquisition tables image information of information collecting device, 1 frame per second that obtains is to 120
Frame.
In the embodiment of the present invention, determine that the environmental area is directed to the envelope of the target object according to the presentation information
When face, it is alternatively possible in the following way:
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；
The enveloping surface of the environmental area is determined according to the barrier.
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；
At this point, when identifying the barrier in the environmental area based on the road surface and the presentation information detected, it can
Selection of land, 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, determine that the environmental area is directed to the envelope of the target object according to the presentation information
When face, it is alternatively possible in the following way:
According to the presentation information identify in the environmental area including barrier first kind subregion and not include hinder
Hinder the second class subregion of object；
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, optionally, the enveloping surface of the first kind subregion meets following rule:
E (x)=f (x, y*)
Wherein, the y*Meet following rule:
Wherein, the E (x) is the enveloping surface of the first kind subregion, and the x is the object in the environmental area
Abscissa, the y are 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 and make 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 corresponding audio-frequency information in the enveloping surface midpoint is played out to the target object
When, it is alternatively possible 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.
In the embodiment of the present invention, optionally, the corresponding audio-frequency information of point for including by the enveloping surface is to the target pair
As playing out, 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.
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, target object can determine which place exists in environmental area according to the audio-frequency information heard
Barrier, and then avoiding obstacles, the program blind man's stick can be swept less than the barrier in place determine, and can also be with
The barrier in the region being less than before target object is determined, therefore, it is existing in the prior art accurate to can solve
Spend the limited defect of lower and scope of activities.
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 unit or component, and furthermore they can be divided into a plurality of submodules or subunits or subassembliess.
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 process or units 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.In the unit claims listing several devices, several in these devices can be through the same hardware branch
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 system for playing audio-frequency information to target object, including information collecting device and mobile terminal, in which:
The information collecting device is in preset direction and with target object at a distance of the environmental area of pre-determined distance for acquiring
Presentation information, and the presentation information is sent to mobile terminal, the presentation information include can observe with the naked eye and/
Or can be collected for characterizing the electromagnetic field spectral information of object with equipment, the preset direction is the target object
Relative direction；
The mobile terminal, for determining that the environmental area is directed to the envelope of the target object according to the presentation information
Face, the enveloping surface refer in some or all of subregion in the environmental area the distance between with the target object
The face constituted for the point of minimum value and/or maximum value；The corresponding audio-frequency information of point for including by the enveloping surface is to the target
Object plays out；
Wherein the mobile terminal determines that the environmental area is directed to the enveloping surface of the target object according to the presentation information
Include:
According to the presentation information 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 system as claimed in claim 1, the mobile terminal determines that the environmental area is directed to according to the presentation information
The enveloping surface of the target object further include:
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；
The enveloping surface of the environmental area is determined according to the barrier.
3. system as claimed in claim 2, the mobile terminal goes out in the environmental area according to the presentation infomation detection
Road surface when, 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；
When the mobile terminal identifies the barrier in the environmental area based on the road surface and the presentation information detected,
Specifically:
The barrier in the environmental area is identified based on the road surface and the three-dimensional information detected.
4. system as claimed in claim 3, the mobile terminal is identified based on the road surface and the three-dimensional information detected
When barrier in the environmental area, 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
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. the enveloping surface of system according to any one of claims 1-4, the first kind subregion that the mobile terminal determines is full
The following rule of foot:
E (x)=f (x, y*)
Wherein, the y*Meet following rule:
Wherein, the E (x) is the enveloping surface of the first kind subregion, and the x is the horizontal seat of the object in the environmental area
Mark, the y are the ordinate of the object in the environmental area.
6. system as claimed in claim 5, the corresponding audio-frequency information of point that the enveloping surface is included by the mobile terminal to
When the target object plays out, specifically:
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. system as claimed in claim 5, the corresponding audio-frequency information of point that the enveloping surface is included by the mobile terminal to
When the target object plays out, specifically:
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. the system as claimed in claim 1, the information collecting device is binocular head.
9. a kind of method for playing audio-frequency information to target object, comprising:
Acquisition is in preset direction and with target object at a distance of the presentation information of the environmental area of pre-determined distance, the presentation information
Including can observing with the naked eye and/or equipment can be used collected for characterizing the electromagnetic field spectral information of object, institute
State the relative direction that preset direction is the target object；
Determine that the environmental area is directed to the enveloping surface of the target object according to the presentation information, the enveloping surface refers to institute
Stating in some or all of subregion in environmental area with the distance between the target object is minimum value and/or maximum value
Point constitute face；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 includes: for the enveloping surface of the target object according to the presentation information
According to the presentation information 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.
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| CN102389361A (en) * | 2011-07-18 | 2012-03-28 | 浙江大学 | Blindman outdoor support system based on computer vision |
| CN104287946A (en) * | 2014-10-24 | 2015-01-21 | 中国科学院计算技术研究所 | Device and method for prompting blind persons to avoid obstacles |
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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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI538668B (en) * | 2012-03-27 | 2016-06-21 | 鴻海精密工業股份有限公司 | Electronic guide device |
| AT513882A2 (en) * | 2013-01-08 | 2014-08-15 | Pajestka Kevin | Device for detecting an environment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102389361A (en) * | 2011-07-18 | 2012-03-28 | 浙江大学 | Blindman outdoor support system based on computer vision |
| 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 |
| CN105012119A (en) * | 2014-10-12 | 2015-11-04 | 中国矿业大学 | Depth information perception brain machine fused obstacle avoidance navigation device |
| CN104287946A (en) * | 2014-10-24 | 2015-01-21 | 中国科学院计算技术研究所 | Device and method for prompting blind persons to avoid obstacles |
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