CN107976199A - Navigation of Pilotless Aircraft method, system and unmanned plane - Google Patents
Navigation of Pilotless Aircraft method, system and unmanned plane Download PDFInfo
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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
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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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags or using precalculated routes
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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 embodiment of the present invention provides a kind of Navigation of Pilotless Aircraft method, system and unmanned plane, the position and its face orientation that navigation object is presently in are determined by unmanned plane, then detect the barrier in preset range and determine the positional information of barrier, the position and face orientation generation navigation hint information that navigation object is presently in are sent to audio output apparatus, make audio output apparatus according to navigation hint information as navigation object carries out voice prompt.Since audio output apparatus can carry out voice prompt according to the navigation hint information that unmanned plane generates to navigation object, just can be so that the barrier situation around the navigation object understanding of thing cannot be regarded, so as to determine the avoidance strategy for barrier in time, avoid meeting with the situation generation of barrier and injury.Using the advantages of unmanned plane cost is low, long working life, solving the problems, such as to navigate in the prior art, inconvenient, of high cost, working life is short, reduces the financial burden of blind person, improves user experience.
Description
Technical field
The present invention relates to navigation field, more particularly to Navigation of Pilotless Aircraft method, system and unmanned plane.
Background technology
Perfect with communal facility, inevitably fire hydrant, direction board and shade tree etc. on road are right
For ordinary person, these barriers on road can be circumvented easily, for blind person, although concentrating one's energy to avoid
Various barriers on road, still there is the possibility of injury.The appearance of seeing-eye dog, brings great convenience for blind person, seeing-eye dog
As the eyes of blind person, solves the problems, such as trip to a certain extent for most blind persons, becoming blindman must can not
Few companion.
Although seeing-eye dog has obtained the accreditation of the public, can come in and go out many public situations, beyond blind person family
Place provide service for blind person, but the problem of due to seeing-eye dog build, carrying the seeing-eye dog people that goes out has inconvenience, such as
In various public transports, seeing-eye dog necessarily takes up one seat.This not only to share public transport work with seeing-eye dog
Tool other people feel inconvenience, and due to public transport it is crowded with it is busy, it is also possible to cause the body or spirit of seeing-eye dog
Come to harm, and then normally can not provide service for blind person.
Still further aspect, the training cost of seeing-eye dog is higher, its need specialty trainer take a substantial amount of time into
Row training, the time that usual seeing-eye dog at least undergoes a year and a half, could to become qualified working dog professional because of guide dog training
By force, the time is long, cost is huge, tames and dociles into rear altruistic donation in addition and is used to blind person, no fund recycling, domestic guide dog training public good machine
Structure gets into a difficult position, and the price of the number of seeing-eye dog supply falls short of demand seeing-eye dog is about in ten thousand dollars of 2.5-3.This is for most of blind persons
For, it is a huge expense, bears next relatively difficult.The common group of service life of seeing-eye dog is got between 8 to 10 years greatly at the same time,
This is ofer short duration for the service life of people.After the working life of a seeing-eye dog, blind person may need new again
Seeing-eye dog, in addition to substantial amounts of monetary expense, it is also necessary to which blind person is adapted to each other with new seeing-eye dog, this to a certain extent can
Influence the normal life of blind person.
To sum up, now it is urgent to provide a kind of new, for blind man navigation mode, to solve to utilize guide in the prior art
Inconvenient, of high cost, technical problem that working life is short in the presence of the scheme that dog is led the way for blind person.
The content of the invention
Navigation of Pilotless Aircraft method, system and unmanned plane provided in an embodiment of the present invention, mainly solving the technical problems that：It is existing
There is the technology inconvenient, of high cost, that working life is short in the presence of the scheme led the way in technology using seeing-eye dog for blind person to ask
Topic.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of Navigation of Pilotless Aircraft method, including：
Unmanned plane determines that navigation object is presently in the face orientation of position and the navigation object；
The unmanned plane detects the barrier in preset range on the basis of the navigation object, and determines the barrier
Positional information；
The unmanned plane is presently in position and face orientation generation navigation according to result of detection with reference to the navigation object
Prompt message；
The navigation hint information is sent to audio output apparatus by the unmanned plane, for the audio output apparatus root
According to the navigation hint information voice prompt is carried out to the guiding object.
The embodiment of the present invention also provides a kind of unmanned plane, including：
Object information determining module, for determining that navigation object is presently in the facial court of position and the navigation object
To；
Complaint message determining module, for detecting the barrier in preset range on the basis of the navigation object, and really
The positional information of the fixed barrier；
Audio-frequency information generation module, for being presently in position and facial court with reference to the navigation object according to result of detection
To generation navigation hint information；
Audio-frequency information sending module, for the navigation hint information to be sent to audio output apparatus, for the sound
Frequency output equipment carries out voice prompt according to the navigation hint information to the guiding object.
The embodiment of the present invention also provides a kind of UAV Navigation System, including audio output apparatus and it is as described above nobody
Machine.
The embodiment of the present invention also provides a kind of computer-readable storage medium, and computer is stored with the computer-readable storage medium
Executable instruction, the computer executable instructions are used for the Navigation of Pilotless Aircraft method for performing foregoing any one.
The beneficial effects of the invention are as follows：
Navigation of Pilotless Aircraft method, system and the unmanned plane and computer-readable storage medium provided according to embodiments of the present invention,
The position and its face orientation that navigation object is presently in are determined by unmanned plane, then detected on the basis of navigation object
Barrier in preset range simultaneously determines the positional information of barrier, the position that subsequent unmanned plane navigation object is presently in
Put and its face orientation carries out result of detection processing generation navigation hint information, and navigation hint information is sent to audio
Output equipment, makes audio output apparatus according to navigation hint information as navigation object carries out voice prompt.When blind person is as navigation
During object, although it cannot regard thing, unmanned plane obtains the barrier situation around navigation object, and according to navigation object
Face orientation generate navigation hint information, allow audio output apparatus according to navigation hint information to navigation object carry out voice
Prompting, just can be so that cannot recognize the barrier situation around oneself, so as to determine to be directed in time depending on the navigation object of thing
The avoidance strategy and track route of barrier, avoid meeting with the situation generation of barrier and injury.In embodiments of the present invention, it is sharp
With unmanned plane relative to seeing-eye dog possess it is small, be almost not take up ground space, and unmanned plane cost is low, working life
The advantages of long, solve in the prior art by the way that the existing build of seeing-eye dog navigation is inconvenient, of high cost, working life is short
Technical problem, not only reduces the financial burden of blind person, also improves the user experience of its trip.
Brief description of the drawings
Fig. 1 is a kind of flow chart for the Navigation of Pilotless Aircraft method that the embodiment of the present invention one provides；
Fig. 2 is a kind of schematic diagram that unmanned plane determines navigation object face orientation in various embodiments of the present invention；
Fig. 3 is another schematic diagram that unmanned plane determines navigation object face orientation in various embodiments of the present invention；
Fig. 4 is a kind of schematic diagram that unmanned plane detects barrier in preset range in various embodiments of the present invention；
Fig. 5 is another schematic diagram that unmanned plane detects barrier in preset range in various embodiments of the present invention；
Fig. 6 is a kind of signal in the region that navigation object subsequent time may advance and enter in various embodiments of the present invention
Figure；
Fig. 7 is a kind of schematic diagram of preset range in various embodiments of the present invention；
A kind of schematic diagrames of the Fig. 8 for barrier in various embodiments of the present invention relative to navigation object drift angle size；
A kind of schematic diagrames of the Fig. 9 for multiple barriers in various embodiments of the present invention relative to the drift angle size of navigation object；
Figure 10 is a kind of structure diagram of unmanned plane provided by Embodiment 2 of the present invention；
Figure 11 is a kind of structure diagram of UAV Navigation System provided by Embodiment 2 of the present invention.
Embodiment
The embodiment of the present invention is described in further detail below by embodiment combination attached drawing.
Embodiment one：
In order to solve among the scheme walked in the prior art by seeing-eye dog come assisting blind, seeing-eye dog trip is not square
Just, the of high cost, technical problem such as service life is short, the present embodiment provides a kind of Navigation of Pilotless Aircraft method, this method is by unmanned plane
Perform, Navigation of Pilotless Aircraft method is introduced with reference to Fig. 1：
Navigation object refers to regard the people of thing for some reason in the present embodiment.Unmanned plane is first by navigation object
After the roadblock situation awareness of surrounding understands, according to the current face orientation generation navigation hint letter of roadblock situation and navigation object
Breath.Then communicated by unmanned plane with the portable audio output apparatus of navigation object, navigation hint information is sent to
Audio output apparatus, voice prompt is carried out by audio output apparatus to navigation object.
S102, unmanned plane determine that navigation object is presently in the face orientation of position and navigation object.
Unmanned plane determines that navigation object is presently in the mode of position by a variety of, is led for example, having been prestored in unmanned plane
The facial characteristics of boat object, in navigation procedure, unmanned plane can get the figure of surrounding using the rotatable camera of itself
Picture, is then matched the task facial information collected in image with the face feature information of the navigation object to prestore, when
It just can determine which navigation object is after successful match, so as to be assured that the position letter that navigation object is presently in
Breath.In addition to such a mode, since navigation object can carry with audio output apparatus to obtain voice prompt, sound
Frequency output equipment is inevitable to be in identical geographical location with navigation object, so, as long as unmanned plane determines audio output apparatus
Geographical location can determine that navigation object is presently in position.
Although unmanned plane is presently in definite navigation object after position, it is only necessary to determines the positional information of barrier just
It can determine that out the relativeness between navigation object and barrier, but this relativeness only with respect to being for unmanned plane
Clearly, this is for navigation object, and especially for that can not regard for the blind person of thing, it is all usually with oneself to take one's bearings
Centered on, before and after easily distinguishing or left and right, and the face current with navigation object all around on the basis of navigation object
Portion is towards related：Identical with navigation object face orientation direction is " preceding ", and what is supported or opposed with navigation object face orientation is " rear "；
Equally, " left side " and " right side " is also the positive concept just again relative to navigation object.So in the present embodiment, unmanned plane is also
It needs to be determined that the face orientation of navigation object, to determine drift angle information of the barrier relative to navigation object, i.e. barrier
Relative to the azimuth information of navigation object.
It is so several that unmanned plane determines that the mode of navigation object face orientation has:
The first, unmanned plane determines the face orientation of the navigation object by facial recognition techniques.Such as unmanned plane can
With by orbit, and obtain using rotatable camera the frontal face images of navigation object standard, the positive face of standard
Portion's image refers to the face-image obtained from navigation object coronal-plane.Unmanned plane is determined to obtain navigation object standard just
During the face-image of face, the direction of rotatable camera.As shown in Fig. 2, the current face orientation of navigation object 21 is due west direction,
In order to obtain the frontal face images of 21 standard of navigation object, then the rotatable camera on unmanned plane 20 should be rotated to due east
Direction, when the rotatable camera of unmanned plane 20 obtains the frontal face images of 21 standard of navigation object from due east direction,
It is to be exposed to the west that then unmanned plane 20, which counter can release the current face orientation of navigation object 21,.
In addition, unmanned plane can also determine navigation according to the combination of two or more organs of navigation object face
The face orientation of object, for example, determining the angle between navigation object eyes line and due east (or west or south or north) direction.Such as
Fruit employs multiple organs to determine face orientation, then can take average result again after multiple face orientations are calculated.
Second, unmanned plane determines that the movement of navigation object tends to, and tends to its definite face orientation according to movement.Due to
People is when walking, and typically to moving ahead, therefore navigation object is forward when, its face orientation usually with movement trend
It is identical, so, in the present embodiment, in order to determine the face orientation of navigation object, it can first determine that the movement of navigation object tends to.
When determine that movement tends to, can according to navigation object two at different moments residing diverse location determine.Such as Fig. 3 institutes
Show, A point of the navigation object in the position at t1 moment in figure 3, and t2 moment, navigation object have then arrived the B points in Fig. 3, according to
A, the line between B and the four corners of the world in geographic direction determine that the movement of navigation object tends to the side for 60 ° of east by north
To so that it is determined that the face orientation for going out navigation object is 60 ° of east by north direction.
Among the second way, the interval between t1 moment and t2 moment should not be too long, because if too long, navigation
Object may have changed preceding line direction, in this case, be oriented to object two the moment present position line
The movement that navigation object can not be represented tends to.As shown in figure 3, navigation object have changed direction of advance when t1 ', then t1
Line between moment and t2 moment is almost without any symbolic meaning.Likewise, the interval between t1 moment and t2 moment
Should not be too short, because according to the walking habits of people, it is not the complete straight line walked during moving ahead, sometimes may
Or have some deviations, but this deviation can be repaired quickly, but if will be arranged at intervals too short between t1 and t2, then
Unmanned plane may be using this deviation error as the foundation for calculating navigation object face orientation, so as to cause larger error.
S104, unmanned plane detect the barrier in preset range on the basis of navigation object, and determine the position of barrier
Information.
Horizontal level between unmanned plane and navigation object can differ, since unmanned plane is for navigation object service
, therefore, unmanned plane can be flown centered on navigation object in default scope, to detect in preset range
Barrier situation.As shown in figure 4, the position characterization navigation object where Q points is presently in position.Unmanned plane can be with Q points
For the center of circle, the flying activity in the range of radius is n.For example, when n is equal to 5m, unmanned plane can activity area surface
Product is π * n2, that is to say, that unmanned plane can activity flight region be 78.5m2。
It is, of course, understood that unmanned plane can the preset range of activity can also be other shapes, it is such as square
Shape, as shown in figure 5, navigation object is in P points, P points are in square two cornerwise point of intersection.
It is centered on navigation object when unmanned plane detects preset range among the above-mentioned example of this implementation
Detected, such as the barrier within the circle formed as the center of circle, detection pre-set radius of position is presently in using navigation object
Hinder thing, or square diagonal intersection point of the position as the default length of side is presently in using navigation object, detect square scope
Interior barrier.In addition, unmanned plane can also using navigation object as barycenter oftriangle, orthocenter etc. triangle scope
Inside detected.Due to it is this detected centered on navigation object present position in a manner of in, unmanned plane can detect
To the barrier situation of navigation object from all directions, and during actually walking, navigation object is only the possibility to can be towards one
Fixed direction is advanced, and the probability that at least navigation object advances towards all directions is unequal.As shown in fig. 6, navigation object
Currently towards the positive north, using thing as boundary, the region by north is first area 61, and the region by south is second area 62, very
Substantially, navigation object subsequent time comes into the possibility of first area 62 much larger than the possibility for coming into second area 62.Therefore,
The barrier overwhelming majority that navigation object subsequent time is met with may all be in first area 61.Therefore visited in unmanned plane
When survey, a certain size sector region can also be detected only using navigation object as benchmark.As shown in fig. 7, navigation object
M points are currently at, unmanned plane can be only detected on the basis of M points, and it is R to determine a radius, and central angle is the sector region conduct of θ
Predeterminable area is detected.Or using navigation object position as rectangle, the length of side midpoint of square, detect a certain size
Square region in barrier.
When unmanned plane detects barrier within a preset range, it can include by the way of so several：
The first, unmanned plane detects barrier by infrared detection technique on the basis of navigation object and determines that its position is believed
Breath.Infrared ray is that a kind of electromagnetic radiation has the characteristic similar to visible ray, obeys reflection and the law of refraction, also has interference, spreads out
Phenomena such as penetrating and polarizing；It has ionic again at the same time, i.e., it can be launched and be absorbed in the form of light quantum.Therefore, infrared spy
Survey device and be divided into two types, one kind is thermal detector, another is photon detector.
Thermal detector causes the temperature change of sensing element using infra-red radiation, and then makes it in relation to physical parameter or performance
Generation respective change.The infra-red radiation that can determine that detector absorbed by measuring the change in relation to physical parameter or performance.Heat
Detector mainly has the several types such as thermoelectricity resistance type, thermocouple type and thermoelectric type and Gao Lai air-driven types.Photon detector is profit
With some semi-conducting materials under infra-red radiation, photon effect is produced, is that the electrical properties of material change.By measuring electricity
Learn the change of property, it may be determined that the power of infra-red radiation.According to the operation principle of photon detector, outer light can be generally divided into
Electric and interior two kinds of photodetector.Interior photodetector is divided into photodetector, photoelectricity volt detector and photomagnetoelectric detection again
Three kinds of device.
Second, unmanned plane determines the barrier in the preset range on the basis of navigation object by image recognition technology
And the positional information of barrier.Unmanned plane can utilize the image information around camera collection navigation object, and to collecting
Picture handled, using the image processing techniques such as edge extraction techniques from picture determine barrier, determine barrier, and
Determine the positional information of barrier.
The third, unmanned plane detects barrier by supersonic sounding technology on the basis of navigation object and determines that its position is believed
Breath.Ultrasonic wave is a kind of sound wave of frequency higher than the frequency (20Hz~20KHz) that human ear can be heard.It is obeyed in transmitting procedure
The transportation law of ripple.Such as：Ultrasonic wave keeps straight line to advance in the material；Reflected in the interface of two kinds of different materials.
When reflection will occurs by launching ultrasonic wave when ultrasonic wave runs into barrier when preset range is detected in unmanned plane
Phenomenon, therefore, unmanned plane can be by ultrasonic listenings to there is clear.Simultaneously because the spread speed of ultrasonic wave obeys ripple
Transmission theorem：ν=λ f, ν are velocity of wave, and λ is wavelength, and f is the frequency of ripple.Therefore, unmanned plane can also determine barrier with
The distance between itself, and then determine the positional information of barrier.
S106, unmanned plane is presently in position according to result of detection navigation object and face orientation generates navigation hint
Information.
, just can be according to the positional information and navigation object of barrier after unmanned plane determines the positional information of barrier
The positional information being presently in determines navigation hint information.Barrier can usually be included in navigation hint information relative to leading
The azimuth information of boat object, and the range information of obstacle distance navigation object.Barrier relative to navigation object orientation
Information is barrier and the line of navigation object in the horizontal plane relative to the drift angle immediately ahead of navigation object.Such as Fig. 8 institutes
Show, navigation object 21 currently faces the north, then azimuth information, that is, barrier 22 between barrier 22 and navigation object 21 is with leading
Navigate object 21 between line relative to direct north drift angle.It is understood that drift angle information can also be barrier 22
Angle with navigation object 21 in horizontal plane line with 21 right of navigation object, or barrier 22 and navigation object 21 are in level
Angle of the face line with 21 left of navigation object.
Barrier can be divided into front, rear, left and right relative to the direction of navigation object in simplest navigation hint information
Four direction, if barrier is in the front of navigation object.Certainly, in actual application, barrier and navigation object
Relative position relation is not so simple, it is possible to barrier be not front, front-left, front-right or just after
Side, but between both direction, for example, there is barrier in navigation object left front, and with it is inclined immediately ahead of navigation object
Angle is 45 °.
For a barrier, the drift angle information ited between navigation object should be included, there is itself and navigation object again
The distance between information., can be there are multiple barriers, therefore due in some cases, can be with a navigation hint information
Include the drift angle information and range information for multiple barriers relative to navigation object.It is, of course, understood that can also
Only include the drift angle information and range information of a barrier in a navigation hint information, when there are during multiple barriers
Wait, generate multiple navigation hint information.
In the present embodiment, if the preset range of unmanned plane detection barrier is to be presently in position in using navigation object
What the heart determined, then unmanned plane can detect the barrier of navigation object from all directions, but since the meeting at navigation object lower a moment meets with
Meet the possibility of these barriers and differ, therefore, in order to which the obstacle information for most possibly suffering from navigation object carries
Show to navigation object, the information for avoiding prompting some useless disturbs the judgement of navigation object, while reduces audio output apparatus
Workload, then unmanned plane can be first after definite each barrier is relative to navigation object drift angle information and range information
Each barrier sets prompting priority, and the principle of setting is bigger relative to the drift angle of navigation object face orientation, then prompts
Priority is smaller.As shown in figure 9, it there is currently tri- barriers of A, B, C, the position of A, B, C and navigation object in the horizontal plane
Relation is as shown in the figure, since navigation object 21 is towards direct north, then the drift angle size of A, B, C are respectively 30 °, 150 ° and 75 °
Therefore, among these three barriers of A, B, C, A is minimum relative to the drift angle of due north, and C takes second place, and B is maximum, so, the prompting of A is preferential
Level highest, C take second place, and B is minimum.Priority satisfaction can be filtered out after unmanned plane determines the prompting priority of each barrier
Several barriers of first preset condition, and navigation hint is generated according to the drift angle information and range information of the barrier filtered out
Information.Among above-mentioned example, unmanned plane can filter out two barriers of highest priority, that is, filter out A and B, and root
According to A and B navigation hint information is generated with range information relative to the drift angle information of navigation object.
In order to avoid prompting the judgement of useless information interference navigation object in addition to those mentioned earlier, unmanned plane can be with
Navigation object is discharged in the following ways meets with the small barrier of possibility：
Unmanned plane filters out the barrier that drift angle information meets preset condition, and the second preset condition can be relative to navigation
The drift angle of subjects face direction is less than some value, for example, for the example of Fig. 9, the second preset condition is less than 60 ° for drift angle
Barrier.The barrier that the needs that then unmanned plane is filtered out according to the second preset condition are prompted is A.After screening,
Unmanned plane can generate navigation hint information according to the angle information and range information of barrier Relative Navigation object.
Significantly, since the mankind are not very sensitive to angular values, therefore, in generation navigation hint information
When, navigation hint information can also be converted into the voice prompt for meeting mankind's direction identification custom by unmanned plane, for example, will
" before you are current line direction deflect 30 degree of place eastwards there are xx barriers " is converted to that " there are xx barriers in direction at your 1 o'clock
Hinder thing ".
Navigation hint information is sent to audio output apparatus by S108, unmanned plane, so that audio output apparatus is according to navigation
Prompt message carries out voice prompt to object is oriented to.
The mode to communicate between unmanned plane and the portable audio output apparatus of navigation object can be bluetooth, WiFi etc.
Communication.The present embodiment sound intermediate frequency output equipment can be portable loudspeaker box either earphone.When unmanned plane will generate
Navigation hint information be sent to portable loudspeaker box either earphone, portable loudspeaker box either earphone can be directly according to navigation
Prompt message output voice signal prompts navigation object.
Further, since navigation object is not planless when trip, therefore unmanned plane can also be according to leading
The destination of boat object and traffic information planning forward path, generation traveling strategy are simultaneously sent to audio output apparatus, are audios
Output equipment prompts navigation object according to strategy of advancing, such as prompting is turned round when needing to turn round.
Navigation of Pilotless Aircraft method provided in an embodiment of the present invention, the position of navigation object and facial court are determined by unmanned plane
To, and the situation of navigation object peripheral obstacle, generation for barrier navigation hint information, and by navigation hint information
Audio output apparatus is sent to, makes audio output apparatus according to navigation hint information as navigation object carries out voice prompt.Make to lead
Boat object recognizes the barrier situation around oneself, so as to determine the avoidance strategy for barrier and walking road in time
Line, avoids meeting with the situation generation of barrier and injury.In embodiments of the present invention, not merely with unmanned plane cost it is low, work
The advantages of long lifespan, solve in the prior art by the way that the existing build of seeing-eye dog navigation is inconvenient, of high cost, working life
Short technical problem.Further, since unmanned plane can screen the barrier detected, avoid all barriers
Information alert to navigation object, navigation object can be caused because be subject to the interference of useless navigation hint information and can not be true rapidly
The planning of line direction before making, so as to meet with barrier and injured situation, improves the experience of navigation object.
Embodiment two：
The present embodiment first provides a kind of unmanned plane, as shown in Figure 10, unmanned plane 20 include object information determining module 202,
Complaint message determining module 204, audio-frequency information generation module 206 and audio-frequency information sending module 208.Object information determining module
202 are used to determine that navigation object is presently in the face orientation of position and navigation object；Complaint message determining module 204 is used for
The barrier in preset range is detected on the basis of navigation object, and determines the positional information of barrier；Audio-frequency information generates mould
Block 206 is used to be presently in position according to result of detection navigation object and face orientation generates navigation hint information；Audio
Information sending module 208 is used to navigation hint information being sent to audio output apparatus, so that audio output apparatus is according to
Navigation hint information guide carries out voice prompt to object.
Navigation object refers to regard the people of thing for some reason in the present embodiment.Unmanned plane 20 is first by navigation pair
After understanding as the roadblock situation awareness of surrounding, navigation hint is generated according to the current face orientation of roadblock situation and navigation object
Information.Then communicated by unmanned plane 20 with the portable audio output apparatus of navigation object, navigation hint information is sent out
Audio output apparatus is given, voice prompt is carried out to navigation object by audio output apparatus.
Object information determining module 202 determines that navigation object is presently in the mode of position by a variety of, for example, unmanned plane 20
In prestored the facial characteristics of navigation object, in navigation procedure, object information determining module 202 can utilize itself
Rotatable camera gets the image of surrounding, then by the task facial information collected in image and the navigation object to prestore
Face feature information matched, just can determine which navigation object is after successful match, so as to be assured that
The positional information that navigation object is presently in.In addition to such a mode, since navigation object can carry with audio output apparatus
To obtain voice prompt, therefore, audio output apparatus is inevitable to be in identical geographical location with navigation object, so, nobody
As long as machine determines that the geographical location of audio output apparatus can determine that navigation object is presently in position.
Although object information determining module 202 is presently in definite navigation object after position, it is only necessary to determines obstacle
The positional information of thing just can determine that out the relativeness between navigation object and barrier, but this relativeness is simply opposite
It is clear for object information determining module 202, this is for navigation object, especially for the blind person that can not regard thing
For, it is usually all centered on oneself to take one's bearings, and easily distinguishes front and rear or left and right, and on the basis of navigation object
It is related with the face orientation that navigation object is current all around：Identical with navigation object face orientation direction is " preceding ", with leading
Boat subjects face is " rear " towards what is supported or opposed；Equally, " left side " and " right side " is also the positive concept just again relative to navigation object.
So in the present embodiment, object information determining module 202 also needs to determine the face orientation of navigation object, to determine
Barrier relative to navigation object drift angle information, i.e., barrier relative to navigation object azimuth information.
It is so several that object information determining module 202 determines that the mode of navigation object face orientation has:
The first, object information determining module 202 determines the face orientation of the navigation object by facial recognition techniques.
Such as unmanned plane 20 can be by orbit, and utilize the frontal faces figure of rotatable camera acquisition navigation object standard
Picture, the frontal face images of standard refer to the face-image obtained from navigation object coronal-plane.Object information determining module 202
When determining the frontal face images in order to obtain navigation object standard, the direction of rotatable camera.As shown in Fig. 2, navigation pair
As 21 current face orientations are due west directions, in order to obtain the frontal face images of 21 standard of navigation object, then unmanned plane 20
On rotatable camera should rotate to due east direction, when the rotatable camera of unmanned plane 20 is led from due east direction
During the frontal face images for 21 standard of object of navigating, then it is current counter can to release navigation object 21 for object information determining module 202
Face orientation is to be exposed to the west.
In addition, object information determining module 202 can also be according to two or more organs of navigation object face
Combine to determine the face orientation of navigation object, for example, determining navigation object eyes line and due east (or west or south or north)
Angle between direction.If object information determining module 202 employs multiple organs to determine face orientation, can calculate
Go out and take average result after multiple face orientations again.
Second, object information determining module 202 determines that the movement of navigation object tends to, and determines it according to movement trend
Face orientation.Since people is when walking, typically to moving ahead, therefore navigation object is forward when, its face orientation
It is usually identical with movement trend, so, in the present embodiment, in order to determine the face orientation of navigation object, it can first determine navigation
The movement of object tends to., can be according to navigation object two residing different positions at different moments when determining that movement tends to
Put to determine.As shown in figure 3, A point of the navigation object in the position at t1 moment in figure 3, and t2 moment, navigation object then arrive
B points in Fig. 3, determine that the movement of navigation object tends to according to the line between A, B and the four corners of the world in geographic direction
For 60 ° of the direction in east by north, so that it is determined that the face orientation for going out navigation object is 60 ° of east by north direction.
Among the second way, the interval between t1 moment and t2 moment should not be too long, because if too long, navigation
Object may have changed preceding line direction, in this case, be oriented to object two the moment present position line
The movement that navigation object can not be represented tends to.As shown in figure 3, navigation object have changed direction of advance when t1 ', then t1
Line between moment and t2 moment is almost without any symbolic meaning.Likewise, the interval between t1 moment and t2 moment
Should not be too short, because according to the walking habits of people, it is not the complete straight line walked during moving ahead, sometimes may
Or have some deviations, but this deviation can be repaired quickly, but if will be arranged at intervals too short between t1 and t2, then
Unmanned plane may be using this deviation error as the foundation for calculating navigation object face orientation, so as to cause larger error.
Complaint message determining module 204 detects the barrier in preset range on the basis of navigation object, and determines obstacle
The positional information of thing.Horizontal level between unmanned plane 20 and navigation object can differ, since unmanned plane 20 is for navigation
Objects services, therefore, unmanned plane 20 can be flown centered on navigation object in default scope, to detect
Barrier situation in preset range.As shown in figure 4, the position characterization navigation object where Q points is presently in position.Unmanned plane
20 can be using Q points as the center of circle, the flying activity in the range of radius is n.For example, when n is equal to 5m, unmanned plane 20 can be with
The region area of activity is π * n2, that is to say, that unmanned plane 20 can activity flight region be 78.5m2。
It is, of course, understood that unmanned plane 20 can the preset range of activity can also be other shapes, it is such as square
Shape, as shown in figure 5, navigation object is in P points, P points are in square two cornerwise point of intersection.
It is to lead when complaint message determining module 204 detects preset range among the above-mentioned example of this implementation
Detected centered on boat object, such as being formed as the center of circle, detection pre-set radius for position is presently in using navigation object
Circle within barrier, or square diagonal intersection point of the position as the default length of side is presently in using navigation object, visited
Survey the barrier in square scope.In addition, complaint message determining module 204 can also be using navigation object as triangle
Center of gravity, orthocenter etc. are detected in the range of triangle.Due to being visited centered on this present position by navigation object
In the mode of survey, complaint message determining module 204 can detect the barrier situation of navigation object from all directions, and in reality
During walking, navigation object is only the possibility to towards certain direction to advance, and at least navigation object is towards before all directions
Into probability be unequal.As shown in fig. 6, navigation object is currently towards the positive north, using thing as boundary, the region by north is the
One region 61, and the region by south is second area 62, it is evident that navigation object subsequent time comes into the possibility of first area 62
Property much larger than coming into the possibility of second area 62.Therefore, the barrier overwhelming majority that navigation object subsequent time is met with may
All it is in first area 61.Therefore when complaint message determining module 204 is detected, can also be only with navigation object
As benchmark, a certain size sector region is detected.As shown in fig. 7, navigation object is currently at M points, complaint message determines mould
Block 204 can be only detected on the basis of M points, and it is R to determine a radius, and the sector region that central angle is θ is carried out as predeterminable area
Detection.Or using navigation object position as rectangle, the length of side midpoint of square, detect in a certain size square region
Barrier.
When complaint message determining module 204 detects barrier within a preset range, it can include by the way of so several
Kind：
The first, complaint message determining module 204 detects barrier on the basis of navigation object by infrared detection technique
And determine its positional information.Infrared ray is that a kind of electromagnetic radiation has the characteristic similar to visible ray, obeys reflection and refraction is fixed
Rule, also there is phenomena such as interference, diffraction and polarization；It has ionic again at the same time, i.e., it can be launched and be inhaled in the form of light quantum
Receive.Therefore, infrared detector is divided into two types, and one kind is thermal detector, another is photon detector.
Thermal detector causes the temperature change of sensing element using infra-red radiation, and then makes it in relation to physical parameter or performance
Generation respective change.The infra-red radiation that can determine that detector absorbed by measuring the change in relation to physical parameter or performance.Heat
Detector mainly has the several types such as thermoelectricity resistance type, thermocouple type and thermoelectric type and Gao Lai air-driven types.Photon detector is profit
With some semi-conducting materials under infra-red radiation, photon effect is produced, is that the electrical properties of material change.By measuring electricity
Learn the change of property, it may be determined that the power of infra-red radiation.According to the operation principle of photon detector, outer light can be generally divided into
Electric and interior two kinds of photodetector.Interior photodetector is divided into photodetector, photoelectricity volt detector and photomagnetoelectric detection again
Three kinds of device.
Second, complaint message determining module 204 is determined default on the basis of navigation object by image recognition technology
In the range of barrier and barrier positional information.Complaint message determining module 204 can utilize camera collection navigation pair
As the image information of surrounding, and the picture to collecting is handled, using image processing techniques such as edge extraction techniques from figure
Barrier is determined in piece, determines barrier, and determine the positional information of barrier.
The third, complaint message determining module 204 detects barrier on the basis of navigation object by supersonic sounding technology
And determine its positional information.Ultrasonic wave is a kind of sound wave of frequency higher than the frequency (20Hz~20KHz) that human ear can be heard.Its
The transportation law of ripple is obeyed in transmitting procedure.Such as：Ultrasonic wave keeps straight line to advance in the material；On the boundary of two kinds of different materials
Reflected at face.When complaint message determining module 204 is detected by launching ultrasonic wave in preset range, ultrasonic wave is met
To reflex will occur when barrier, therefore, complaint message determining module 204 can be by ultrasonic listening to having
Clear.Simultaneously because the spread speed of ultrasonic wave obeys the transmission theorem of ripple：ν=λ f, ν are velocity of wave, and λ is wavelength, and f is ripple
Frequency.Therefore, complaint message determining module 204 can also determine barrier and itself the distance between, and then determine barrier
Hinder the positional information of thing.
After complaint message determining module 204 determines the positional information of barrier, audio-frequency information generation module 206 is with regard to energy
The positional information being presently according to the positional information of barrier and navigation object determines navigation hint information.Navigation hint
Azimuth information of the barrier relative to navigation object, and the distance of obstacle distance navigation object can usually be included in information
Information.Barrier is that line of the barrier with navigation object in the horizontal plane is opposite relative to the azimuth information of navigation object
Drift angle immediately ahead of navigation object.As shown in figure 8, navigation object 21 currently faces the north, then barrier 22 and navigation object
The line between azimuth information, that is, barrier 22 and navigation object 21 between 21 relative to direct north drift angle.It is appreciated that
, drift angle information can also be barrier 22 and angle of the navigation object 21 in horizontal plane line with 21 right of navigation object,
Or barrier 22 and angle of the navigation object 21 in horizontal plane line with 21 left of navigation object.
Can be by barrier relative to navigation in the simplest navigation hint information that audio-frequency information generation module 206 generates
The direction of object is divided into front, rear, left and right four direction, if barrier is in the front of navigation object.Certainly, in practical application
During, the relative position relation of barrier and navigation object is not so simple, it is possible to which barrier is not before just
Side, front-left, front-right or dead astern, but between both direction, for example, having obstacle in navigation object left front
Thing, and be 45 ° with the drift angle immediately ahead of navigation object.
It should be included in the navigation hint information generated for a barrier, audio-frequency information generation module 206 with leading
The drift angle information navigated between object, have again its distance between with navigation object information.Due to that in some cases, can exist more
A barrier, therefore, can include the drift angle for multiple barriers relative to navigation object in a navigation hint information
Information and range information.It is, of course, understood that audio-frequency information generation module 206 can also be in a navigation hint information
In only include the drift angle information and range information of barrier, when there are when multiple barriers, generate multiple navigation to carry
Show information.
In the present embodiment, if the preset range that complaint message determining module 204 detects barrier is worked as with navigation object
Being determined centered on preceding present position, then complaint message determining module 204 can detect the barrier of navigation object from all directions, but
Be due to that the meeting at navigation object lower a moment meets with the possibility of these barriers and differs, therefore, in order to by navigation object most
The obstacle information for being possible to suffer from is prompted to navigation object, and the information for avoiding prompting some useless disturbs sentencing for navigation object
It is disconnected, while reduce the workload of audio output apparatus, then complaint message determining module 204 in definite each barrier relative to leading
After object drift angle information of navigating and range information, audio-frequency information generation module 206 first can set prompting excellent for each barrier
First level, the principle of setting is bigger relative to the drift angle of navigation object face orientation, then prompts priority smaller.As shown in figure 9,
Tri- barriers of A, B, C are there is currently, the position relationship of A, B, C and navigation object in the horizontal plane is as shown in the figure, due to navigation
Object 21 towards direct north, then the drift angle size of A, B, C be respectively 30 °, 150 ° and 75 ° therefore, these three barriers of A, B, C
In the middle, A is minimum relative to the drift angle of due north, and C takes second place, and B is maximum, so, the prompting highest priority of A, C takes second place, and B is minimum.When
Audio-frequency information generation module 206 determines that the prompting priority of each barrier can filter out priority and meet that first is default afterwards
Several barriers of condition, and navigation hint information is generated according to the drift angle information and range information of the barrier filtered out.
Among above-mentioned example, audio-frequency information generation module 206 can filter out two barriers of highest priority, that is, filter out A and
B, and navigation hint information is generated with range information relative to the drift angle information of navigation object according to A and B.
In order to avoid prompting the judgement of useless information interference navigation object in addition to those mentioned earlier, audio-frequency information generation
Module 206 can also discharge navigation object in the following ways and meet with the small barrier of possibility：
Audio-frequency information generation module 206 filters out the barrier that drift angle information meets preset condition, and the second preset condition can
To be to be less than some value relative to the drift angle of navigation object face orientation, for example, for the example of Fig. 9, the second preset condition
It is less than 60 ° of barrier for drift angle.Then audio-frequency information generation module 206 is carried according to the needs that the second preset condition filters out
The barrier shown is A.After screening, audio-frequency information generation module 206 can be according to the angle of barrier Relative Navigation object
Spend information and range information generation navigation hint information.
Significantly, since the mankind are not very sensitive to angular values, therefore, in generation navigation hint information
When, navigation hint information can also be converted into the voice for meeting mankind's direction identification custom by audio-frequency information generation module 206
Prompting, for example, " your current preceding line direction deflects eastwards 30 degree of place, and there are xx barriers " is converted to " at your 1 o'clock
There are xx barriers in direction ".
The mode to communicate between audio-frequency information sending module 208 and the portable audio output apparatus of navigation object can be with
For communications such as bluetooth, WiFi.The present embodiment sound intermediate frequency output equipment can be portable loudspeaker box either earphone.When
The navigation hint information of generation is sent to portable loudspeaker box either earphone, portable loudspeaker box by audio-frequency information sending module 208
Either earphone directly can export voice signal according to navigation hint information and navigation object is prompted.
Further, since navigation object is not planless when trip, therefore unmanned plane 20 can also basis
The destination of navigation object and traffic information planning forward path, generation advance tactful and are sent to audio output apparatus, are sounds
Frequency output equipment prompts navigation object according to strategy of advancing, such as prompting is turned round when needing to turn round.
Unmanned plane provided in this embodiment, the function of object information determining module can be common with processor by camera
Realize, the positional information of audio output apparatus can also be obtained by communicator, is then sent to processor, and processor solution
Separate out the position that the position of audio output apparatus is presently in as navigation object.Complaint message determining module can be infrared spy
Device, ultrasonic detector either camera and processor are surveyed to realize.And the function of audio-frequency information generation module then can be by
Reason device realizes, processor is got after navigation object is presently in the positional information of position, face orientation and barrier, can be with
Determine barrier relative to the inclined of navigation object face orientation according to the face orientation of the positional information of barrier and navigation object
Angle information, and location determination barrier is presently in relative to guiding object according to the positional information and navigation object of barrier
Range information.The function of audio-frequency information sending module is finally realized by communicator, it is defeated that navigation hint information is sent to audio
Go out equipment.
Such as Figure 11, the present embodiment also provides a kind of UAV Navigation System 11, it includes audio output apparatus 10 and above-mentioned
Unmanned plane 20.After navigation hint information is sent to audio output apparatus 10 by unmanned plane 20, audio output apparatus can be by defeated
The mode for going out voice signal carries out voice prompt to navigation object so that navigation object determines avoiding barrier according to voice prompt
Strategy and scheme.
Unmanned plane and UAV Navigation System provided in an embodiment of the present invention, determine navigation object by unmanned plane and lead
The situation of boat data collection barrier, generation are directed to the navigation hint information of barrier, and navigation hint information is sent to sound
Frequency output equipment, makes audio output apparatus according to navigation hint information as navigation object carries out voice prompt.Make navigation object
The barrier situation around oneself is solved, so as to determine the avoidance strategy and track route for barrier in time, avoids meeting with
Meet the situation generation of barrier and injury.In embodiments of the present invention, it not only make use of unmanned plane cost low, long working life
Advantage, solves in the prior art by inconvenient, of high cost, working life the is short technology of the existing build of seeing-eye dog navigation
Problem.And moreover, since unmanned plane can screen the barrier detected, avoid all barriers
Information alert can cause navigation object can not be determined rapidly because the interference of useless navigation hint information is subject to navigation object
The planning of line direction before going out, so as to meet with barrier and injured situation, improves the experience of navigation object.
Obviously, those skilled in the art should be understood that each module of the embodiments of the present invention or each step can be used
General computing device realizes that they can be concentrated on single computing device, or be distributed in multiple computing device institutes
On the network of composition, alternatively, they can be realized with the program code that computing device can perform, it is thus possible to by they
It is stored in computer-readable storage medium (ROM/RAM, magnetic disc, CD) and is performed by computing device, and in some cases, can
With the steps shown or described are performed in an order that is different from the one herein, or they are fabricated to each integrated circuit die respectively
Block, or the multiple modules or step in them are fabricated to single integrated circuit module to realize.So the present invention does not limit
Combined in any specific hardware and software.
Above content is to combine the further description that specific embodiment makees the embodiment of the present invention, it is impossible to is recognized
The specific implementation of the fixed present invention is confined to these explanations.For general technical staff of the technical field of the invention,
Without departing from the inventive concept of the premise, some simple deduction or replace can also be made, should all be considered as belonging to the present invention
Protection domain.
Claims (12)
1. a kind of Navigation of Pilotless Aircraft method, including：
Unmanned plane determines that navigation object is presently in the face orientation of position and the navigation object；
The unmanned plane detects the barrier in preset range on the basis of the navigation object, and determines the position of the barrier
Confidence ceases；
The unmanned plane is presently in position with reference to the navigation object according to result of detection and face orientation generates navigation hint
Information；
The navigation hint information is sent to audio output apparatus by the unmanned plane, so that the audio output apparatus is according to institute
State navigation hint information and carry out voice prompt to the guiding object.
2. Navigation of Pilotless Aircraft method as claimed in claim 1, it is characterised in that the unmanned plane determines the current institute of navigation object
Place position includes：
The unmanned plane obtains the positioning signal of the audio output apparatus, and parsing is carried out to the positioning signal and obtains the sound
Position where frequency output equipment, and the navigation object is characterized with the position where the audio output apparatus and is presently in position
Put；
Or,
The rotatable camera of unmanned plane obtains surrounding image, is identified by facial recognition techniques from the image of acquisition
The navigation object, and determine the presently described position of navigation object.
3. Navigation of Pilotless Aircraft method as claimed in claim 1, it is characterised in that the unmanned plane determines the navigation object
Face orientation includes：
The unmanned plane determines the face orientation of the navigation object by facial recognition techniques；
Or,
The unmanned plane determines that the movement of the navigation object tends to, and tends to determine its face orientation according to the movement.
4. Navigation of Pilotless Aircraft method as claimed in claim 1, it is characterised in that the unmanned plane is using the navigation object as base
Quasi- detection preset range in barrier, and determine the barrier positional information mode include it is following it is several in it is any
It is a kind of：
The unmanned plane detects the barrier and true in preset range on the basis of the navigation object by infrared detection technique
Determine the positional information of barrier；
The unmanned plane determined by image recognition technology barrier in the preset range on the basis of the navigation object and
The positional information of barrier；
The unmanned plane detects barrier by supersonic sounding technology on the basis of the navigation object and determines the position of barrier
Confidence ceases.
5. Navigation of Pilotless Aircraft method as claimed in claim 1, it is characterised in that further include：
The unmanned plane plans forward path according to default destination for the navigation object；
The traveling of the navigation object subsequent period is determined based on the presently described position of the navigation object and the forward path
Strategy；
The traveling strategy is sent to the audio output apparatus by the unmanned plane, so that the audio output apparatus is according to institute
State traveling strategy and carry out voice prompt to the guiding object.
6. such as claim 1-5 any one of them Navigation of Pilotless Aircraft methods, it is characterised in that the unmanned plane is tied according to detection
Fruit is presently in position and face orientation generation navigation hint information with reference to the navigation object to be included：
The unmanned plane determines the barrier according to the positional information of the barrier and the face orientation of the navigation object
Relative to the drift angle information of the navigation object face orientation, and the positional information according to the barrier and the navigation object
It is presently in range information of the barrier described in location determination relative to the guiding object；
The unmanned plane generates navigation hint according to the drift angle information and range information of the relatively described navigation object of the barrier
Information.
7. Navigation of Pilotless Aircraft method as claimed in claim 6, it is characterised in that when the barrier has two and the above,
The unmanned plane generates navigation hint information according to the angle information and range information of the relatively described navigation object of the barrier
Including：
The unmanned plane determines to be directed to each obstacle according to each barrier relative to the drift angle information of the navigation object
The prompting priority of thing, drift angle is bigger, then prompts priority smaller；
The unmanned plane filters out the barrier that prompting priority meets the first preset condition, and according to the barrier with respect to institute
State the angle information and range information generation navigation hint information of navigation object.
8. Navigation of Pilotless Aircraft method as claimed in claim 6, it is characterised in that when the barrier has two and the above,
The unmanned plane generates navigation hint information according to the angle information and range information of the relatively described navigation object of the barrier
Including：
The unmanned plane filters out the barrier that drift angle information meets the second preset condition, and opposite according to the barrier
Angle information and range information the generation navigation hint information of the navigation object.
A kind of 9. unmanned plane, it is characterised in that including：
Object information determining module, for determining that navigation object is presently in the face orientation of position and the navigation object；
Complaint message determining module, for detecting the barrier in preset range on the basis of the navigation object, and determines institute
State the positional information of barrier；
Audio-frequency information generation module, for being presently in position and face orientation life with reference to the navigation object according to result of detection
Into navigation hint information；
Audio-frequency information sending module, for the navigation hint information to be sent to audio output apparatus, so that the audio is defeated
Go out equipment and voice prompt is carried out to the guiding object according to the navigation hint information.
10. unmanned plane as claimed in claim 9, it is characterised in that audio-frequency information generation module is according to the position of the barrier
Confidence is ceased determines drift angle of the barrier relative to the navigation object face orientation with the face orientation of the navigation object
Information, and the positional information according to the barrier and the navigation object be presently in location determination described in barrier relative to
The range information for being oriented to object；And given birth to according to the drift angle information and range information of the relatively described navigation object of the barrier
Into navigation hint information.
11. a kind of UAV Navigation System, including audio output apparatus and the unmanned plane as described in claim 9 or 10.
12. UAV Navigation System as claimed in claim 11, the audio output apparatus is earphone.
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| CN201610940349.2A CN107976199A (en) | 2016-10-25 | 2016-10-25 | Navigation of Pilotless Aircraft method, system and unmanned plane |
| PCT/CN2017/093164 WO2018076814A1 (en) | 2016-10-25 | 2017-07-17 | Navigation method and system, and unmanned aerial vehicle |
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| CN201610940349.2A CN107976199A (en) | 2016-10-25 | 2016-10-25 | Navigation of Pilotless Aircraft method, system and unmanned plane |
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| WO2019214165A1 (en) * | 2018-05-09 | 2019-11-14 | 深圳市雅士长华智能科技有限公司 | Intelligent flight follower for navigation for blind people |
| CN109044753A (en) * | 2018-06-25 | 2018-12-21 | 西南交通大学 | A kind of man-machine body feeling interaction blind-guidance robot and working method |
| CN109297489A (en) * | 2018-07-06 | 2019-02-01 | 广东数相智能科技有限公司 | A kind of indoor navigation method based on user characteristics, electronic equipment and storage medium |
| CN110749317A (en) * | 2018-07-24 | 2020-02-04 | 东旭科技集团有限公司 | Navigation assisting method and device, street lamp and electronic equipment |
| CN109190486B (en) * | 2018-08-07 | 2020-11-20 | 珠海格力电器股份有限公司 | Blind guiding control method and device |
| CN110864703A (en) * | 2019-11-25 | 2020-03-06 | 维沃移动通信有限公司 | Navigation method and electronic equipment |
| CN110864703B (en) * | 2019-11-25 | 2022-02-01 | 维沃移动通信有限公司 | Navigation method and electronic equipment |
| CN111968376A (en) * | 2020-08-28 | 2020-11-20 | 北京市商汤科技开发有限公司 | Road condition prompting method and device, electronic equipment and storage medium |
| WO2022041869A1 (en) * | 2020-08-28 | 2022-03-03 | 北京市商汤科技开发有限公司 | Road condition prompt method and apparatus, and electronic device, storage medium and program product |
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|---|---|
| WO2018076814A1 (en) | 2018-05-03 |
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