CN109481248A - A kind of smart guide glasses - Google Patents
A kind of smart guide glasses Download PDFInfo
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- CN109481248A CN109481248A CN201811596252.XA CN201811596252A CN109481248A CN 109481248 A CN109481248 A CN 109481248A CN 201811596252 A CN201811596252 A CN 201811596252A CN 109481248 A CN109481248 A CN 109481248A
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5048—Audio interfaces, e.g. voice or music controlled
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Abstract
The present invention provides a kind of smart guide glasses, including mirror holder, eyeglass and earphone, ultrasonic wave module is additionally provided on glasses for guiding blind, scene Recognition module, GPS navigation module, indoor navigation module and voice module, eyeglass is equipped with camera, it is combined by camera with ultrasonic wave module, detect the obstacle information around blind person in all directions certain distance, and it is translated into after voice signal to be transported in earphone by voice module and be broadcasted, camera picture collected is indoor or outdoors scene to the connection of scene Recognition module for identification, GPS navigation module and indoor navigation module are automatically switched according to scene Recognition module, it realizes to the navigation mode and emergency route progress automatic identification under varying environment.Be able to solve existing glasses for guiding blind and do not have the problem of outdoor and indoor obstacle information and casting obtained in surrounding all directions in real time, surrounding scenes information and the track route of safety are provided can not, and do not have man machine language's interactive function the problem of.
Description
Technical field
The present invention relates to a kind of guide tools, and in particular to a kind of smart guide glasses.
Background technique
Visual capacity is that we link up the external world, are recognized and the main source of information, it may be said that is that the mankind feel
A most important Xiang Gongneng in function.However the blind person to lose the sight of both eyes is due to various inborn physiological defect and posteriori wound
Evil loses this ability, thus receives very big restriction and limitation in terms of daily life and safely walking, along with having
The construction of area blind ways is unreasonable a bit, even destroys, lacks, even more brings too many inconvenience for the life of blind person.China is
The most country of blind person in the world, there are about nearly 20,000,000 blind persons in China at present, this quantity is in about 450,000 people every year
Speed increase.With the fast development of science and technology and Modern Manufacturing Technology, the rhythm of the modern life is gradually accelerated, common
Blind-man crutch can no longer meet the real needs of blind person in the modern life, and for seeing-eye dog since training difficulty is big, training expenses are high
Also it is difficult to play efficient effect.Blind person's accident repeated, this also proposes electronics guide accessory higher, more urgent
Requirement.
Traditional guide equipment only focuses on the planning of outdoor route, and has ignored indoor environment, strange indoor ring
If the guidance of the not no navigation information in border can only guarantee the safe passing of not barrier, oneself local environment not can know that
Situation can not find oneself and want the place reached.
Summary of the invention
A kind of intelligent blind-guiding eye is provided in order to solve certain or certain technical problems, the present invention existing in the prior art
Mirror is able to solve existing glasses for guiding blind and does not have around outdoor and indoor acquisition in real time in blind person's walking process in all directions
Obstacle information and the problem of casting, to make surrounding scenes information and the track route of safety that can not provide, and do not have
Man machine language's interactive function the problem of.
In order to solve the above-mentioned prior art problems, the present invention uses following scheme:
A kind of smart guide glasses, including mirror holder, eyeglass and earphone, be additionally provided on the glasses for guiding blind ultrasonic wave module,
Scene Recognition module, GPS navigation module, indoor navigation module and voice module, the eyeglass are equipped with camera, for real-time
Surrounding pictorial information is obtained, the ultrasonic wave module is used to obtain peripheral obstacle distance letter in real time by ultrasonic distance measurement function
Breath, is combined by the camera with the ultrasonic wave module, and the obstacle around blind person in all directions certain distance is detected
Object information, and be translated into after voice signal to be transported in the earphone by the voice module and be broadcasted, it is described to take the photograph
Picture head is connect with the scene Recognition module, and camera picture collected is indoor or outdoors scene, root for identification
The GPS navigation module and indoor navigation module are automatically switched according to the scene Recognition module, realized to varying environment
Under navigation mode and emergency route carry out automatic identification, can in real time easily no matter allowing user outdoor or indoor
Obtain the track route of surrounding scenes information and safety.
Further, be equipped with microphone between the earphone and the voice module, the microphone and the earphone it
Between use integral type or split type connection, the microphone can be passed through between each module of the glasses for guiding blind and carry out voice control
System.
Further, it is additionally provided with the communication module controlled by the voice module in the glasses for guiding blind, by described
Communication module is able to carry out voice call and dials.
Further, the eyeglass is equipped with SIM card, and the frame is equipped with USB link slot and power module.
Further, it is additionally provided with GPRS module in the glasses for guiding blind, indoor navigation letter is searched for by the GPRS module
The Internet resources of breath and downloading.
Further, the indoor information network money downloaded by the GPRS module is stored in the indoor navigation module
Source, for receiving image captured by the camera and being handled figure, analyze, to guide user to walk.
It further, further include object identification module, image content captured by the camera is known by the object
Other module carries out the identification of object information and is broadcasted after being converted to voice by the voice module.
Further, the ultrasonic wave module includes including ultrasonic transmitter-receiver and obstacle avoidance module, the ultrasonic transmission/reception
Device includes ultrasonic wave sending device and ultrasonic probe, ultrasonic receiver, and constantly transmitting is ultrasonic around for the ultrasonic wave sending device
Wave, the ultrasonic signal that the ultrasonic probe, ultrasonic receiver real-time reception turns back, sends out if detecting barrier in a certain range
The number of delivering letters gives obstacle avoidance module, sends a signal to the voice module by the obstacle avoidance module and carries out the barrier that voice broadcast monitors
Hinder object range information to user.
Further, the camera is set to center of lens, and the camera is binocular camera.
Further, the scene Recognition module constructs several image in different resolution by sub-sampling, extracts multiresolution
The structure and textural characteristics of image, and by svm classifier, realize the automatic identification to scene, and then cook up one for user
The track route of item safety passes through the voice to solve the region of inconvenient or upload interior location not yet Internet resources
Module booting user walking.
Compared with prior art, the beneficial effects of the present invention are:
It is embedded with camera on eyeglass, surrounding pictorial information, and the ultrasonic distance measurement with ultrasonic wave module can be obtained in real time
It combines, is able to detect the obstacle information around blind person in all directions the preceding paragraph distance, and be translated into voice signal,
It is broadcasted by earphone, while there is GPS navigation and indoor navigation module, along with the auxiliary of scene Recognition module, can allow makes
No matter user outdoor or indoor, can easily obtain the track route of surrounding scenes information and safety in real time, when with language
After sound module and earphone combine, voice broadcast both can be carried out, can also identify that the voice signal of user carries out glasses for guiding blind
Control, more humanized, more convenient naturally, providing to user convenient, the existing glasses for guiding blind of effective solution is blind
Do not have the problem of outdoor and indoor obstacle information and casting obtained in surrounding all directions in real time in people's walking process, it can
No matter can easily obtain the track route of surrounding scenes information and safety in real time to allow user in outdoor or interior,
Using interactive mode, it is more convenient naturally, provided to user it is convenient.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is system structure diagram of the invention.
In figure: mirror holder 1, earphone 2, USB link slot 3, GPS navigation module 4, camera 5, ultrasonic wave module 6, GPRS module
7, microphone 8, SIM card 9, eyeglass 10, ultrasonic transmitter-receiver 11, power module 12, indoor navigation module 13, communication module 14,
Voice module 15, scene Recognition module 16, object identification module 17, obstacle avoidance module 18.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
As depicted in figs. 1 and 2, a kind of smart guide glasses, including mirror holder 1, eyeglass 10 and earphone 2, the glasses for guiding blind
On be additionally provided with ultrasonic wave module 6, scene Recognition module 16, GPS navigation module 4, indoor navigation module 13 and voice module 15, institute
Eyeglass 10 is stated equipped with camera 5, for obtaining surrounding pictorial information in real time, the ultrasonic wave module 6 is for passing through ultrasonic wave
Distance measurement function obtains peripheral obstacle range information in real time, is combined by the camera 5 with the ultrasonic wave module 6, inspection
The obstacle information around blind person in all directions certain distance is surveyed, and is translated into after voice signal through the voice mould
Block 15 is transported in the earphone 2 and is broadcasted, and the camera 5 is connect with the scene Recognition module 16, for identification institute
Stating the picture collected of camera 5 is indoor or outdoors scene, according to the scene Recognition module 16 to the GPS navigation module
4 and indoor navigation module 13 automatically switched, realize under varying environment navigation mode and emergency route known automatically
Not, no matter allowing user in outdoor or interior, the track route of surrounding scenes information and safety can be easily obtained in real time；
It is equipped with microphone 8 between the earphone 2 and the voice module 15, integral type is used between the microphone 8 and the earphone 2
Or split type connection, the microphone 8 can be passed through between each module of the glasses for guiding blind and carry out voice control；The guide eye
It is additionally provided with the communication module 14 controlled by the voice module 15 in mirror, voice electricity is able to carry out by the communication module 14
Words are dialed；The eyeglass 10 is equipped with SIM card 9, and the frame is equipped with USB link slot 3 and power module 12；The guide eye
It is additionally provided with GPRS module 7 in mirror, Internet resources and the downloading of indoor navigation information are searched for by the GPRS module 7；The room
The indoor information network resource downloaded by the GPRS module 7 is stored in interior navigation module 13, for receiving the camera shooting
Image captured by first 5 simultaneously handles figure, is analyzed, to guide user to walk；It further include object identification module 17, institute
Image content captured by camera 5 is stated to carry out the identification of object information by the object identification module 17 and be converted to voice
It is broadcasted afterwards by the voice module 15；The ultrasonic wave module 6 includes including ultrasonic transmitter-receiver 11 and obstacle avoidance module
18, the ultrasonic transmitter-receiver 11 includes ultrasonic wave sending device and ultrasonic probe, ultrasonic receiver, and the ultrasonic wave sending device is not
Disconnected transmitting ultrasonic wave around, the ultrasonic signal that the ultrasonic probe, ultrasonic receiver real-time reception turns back, if in a certain range
It inside detects that barrier then sends a signal to obstacle avoidance module 18, the voice module is sent a signal to by the obstacle avoidance module 18
The obstacle distance information that 15 progress voice broadcasts monitor is to user；The camera 5 is set to 10 center of eyeglass, described to take the photograph
As head 5 is binocular camera 5；The scene Recognition module 16 constructs several image in different resolution by sub-sampling, extracts multistage point
The structure and textural characteristics of resolution image, and by svm classifier, realize the automatic identification to scene, and then plan for user
The track route of a safety out, with solution inconvenience or there are no the regions for the Internet resources for uploading interior location described in
Voice module 15 guides user's walking.
In actual use, ultrasonic wave module 6, scene Recognition module 16, GPS navigation module 4, indoor navigation module
13 and voice module 15 be typically mounted at eyeglass 10 and the front end of frame of entire glasses for guiding blind, be more advantageous to the acquisition of signal,
And installation space is bigger, camera 5 is installed on the lens 10, and the sky in front of face can be quickly shot according to the rotation on head
Between picture, so that the region of Image Acquisition is more met human body custom, camera 5 can obtain surrounding pictorial information in real time, and with it is super
The ultrasonic distance measurement of sound wave module 6 combines, and is able to detect the obstacle information around blind person in all directions the preceding paragraph distance,
And it is translated into voice signal, it is broadcasted by earphone 2, while there is GPS navigation and indoor navigation module 13, adds scene
The auxiliary of identification module 16 can pass through scene Recognition mould when the picture that camera 5 takes is indoor environment after analyzing
Block 16, which is autotomyed, to be changed indoor navigation module 13 into and navigates, and when entering the room, is identified indoor environment, is led in automatic priming chamber
Model plane block 13, and indoor navigation information is obtained accordingly, when the picture that camera 5 takes is outdoor environment after analyzing,
It can be autotomyed by scene Recognition module 16 and change GPS navigation module 4 into and navigate, when user walks outside, GPS can be passed through
Navigation module 4 is oneself programme path, no matter to realize that user in outdoor or interior, can easily obtain week in real time
The track route of scene information and safety, such as traffic light intersection, stair activity, hillside pool are enclosed, reminds user to do in real time
Cope with out, scene Recognition module 16 solve the traffic lights that ultrasonic wave module 6 and GPS navigation module 4 cannot handle, it is upper downstairs
The scenes problem such as ladder is a big power-assisted of the safe normal walking of user.After being combined with voice module 15 and earphone 2, pass through
Voice module 15 both can be carried out voice broadcast, and person not can be used yet and controlled by various functions of the voice signal to glasses for guiding blind
System, more humanized, more convenient naturally, providing to user convenient, the existing glasses for guiding blind of effective solution is in blind person
Do not have the problem of outdoor and indoor obstacle information and casting obtained in surrounding all directions in real time in walking process, it can be with
No matter allowing user in outdoor or interior, the track route of surrounding scenes information and safety can be easily obtained in real time, is adopted
With interactive mode, it is more convenient naturally, provided to user it is convenient.
Generally included microphone 8, more convenient when being controlled by voice glasses for guiding blind in earphone 2, meanwhile, wheat
Gram wind 8 and earphone 2 in voice control, can also can make microphone 8 closer from mouth, sometimes using split type
Place can be made to listen apparent.
Meanwhile the communication module 14 controlled by voice module 15 is additionally provided in glasses for guiding blind, pass through 14 energy of communication module
It enough carries out voice call to dial, in conjunction with the SIM card 9 on eyeglass 10, can store phone numbers associated, if encountered on the road prominent
Heat condition, user cannot individually solve, or the case where face a danger, then the communication module 14 of SIM card 9 can be used, give
Friends and family and police make a phone call, and communication module 14 is to be passed to voice signal, intelligent language from microphone 8 by voice control
Sound identifies the opening and closing of communication module 14, and identifies the information of contact person, passes through 3 He of USB link slot on frame
Power module 12 can also be connected with the external world to charge.
And GPRS module 7 is additionally provided in glasses for guiding blind, it can be searched with network connection by voice by GPRS module 7
The some existing indoor navigation information resources of rope, and to Internet resources and download, indoor navigation module 13 can be to 5 institute of camera
The image of shooting is handled, is analyzed, and the Internet resources of the indoor navigation information is searched for by GPRS module 7, if the region
The Internet resources of interior location are not uploaded, then start obstacle avoidance module 18 and object identification module 17 using ultrasonic transmitter-receiver 11
Image analysis is carried out, identifies the walkable region of near space, and then cooks up the track route of a safety for user, so
User's walking is guided by the earphone 2 of voice module 15 afterwards.Indoor navigation module 13 can also allow user to fully understand institute
The indoor environment at place is avoided in strange indoor anxiety is vast and hazy and helplessness, user can freely enter and leave various places not by
The constraint of foreign environment.
5 captured in real-time ambient enviroment photo of camera can be transferred to object identification module 17,17 basis of object identification module
Captured content recognition goes out the object information in picture, is conducive to user and judges current environment, understands oneself whole body scene,
It is nervous, helpless and vast and hazy because object bring cannot be regarded to reduce heart.
Camera 5 combines the ultrasonic wave sending device of ultrasonic wave and ultrasonic probe, ultrasonic receiver to use, ultrasonic transmitter-receiver 11
Constantly emit ultrasonic wave around, if detecting barrier in a certain range, is broadcast by the voice in voice module 15
Report, broadcasts from earphone 2 range information of barrier to user, can be according to various barriers if peripheral obstacle is more
The distance of object is hindered to cook up a reasonable advance route, by voice broadcast to user.
Meanwhile camera 5 is mounted on 10 center of eyeglass, it is more accurate when controlling pickup area, and camera 5
For binocular camera 5, clarity is higher, and object identification module 17, which goes out the object in picture according to captured content recognition, to be believed
Breath, is conducive to user and judges current environment, understands oneself whole body scene, reduces heart because that cannot regard object bring anxiety, nothing
Help with it is vast and hazy, camera 5 can also cooperate obstacle avoidance module 18 to provide appropriate route for user.
It can be oneself programme path by GPS navigation module 4 when user walks outside, the camera 5 on eyeglass 10
The photo of captured in real-time ambient enviroment, carries out scene analysis identification, and scene Recognition module 16 constructs several resolutions by sub-sampling
Rate image, extracts the structure and textural characteristics of multiresolution image, both comprehensive features are realized by svm classifier to field
The automatic identification of scape.
When carrying out structure feature extraction, to different image in different resolution, in the form of uniform grid, multiple dimensioned son is carried out
Highest resolution image is divided into 4 × 4 16 sub-regions by region division；Mid-resolution image is divided into the 4 of 2 × 2
Sub-regions；Lowest resolution image no longer carries out the division of subregion.After obtaining the subregion of all image in different resolution, with power
Weight gradient orientation histogram describes method, indicates the structure feature of these subregions.
When extracting image texture characteristic, 3 image in different resolution are split respectively, using Ncuts dividing method, and
The cut zone number of specified highest resolution image is 16, mid-resolution image is 12, lowest resolution image is 8, to every
Width input picture obtains 36 cut zone altogether.After obtaining the cut zone of all image in different resolution, Gabor filter is used
Group and Schmid filtering collection are responded with the convolution of image, indicate the textural characteristics in these regions.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
1. a kind of smart guide glasses, including mirror holder, eyeglass and earphone, it is characterised in that: be additionally provided on the glasses for guiding blind super
Sound wave module, scene Recognition module, GPS navigation module, indoor navigation module and voice module, the eyeglass are equipped with camera shooting
Head, is used to obtain surrounding pictorial information in real time, and the ultrasonic wave module is used to obtain surrounding in real time by ultrasonic distance measurement function
Obstacle distance information is combined by the camera with the ultrasonic wave module, and it is certain to detect all directions around blind person
Obstacle information in distance, and be translated into after voice signal and progress in the earphone is transported to by the voice module
Casting, the camera connect with the scene Recognition module, for identification camera picture collected for interior or
Outdoor scene automatically switches the GPS navigation module and indoor navigation module according to the scene Recognition module, realizes
To under varying environment navigation mode and emergency route carry out automatic identification, can no matter allowing user outdoor or indoor
The track route of surrounding scenes information and safety is easily obtained in real time.
2. a kind of smart guide glasses according to claim 1, it is characterised in that: the earphone and the voice module it
Between be equipped with microphone, between the microphone and the earphone use integral type or split type connection, the glasses for guiding blind it is each
Between module voice control can be carried out by the microphone.
3. a kind of smart guide glasses according to claim 2, it is characterised in that: be additionally provided with and pass through in the glasses for guiding blind
The communication module of the voice module control, is able to carry out voice call by the communication module and dials.
4. a kind of smart guide glasses according to claim 3, it is characterised in that: the eyeglass is equipped with SIM card, described
Frame is equipped with USB link slot and power module.
5. a kind of smart guide glasses according to claim 3, it is characterised in that: be additionally provided with GPRS in the glasses for guiding blind
Module searches for Internet resources and the downloading of indoor navigation information by the GPRS module.
6. a kind of smart guide glasses according to claim 5, it is characterised in that: be stored in the indoor navigation module
The indoor information network resource downloaded by the GPRS module, for receiving image captured by the camera and to figure
It handled, analyzed, to guide user to walk.
7. described in any item a kind of smart guide glasses according to claim 1~6, it is characterised in that: further include object identification
Module, image content captured by the camera carry out the identification of object information by the object identification module and are converted to
It is broadcasted after voice by the voice module.
8. a kind of smart guide glasses according to claim 1, it is characterised in that: the ultrasonic wave module includes including super
Sound wave transceiver and obstacle avoidance module, the ultrasonic transmitter-receiver includes ultrasonic wave sending device and ultrasonic probe, ultrasonic receiver, described
Ultrasonic wave sending device constantly emits ultrasonic wave around, the ultrasonic wave letter that the ultrasonic probe, ultrasonic receiver real-time reception turns back
Number, obstacle avoidance module is sent a signal to if detecting barrier in a certain range, is sent a signal to by the obstacle avoidance module
The obstacle distance information that the voice module progress voice broadcast monitors is to user.
9. a kind of smart guide glasses according to claim 1, it is characterised in that: the camera is set to center of lens,
The camera is binocular camera.
10. described in any item a kind of smart guide glasses according to claim 1~6, it is characterised in that: the scene Recognition mould
Block constructs several image in different resolution by sub-sampling, extracts the structure and textural characteristics of multiresolution image, and pass through SVM points
Class realizes the automatic identification to scene, and then the track route of a safety is cooked up for user, to solve inconvenient or go back
The region for not uploading the Internet resources of interior location guides user's walking by the voice module.
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| CN201811596252.XA CN109481248A (en) | 2018-12-26 | 2018-12-26 | A kind of smart guide glasses |
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| CN201811596252.XA CN109481248A (en) | 2018-12-26 | 2018-12-26 | A kind of smart guide glasses |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109938975A (en) * | 2019-04-30 | 2019-06-28 | 上海海事大学 | A kind of glasses for guiding blind |
| CN109998874A (en) * | 2019-04-24 | 2019-07-12 | 广东海洋大学 | A kind of intelligent blind-guiding device |
| CN109998873A (en) * | 2019-04-12 | 2019-07-12 | 赖振龙 | A kind of wearable blindmen intelligent positioning and blind guiding system |
| CN110236895A (en) * | 2019-05-10 | 2019-09-17 | 苏州米特希赛尔人工智能有限公司 | AI blind men navigation spectacles |
| CN110269787A (en) * | 2019-06-26 | 2019-09-24 | 青岛海尔科技有限公司 | A kind of blind-guiding method, device and cap |
| CN110478204A (en) * | 2019-07-25 | 2019-11-22 | 李高轩 | A kind of glasses for guiding blind of combination image recognition and its blind guiding system of composition |
| CN110547955A (en) * | 2019-09-06 | 2019-12-10 | 薛丁维 | blind guiding robot |
| CN110623820A (en) * | 2019-07-15 | 2019-12-31 | 电子科技大学 | Blind device is led to wearable intelligence |
| CN110782626A (en) * | 2019-08-15 | 2020-02-11 | 天津中德应用技术大学 | Artificial intelligence navigation head based on thing networking |
| CN111067767A (en) * | 2019-12-30 | 2020-04-28 | 西安Tcl软件开发有限公司 | Walking assistance device, control method thereof, control device thereof, and readable storage medium |
| CN112099504A (en) * | 2020-09-16 | 2020-12-18 | 深圳优地科技有限公司 | Robot moving method, device, equipment and storage medium |
| CN112263447A (en) * | 2020-07-09 | 2021-01-26 | 长江师范学院 | Intelligent voice glasses for blind people, control method, storage medium and program |
| CN112494290A (en) * | 2020-11-27 | 2021-03-16 | 北京深睿博联科技有限责任公司 | Navigation glasses |
| CN112569092A (en) * | 2020-12-16 | 2021-03-30 | 上海夕田科技有限公司 | Outdoor blind guiding equipment for 5G blind people |
| CN113101155A (en) * | 2021-03-31 | 2021-07-13 | 电子科技大学成都学院 | Traffic light intersection blind guiding method and blind guiding device based on machine vision |
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| CN116233588A (en) * | 2023-05-10 | 2023-06-06 | 江西科技学院 | Intelligent glasses interaction system and method |
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