CN111743740A - Blind guiding method and device, blind guiding equipment and storage medium - Google Patents
Blind guiding method and device, blind guiding equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a blind guiding method, a blind guiding device, blind guiding equipment and a storage medium. The application relates to the technical field of blind guiding, and the method comprises the following steps: receiving a preset blind guiding starting instruction; monitoring the voice information of the blind person, and acquiring a target address from the voice information; acquiring environmental image information of the blind and position information of surrounding detected objects; calculating the current road condition information of the blind according to the environment image information and the position information of the detected object; and forming a preset control instruction according to the target address and the current road condition information, and broadcasting the blind guiding prompt information to the blind based on the preset control instruction so as to guide the blind. According to the embodiment of the application, the current road condition information of the blind person is calculated by obtaining the environment image information and the position information of the detected object, and the preset control instruction is formed according to the current road condition information and the obtained target address to broadcast the blind guiding prompt information to the blind person so as to guide the blind person, so that the blind guiding accuracy can be improved, and the safety of the blind person in going out is ensured.
Description
Technical Field
The invention relates to the technical field of blind guiding, in particular to a blind guiding method, a blind guiding device, blind guiding equipment and a storage medium.
Background
The blind is a social disadvantaged group, is difficult to go out independently and has a limited range of activities. The blind people mainly rely on the help of a blind stick, a blind guiding dog or blind guiding equipment for going out. At present, the guide dog needs long-time training, is expensive and is troublesome to raise. Although the blind stick is convenient to use and low in price, the detection range is small, and the obstacles above the chest are difficult to detect in time. The existing blind guiding equipment in the market mostly takes means such as ultrasonic waves and the like as the main means, the method is mostly based on ranging in a narrow range, the detection distance and the detection range are limited, the precision is not high, the barriers can not be accurately positioned, the blind guiding equipment is difficult to adapt to complicated and variable actual road conditions, and the safety of the blind is difficult to guarantee.
Disclosure of Invention
The embodiment of the invention provides a blind guiding method, a blind guiding device, blind guiding equipment and a storage medium, and aims to improve the accuracy of blind guiding.
In a first aspect, an embodiment of the present invention provides a blind guiding method, which includes:
receiving a preset blind guiding starting instruction;
monitoring voice information of the blind person, and acquiring a target address from the voice information;
acquiring environmental image information of the blind and position information of surrounding detected objects;
calculating the current road condition information of the blind according to the environment image information and the position information of the detected object;
and forming a preset control instruction according to the target address and the current road condition information, and broadcasting blind guiding prompt information to the blind based on the preset control instruction so as to guide the blind.
In a second aspect, an embodiment of the present invention further provides a blind guiding device, which includes:
the receiving unit is used for receiving a preset blind guide starting instruction;
the first acquisition unit is used for monitoring the voice information of the blind person and acquiring a target address from the voice information;
the second acquisition unit is used for acquiring the environmental image information of the blind and the position information of the detected object around the blind;
the calculating unit is used for calculating the current road condition information of the blind according to the environment image information and the position information of the detected object;
and the prompting unit is used for forming a preset control instruction according to the target address and the current road condition information, and broadcasting the blind guiding prompting information to the blind based on the preset control instruction so as to guide the blind.
In a third aspect, an embodiment of the present invention further provides a blind guiding device, which includes a memory and a processor, where the memory stores a blind guiding program, and the processor implements the above method when executing the blind guiding program.
In a fourth aspect, an embodiment of the present invention further provides a blind-guiding readable storage medium, where the storage medium stores a blind-guiding program, and the blind-guiding program, when executed by a processor, can implement the above method.
The embodiment of the invention provides a blind guiding method, a blind guiding device, blind guiding equipment and a storage medium. Wherein the method comprises the following steps: receiving a preset blind guiding starting instruction; monitoring voice information of the blind person, and acquiring a target address from the voice information; acquiring environmental image information of the blind and position information of surrounding detected objects; calculating the current road condition information of the blind according to the environment image information and the position information of the detected object; and forming a preset control instruction according to the target address and the current road condition information, and broadcasting blind guiding prompt information to the blind based on the preset control instruction so as to guide the blind. According to the technical scheme of the embodiment of the invention, the target address, the environment image information of the blind and the position information of the surrounding detected object are obtained, the current road condition information of the blind is calculated according to the environment image information and the position information of the detected object, and the blind guiding prompt information is broadcasted to the blind according to the preset control instruction formed by the target address and the current road condition information so as to guide the blind, so that the accuracy of guiding the blind can be improved, and the safety of the blind in going out is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a blind guiding method according to an embodiment of the present invention;
fig. 2 is a schematic sub-flow diagram of a blind guiding method according to an embodiment of the present invention;
fig. 3 is a schematic sub-flow diagram of a blind guiding method according to an embodiment of the present invention;
fig. 4 is a sub-flow diagram of a blind guiding method according to an embodiment of the present invention;
fig. 5 is a schematic sub-flow diagram of a blind guiding method according to an embodiment of the present invention;
fig. 6 is a schematic flowchart of a blind guiding method according to another embodiment of the present invention;
fig. 7 is a schematic block diagram of a blind guiding apparatus according to an embodiment of the present invention;
fig. 8 is a schematic block diagram of a first obtaining unit of a blind guiding apparatus according to an embodiment of the present invention;
fig. 9 is a schematic block diagram of a computing unit of a blind guiding apparatus according to an embodiment of the present invention;
fig. 10 is a schematic block diagram of an identification unit of a blind guiding device according to an embodiment of the present invention;
fig. 11 is a schematic block diagram of a modeling unit of a blind guiding apparatus provided by an embodiment of the present invention;
fig. 12 is a schematic block diagram of a prompt unit of a blind guiding device according to an embodiment of the present invention;
fig. 13 is a schematic block diagram of a blind guiding apparatus according to another embodiment of the present invention; and
fig. 14 is a schematic block diagram of a blind guiding device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Referring to fig. 1, fig. 1 is a schematic flow chart of a blind guiding method according to an embodiment of the present invention. The blind guiding method provided by the embodiment of the invention can be applied to blind guiding equipment, and is realized through software installed on the blind guiding equipment, so that the blind guiding function is provided for the blind, and the safety of the blind in traveling is ensured. The following describes the method in detail by taking the blind guiding method applied to blind guiding equipment as an example. As shown in fig. 1, the method includes the following steps S100-S140.
S100, receiving a preset blind guide starting instruction.
In the embodiment of the invention, if the blind person starts the start key on the blind guiding equipment, the blind guiding equipment receives a preset blind guiding start command. The blind guiding equipment comprises an information acquisition device, an information processing device, a prompting device, a power supply device, a communication device, a starting key and a fixed structure. Wherein, information acquisition device includes: the system comprises a camera, a laser radar, a microphone and a GPS module; the information processing apparatus includes: a microprocessor, such as an ARM architecture microprocessor; the prompting device comprises: a loudspeaker; the power supply device includes: a lithium battery; the communication apparatus includes: and a wireless communication module. In an actual application scenario, after the information acquisition device, the information processing device, the prompting device, the power supply device and the communication device are installed on the fixed structure, the blind guiding device is worn on the head, for example, the fixed structure may be a glasses frame, and the blind guiding device is blind glasses with a blind guiding function. Specifically, the information acquisition device can be arranged at a nose support of a spectacle frame of the blind; the information processing device can be arranged on the left side or the right side of the information acquisition device; the prompting device can be arranged at the glasses legs of the glasses for the blind, so that the blind can conveniently listen to the blind guiding prompting information; the power supply device can be arranged at the glasses legs or the glasses lenses of the blind; the communication device can be arranged at the glasses legs of the blind; the starting button can be arranged at the hinge of the blind glasses. The blind person presses a start key on the blind guiding device, the blind guiding device starts to work, the camera in the information acquisition device is used for acquiring the surrounding environment information of the blind person, the laser radar is used for acquiring the position information of the detected object, and the microphone is used for monitoring the voice information of the blind person to acquire the target address required to be reached by the blind person, then the information processing device is used for processing the surrounding environment information of the blind person, the position information of the detected object and the target address to form a preset control instruction, and the preset control instruction is sent to the prompting device to broadcast the blind guiding prompting information to the blind person, so that the blind person is helped to accurately implement obstacle avoidance, and the walking condition and the traveling safety of the blind person are.
It should be noted that, the power supply device can supply power to the blind guiding device, and the communication device can send the information of the surrounding environment of the blind collected by the information collection device to other information processing devices for processing, for example, an intelligent terminal or a cloud server.
S110, monitoring the voice information of the blind person, and acquiring a target address from the voice information.
In the embodiment of the invention, after the blind guiding equipment receives the preset blind guiding starting instruction, the voice information of the blind can be monitored through the information acquisition device, and the target address can be obtained from the voice information. In the practical application scene, the voice information of the blind is monitored through a microphone, and then the voice information is converted into a preset voice instruction which can be recognized by the blind guiding equipment through a preset conversion technology, so that the blind guiding equipment can know a target address to which the blind is to arrive.
In some embodiments, such as this embodiment, as shown in FIG. 2, the step S110 may include steps S111-S112.
And S111, monitoring the voice information of the blind.
And S112, converting the voice information into a preset voice instruction through a voice recognition technology and a natural language processing technology, and extracting address information in the preset voice instruction as a target address.
In the embodiment of the invention, the voice information of the blind is monitored through the microphone, and the voice information is converted into the preset voice command through the voice recognition technology and the natural language processing technology in the information processing device, wherein the preset voice command is a target address. Among others, Speech Recognition technology, also known as Automatic Speech Recognition (ASR), aims at converting the vocabulary content in human Speech into machine-readable input, such as keystrokes, binary codes or character sequences. Specifically, firstly, analyzing and processing the voice information to remove redundant information; then, extracting key information influencing the voice information and characteristic information expressing language meaning by using an MFCC (Mel frequency cepstrum coefficient) technology; and finally, identifying words by using the minimum unit according to the fastened feature information, and processing the feature information according to the sequence, the semantics and the combined semantics by using a natural language processing technology and according to respective grammars of different languages to obtain a preset voice instruction.
And S120, acquiring the environmental image information of the blind and the position information of the detected object around the blind.
In the embodiment of the invention, after the blind guiding equipment acquires the target address, the information acquisition device acquires the environmental image information of the blind and the position information of the detected objects around the blind. Specifically, an environmental image in front of the blind can be shot in real time through a camera arranged on the blind guiding device so as to obtain environmental image information; the laser radar installed on the blind guiding device is used for detecting the surrounding environment of the blind and forming the position information of the detected object.
And S130, calculating the current road condition information of the blind according to the environment image information and the position information of the detected object.
In the embodiment of the invention, after the information acquisition device in the blind guiding equipment acquires the target address, the environment image information of the blind and the position information of the detected object around, the information processing device can calculate the current road condition information of the blind according to the environment image information and the position information of the detected object.
It should be noted that the information processing device may form a preset control instruction after processing the environmental image information and the position information of the detected object sent by the information acquisition device, and then send the preset control instruction to the prompting device through the communication device to implement the blind guiding function. The information processing device is one or a combination of a controller, a terminal and a cloud server. Specifically, the controller can be a microprocessor of an ARM architecture, and can also be an embedded integrated controller; the terminal is a mobile terminal device with a bluetooth communication function, such as a smart phone. The communication device is a wireless communication module. In a specific application scenario, if the wireless communication module is a bluetooth module, the blind guiding device may communicate with the terminal, and if the wireless communication module is a module having an NB-IoT (Narrow Band Internet of Things based on cellular) function, the blind guiding device may communicate with the cloud server. In this embodiment, through the setting of the communication module, when the information processing capability of the blind guiding device is limited, the information processing capability of the terminal or the cloud server can be used, so that the capability of the blind guiding device for processing information in real time is improved to a certain extent, and blind guiding prompt information can be provided for the blind in time.
In some embodiments, such as this embodiment, as shown in fig. 3, the step S130 may include steps S131-S133.
S131, intelligently recognizing the environment image information based on a preset model to mark the recognized object to form marking information.
S132, acquiring preset information in the position information of the detected object based on a preset detection technology, and performing 3D modeling according to the preset information to form 3D modeling information.
In some embodiments, such as the present embodiment, as shown in FIG. 4, the step S132 may include steps S1321-S1322.
And S1321, acquiring depth information and distance information in the position information of the detected object based on the TOF technology.
And S1322, performing 3D modeling according to the depth information and the distance information to form 3D modeling information.
In the embodiment of the invention, an information processing device in the blind guiding equipment acquires preset information in the position information of the detected object based on a preset detection technology, and performs 3D modeling according to the preset information to form 3D modeling information. The preset detection technology is a TOF technology, the TOF technology is based on a flight time method, the time of reflection to the sensor after the near-infrared light ray meets an object after self-emission is calculated, and distance information and depth information between the sensor and a measured object can be easily obtained by matching with constant light speed. Specifically, depth information and distance information in position information of a detected object are obtained based on a TOF technology; and performing 3D modeling according to the depth information and the distance information to form 3D modeling information.
S133, inputting the marking information and the 3D modeling information into the preset model to calculate the current road condition information of the blind.
In the embodiment of the invention, the information processing device in the blind guiding equipment calculates the current road condition information of the blind according to the environment image information and the position information of the detected object. Specifically, the environment image information is intelligently identified based on a preset model so as to mark an identified object to form marking information; acquiring preset information in the position information of the detected object based on a preset detection technology, and performing 3D modeling according to the preset information to form 3D modeling information; and inputting the marking information and the 3D modeling information into the preset model to calculate the current road condition information of the blind. Wherein, the preset model is a deep learning model. In the embodiment of the present invention, the deep learning model is a convolutional neural network, and in other embodiments, the deep learning model may also be a recurrent neural network. In a specific application scene, intelligently identifying the environment image information based on a deep learning model to mark an identified object to form marking information, wherein the object is, for example, a traffic light, an automobile, a person, an animal, a toilet and the like in the environment image information; acquiring depth information and distance information in the position information of the detected object based on a TOF technology, and performing 3D modeling according to the depth information and the distance information to form 3D modeling information; and inputting the marking information and the 3D modeling information into the deep learning model to calculate the current road condition information of the blind person, and helping the blind person to accurately navigate and avoid obstacles in real time.
The information processing device processes the data sent by the information acquisition device in real time to obtain road condition information of the blind, and sends a preset control instruction to realize an intelligent blind guiding function.
And S140, forming a preset control instruction according to the target address and the current road condition information, and broadcasting blind guiding prompt information to the blind based on the preset control instruction so as to guide the blind.
In some embodiments, such as this embodiment, as shown in FIG. 5, the step S140 may include steps S141-S142.
And S141, generating a target route in real time according to the target address and the current road condition information to form a preset control instruction.
And S142, broadcasting intersection warning information, barrier prompting information and avoidance path information to the blind person based on the preset control instruction so as to guide the blind person.
In the embodiment of the invention, after the information processing device in the blind guiding device calculates the current road condition information of the blind according to the environment image information and the position information of the detected object, a preset control instruction is formed according to the target address and the current road condition information, and the formed preset control instruction is sent to the prompting device through the communication device, so that the blind guiding function is realized. The blind guiding prompt information comprises intersection warning information, obstacle prompt information, avoidance path information and other information for guiding and prompting the blind. Specifically, the information processing device generates a target route in real time according to the target address and the current road condition information to form a preset control instruction; and then, sending a preset control instruction to a prompting device through a communication device so as to broadcast intersection warning information, barrier prompting information and avoidance path information to the blind person to guide the blind person. In this embodiment, the prompting device is an audio player, such as an earphone or a loudspeaker. In other embodiments, the prompting device can also generate vibration to let the user know the road condition information by sensing different vibration forms. The blind guiding prompt information output by the prompt device is simple in design and unambiguous, and is convenient for users to understand.
Fig. 6 is a flowchart illustrating a blind guiding method according to another embodiment of the present invention, as shown in fig. 6, in the present embodiment, the blind guiding method includes steps S200 to S250. Steps S200 to S240 are similar to steps S100 to S140 in the above embodiments, and are not described herein again. The added step S250 in the present embodiment is explained in detail below.
And S250, if receiving a preset emergency call instruction, sending an emergency call signal to passers-by and sending the position information of the blind to preset family contacts.
In the embodiment of the invention, the blind guiding equipment is also provided with an emergency call button and an alarm, when the emergency call button is triggered, an information processing device in the blind guiding equipment receives a preset emergency call instruction, controls the alarm to send an emergency help-seeking signal to passers-by and sends the position information of the blind to preset family contacts. When the blind person walking aid is applied specifically, when the blind person feels uncomfortable or other situations that the blind person needs to seek help from the outside occur, the blind person can seek passerby help by pressing an emergency call button arranged on the blind guiding device, and meanwhile, the position information of the blind person is sent to the family members of the blind person, so that the family members can provide timely and effective help to ensure the safety of the blind person when going out. The position information of the blind is acquired by a GPS module in the information acquisition device, and the GPS module can acquire longitude and latitude coordinate information of the position of the blind.
In this embodiment, a power supply device for supplying power to the blind guiding device is further disposed on the blind guiding device. Specifically, power supply unit is the lithium cell, and lithium cell accessible lithium cell charger charges, and then realizes the power supply function of lithium cell. Of course, the solar panel can be arranged on the blind guiding equipment to charge the lithium battery, and the arrangement of the solar panel can enable the blind person to be incapable of charging outdoors, so that the power supply of the blind guiding equipment is ensured in real time, and the power supply time of the blind guiding equipment is prolonged.
Fig. 7 is a schematic block diagram of a blind guiding apparatus 60 according to an embodiment of the present invention. As shown in fig. 7, corresponding to the above blind guiding method, the present invention further provides a blind guiding device 60, where the blind guiding device 60 is configured in the information processing device of the blind guiding apparatus. The blind guiding device 60 comprises means for performing the above-described blind guiding method. Specifically, referring to fig. 7, the blind guiding device 60 includes a receiving unit 61, a first obtaining unit 62, a second obtaining unit 63, a calculating unit 64, and a prompting unit 65.
The receiving unit 61 is configured to receive a preset blind guiding start instruction; the first obtaining unit 62 is configured to monitor voice information of a blind person, and obtain a target address from the voice information; the second obtaining unit 63 is used for obtaining the environmental image information of the blind and the position information of the detected object around the blind; the calculating unit 64 is used for calculating the current road condition information of the blind according to the environment image information and the position information of the detected object; the prompting unit 65 is configured to form a preset control instruction according to the target address and the current road condition information, and broadcast a blind guiding prompting message to the blind based on the preset control instruction so as to guide the blind.
In some embodiments, for example, in the present embodiment, referring to fig. 8, the first obtaining unit 62 includes a listening unit 621 and a converting unit 622.
The monitoring unit 621 is configured to monitor voice information of the blind; the conversion unit 622 is configured to convert the voice information into a preset voice command through a voice recognition technology and a natural language processing technology, and extract address information in the preset voice command as a target address.
In some embodiments, for example, in the present embodiment, referring to fig. 9, the calculating unit 64 includes an identifying unit 641, a modeling unit 642, and a calculating subunit 643.
The identification unit 641 is configured to perform intelligent identification on the environment image information based on a preset model to mark out an identified object to form marking information; the modeling unit 642 is configured to obtain preset information in the position information of the detected object based on a preset detection technology, and perform 3D modeling according to the preset information to form 3D modeling information; the calculating subunit 643 is configured to input the labeling information and the 3D modeling information into the preset model to calculate current road condition information of the blind.
In certain embodiments, for example in the present embodiment, referring to fig. 10, the identifying unit 641 comprises an identifying subunit 6411.
The recognition subunit 6411 is configured to perform intelligent recognition on the environment image information based on a deep learning model to mark out a recognized object to form marking information.
In some embodiments, such as this embodiment, referring to fig. 11, the modeling unit 642 includes an acquisition subunit 6421 and a modeling subunit 6422.
The acquiring subunit 6421 is configured to acquire depth information and distance information in the position information of the detected object based on a TOF technique; the modeling unit 6422 is configured to perform 3D modeling according to the depth information and the distance information to form 3D modeling information.
In some embodiments, for example, in this embodiment, referring to fig. 12, the prompting unit 65 includes a generating unit 651 and a prompting subunit 652.
The generating unit 651 is configured to generate a target route in real time according to the target address and the current traffic information to form a preset control instruction; the prompting subunit 652 is configured to broadcast intersection warning information, obstacle prompting information, and avoidance path information to the blind person based on the preset control instruction, so as to guide the blind person.
Fig. 13 is a schematic block diagram of a blind guiding apparatus 60 according to another embodiment of the present invention. As shown in fig. 13, the blind guiding device 60 of the present embodiment is added with an emergency call unit 66 on the basis of the above embodiment.
The emergency call unit 66 is used for sending an emergency call signal to passers-by and sending the position information of the blind to preset family contacts if receiving a preset emergency call instruction.
It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation processes of the blind guiding device 60 and each unit may refer to the corresponding descriptions in the foregoing method embodiments, and for convenience and brevity of description, no further description is provided herein.
The blind guiding device can be implemented in the form of a blind guiding program which can be run on a blind guiding device as shown in fig. 12.
Referring to fig. 14, fig. 14 is a schematic block diagram of a blind guiding device according to an embodiment of the present application. The blind guiding device 900 comprises an information acquisition device 901, an information processing device 902, a prompting device 903, a communication device 904, a power supply device 905, a start key 906 and a fixed structure 907. The information acquisition device 901 is connected with the information processing device 902, the information processing device 902 is connected with the prompting device through the communication device 904, the power supply device 905 supplies power to the whole blind guiding device 900, the start button 906 enables the whole blind guiding device to start working, and the fixed structure 907 is used for installing the information acquisition device 901, the information processing device 902, the prompting device 903, the communication device 904, the power supply device 905 and the start button 906. Information processing apparatus 902 may include a processor 9021 and a nonvolatile storage medium 9022, where nonvolatile storage medium 9022 may store a blind guide program; when executed, the blind guiding program may cause processor 9021 to execute a blind guiding method; the processor 9021 is configured to provide computing and control capabilities to support the operation of the entire blind guide apparatus 900. Those skilled in the art will appreciate that the structure shown in fig. 14 is a block diagram of only a portion of the structure related to the present application, and does not constitute a limitation to blind guiding device 900 to which the present application is applied, and that a particular blind guiding device 900 may include more or less components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
In some embodiments, for example, in this embodiment, when the processor 9021 implements the step of monitoring the voice information of the blind person and acquiring the target address from the voice information, the following steps are specifically implemented: monitoring voice information of the blind; and converting the voice information into a preset voice instruction through a voice recognition technology and a natural language processing technology, and extracting address information in the preset voice instruction as a target address.
In some embodiments, for example, in this embodiment, when the processor 9021 calculates the current road condition information of the blind according to the environment image information and the position information of the detected object, the following steps are specifically implemented: intelligently identifying the environment image information based on a preset model to mark an identified object to form marking information; acquiring preset information in the position information of the detected object based on a preset detection technology, and performing 3D modeling according to the preset information to form 3D modeling information; and inputting the marking information and the 3D modeling information into the preset model to calculate the current road condition information of the blind.
In some embodiments, for example, in this embodiment, when the processor 9021 implements the step of intelligently identifying the environment image information based on the preset model to mark out the identified object to form the marking information, the following steps are specifically implemented: and intelligently identifying the environment image information based on a deep learning model so as to mark out the identified object to form marking information.
In some embodiments, for example, in this embodiment, when implementing the step of obtaining preset information in the position information of the detected object based on a preset detection technology and performing 3D modeling according to the preset information to form 3D modeling information, the processor 9021 specifically implements the following steps: acquiring depth information and distance information in the position information of the detected object based on the TOF technology; and performing 3D modeling according to the depth information and the distance information to form 3D modeling information.
In some embodiments, for example, in this embodiment, when the processor 9021 implements the steps of forming a preset control instruction according to the target address and the current traffic information, and broadcasting the blind guiding prompt information to the blind based on the preset control instruction to guide the blind, the following steps are specifically implemented: generating a target route in real time according to the target address and the current road condition information to form a preset control instruction; and broadcasting intersection warning information, barrier prompting information and avoidance path information to the blind person based on the preset control instruction so as to guide the blind person.
In some embodiments, for example, in this embodiment, after the step of forming a preset control instruction according to the target address and the current traffic information and broadcasting the blind guiding prompt information to the blind based on the preset control instruction to guide the blind, the processor 9021 specifically further includes the following steps: if the preset emergency call instruction is received, an emergency call signal is sent to the passerby and the position information of the blind person is sent to the preset family contact person.
It should be understood that, in the embodiment of the present Application, the Processor 9021 may be a Central Processing Unit (CPU), and the Processor 9021 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It can be understood by those skilled in the art that all or part of the flow in the method for implementing the above embodiments may be implemented by instructing the relevant hardware through a blind guiding program. The blind guiding program can be stored in a storage medium, and the storage medium is a blind guiding readable storage medium. The blind guiding program is executed by at least one processor in the blind guiding system to implement the flow steps of the above-mentioned method embodiments.
Accordingly, the present invention also provides a storage medium. The storage medium may be a blind-guiding readable storage medium. The storage medium stores a blind guiding program. The blind guiding program is executed by the processor to cause the processor to execute the following steps: receiving a preset blind guiding starting instruction; monitoring voice information of the blind person, and acquiring a target address from the voice information; acquiring environmental image information of the blind and position information of surrounding detected objects; calculating the current road condition information of the blind according to the environment image information and the position information of the detected object; and forming a preset control instruction according to the target address and the current road condition information, and broadcasting blind guiding prompt information to the blind based on the preset control instruction so as to guide the blind.
In some embodiments, for example, in this embodiment, when the processor executes the blind guiding program to monitor the voice information of the blind and obtain the target address from the voice information, the following steps are specifically implemented: monitoring voice information of the blind; and converting the voice information into a preset voice instruction through a voice recognition technology and a natural language processing technology, and extracting address information in the preset voice instruction as a target address.
In some embodiments, for example, in this embodiment, when the processor executes the blind guiding program to calculate the current road condition information of the blind according to the environment image information and the position information of the detected object, the following steps are specifically implemented: intelligently identifying the environment image information based on a preset model to mark an identified object to form marking information; acquiring preset information in the position information of the detected object based on a preset detection technology, and performing 3D modeling according to the preset information to form 3D modeling information; and inputting the marking information and the 3D modeling information into the preset model to calculate the current road condition information of the blind.
In some embodiments, for example, in this embodiment, when the processor executes the blind guiding program to implement the step of intelligently identifying the environment image information based on the preset model to mark out the identified object to form the marking information, the following steps are specifically implemented: and intelligently identifying the environment image information based on a deep learning model so as to mark out the identified object to form marking information.
In some embodiments, for example, in this embodiment, when the processor executes the blind guiding program to implement the step of obtaining preset information in the position information of the detected object based on a preset detection technique and performing 3D modeling according to the preset information to form 3D modeling information, the following steps are specifically implemented: acquiring depth information and distance information in the position information of the detected object based on the TOF technology; and performing 3D modeling according to the depth information and the distance information to form 3D modeling information.
In some embodiments, for example, in this embodiment, when the processor executes the blind guiding program to form a preset control instruction according to the target address and the current traffic information, and broadcasts blind guiding prompt information to the blind based on the preset control instruction to guide the blind, the following steps are specifically implemented: generating a target route in real time according to the target address and the current road condition information to form a preset control instruction; and broadcasting intersection warning information, barrier prompting information and avoidance path information to the blind person based on the preset control instruction so as to guide the blind person.
In some embodiments, for example, in this embodiment, after the processor executes the blind guiding program to implement the steps of forming a preset control instruction according to the target address and the current traffic information, and broadcasting blind guiding prompt information to the blind based on the preset control instruction to guide the blind, the specific implementation further includes the following steps: if the preset emergency call instruction is received, an emergency call signal is sent to the passerby and the position information of the blind person is sent to the preset family contact person.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk or an optical disk, and various other guiding and readable storage media capable of storing program codes.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, blind-guiding software, or combinations thereof, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a blind guiding device to execute all or part of the steps of the method according to the embodiments of the present invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, while the invention has been described with respect to the above-described embodiments, it will be understood that the invention is not limited thereto but may be embodied with various modifications and changes.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method of guiding blind comprising:
receiving a preset blind guiding starting instruction;
monitoring voice information of the blind person, and acquiring a target address from the voice information;
acquiring environmental image information of the blind and position information of surrounding detected objects;
calculating the current road condition information of the blind according to the environment image information and the position information of the detected object;
and forming a preset control instruction according to the target address and the current road condition information, and broadcasting blind guiding prompt information to the blind based on the preset control instruction so as to guide the blind.
2. The blind guiding method according to claim 1, wherein the calculating the current road condition information of the blind according to the environment image information and the position information of the detected object comprises:
intelligently identifying the environment image information based on a preset model to mark an identified object to form marking information;
acquiring preset information in the position information of the detected object based on a preset detection technology, and performing 3D modeling according to the preset information to form 3D modeling information;
and inputting the marking information and the 3D modeling information into the preset model to calculate the current road condition information of the blind.
3. The blind guiding method according to claim 2, wherein the intelligently recognizing the environment image information based on a preset model to mark out a recognized object to form marking information comprises:
and intelligently identifying the environment image information based on a deep learning model so as to mark out the identified object to form marking information.
4. The blind guiding method according to claim 2, wherein the obtaining of preset information in the position information of the detected object based on a preset detection technology and performing 3D modeling according to the preset information to form 3D modeling information comprises:
acquiring depth information and distance information in the position information of the detected object based on the TOF technology;
and performing 3D modeling according to the depth information and the distance information to form 3D modeling information.
5. The blind guiding method of claim 1, wherein a preset control instruction is formed according to the target address and the current traffic information, and blind guiding prompt information is broadcasted to the blind based on the preset control instruction to guide the blind, comprising:
generating a target route in real time according to the target address and the current road condition information to form a preset control instruction;
and broadcasting intersection warning information, barrier prompting information and avoidance path information to the blind person based on the preset control instruction so as to guide the blind person.
6. The blind guiding method of claim 1, wherein the monitoring voice information of the blind, and obtaining the target address from the voice information, comprises:
monitoring voice information of the blind;
and converting the voice information into a preset voice instruction through a voice recognition technology and a natural language processing technology, and extracting address information in the preset voice instruction as a target address.
7. The blind guiding method according to claim 1, wherein after the step of forming a preset control instruction according to the target address and the current traffic information and broadcasting the blind guiding prompt information to the blind based on the preset control instruction to guide the blind, the method further comprises:
if the preset emergency call instruction is received, an emergency call signal is sent to the passerby and the position information of the blind person is sent to the preset family contact person.
8. A blind guide device, comprising:
the receiving unit is used for receiving a preset blind guide starting instruction;
the first acquisition unit is used for monitoring the voice information of the blind person and acquiring a target address from the voice information;
the second acquisition unit is used for acquiring the environmental image information of the blind and the position information of the detected object around the blind;
the calculating unit is used for calculating the current road condition information of the blind according to the environment image information and the position information of the detected object;
and the prompting unit is used for forming a preset control instruction according to the target address and the current road condition information, and broadcasting the blind guiding prompting information to the blind based on the preset control instruction so as to guide the blind.
9. Blind guiding device, characterized in that the blind guiding device comprises a memory and a processor, the memory having a blind guiding program stored thereon, the processor implementing the method according to any one of claims 1-7 when executing the blind guiding program.
10. A blind-guiding readable storage medium, characterized in that the storage medium stores a blind-guiding program which, when executed by a processor, implements the method according to any one of claims 1-7.
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