JP2023502552A - WEARABLE DEVICE, INTELLIGENT GUIDE METHOD AND APPARATUS, GUIDE SYSTEM, STORAGE MEDIUM - Google Patents

Abstract

The present application provides wearable devices, intelligent guiding methods and apparatus, and guiding systems. An embodiment of the present application uses the second scene image captured by the second visible light capturing unit to obtain the depth information of the object in the scene when the light irradiation intensity is high, that is, when the brightness of the first scene image is high. and determining the depth information of the object in the scene using the second scene image captured by the depth capturing unit when the light irradiation intensity is low, ie, the brightness of the first scene image is low. According to the irradiation intensity of the ambient light, the images collected by different parts are selected to realize the guidance service for the target object, effectively adapting to the changes in the light irradiation intensity, and enriching the environment Information can be obtained and, at the same time, texture-lacking obstacles can be detected, resulting in improved obstacle detection accuracy and guide safety.

Description

(Cross reference to related application)
This application has application number 202011060870. X, filed based on a Chinese patent application with a filing date of September 30, 2020 and titled “Wearable Device, Intelligent Guidance Method and Apparatus, Guidance System” and claiming priority of the Chinese patent application. and the entire content of the Chinese patent is hereby incorporated into the present disclosure by reference.

TECHNICAL FIELD The present application relates to the field of image processing technology, and more particularly to wearable devices, intelligent guide methods and devices, guide systems, and storage media.

The number of visually impaired people is huge, people in this segment have limited travel, their range of activities is small, there are great safety risks while they are out and about, and the quality of life of people in this segment is poor.

Existing blind-guiding technology has a low ability to adapt to the environment of the camera and cannot adapt well to scenes with large changes in light irradiation intensity. , texture-less, smooth-appearing, highly transparent, or distant obstacles cannot be effectively detected. Therefore, the existing blind-guiding technology cannot accurately detect obstacles and cannot provide highly safe blind-guiding services for the visually impaired.

Embodiments of the present application provide at least a wearable device intelligent guiding method and apparatus, a wearable device, a guiding system, and a storage medium, so as to improve depth information detection accuracy, guiding accuracy and safety.

In a first aspect, embodiments of the present application provide an intelligent guiding method by a wearable device, the wearable device comprising a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit, the method comprising: ,
obtaining a first scene image acquired by the first visible light imaging unit;
detecting the brightness of the first scene image;
obtaining a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; obtaining a second scene image captured by the depth capture unit in response to the brightness of the scene image not meeting a preset brightness;
determining depth information of an object in the scene based on the second scene image;
generating guide information for a target object wearing the wearable device based on the depth information.

This solution uses the second scene image captured by the second visible light capture unit to determine the depth information of the object in the scene when the light irradiation intensity is high, i.e. when the brightness of the first scene image is high. On the other hand, if the light irradiation intensity is low, that is, if the brightness of the first scene image is low, the second scene image captured by the depth capturing unit is used to determine the depth information of the object in the scene. Thus, according to the irradiation intensity of the ambient light, it is possible to select the images collected by different parts to provide a guide service for the target object, effectively adapt to the changes in the light irradiation intensity, Rich environment information can be obtained, and at the same time, texture-less obstacles can be detected, resulting in improved obstacle detection accuracy and guide safety.

In one possible embodiment, acquiring a second scene image collected by said second visible light imager in response to the luminance of said first scene image meeting a preset luminance. teeth,
transmitting a first exposure command to the second visible light photographing unit in response to the fact that the luminance of the first scene image satisfies a preset luminance; acquiring a second scene image acquired with exposure control based on the exposure command;
obtaining a second scene image acquired by the depth capture unit in response to the brightness of the first scene image not meeting a preset brightness;
sending a second exposure command to the depth photographing unit in response to the fact that the luminance of the first scene image does not satisfy a preset luminance, and the depth photographing unit performs exposure based on the second exposure command; The step of obtaining a controlled and acquired second scene image is included.

In this embodiment, the second visible light imaging unit is controlled to perform exposure when the light irradiation intensity is high, and the depth imaging unit is controlled to perform exposure when the light irradiation intensity is low. According to the intensity of the light, the different shooting units can be switched to acquire the second scene image for determining the depth information of the object, actively adapting to the change in the light irradiation intensity, and enriching the environment information. can be obtained, and at the same time, obstacles lacking texture can be detected, resulting in improved obstacle detection accuracy and guide safety.

In one possible embodiment, determining depth information of an object in the scene based on said second scene image comprises:
pixel points for representing objects within the scene in the first scene image and within the scene in the second scene image in response to the luminance of the first scene image meeting a preset luminance; matching pixel points to represent objects of to obtain pixel point pairs;
based on the parallax information corresponding to the pixel point pair, the center distance between the first visible light imaging unit and the second visible light imaging unit, and the focal length of the first visible light imaging unit, and determining depth information for the object of .

In this embodiment, when the light irradiation intensity is high, by combining the first scene image acquired by the first visible light imaging unit and the second scene image acquired by the second visible light imaging unit, the object in the scene depth information can be determined more accurately.

In one possible embodiment, determining depth information of an object in the scene based on said second scene image comprises:
determining a target pixel point of a scene object in the second scene image in response to the luminance of the first scene image not meeting a preset luminance;
determining depth information of an object in the scene based on depth information of the target pixel point in the second scene image.

In this embodiment, when the light illumination intensity is weak, the depth image collected by the depth capture unit, that is, the depth information of the pixel points in the second scene image collected by the depth capture unit can be used to obtain Depth information of the object can be determined more accurately, and obstacles lacking texture can be detected, resulting in improved obstacle detection accuracy and guiding safety when light irradiation intensity is weak. do.

In one possible embodiment, generating guide information for a target object wearing said wearable device based on said depth information comprises:
generating notification information, said notification information being used to notify said target subject wearing said wearable device of said depth information.

In this embodiment, by informing the target object of the depth information of the object in the scene, the target object's motion can be effectively guided, and the guiding efficiency and the safety of the guiding can be improved.

In one possible embodiment, the method comprises:
further comprising determining directional position information of an object in the scene relative to the wearable device based on the first scene image;
generating guide information for a target object wearing the wearable device based on the depth information;
generating guide information for a target object wearing the wearable device based on directional position information of the object in the scene and depth information of the object in the scene relative to the wearable device.

In this embodiment, based on the directional position information and the depth information, guide information with a larger amount of information and richer content can be generated for the target object, thereby improving the efficiency of the guide and the safety of the guide. It is possible to further improve the performance.

In one possible embodiment, said wearable device further comprises an ultrasound detector.

The method includes:
in response to detecting that the depth corresponding to the depth information is greater than a preset depth threshold and/or that the first scene image contains a preset type of object, the ultrasound transmitting an ultrasound detection command to a detection unit and receiving an ultrasound feedback signal detected by the ultrasound detection unit based on the ultrasound detection command;
and updating depth information of objects in the scene based on the received ultrasound feedback signals.

In this embodiment, due to the complexity of the environment or the influence of the properties of the object itself, the depth information of the object in the scene is accurately determined from the second scene image captured by the visible light imager or the depth imager. or detect that the first scene image contains objects with characteristics such as high transparency or relatively smooth appearance, the ultrasonic detector is used to obtain depth information. Detecting , improves the applicability of wearable devices, enabling them to more accurately detect depth information of objects in a scene in more complex environments.

In one possible embodiment, the wearable device further comprises a posture measuring unit,
The method includes:
obtaining posture information of the wearable device collected by the posture measurement unit;
generating posture correction notification information in response to determining, based on the posture information, that the posture of the target subject wearing the wearable device is in a first preset posture. include.

In this embodiment, when the posture information of the wearable device measured by the posture measuring unit indicates that the posture of the target object is in a first preset posture, a posture correction notification for prompting the target object to correct the posture. Information can be generated that allows the wearable device to photograph objects that affect the target object's movement, further improving the accuracy of the guide information and the safety of the guide.

In one possible embodiment, the method comprises:
determining directional position information of an object in the scene relative to the wearable device based on the first scene image;
converting the directional position information into directional position information of an object in the scene with respect to the wearable device in a second preset pose based on the wearable device pose information;
generating guide information for a target object wearing the wearable device based on the depth information;
generating guide information and/or posture correction notification information for the target object wearing the wearable device based on the converted direction position information and the depth information of the object in the scene.

In this embodiment, the directional position information of an object in the scene with respect to the wearable device is converted into the directional position information of the object in the scene with respect to the wearable device in a second preset pose, i.e. This effective information can be used to generate more accurate and effective guide information.

In one possible embodiment, the wearable device further comprises an audio output,
The method includes:
Further comprising generating audio navigation information based on the guide information, transmitting the audio navigation information to the audio output, and playing the audio navigation information to the target object at the audio output.

In this embodiment, the voice navigation information and the voice output unit can effectively guide the target object to avoid obstacles, improving the efficiency of the guidance and the safety of the guidance.

In one possible embodiment, the wearable device further comprises a divider circuit,
obtaining a second scene image acquired by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness;
transmitting an exposure command to the frequency dividing circuit in response to the luminance of the first scene image meeting a preset luminance, and dividing the exposure command received by the frequency dividing circuit; and transmits the third exposure command obtained by the frequency dividing process to the second visible light imaging unit, and the second visible light imaging unit performs exposure control based on the third exposure command and collects the second capturing a scene image and/or responsive to the brightness of the first scene image failing to meet a preset brightness, capturing a second scene image captured by the depth capture unit. The step is
transmitting an exposure command to the frequency dividing circuit in response to the fact that the luminance of the first scene image does not meet a preset luminance; and dividing the received exposure command by the frequency dividing circuit. and transmitting the fourth exposure command obtained by the frequency dividing process to the depth photographing unit, and the depth photographing unit performs exposure control based on the fourth exposure command to acquire the collected second scene image. including.

In this embodiment, a frequency divider circuit is used to divide the exposure command, and the exposure command resulting from the frequency dividing process is used to control the second visible light imager or depth imager to acquire an image. By doing so, it is realized to control the photographing units of different frame frequencies to expose at the same time, saving energy consumption.

In a second aspect, embodiments of the present application provide an intelligent guide apparatus by a wearable device, the wearable device comprising a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit, the apparatus comprising: ,
a first image acquisition module configured to acquire a first scene image acquired by the first visible light imaging unit;
a luminance detection module configured to detect luminance of the first scene image;
configured to acquire a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; and/or a second image acquisition module configured to acquire a second scene image captured by the depth capture unit in response to the brightness of the first scene image not meeting a preset brightness;
a detection module configured to determine depth information of an object in the scene based on the second scene image;
a guide information generation module configured to generate guide information for a target subject wearing the wearable device based on the depth information.

In a third aspect, embodiments of the present application provide a wearable device that includes a processing unit, a first visible light imager, a second visible light imager, and a depth imager,
the first visible light imaging unit is configured to acquire a first scene image;
the second visible light imager and the depth imager configured to acquire a second scene image;
The processing unit is configured to perform the wearable device intelligent guidance method described above.

In one possible embodiment, the wearable device further comprises a signal serial part, a signal transmission cable and a signal deserial part,
The signal serial unit is communicatively connected to the first visible light imaging unit, the second visible light imaging unit, and the depth imaging unit, and both ends of the signal transmission cable are connected to the signal serial unit and the signal deserial unit, respectively. , the signal deserialization unit is communicatively connected to the processing unit;
the first visible light imaging unit is further configured to transmit the first scene image to the signal serial unit;
the second visible light imaging unit and the depth imaging unit are further configured to transmit the second scene image to the signal serial unit;
The signal serial unit is configured to convert the received first scene image and the second scene image into a serial signal and transmit the serial signal to the signal deserial unit via the signal transmission cable;
The signal deserialization unit is configured to deserialize a received signal and transmit the deserialized signal to the processing unit.

In this embodiment, the signal serial unit is used to convert the image captured by the imaging unit into a serial signal, for example, a twisted-pair line high-speed differential signal and transmit the signal, thereby enabling the signal to be transmitted using only two cables. , faster transmission speed, lower cost, longer transmission distance and smaller volume.

In one possible embodiment, the depth capture includes a TOF camera.

In this embodiment, the TOF camera can be used to obtain more accurate depth information of objects in the scene when the illumination intensity is low.

In a fourth aspect, embodiments of the present application provide a guidance system including a wearable device and a host computer,
The wearable device includes a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit,
The host computer includes a processing unit, the processing unit is connected to the first visible light imaging unit, the second visible light imaging unit, and the depth imaging unit via a signal transmission cable, and the processing unit includes the above The wearable device is configured to perform an intelligent guidance method.

In one possible embodiment, the host computer is provided with at least one of a positioning module connected to the processing unit, a network module, a microcontrol unit for operating state detection and/or charge management, an audio module. It is

In a fifth aspect, embodiments of the present application include a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when an electronic device operates, the processor and the A memory communicates over a bus to provide an electronic device for performing the steps of the intelligent guide method when said machine readable instructions are executed by said processor.

In a sixth aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored therein for performing the steps of the above intelligent guide method when the computer program is executed by a processor.

In a seventh aspect, embodiments of the present application provide a computer program product comprising one or more instructions suitable for being loaded by a processor to perform the steps of the intelligent guide method.

In order to make the above objects, features and advantages of the present application clearer and easier to understand, preferred embodiments will be particularly mentioned below and described in detail in combination with the accompanying drawings.

4 is a flow chart of an intelligent guidance method by a wearable device according to an embodiment of the present application; 1 is a structural schematic diagram of a wearable device according to an embodiment of the present application; FIG. 1 is a structural schematic diagram of a guide system according to an embodiment of the present application; FIG. 1 is a schematic diagram of an electronic device according to an embodiment of the present application; FIG. 1 is a structural schematic diagram of an intelligent guide device by a wearable device according to an embodiment of the present application; FIG.

In order to describe the technical solutions in the embodiments of the present application more clearly, the drawings required for the embodiments are briefly described below, and the drawings here are incorporated into the specification and are part of the specification. These drawings, which constitute a part, show embodiments consistent with the present application and are used together with the description to explain the technical solutions of the present application. As the following drawings show only some embodiments of the present application, they should not be considered as limiting the scope, and a person skilled in the art can, without creative effort, It should be understood that other relevant drawings may be obtained.

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following is combined with the drawings of the embodiments of the present application to clearly and comprehensively present the technical solutions in the embodiments of the present application. , and apparently the described embodiments are only some of the embodiments of the present application and not all of the embodiments. In general, the components of the embodiments of the present application described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Accordingly, the detailed descriptions of embodiments of the present application provided in the accompanying drawings are not intended to limit the scope of the application for which protection is sought, but rather show selected embodiments of the application. Only things. Other embodiments that a person skilled in the art can obtain without creative efforts based on the embodiments of the present application shall all fall within the protection scope of the present application.

It should be noted that similar symbols and letters represent similar items in the following accompanying drawings, so that once an item is defined in one accompanying drawing, it need not be further defined and interpreted in subsequent drawings.

As used herein, the term "and/or" is only for describing association relationships and indicates that three types of relationships can exist, e.g., A and/or B where A exists alone , that A and B exist simultaneously, and that B exists alone. In addition, the term "at least one type" as used herein indicates any one type out of a plurality of types or any combination of at least two types out of a plurality of types, e.g. Including at least one of can indicate including any one or more elements selected from the set consisting of A, B and C.

Embodiments of the present application provide a wearable device intelligent guidance method and apparatus, a wearable device, a guidance system, an electronic device and a storage medium. When the light irradiation intensity is high, that is, when the brightness of the first scene image is high, the second scene image captured by the second visible light imaging unit is used to determine the depth information of the object in the scene, and the light irradiation intensity is is small, ie, the brightness of the first scene image is low, the second scene image captured by the depth capture unit is used to determine the depth information of the objects in the scene. Thus, according to the irradiation intensity of the ambient light, it is possible to select the images collected by different parts to provide a guide service for the target object, effectively adapt to the changes in the light irradiation intensity, Rich environment information can be obtained, and at the same time, texture-less obstacles can be detected, resulting in improved obstacle detection accuracy and guide safety.

Hereinafter, embodiments of the wearable device intelligent guidance method and apparatus, wearable device, guidance system, electronic device and storage medium provided by the present application will be described.

The wearable device intelligent guidance method provided by the present application may be applied to a processing unit, which may be a component on the wearable device or may be located alone in a host computer. You may The wearable device includes a first visible light imager, a second visible light imager and a depth imager.

The processing unit is communicatively connected to the first visible light imaging unit, the second visible light imaging unit, and the depth imaging unit. A wearable device is worn on the target subject's head as a head-worn device. The first visible light imager, the second visible light imager and the depth imager may be combined in a head-worn device worn on the head of the target subject. The processing unit is worn or fixed to another part of the target subject, such as the arm of the target subject. The embodiments of the present application do not limit the location of the above parts on the target object.

The target subject may be a visually impaired subject. Guide information provided by embodiments of the present application can be used to guide a target object to walk safely around obstacles.

The intelligent guide method of the embodiments of the present application is used to detect depth information of objects in a scene and generate guide information based on the depth information obtained by the detection. As shown in FIG. 1, the wearable device intelligent guiding method described above can include the following steps.

S110, obtaining a first scene image captured by the first visible light capturing unit;

The first visible light capturing unit is configured to capture a first scene image around the wearable device and transmit the processing unit. Since the frame rate at which the first visible light capturing unit captures the scene image is high, it is possible to determine the orientation position information of the object in the scene with respect to the wearable device based on the position of the object in the captured first scene image. can.

The first visible light imager may be a Red Green Blue (RGB) imager.

S120, detecting the brightness of the first scene image;

Here, multiple image brightness detection methods can be used to detect, for example, using a pre-trained neural network to detect the brightness of the first scene image, or each A distribution statistic can be performed on the brightness of the area or each pixel point, or an average value can be calculated to obtain the brightness of the first scene image.

The luminance of the first scene image can represent the light irradiation intensity of the current scene. The stronger the light irradiation intensity, the higher the luminance of the first scene image. The brightness of the scene image is reduced. Therefore, it is recommended to determine the strength of the light irradiation intensity of the current scene based on the brightness of the first scene image, and further select the image acquired by the second visible light imaging unit or the image acquired by the depth imaging unit. Once established, the depth information of the scene can be further calculated to adapt to changes in light illumination intensity and improve the detection accuracy of the depth information of the object and the accuracy of the generated guide information.

S130, acquiring a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; and/or Obtaining a second scene image collected by the depth capture unit in response to the brightness of the first scene image not meeting a preset brightness.

When the brightness of the first scene image satisfies the preset brightness, the light irradiation intensity of the current scene is high, and at this time the second scene image can be obtained from the second visible light imaging unit.

When the light irradiation intensity is strong, the imaging effect of the visible light camera is high, so the scene images collected by the two visible light cameras can be used to determine the depth information of the objects in the scene. When the light intensity is weak, the imaging effect of the two visible light imaging units is low, and accurate depth information cannot be obtained. At this time, the depth information can be obtained using the depth image collected by the depth imaging unit.

When the luminance of the first scene image satisfies the preset luminance, the light irradiation intensity of the current scene is weak, and at this time, the second scene image can be obtained from the depth photographing unit. .

When the light intensity of the scene is weak, the imaging effect of the two visible light photographing units is low, and the accurate depth information cannot be obtained. The depth information of the object can be detected, thereby overcoming the problem that obstacles cannot be detected due to weak light irradiation intensity. In addition, the depth information of obstacles lacking texture, such as the sky, desert, and white wall, cannot be effectively detected from the scene images captured by the two visible light capture units, but is collected by the depth capture unit. Using the scene image, the depth information of the obstacles lacking texture can be effectively detected.

The second visible light imaging unit may be an RGB imaging unit. The depth imager may be a camera based on Time of Flight (TOF) imaging, ie a TOF camera. A TOF camera can be used to obtain more accurate depth information of objects in a scene when the illumination intensity is low.

S140, determining depth information of an object in the scene based on the second scene image;

If the second scene image is the image collected by the second visible light imaging unit, according to the principle of binocular vision, an object in the scene corresponding to the object in the image based on the first scene image and the second scene image depth information can be calculated. If the light illumination intensity of the current scene is high, using two scene images collected by two visible light imagers can more accurately determine the depth information of objects in the scene.

For example, first match pixel points representing objects in the scene in the first scene image with pixel points representing objects in the scene in the second scene image to obtain pixel point pairs; based on the parallax information corresponding to the pixel point pair, the center distance between the first visible light imaging unit and the second visible light imaging unit, and the focal length of the first visible light imaging unit, Determine the depth information for the target of the .

If the second scene image is a depth image captured by the depth capturer, the depth information of objects in the scene can be directly determined based on the depth information sensed by the depth capturer.

When the light illumination intensity of the current scene is weak, the TOF camera can be used to obtain the depth information of objects in the scene more accurately when the light illumination intensity is weak.

For example, first determine a target pixel point of an object in the scene in the second scene image, and then, based on the depth information of the target pixel point in the second scene image, determine the depth information of the object in the scene. confirm. For example, by detecting the target, the position of the object in the scene is detected from the second scene image, and the depth information of the pixel point at the corresponding position in the second scene image is determined as the depth information of the object according to the detection result. be able to.

S150, generating guide information for the target object wearing the wearable device based on the depth information.

Here, notification information can be generated based on the depth information, and the notification information is used to notify the target subject wearing the wearable device of the depth information. By informing the target object of the depth information of the object in the scene, it is possible to effectively guide the target object's movement and improve the guiding efficiency and the guiding safety.

In addition, in order to provide the target object with richer guide information, for example, to provide the target object with guide information of direction information and depth information of obstacles, the guide information can be generated by the following steps. , that is,
determining orientation position information of an object in the scene with respect to the wearable device based on the first scene image, and determining orientation position information of the object in the scene with respect to the wearable device and depth information of the object in the scene with the wearable device; generates guide information for the target wearing the .

Guide information generated based on direction position information and depth information can further improve guide efficiency and guide safety.

When used for specific implementations, orientation position information of the object relative to the wearable device can be determined based on the position of the object in the first scene image. Here, the directional position information may include a directional position angle, or the directional position information may represent one of the pre-divided directional positions, the pre-divided directional position being, for example, It can include front left, front right, front right, front front. For example, in response to the object A being on the left side of the first scene image, determine that the orientation position information of the object with respect to the wearable device is left front, and respond that the object A is on the right side of the first scene image. to determine that the directional position information of the object with respect to the wearable device is right front, and in response to the object A being in the center of the first scene image, the directional position information of the object with respect to the wearable device is directly in front. confirm.

In some embodiments, the step of switching between different capturing units based on the light irradiation intensity to acquire the second scene image may be specifically realized by the following steps.

If the brightness of the first scene image satisfies a preset brightness, that is, if the light irradiation intensity of the current scene is high, the processing unit sends a first exposure command to the second visible light photographing unit. Then, the second visible light photographing unit performs exposure according to the first exposure command to acquire a second scene image. After that, the processing unit acquires a second scene image from the second visible light imaging unit.

Of course, the second visible light capture unit can always collect the second scene image, but if the first exposure command sent by the processing unit is received, the second scene image collected at the corresponding time is to the processing unit.

If the brightness of the first scene image does not meet the preset brightness, that is, if the light irradiation intensity of the current scene is weak, the processing unit sends a second exposure command to the depth photography unit to perform depth photography. The unit exposes according to the second exposure instructions and acquires a second scene image. After that, the processing unit acquires a second scene image from the depth imaging unit.

Of course, the depth capture unit can always collect the second scene image, but if a second exposure command sent by the processing unit is received, the second scene image collected at the corresponding point in time will be acquired by the processing unit. Send to

By controlling the second visible light imaging unit to perform exposure when the light irradiation intensity is high, and controlling the depth imaging unit to perform exposure when the light irradiation intensity is low, depending on the intensity of the ambient light It is realized to actively switch different imaging units to acquire a second scene image for determining the depth information of the object, so that the intelligent guiding method of the embodiments of the present application can adapt to changes in light irradiation intensity. It can adapt and acquire richer environment information, and at the same time, it can detect obstacles lacking texture, resulting in improved obstacle detection accuracy and guide safety.

In addition, since the scene image captured by the second visible light capturing unit is not used to determine the direction position information and/or the type information of the target in the scene with respect to the wearable device, the frame rate is the first visible light capturing unit. Low for the light imaging unit, thus not only can meet the needs of depth information detection, but also can reduce the power consumption of the second visible light imaging unit and reduce the heat dissipation of the wearable device. .

For example, a frequency dividing circuit can realize synchronous exposure at different frame rates by the first visible light imaging unit and the second visible light imaging unit, and the brightness of the first scene image can be adjusted to the preset brightness. If satisfied, the processing unit transmits an exposure command to the frequency dividing circuit, the frequency dividing circuit performs frequency division processing on the received exposure command, and the third exposure obtained by the frequency division processing A command is sent to the second visible light imaging unit. After that, the processing unit acquires a second scene image acquired by the second visible light imaging unit performing exposure control based on the third exposure command. Since the frame rate at which the first visible light imaging unit collects images is high, the first visible light imaging unit can directly transmit an exposure command to the frequency dividing circuit by the processing unit, and the processing unit can An exposure command is transmitted to the peripheral circuit and an exposure command is transmitted to the first visible light imaging unit.

In order to save the power consumption of the depth capturer, the depth capturer can be controlled to expose at a frequency lower than that of the first visible light capturer, thus reducing the quality of the image captured by the depth capturer. The frame rate is lower than that of the first visible light imaging unit, thus not only can meet the needs of depth information detection, but also reduce the power consumption of the depth imaging unit and reduce the heat dissipation of the wearable device. can be done.

For example, the frequency dividing circuit can realize simultaneous exposure at different frame rates by the first visible light imaging unit and the depth imaging unit, and if the luminance of the first scene image does not satisfy the preset luminance, The processing unit transmits an exposure command to the frequency dividing circuit, the frequency dividing circuit performs frequency dividing processing on the received exposure command, and sends a fourth exposure command obtained by the frequency dividing processing to the depth photographing unit. , and then the processing unit obtains a second scene image acquired by the depth photographing unit performing exposure control based on the fourth exposure command. Since the frame rate at which the first visible light capturing unit collects images is high, the first visible light collecting unit can directly issue an exposure command to the frequency dividing circuit based on the processing unit, and the processing unit can An exposure command is transmitted to the frequency dividing circuit, and an exposure command is transmitted to the first visible light imaging unit.

Performing frequency division processing on the exposure command using the frequency dividing circuit, and using the exposure command obtained by the frequency dividing processing, controlling the second visible light imaging unit or the depth imaging unit to acquire an image. By doing so, it is realized to control the photographing units of different frames to be exposed at the same time, and the energy consumption is saved.

When the irradiation intensity of the ambient light is weak, the images captured by the first visible light capturing unit and the depth capturing unit can be used to detect the depth information of the object in the scene, but this method cannot At the same time, this method also cannot effectively detect the depth information of highly transparent and smooth-appearing objects such as glass and water surfaces. In this case, the detected depth information may be wrong, so after detecting the detected depth information and the category of objects in the scene, the processing unit determines whether the depth information is obviously irrational. i.e., whether the depth corresponding to the depth information is greater than a preset depth threshold; determine whether or not

in response to the processing unit determining that the depth corresponding to the depth information is greater than a preset depth threshold and/or detecting that the first scene image includes a preset type of object. Then, the ultrasonic detection unit transmits ultrasonic waves based on the ultrasonic detection command, and transmits the detected ultrasonic feedback signal to the processing unit. A processing unit updates depth information of objects in the scene based on the received ultrasound feedback signals.

The ultrasonic detector has high accuracy in detecting depth information of an object. When the depth information of objects in the scene cannot be accurately determined from the second scene image captured by the visible light imaging unit or the depth imaging unit due to the complexity of the environment or the effects of the characteristics of the object itself. , using ultrasound detectors to detect depth information increases the applicability of wearable devices, enabling them to more accurately detect depth information of objects in a scene in more complex environments.

The target object wearing the wearable device may make some movements in the process of moving, and as a result, when performing object detection based on the captured scene images, it is possible to accurately identify objects that disturb the movement of the target object. For example, when the target lowers its head at a large angle, the scene captured by the wearable device is concentrated on the opposite side, so the captured scene image is the image of the ground, and the target the inability to accurately detect obstacles in front of or to the sides of the robot that affect its movement. At this time, in order to improve the accuracy of the generated guide information, avoid the detection of invalid obstacles, and prevent the accurate detection of obstacles that may affect the march of the target object, the target object , or if the target assumes a preset posture such as raising the head at a large angle, prompt the target to correct the posture.

For example, the wearable device can further include an attitude measurement unit, the attitude measurement unit being communicatively coupled to the processing unit. A pose measuring unit measures pose information of the wearable device, where the pose information of the wearable device is considered to be the same as the pose information of the target object. The posture measurement unit transmits the measured posture information to the processing unit.

The method determines whether the posture of the target object of the wearable device is in a first preset posture based on the received posture information, and if so, generates posture correction notification information. Further including steps. The first preset posture is a posture in which an object can be photographed without affecting the movement of the target object, such as raising the head at a greater angle. If the target object is determined to be in the first preset posture, the posture correction notification information is used to notify the target object to correct the current posture, thereby improving the accuracy of the guide information and the safety of the guide. further improved.

After the pose information is received, guide information can be generated based on the pose information, for example, based on the pose information of the wearable device, the orientation position information of the object relative to the wearable device is set to a second preset value. Converting the direction position information of the target with respect to the wearable device in a posture, and guiding information and/or posture of the target target wearing the wearable device based on the converted direction position information and the depth information of the target in the scene Correction information can be generated.

When used for concrete implementation, the following steps can transform the orientation position information, namely the pose difference information between the second preset pose and the current pose information of the wearable device. and transforming the orientation position information of the object with respect to the wearable device using the pose difference information to obtain the orientation position information after conversion. For example, in response to the pose difference information indicating that the wearable device is in an 80-degree head-up pose, the determined orientation position information indicates that the object is directly in front of the wearable device, and after transformation The directional position information indicates that the object is above the wearable device, and the pose difference information indicates that the wearable device is in a pose with its head rotated 60 degrees to the left. The direction position information indicates that the target is in front of the wearable device, and the converted direction position information indicates that the target is in front left of the wearable device.

Also, the depth information of the object in the scene is specifically used to characterize the distance between the object and the wearable device, since the position of the wearable device does not change significantly after the pose of the wearable device changes. , the distance between the object and the wearable device does not change obviously, so there is no need to transform the depth information of the object in the scene, and the depth information of the object in the scene is the distance between the object and the wearable device. Distances can be represented more accurately.

The second preset posture is, for example, a posture in which the wearable device faces the marching direction of the target object.

The above converted direction position information determines whether the corresponding object is on the movement path of the target object, i.e., whether the object in the scene is an obstacle for the movement of the target object. and the corresponding object is an obstacle of the target object, it is necessary to generate guide information based on the transformed direction position information to guide the target object to avoid the obstacle. be.

transforming the directional position information of an object in the scene with respect to the wearable device into directional position information of the object in the scene with respect to the wearable device in a second preset pose, i.e. obtaining directional position information effective for target object movement; The effective information can be used to generate more accurate and effective guide information.

In applications, the attitude measurement unit may be a gyroscope, such as a 9-axis gyroscope.

The amount of image information collected by each of the above imaging units is large, and in order to improve the real-time performance of guidance, it is necessary to complete signal transmission between each imaging unit and processing unit in a short time. implements signal transmission through a signal serial part, a signal transmission cable and a signal deserial part.

The signal serial unit is communicatively connected to the first visible light imaging unit, the second visible light imaging unit, and the depth imaging unit, and both ends of the signal transmission cable are connected to the signal serial unit and the signal deserial unit, respectively. , the signal deserialization unit is communicatively connected to the processing unit.

The first visible light imaging unit transmits the first scene image to the signal serial unit, and the second visible light imaging unit and the depth imaging unit transmit the second scene image to the signal serial unit. the signal serial unit converts the received first scene image and the second scene image into serial signals and transmits the serial signals to the signal deserial unit through the signal transmission cable; deserialize the deserialized signal and transmit the deserialized signal to the processing unit.

Said signal transmission through the signal serial part, the signal transmission cable and the signal deserial part may be, for example, V-BY-ONE twisted pair technology. V-BY-ONE is a 21x serialization interface technology for video signal transmission. V-BY-ONE twisted pair technology requires fewer transmission cables, only two cables, lighter weight, lower transmission cable requirements, no shielding required, cost savings, Wider transmission bandwidth, can reach up to 3.75 Gigabits per second (Gbps), longer distance, high-quality transmission distance can reach 15 meters, smaller chip volume, It is more advantageous for lightweight wearable product designs and can be packaged in, for example, 5 millimeters (mm) by 5 millimeters (mm).

The signal transmission cable is connected by a V-BY-ONE twisted pair wire, and is hard to bend, strong to pull, light and soft.

By using the signal serial unit to convert the image captured by the imaging unit into a twisted pair line high-speed differential signal and transmit it, the signal can be transmitted with only two cables, and the transmission speed is faster. The cost is lower, the transmission distance is longer, and the part volume is smaller.

By using the signal serial unit to convert the image captured by the imaging unit into a serial signal, for example, a twisted pair line high-speed differential signal and transmit it, the signal can be transmitted with only two cables, and the transmission speed is reduced. faster, lower cost, longer transmission distance and smaller volume.

The wearable device may further include an audio output unit, said audio output unit communicatively coupled to said processing unit, for outputting guidance information audibly to the target object. For example, the following steps can realize the playing of the guide information: generate voice navigation information based on the guide information; send the voice navigation information to the voice output unit; reproduces said voice navigation information to said target object.

The voice navigation information and the voice output unit can effectively guide the target object to avoid obstacles, improving the efficiency of the guidance and the safety of the guidance.

When used for specific implementation, the processing unit may be a System on Chip (SOC), the audio output unit may be audio bone conduction headphones, and the audio Bone conduction headphones are also used for man-machine interaction.

In order to use different light irradiation environments, detect depth information of distant objects, compensate for defects of the imaging unit, and acquire more environmental information, the embodiments of the present application include the first visible light imaging unit. , the second visible light imaging unit and the depth imaging unit are integrated, and the imaging unit is actively switched after judging the light irradiation intensity to improve the detection accuracy and adapt to the changing light irradiation environment. In addition, the embodiment of the present application further integrates the ultrasound detection unit and the posture measurement unit, obtains more accurate depth information by ultrasound, compensates for the shortcomings of the imaging unit, and acquires posture information by the posture measurement unit. to optimize detection accuracy. The intelligent guiding method in the above embodiment can perform functions such as route planning, positioning, obstacle detection, voice notification, etc., with higher accuracy, stronger environmental adaptability, and a vision-impaired person can navigate alone. It becomes possible to go out, which is more convenient and safer.

Corresponding to the above intelligent guide method by wearable device, the embodiments of the present application further provide an intelligent guide apparatus by wearable device, and the functions realized by each module in the apparatus are the same as in the intelligent guide method above. Identical to the corresponding steps and applied on the processing unit. The wearable device includes a first visible light imager, a second visible light imager and a depth imager. As shown in FIG. 5, the intelligent guide device
a first image acquisition module 510 configured to acquire a first scene image acquired by the first visible light imaging unit;
a luminance detection module 520 configured to detect luminance of the first scene image;
configured to acquire a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; and/or a second image acquisition module 530 configured to acquire a second scene image captured by the depth capture unit in response to the brightness of the first scene image not meeting a preset brightness; ,
a detection module 540 configured to determine depth information of an object in the scene based on the second scene image;
a guide information generation module 550 configured to generate guide information for a target subject wearing the wearable device based on the depth information.

In some embodiments, the second image acquisition module 530 is responsive to the brightness of the first scene image meeting a preset brightness, the When acquiring the second scene image,
transmitting a first exposure command to the second visible light photographing unit in response to the fact that the luminance of the first scene image satisfies a preset luminance; configured to acquire a second scene image acquired with exposure control based on the exposure command;
When the second image acquisition module 530 acquires a second scene image captured by the depth capture unit in response to the brightness of the first scene image not meeting a preset brightness,
sending a second exposure command to the depth photographing unit in response to the fact that the luminance of the first scene image does not satisfy a preset luminance, and the depth photographing unit performs exposure based on the second exposure command; It is configured to obtain a controlled and acquired second scene image.

In some embodiments, when the detection module 540 determines depth information of an object within a scene based on the second scene image:
pixel points for representing objects within the scene in the first scene image and within the scene in the second scene image in response to the luminance of the first scene image meeting a preset luminance; Match the pixel points to represent the object of , obtain a pixel point pair,
based on the parallax information corresponding to the pixel point pair, the center distance between the first visible light imaging unit and the second visible light imaging unit, and the focal length of the first visible light imaging unit, is configured to determine depth information for an object of the

In some embodiments, when the detection module 540 determines depth information of an object within a scene based on the second scene image:
determining a target pixel point of a scene object in the second scene image in response to the luminance of the first scene image failing to meet a preset luminance;
It is configured to determine depth information of an object in the scene based on depth information of the target pixel point in the second scene image.

In some embodiments, when the guide information generation module 550 generates guide information for a target subject wearing the wearable device based on the depth information,
It is configured to generate notification information, said notification information being used to notify said target subject wearing said wearable device of said depth information.

In some examples, the detection module 540 further comprises:
configured to determine orientation position information of an object in the scene relative to the wearable device based on the first scene image;
When the guide information generation module 550 generates guide information for a target object wearing the wearable device based on the depth information,
Based on the directional position information of the object in the scene and the depth information of the object in the scene with respect to the wearable device, it is configured to generate guide information for the target object wearing the wearable device.

In some embodiments, the wearable device further comprises an ultrasound detector,
The detection module 540 further:
in response to detecting that the depth corresponding to the depth information is greater than a preset depth threshold and/or that the first scene image contains a preset type of object, the ultrasound Sending an ultrasonic detection command to a detection unit, receiving an ultrasonic feedback signal detected by the ultrasonic detection unit based on the ultrasonic detection command,
It is configured to update depth information of an object within the scene based on the received ultrasound feedback signal.

In some embodiments, the wearable device further includes a posture measurement unit.

The detection module 540 further:
acquiring posture information of the wearable device collected by the posture measurement unit;
configured to generate posture correction notification information in response to determining, based on the posture information, that the posture of the target object wearing the wearable device is in a first preset posture. .

In some examples, the detection module 540 further comprises:
determining orientation position information of an object in the scene with respect to the wearable device based on the first scene image;
configured to convert the directional position information into directional position information of an object in the scene with respect to the wearable device in a second preset pose based on the pose information of the wearable device;
When the guide information generation module 550 generates guide information for a target object wearing the wearable device based on the depth information,
It is configured to generate guide information and/or posture correction notification information for the target object wearing the wearable device based on the transformed direction position information and the depth information of the object in the scene.

In some embodiments, the wearable device further includes an audio output,
The guide information generation module 550 further
It is configured to generate audio navigation information based on the guide information, transmit the audio navigation information to the audio output unit, and play the audio navigation information to the target object at the audio output unit.

In some embodiments, the wearable device further comprises a divider circuit,
The second image acquisition module 530 acquires a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness. case,
transmitting an exposure command to the frequency dividing circuit in response to the luminance of the first scene image meeting a preset luminance, and dividing the exposure command received by the frequency dividing circuit; and transmits the third exposure command obtained by the frequency dividing process to the second visible light imaging unit, and the second visible light imaging unit performs exposure control based on the third exposure command and collects the second and/or the second image acquisition module 530 is configured to acquire a scene image, and/or the second image acquisition module 530, in response to the brightness of the first scene image not meeting a preset brightness, When obtaining the collected second scene image,
transmitting an exposure command to the frequency dividing circuit in response to the fact that the luminance of the first scene image does not meet a preset luminance; and dividing the received exposure command by the frequency dividing circuit. and transmit the fourth exposure command obtained by the frequency dividing process to the depth photographing unit, and the depth photographing unit performs exposure control based on the fourth exposure command to acquire the collected second scene image. configured to

Corresponding to the wearable device intelligent guidance method described above, the embodiments of the present application provide a wearable device, and the functions implemented by each unit in the wearable device are implemented by the corresponding units in the above embodiments. Same as function. For example, as shown in FIG. 2, number 21 represents a head-worn device side block diagram, number 22 represents a host computer side block diagram, and the head-worn device side block and the host computer side block diagram are signal transmission cables. 208. The wearable device may include a processing unit 201 , a first visible light imager 202 , a second visible light imager 203 and a depth imager 204 . The first visible light capturing unit 202 is configured to acquire a first scene image, and the second visible light capturing unit 203 and the second depth capturing unit 204 are configured to acquire a second scene image. and the processing unit 201 is configured to execute the wearable device intelligent guiding method described above.

In some embodiments, the wearable device may further include an ultrasound detection unit 205 , a posture measurement unit 206 , a signal serialization unit 207 , a signal transmission cable 208 , a signal deserialization unit 209 and an audio output unit 210 . The functions realized by the ultrasonic detection unit 205, the posture measurement unit 206, the signal serial unit 207, the signal transmission cable 208, the signal deserial unit 209, and the audio output unit 210 correspond to the corresponding units in the intelligent guide method of the above embodiment. It is the same as the function realized by

Also, the wearable device may further include a microcontroller MCU 211 , a WIFI unit 212 and a GPS unit 213 . The micro control unit MCU 211 is configured to perform charging management of the wearable device and to detect the state of the entire machine, the GPS unit 213 is configured to perform positioning of the wearable device, and the WIFI unit 212 is configured to communicate with the wearable device. It is configured to send first scene images, second scene images, depth information, etc. to a remote server.

In some embodiments, as shown in FIG. 2, the head-worn device side block 21 includes two visible light imaging units 202 and 203 and a depth imaging imaging unit 204, one of which is an RGB imaging unit. Outputs a synchronization trigger signal to another RGB imaging unit as the main imaging unit, and outputs one synchronization trigger signal to the depth imaging unit via one frequency division chip, thus forming two RGB imaging units 202 and 203, the depth capture unit 204 can realize simultaneous exposure by the three capture units even at different frame rates. The image signals from the three imaging units pass through the signal serial unit 207 (V-BY-ONE serial chip), are converted into twisted pair line high-speed differential signals, and are connected to the block diagram 22 on the host computer side via the signal transmission cable 208. The posture measurement unit 206 (gyro) is used to constantly monitor the user's posture information, and the ultrasonic detection unit 205 is used to detect distance information such as glass walls and water surfaces.

The host computer side block diagram 22 includes a processing unit 201 (SOC unit), a global positioning system (GPS) unit 213, a WIFI unit 212, an integrated V-BY-ONE deserialization chip (signal deserialization unit) 209, MCU (micro control unit) 211 and audio output unit 210, and the processing unit 201 adopts an artificial intelligence processing module with strong computing power. The integrated V-BY-ONE deserialization chip 209 converts the camera interface standard (MIPI-CSI: Mobile Industry Processor Interface-Camera Serial Interface) data of the touch mobile industrial processor interface to the mobile industry processor interface physical of the processing unit 201. (MIPI PHY: Mobile Industry Processor Interface Physical) input interface, further processed using algorithms, then played back by an audio bone conduction headset in the audio output unit 210 to announce, and the audio output unit 210: Furthermore, interactive voice interaction between humans and computers can also be performed, the MCU 211 is used to detect the operating state of the entire machine and charge management, etc. ) technology for accurate positioning, and the WIFI section 212 is used to upload data to the synchronization network.

The signal transmission cable 208 is connected by a V-BY-ONE twisted pair line.

As shown in FIG. 3, embodiments of the present application provide a guidance system 300 including wearable device 301 and host computer 302 . The wearable device 301 includes a first visible light imaging unit, a second visible light imaging unit, and a depth imaging unit. The host computer 302 includes a processing unit, and the processing unit receives the second image via a signal transmission cable. Connected to a first visible light capturing unit, a second visible light capturing unit and a depth capturing unit, the processing unit is configured to execute the above intelligent guidance method by the wearable device.

The host computer 302 may be provided with at least one of a positioning module, a network module, a micro-control unit for operating status detection and/or charge management, an audio module, connected to the processing unit.

Corresponding to the intelligent guiding method of FIG. 1, the embodiments of the present application further provide an electronic device 6. FIG. As shown in FIG. 4, it is a structural schematic diagram of an electronic device 400 according to an embodiment of the present application. The electronic device 400 is
It includes a processor 41 , a memory 42 and a bus 43 , the memory 42 being configured to store instructions for execution, and including an internal memory 421 and an external memory 422 , where the memory 421 is also referred to as internal memory, within the processor 41 . and data to be exchanged with an external memory 422 such as a hard disk, the processor 41 exchanges data via the internal memory 421 and the external memory 422, and the electronic device 400 In operation, processor 41 and memory 42 communicate via bus 43 such that processor 41 outputs instructions to acquire a first scene image acquired by the first visible light imager, said first scene image obtaining a second scene image collected by the second visible light imaging unit in response to the first scene image satisfying a preset luminance; and/or obtaining a second scene image acquired by the depth capture unit in response to the luminance of the first scene image not meeting a preset luminance; determine depth information for an object in a scene based on the depth information; and generate guide information for a target object wearing the wearable device based on the depth information.

Embodiments of the present application further provide a computer readable storage medium having a computer program stored therein for performing the steps of the intelligent guide method in the above method embodiments when the computer program is executed by a processor. Here, the storage medium may be a volatile computer-readable storage medium or a non-volatile computer-readable storage medium.

An intelligent guide method computer program product provided by an embodiment of the present application includes a computer readable storage medium storing a program code, wherein the instructions contained in the program code are described in the method embodiments above. It may be used to carry out the steps of the intelligent guide method, for example, refer to the above method embodiments.

An embodiment of the present application further provides a computer program that, when executed by a processor, implements any of the methods of the above embodiments. The computer program product may for example be implemented in hardware, software or a combination thereof. In one alternative embodiment, the computer program product is embodied, for example, as a computer storage medium, and in another alternative embodiment, the computer program product is, for example, a Software Development Kit (SDK). is embodied as a software product.

Persons skilled in the art can clearly understand that the specific working processes of the above systems and devices can refer to the corresponding processes in the method embodiments for convenience and concise description. It should be understood that in some of the embodiments provided by this application, the disclosed systems, devices and methods may be implemented in other ways. The above device embodiments are only exemplary, for example, the division of the units is only logical functional division, and other division schemes may be possible when actually implemented, and for example, Multiple units or components may be combined or integrated into another system, or some features may be ignored or not performed. Also, any mutual or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some communication interface, device or unit, electrical, mechanical or otherwise. may be in the form

Said units described as separate parts may or may not be physically separate and parts denoted as units may be physical elements or It may not be a static unit, ie it may be located at one location, or it may be distributed over several network elements. Some or all of the units can be selected according to actual needs to achieve the purpose of the solutions in the embodiments.

Also, each functional unit in each embodiment of the present application may be integrated into one processing unit, individual units may physically exist alone, and two or more units may be combined into one may be integrated into one unit.

The functions, when implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application may be embodied in the form of a software product, the part that essentially or contributes to the prior art, or the part of the technical solution, and the computer software product is stored on a single storage medium and causes a computer device (which may be a personal computer, server, network device, etc.) to perform all or some of the steps of the methods described in various embodiments of the present application. Contains some instructions for The storage medium includes various media capable of storing program code, such as USB flash disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk. include.

Finally, it should be pointed out that the above examples are only specific embodiments of the present application, are for the purpose of describing the technical solutions of the present application, and do not limit it, and are the subject of the present disclosure. The scope of protection is not limited thereto, and the present application will be described in detail with reference to the above examples, but any person skilled in the art can still apply the above examples within the technical scope disclosed in the present application. The technical solution described can be easily modified or changed, or equivalent replacement can be made for some technical features therein, and the technology to which these changes, changes or replacements correspond The essence of the technical solutions shall not depart from the spirit and scope of the technical solutions in the embodiments of the present application, and shall all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall conform to the protection scope of the above claims.
INDUSTRIAL APPLICABILITY In the embodiment of the present disclosure, when the light irradiation intensity is high, that is, when the brightness of the first scene image is high, the second scene image captured by the second visible light capturing unit is used to capture the scene. When the light irradiation intensity is low, that is, when the brightness of the first scene image is low, the second scene image captured by the depth capturing unit is used to determine the depth information of the object in the scene. confirm. Thus, according to the irradiation intensity of the ambient light, it is possible to select the images collected by different parts to provide a guide service for the target object, effectively adapt to the changes in the light irradiation intensity, Rich environment information can be obtained, and at the same time, texture-less obstacles can be detected, resulting in improved obstacle detection accuracy and guide safety.

In a seventh aspect, embodiments of the present application provide a computer program product comprising one or more instructions suitable for being loaded by a processor to perform the steps of the intelligent guide method.
For example, the present application provides the following items.
(Item 1)
An intelligent guiding method by a wearable device, wherein the wearable device comprises a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit,
obtaining a first scene image acquired by the first visible light imaging unit;
detecting the brightness of the first scene image;
obtaining a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; obtaining a second scene image captured by the depth capture unit in response to the brightness of the scene image not meeting a preset brightness;
determining depth information of an object in the scene based on the second scene image;
generating guide information for a target object wearing the wearable device based on the depth information.
(Item 2)
obtaining a second scene image acquired by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness;
transmitting a first exposure command to the second visible light photographing unit in response to the fact that the luminance of the first scene image satisfies a preset luminance; acquiring a second scene image acquired with exposure control based on the exposure command;
obtaining a second scene image acquired by the depth capture unit in response to the brightness of the first scene image not meeting a preset brightness;
sending a second exposure command to the depth photographing unit in response to the fact that the luminance of the first scene image does not satisfy a preset luminance, and the depth photographing unit performs exposure based on the second exposure command; and acquiring a second scene image acquired under control.
The method of item 1.
(Item 3)
Determining depth information for an object in the scene based on the second scene image comprises:
pixel points for representing objects within the scene in the first scene image and within the scene in the second scene image in response to the luminance of the first scene image meeting a preset luminance; matching pixel points to represent objects of to obtain pixel point pairs;
based on the parallax information corresponding to the pixel point pair, the center distance between the first visible light imaging unit and the second visible light imaging unit, and the focal length of the first visible light imaging unit, and determining depth information for an object of
3. The method of item 1 or 2.
(Item 4)
Determining depth information for an object in the scene based on the second scene image comprises:
determining a target pixel point of a scene object in the second scene image in response to the luminance of the first scene image not meeting a preset luminance;
determining depth information of an object in the scene based on depth information of the target pixel point in the second scene image.
3. The method of item 1 or 2.
(Item 5)
generating guide information for a target object wearing the wearable device based on the depth information;
Generating notification information, wherein the notification information is used to notify the target wearing the wearable device of the depth information.
The method of any one of items 1-4.
(Item 6)
further comprising determining directional position information of an object in the scene relative to the wearable device based on the first scene image;
generating guide information for a target object wearing the wearable device based on the depth information;
generating guide information for a target object wearing the wearable device based on direction position information of the object in the scene and depth information of the object in the scene with respect to the wearable device.
A method according to any one of items 1-5.
(Item 7)
The wearable device further includes an ultrasonic detector,
The method includes:
in response to detecting that the depth corresponding to the depth information is greater than a preset depth threshold and/or that the first scene image contains a preset type of object, the ultrasound transmitting an ultrasound detection command to a detection unit and receiving an ultrasound feedback signal detected by the ultrasound detection unit based on the ultrasound detection command;
updating depth information of objects in the scene based on the received ultrasound feedback signal.
A method according to any one of items 1-6.
(Item 8)
The wearable device further includes a posture measurement unit,
The method includes:
obtaining posture information of the wearable device collected by the posture measurement unit;
generating posture correction notification information in response to determining, based on the posture information, that the posture of the target subject wearing the wearable device is in a first preset posture. characterized by comprising
The method of any one of items 1-7.
(Item 9)
The method includes:
determining directional position information of an object in the scene relative to the wearable device based on the first scene image;
converting the directional position information into directional position information of an object in the scene with respect to the wearable device in a second preset pose based on the wearable device pose information;
generating guide information for a target object wearing the wearable device based on the depth information;
generating guide information and/or posture correction notification information for the target object wearing the wearable device, based on the converted direction position information and the depth information of the object in the scene.
The method of item 8.
(Item 10)
The wearable device further includes an audio output unit,
The method includes:
The method further comprises generating audio navigation information based on the guide information, transmitting the audio navigation information to the audio output unit, and playing the audio navigation information to the target object at the audio output unit. to be
The method of any one of items 1-9.
(Item 11)
The wearable device further includes a frequency divider circuit,
obtaining a second scene image acquired by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness;
transmitting an exposure command to the frequency dividing circuit in response to the luminance of the first scene image meeting a preset luminance, and dividing the exposure command received by the frequency dividing circuit; and transmits the third exposure command obtained by the frequency dividing process to the second visible light imaging unit, and the second visible light imaging unit performs exposure control based on the third exposure command and collects the second including obtaining a scene image, and/or
obtaining a second scene image acquired by the depth capture unit in response to the brightness of the first scene image not meeting a preset brightness;
transmitting an exposure command to the frequency dividing circuit in response to the fact that the luminance of the first scene image does not meet a preset luminance; and dividing the received exposure command by the frequency dividing circuit. and transmitting the fourth exposure command obtained by the frequency dividing process to the depth photographing unit, and acquiring the second scene image collected by the depth photographing unit performing exposure control based on the fourth exposure command. characterized by including a step
The method of any one of items 1-10.
(Item 12)
An intelligent guide apparatus based on a wearable device, the wearable device comprising a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit, the apparatus comprising:
a first image acquisition module configured to acquire a first scene image acquired by the first visible light imaging unit;
a luminance detection module configured to detect luminance of the first scene image;
configured to acquire a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; and/or a second image acquisition module configured to acquire a second scene image captured by the depth capture unit in response to the brightness of the first scene image not meeting a preset brightness;
a detection module configured to determine depth information of an object in the scene based on the second scene image;
a guide information generation module configured to generate guide information for a target subject wearing the wearable device based on the depth information.
(Item 13)
wherein the second image acquisition module acquires a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; sending a first exposure command to the second visible light photographing unit in response to the fact that the luminance of the first scene image satisfies a preset luminance; configured to acquire a second scene image acquired by performing exposure control based on one exposure command;
When the second image acquisition module acquires a second scene image captured by the depth imaging unit in response to the luminance of the first scene image not meeting a preset luminance, the transmitting a second exposure instruction to the depth photographing unit in response to the fact that the luminance of the one-scene image does not satisfy a preset luminance, and the depth photographing unit performs exposure control based on the second exposure instruction; configured to acquire a second scene image acquired by visiting
13. Intelligent guide device according to item 12.
(Item 14)
The detection module, when determining depth information of an object in the scene based on the second scene image, in response to the luminance of the first scene image meeting a preset luminance, the first Matching pixel points representing objects in a scene in one scene image with pixel points representing objects in a scene in the second scene image to obtain pixel point pairs, and corresponding to the pixel point pairs. Determining depth information of an object in the scene based on parallax information, a center distance between the first visible light imaging unit and the second visible light imaging unit, and a focal length of the first visible light imaging unit. configured to
14. Intelligent guide device according to item 12 or 13.
(Item 15)
The detection module, when determining depth information of an object in the scene based on the second scene image, in response to the brightness of the first scene image not meeting a preset brightness, the first scene image. determining a target pixel point of an in-scene object in a second scene image; and determining depth information of an in-scene object based on depth information of the target pixel point in the second scene image. characterized by
14. Intelligent guide device according to item 12 or 13.
(Item 16)
The guide information generation module is configured to generate notification information when generating guide information for a target object wearing the wearable device based on the depth information, the notification information being generated by the wearable device. is used to notify the depth information to the target object wearing a
Intelligent guide device according to any one of items 12-15.
(Item 17)
the detection module is further configured to determine orientation position information of an object in the scene relative to the wearable device based on the first scene image;
When the guide information generation module generates guide information for a target object wearing the wearable device based on the depth information, the direction position information of the object in the scene and the depth of the object in the scene with respect to the wearable device configured to generate guide information for a target object wearing the wearable device based on the information
Intelligent guide device according to any one of items 12-16.
(Item 18)
The wearable device further includes an ultrasonic detector,
The detection module is further responsive to detecting that the depth corresponding to the depth information is greater than a preset depth threshold and/or that the first scene image includes a preset type of object. Then, an ultrasonic detection command is transmitted to the ultrasonic detection unit, and an ultrasonic feedback signal detected by the ultrasonic detection unit based on the ultrasonic detection command is received. to be
Intelligent guide device according to any one of items 12-17.
(Item 19)
The wearable device further comprises a posture measuring unit, the detecting module further obtains posture information of the wearable device collected by the posture measuring unit, and detects a target wearing the wearable device based on the posture information. configured to generate posture correction notification information in response to determining that the posture of the subject is in the first preset posture;
Intelligent guide device according to any one of items 12-18.
(Item 20)
The detection module further determines directional position information of an object in the scene with respect to the wearable device based on the first scene image, and determines the directional position information based on pose information of the wearable device to a second pre- configured to convert directional position information of an object in the scene to the wearable device in a set pose;
When the guide information generation module generates guide information for a target object wearing the wearable device based on the depth information, the guide information generation module based on the converted direction position information and the depth information of the object in the scene, The wearable device is configured to generate guide information and/or posture correction notification information for a target object wearing the wearable device.
20. Intelligent guide device according to item 19.
(Item 21)
The wearable device further includes an audio output unit,
The guiding information generating module further generates audio navigation information based on the guiding information, transmits the audio navigation information to the audio output unit, and plays the audio navigation information to the target object at the audio output unit. characterized by being configured to
Intelligent guide device according to any one of items 12-20.
(Item 22)
The wearable device further includes a frequency divider circuit,
wherein the second image acquisition module acquires a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; transmitting an exposure command to the frequency dividing circuit in response to the luminance of the first scene image meeting a preset luminance; dividing the received exposure command by the frequency dividing circuit; processing, the third exposure command obtained by the frequency dividing process is transmitted to the second visible light imaging unit, and the second visible light imaging unit performs exposure control based on the third exposure command and collects the configured to acquire two-scene images; and/or
When the second image acquisition module acquires a second scene image captured by the depth imaging unit in response to the luminance of the first scene image not meeting a preset luminance, the In response to the luminance of one scene image not satisfying a preset luminance, an exposure command is transmitted to the frequency dividing circuit, and frequency division processing is performed on the received exposure command by the frequency dividing circuit. and transmitting a fourth exposure command obtained by the frequency dividing process to a depth photographing unit, and acquiring a second scene image collected by performing exposure control based on the fourth exposure command in the depth photographing unit. characterized by being
Intelligent guide device according to any one of items 12-21.
(Item 23)
A wearable device comprising a processing unit, a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit,
the first visible light imaging unit is configured to acquire a first scene image;
the second visible light imager and the depth imager configured to acquire a second scene image;
A wearable device, wherein the processing unit is configured to perform an intelligent guidance method by the wearable device according to any one of items 1-11.
(Item 24)
further comprising a signal serial part, a signal transmission cable and a signal deserial part;
the signal serial unit is connected to the first visible light imaging unit, the second visible light imaging unit, and the depth imaging unit for communication, and both ends of the signal transmission cable are connected to the signal serial unit and the signal deserial unit, respectively; the signal deserialization unit is communicatively connected to the processing unit;
the first visible light imaging unit is further configured to transmit the first scene image to the signal serial unit;
the second visible light imaging unit and the depth imaging unit are further configured to transmit the second scene image to the signal serial unit;
The signal serial unit is configured to convert the received first scene image and the second scene image into a serial signal and transmit the serial signal to the signal deserial unit via the signal transmission cable;
The signal deserialization unit is characterized in that it is arranged to deserialize a received signal and send the deserialized signal to the processing unit.
24. A wearable device according to item 23.
(Item 25)
The depth imaging unit includes a TOF camera.
25. A wearable device according to item 23 or 24.
(Item 26)
A guide system comprising a wearable device and a host computer,
The wearable device includes a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit,
The host computer includes a processing unit, the processing unit is connected to the first visible light imaging unit, the second visible light imaging unit, and the depth imaging unit via a signal transmission cable, and the processing unit performs item 1 - A guidance system configured to perform an intelligent guidance method by means of a wearable device according to any one of Claims 11.
(Item 27)
The host computer is provided with at least one of a positioning module connected to the processing unit, a network module, a microcontrol unit for detecting operating conditions and/or charge management, and an audio module.
27. Guiding system according to item 26.
(Item 28)
An electronic device comprising a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device operates, the processor and the memory communicate over the bus. and performs the intelligent guide method steps of any one of items 1-11 when said machine readable instructions are executed by said processor.
(Item 29)
A computer readable storage medium storing a computer program for performing the steps of the intelligent guide method according to any one of items 1-11 when the computer program is executed by a processor.
(Item 30)
A computer program product comprising one or more instructions suitable to be loaded by a processor to carry out the steps of the intelligent guide method according to any one of items 1-11.

Claims (30)

An intelligent guiding method by a wearable device, wherein the wearable device comprises a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit,
obtaining a first scene image acquired by the first visible light imaging unit;
detecting the brightness of the first scene image;
obtaining a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; obtaining a second scene image captured by the depth capture unit in response to the brightness of the scene image not meeting a preset brightness;
determining depth information of an object in the scene based on the second scene image;
generating guide information for a target object wearing the wearable device based on the depth information. obtaining a second scene image acquired by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness;
transmitting a first exposure command to the second visible light photographing unit in response to the fact that the luminance of the first scene image satisfies a preset luminance; acquiring a second scene image acquired with exposure control based on the exposure command;
obtaining a second scene image acquired by the depth capture unit in response to the brightness of the first scene image not meeting a preset brightness;
sending a second exposure command to the depth photographing unit in response to the fact that the luminance of the first scene image does not satisfy a preset luminance, and the depth photographing unit performs exposure based on the second exposure command; 2. The method of claim 1, comprising acquiring a second scene image acquired under control. Determining depth information for an object in the scene based on the second scene image comprises:
pixel points for representing objects within the scene in the first scene image and within the scene in the second scene image in response to the luminance of the first scene image meeting a preset luminance; matching pixel points to represent objects of to obtain pixel point pairs;
based on the parallax information corresponding to the pixel point pair, the center distance between the first visible light imaging unit and the second visible light imaging unit, and the focal length of the first visible light imaging unit, 3. A method according to claim 1 or 2, comprising the step of determining depth information for an object of Determining depth information for an object in the scene based on the second scene image comprises:
determining a target pixel point of a scene object in the second scene image in response to the luminance of the first scene image not meeting a preset luminance;
3. A method according to claim 1 or 2, comprising determining depth information of an object in the scene based on depth information of the target pixel point in the second scene image. generating guide information for a target object wearing the wearable device based on the depth information;
Generating notification information, said notification information being used to notify said target object wearing said wearable device of said depth information. 5. The method of any one of 4. further comprising determining directional position information of an object in the scene relative to the wearable device based on the first scene image;
generating guide information for a target object wearing the wearable device based on the depth information;
2. The step of generating guide information for a target object wearing the wearable device based on directional position information of the object in the scene and depth information of the object in the scene with respect to the wearable device. -5 The method according to any one of clauses. The wearable device further includes an ultrasonic detector,
The method includes:
in response to detecting that the depth corresponding to the depth information is greater than a preset depth threshold and/or that the first scene image contains a preset type of object, the ultrasound transmitting an ultrasound detection command to a detection unit and receiving an ultrasound feedback signal detected by the ultrasound detection unit based on the ultrasound detection command;
7. The method of any one of claims 1-6, further comprising updating depth information of objects in the scene based on the received ultrasound feedback signal. The wearable device further includes a posture measurement unit,
The method includes:
obtaining posture information of the wearable device collected by the posture measurement unit;
generating posture correction notification information in response to determining, based on the posture information, that the posture of the target subject wearing the wearable device is in a first preset posture. A method according to any one of claims 1-7, characterized in that it comprises: The method includes:
determining directional position information of an object in the scene relative to the wearable device based on the first scene image;
converting the directional position information into directional position information of an object in the scene with respect to the wearable device in a second preset pose based on the wearable device pose information;
generating guide information for a target object wearing the wearable device based on the depth information;
generating guide information and/or posture correction notification information for the target object wearing the wearable device, based on the converted direction position information and the depth information of the object in the scene. Item 8. The method according to item 8. The wearable device further includes an audio output unit,
The method includes:
The method further comprises generating audio navigation information based on the guide information, transmitting the audio navigation information to the audio output unit, and playing the audio navigation information to the target object at the audio output unit. A method according to any one of claims 1-9. The wearable device further includes a frequency divider circuit,
obtaining a second scene image acquired by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness;
transmitting an exposure command to the frequency dividing circuit in response to the luminance of the first scene image meeting a preset luminance, and dividing the exposure command received by the frequency dividing circuit; and transmits the third exposure command obtained by the frequency dividing process to the second visible light imaging unit, and the second visible light imaging unit performs exposure control based on the third exposure command and collects the second capturing a scene image and/or capturing a second scene image collected by the depth capture unit in response to the luminance of the first scene image not meeting a preset luminance. The steps to do are
transmitting an exposure command to the frequency dividing circuit in response to the fact that the luminance of the first scene image does not meet a preset luminance; and dividing the received exposure command by the frequency dividing circuit. and transmitting the fourth exposure command obtained by the frequency dividing process to the depth photographing unit, and acquiring the second scene image collected by the depth photographing unit performing exposure control based on the fourth exposure command. A method according to any one of claims 1-10, characterized in that it comprises the steps of: An intelligent guide apparatus based on a wearable device, the wearable device comprising a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit, the apparatus comprising:
a first image acquisition module configured to acquire a first scene image acquired by the first visible light imaging unit;
a luminance detection module configured to detect luminance of the first scene image;
configured to acquire a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; and/or a second image acquisition module configured to acquire a second scene image captured by the depth capture unit in response to the brightness of the first scene image not meeting a preset brightness;
a detection module configured to determine depth information of an object in the scene based on the second scene image;
a guide information generation module configured to generate guide information for a target subject wearing the wearable device based on the depth information. wherein the second image acquisition module acquires a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; sending a first exposure command to the second visible light photographing unit in response to the fact that the luminance of the first scene image satisfies a preset luminance; configured to acquire a second scene image acquired by performing exposure control based on one exposure command;
When the second image acquisition module acquires a second scene image captured by the depth imaging unit in response to the luminance of the first scene image not meeting a preset luminance, the transmitting a second exposure instruction to the depth photographing unit in response to the fact that the luminance of the one-scene image does not satisfy a preset luminance, and the depth photographing unit performs exposure control based on the second exposure instruction; 13. An intelligent guide device according to claim 12, configured to acquire a second scene image acquired by traveling. The detection module, when determining depth information of an object in the scene based on the second scene image, in response to the luminance of the first scene image meeting a preset luminance, the first Matching pixel points representing objects in a scene in one scene image with pixel points representing objects in a scene in the second scene image to obtain pixel point pairs, and corresponding to the pixel point pairs. Determining depth information of an object in the scene based on parallax information, a center distance between the first visible light imaging unit and the second visible light imaging unit, and a focal length of the first visible light imaging unit. 14. An intelligent guide device according to claim 12 or 13, adapted to. The detection module, when determining depth information of an object in the scene based on the second scene image, in response to the brightness of the first scene image not meeting a preset brightness, the first scene image. determining a target pixel point of an in-scene object in a second scene image; and determining depth information of an in-scene object based on depth information of the target pixel point in the second scene image. Intelligent guide device according to claim 12 or 13, characterized in that: The guide information generation module is configured to generate notification information when generating guide information for a target object wearing the wearable device based on the depth information, the notification information being generated by the wearable device. 16. An intelligent guide device according to any one of claims 12-15, characterized in that it is used to communicate the depth information to the target subject wearing a . the detection module is further configured to determine orientation position information of an object in the scene relative to the wearable device based on the first scene image;
When the guide information generation module generates guide information for a target object wearing the wearable device based on the depth information, the direction position information of the object in the scene and the depth of the object in the scene with respect to the wearable device 17. An intelligent guide apparatus according to any one of claims 12-16, arranged to generate guide information for a target subject wearing said wearable device based on the information. The wearable device further includes an ultrasonic detector,
The detection module is further responsive to detecting that the depth corresponding to the depth information is greater than a preset depth threshold and/or that the first scene image includes a preset type of object. Then, an ultrasonic detection command is transmitted to the ultrasonic detection unit, and an ultrasonic feedback signal detected by the ultrasonic detection unit based on the ultrasonic detection command is received. An intelligent guide device according to any one of claims 12-17. The wearable device further comprises a posture measuring unit, the detecting module further obtains posture information of the wearable device collected by the posture measuring unit, and detects a target wearing the wearable device based on the posture information. 19. Configured to generate posture correction notification information in response to determining that the posture of the subject is in the first preset posture. The intelligent guide device described in . The detection module further determines directional position information of an object in the scene with respect to the wearable device based on the first scene image, and determines the directional position information based on pose information of the wearable device to a second pre- configured to convert directional position information of an object in the scene to the wearable device in a set pose;
When the guide information generation module generates guide information for a target object wearing the wearable device based on the depth information, the guide information generation module based on the converted direction position information and the depth information of the object in the scene, 20. The intelligent guide device of claim 19, configured to generate guidance information and/or posture correction notification information for a target subject wearing said wearable device. The wearable device further includes an audio output unit,
The guiding information generating module further generates audio navigation information based on the guiding information, transmits the audio navigation information to the audio output unit, and plays the audio navigation information to the target object at the audio output unit. Intelligent guide device according to any one of claims 12-20, characterized in that it is arranged to: The wearable device further includes a frequency divider circuit,
wherein the second image acquisition module acquires a second scene image captured by the second visible light imaging unit in response to the brightness of the first scene image meeting a preset brightness; transmitting an exposure command to the frequency dividing circuit in response to the luminance of the first scene image meeting a preset luminance; dividing the received exposure command by the frequency dividing circuit; processing, the third exposure command obtained by the frequency dividing process is transmitted to the second visible light imaging unit, and the second visible light imaging unit performs exposure control based on the third exposure command and collects the configured to acquire two scene images; and/or the second image acquisition module, in response to the brightness of the first scene image not meeting a preset brightness, by the depth capture unit when acquiring a second scene image collected, sending an exposure command to the frequency divider circuit in response to the luminance of the first scene image not meeting a preset luminance; performs frequency division processing on the received exposure command, transmits a fourth exposure command obtained by the frequency division processing to the depth photographing unit, and performs exposure control based on the fourth exposure command in the depth photographing unit. 22. An intelligent guide device as claimed in any one of claims 12 to 21, arranged to acquire a second scene image acquired by traveling. A wearable device comprising a processing unit, a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit,
the first visible light imaging unit is configured to acquire a first scene image;
the second visible light imager and the depth imager configured to acquire a second scene image;
A wearable device, wherein the processing unit is configured to perform an intelligent guidance method by the wearable device according to any one of claims 1-11. further comprising a signal serial part, a signal transmission cable and a signal deserial part;
the signal serial unit is connected to the first visible light imaging unit, the second visible light imaging unit, and the depth imaging unit for communication, and both ends of the signal transmission cable are connected to the signal serial unit and the signal deserial unit, respectively; the signal deserialization unit is communicatively connected to the processing unit;
the first visible light imaging unit is further configured to transmit the first scene image to the signal serial unit;
the second visible light imaging unit and the depth imaging unit are further configured to transmit the second scene image to the signal serial unit;
The signal serial unit is configured to convert the received first scene image and the second scene image into a serial signal and transmit the serial signal to the signal deserial unit via the signal transmission cable;
24. The wearable device of Claim 23, wherein the signal deserialization unit is configured to deserialize a received signal and transmit the deserialized signal to the processing unit. The wearable device according to Claim 23 or 24, wherein the depth imaging unit includes a TOF camera. A guide system comprising a wearable device and a host computer,
The wearable device includes a first visible light imaging unit, a second visible light imaging unit and a depth imaging unit,
The host computer includes a processing unit, and the processing unit is connected to the first visible light imaging unit, the second visible light imaging unit, and the depth imaging unit via a signal transmission cable. A guidance system configured to perform an intelligent guidance method by means of a wearable device according to any one of claims 1-11. The host computer is provided with at least one of a positioning module connected to the processing unit, a network module, a microcontrol unit for detecting operating conditions and/or charge management, and an audio module. 27. Guide system according to claim 26. An electronic device comprising a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device operates, the processor and the memory communicate over the bus. and performs the steps of the intelligent guide method of any one of claims 1-11 when said machine readable instructions are executed by said processor. A computer readable storage medium storing a computer program for performing the steps of the intelligent guide method according to any one of claims 1-11 when the computer program is executed by a processor. A computer program product comprising one or more instructions suitable for being loaded by a processor to carry out the steps of the intelligent guide method according to any one of claims 1-11.

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