WO2017080529A1 - 一种导盲方法、装置及设备 - Google Patents

一种导盲方法、装置及设备 Download PDF

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Publication number
WO2017080529A1
WO2017080529A1 PCT/CN2016/105754 CN2016105754W WO2017080529A1 WO 2017080529 A1 WO2017080529 A1 WO 2017080529A1 CN 2016105754 W CN2016105754 W CN 2016105754W WO 2017080529 A1 WO2017080529 A1 WO 2017080529A1
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Prior art keywords
traveling direction
guiding device
speaker
angle
guiding
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English (en)
French (fr)
Inventor
王斌
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Cloudminds Shenzhen Robotics Systems Co Ltd
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Cloudminds Shenzhen Robotics Systems Co Ltd
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Publication of WO2017080529A1 publication Critical patent/WO2017080529A1/zh
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons
    • A61H3/061—Walking aids for blind persons with electronic detecting or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/06—Walking aids for blind persons

Definitions

  • the present invention relates to the field of smart device technologies, and in particular, to a blind guiding method, device and device.
  • blinding devices Because of blind vision, blind people are always inconvenient to go out. In order to meet the needs of the blind, there are a variety of blinding devices. At present, various intelligent guide blind devices mostly use various sensors to sense the surrounding environment, calculate a reasonable roadblock avoidance path, and guide the user through voice commands (such as turning left, turning right, etc.).
  • the intelligent guide blind device guides the user through the voice command, and accepts the voice command from the user to the user's understanding and finally executes, which requires a long process, and thus is inefficient.
  • the embodiment of the invention provides a blind guiding method, device and device to solve the technical problem that the guiding blind device has low guiding efficiency by guiding the user through the voice instruction in the prior art.
  • an embodiment of the present invention provides a blind guiding method, including the following steps:
  • the guiding device that meets the preset condition among the plurality of guiding devices is controlled to perform the first specified action according to the planned traveling direction.
  • an embodiment of the present invention provides a blind guiding device, including:
  • a first determining module configured to determine a planned traveling direction
  • a first control module configured to control, according to the planned traveling direction, a guiding device that meets a preset condition among the plurality of guiding devices to perform the first specified action.
  • an embodiment of the present invention provides a blind guiding device including the above-described guiding device and a plurality of guiding devices.
  • the guiding method, device and device provided by the embodiments of the present invention may, after determining the planned traveling direction, control the guiding device that meets the preset condition among the plurality of guiding devices to perform the first specified action according to the planned traveling direction.
  • the first specified action may be performed by the guiding device that meets the preset condition in the plurality of guiding devices to guide the user to adjust the traveling direction.
  • the guiding device performs the specified action in a manner other than the voice command. More directly, the user can quickly adjust the direction of travel after sensing the specified action performed by the guiding device, without the user having to spend a period of time to understand the meaning of the command, and solving the problem of guiding the user through the voice instruction. Guide the problem of inefficiency.
  • FIG. 1 is a schematic flow chart showing the implementation of a blind guiding method in an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a guide blind device according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a blind guiding device according to an embodiment of the present invention.
  • FIG. 4 is a schematic view showing the distribution of a speaker in an embodiment of the present invention.
  • FIG. 5 is a schematic diagram 1 showing sound emission of a speaker in an embodiment of the present invention.
  • FIG. 6 is a schematic diagram 2 of the speaker sounding in the embodiment of the present invention.
  • FIG. 7 is a schematic diagram 3 of a speaker sounding in an embodiment of the present invention.
  • FIG. 8 is a schematic diagram 4 of the speaker sounding in the embodiment of the present invention.
  • FIG. 9 is a schematic view showing the distribution of a speaker in an embodiment of the present invention.
  • Figure 10 is a schematic view showing the sound emission of the speaker in the embodiment of the present invention.
  • Figure 11 is a schematic diagram 2 showing the sound emission of the speaker in the embodiment of the present invention.
  • Figure 12 is a schematic diagram 3 showing the sound emission of the speaker in the embodiment of the present invention.
  • Figure 13 is a schematic diagram 4 showing the sound emission of the speaker in the embodiment of the present invention.
  • Fig. 14 is a view showing the distribution of the massage balls in the embodiment of the present invention.
  • the embodiment of the present invention provides a blind guiding method, device and device, which are described below.
  • FIG. 1 is a schematic flowchart showing the implementation of a blind guide method according to an embodiment of the present invention. As shown in the figure, the guide blind method may include the following steps:
  • Step 101 Determine a planned traveling direction
  • Step 102 Control, according to the planned traveling direction, a guiding device that meets a preset condition among the plurality of guiding devices to perform a first specifying action.
  • the planned travel direction may be determined according to the planned path, the current location, and the like, and the specific determining process may be implemented by using the prior art, and the present invention is not described herein.
  • the guiding device that meets the preset condition among the plurality of guiding devices performs a first specified action to indicate the direction of travel of the user. For example, if the planned traveling direction is 30° east and north, in the embodiment of the present invention, the guiding device located 30° east and north can be controlled to vibrate or emit sound.
  • the guiding device that meets the preset condition is controlled to perform the first specified action, and the user can directly feel the action performed by the guiding device, and feel the execution performed by the guiding device.
  • the direction of travel can be adjusted, and the voice command requires the user to understand the meaning of the command after a period of time to adjust the direction of the command. Therefore, the embodiment of the present invention compares with the existing voice command mode. More direct and effective.
  • the determining the planned direction of travel may specifically be:
  • the planned travel direction is determined based on the current location of the user and the target location determined by the user.
  • the user can determine the target location, that is, the destination, that the user wants to go by voice or control button operation during the walking process.
  • the user side can receive the target location determined by the user.
  • the current position of the detecting user and the sequence of the target position determined by the user are not limited.
  • the user side can use the existing positioning technology to detect the current location of the user, and then combine the target location determined by the user to plan a walking path for the user; during the walking process of the user, according to the current location of the user and the planned walking The path determines the direction in which the plan is to travel.
  • the user side can directly detect the current location of the user, determine the planned travel direction, and prompt the user in the user during the travel process, and can quickly and conveniently indicate the user without external interaction, thereby achieving the purpose of effectively guiding blindness.
  • the determining the planned direction of travel may specifically be:
  • the user side may receive a guide blind command sent by the guide blind system, and the guide blind direction may include the planned travel direction, that is, the planned travel direction may be sent by the guide blind system to the user side.
  • the guide blind system can locate the current position of the user by itself, and send a guide instruction including a planned travel direction to the user side according to the current position of the user and a preset path.
  • the guiding direction of the plan can be indicated by the guiding blind system, and the user side does not need to perform a large amount of calculation or other operations; moreover, the guiding blind system has more powerful computing power and storage capacity than the user side, so that Real-time, fast, and accurate instructions to the user including the planned direction of travel further improve the efficiency of the guide blind to a certain extent.
  • the method before the receiving the blind guide command sent by the guide blind system, the method may further include:
  • the target location is sent to a blinding system.
  • the user sends a guide request by means of voice or control buttons, and the guide request includes a target location, and the user side sends the target location to the guide blind system after receiving the guide request of the user.
  • the intelligent guide blind system can plan the walking path for the user according to the target position and the current position of the user, and can calculate the direction that the next step should be traveled according to the path and the current user position (ie, the planned traveling direction).
  • the current location of the user may be obtained by the smart guide system, or may be sent by the user side to the guide system.
  • the target location sent by the user can be received at any time, and the guiding direction is determined by the guiding blind system after determining the planned traveling direction, thereby further improving the user experience.
  • the guiding by the guiding device that meets the preset condition among the plurality of guiding devices, according to the planned traveling direction, may perform:
  • the guiding device vector is a center point to a direction vector of the guiding device
  • the embodiment of the present invention may further determine an angle between the planned traveling direction and the guiding device vector after determining the planned traveling direction.
  • the guiding device vector may be a direction vector pointing from the center point to the guiding device.
  • the center point may be the center of all guiding devices, for example, if the respective guiding devices are distributed in a circle or ellipse in the same plane, the center point may be a center; if the guiding devices are distributed in a polygon on the same plane, the center point may be The center of gravity of the polygon; if the individual guiding devices are distributed on different planes, then the center point can be the center of gravity of the polyhedron.
  • the guiding device having the smallest angle with the planned traveling direction may be controlled to perform the first specified action, thereby achieving the purpose of indicating the direction.
  • the embodiment of the present invention determines that the guiding device with the smallest angle between the planned traveling direction and the guiding device vector performs the first specified action, so that the angle with the planned traveling direction can be minimized.
  • the actions performed by the guiding device to accurately and directly indicate the user's planned direction of travel.
  • the method may further include:
  • an error angle may be preset as a threshold. After determining an angle between the planned traveling direction and the guiding device vector, it may be determined whether the angle is greater than a preset number.
  • a threshold :
  • the first specifying may be directly performed by the guiding device with the smallest angle of the planned traveling direction (which may also be understood as the closest distance). action;
  • Embodiments of the present invention may control a guiding device having a minimum angle with the planned traveling direction and a guiding device having a second angle with the planned traveling direction to perform the first specifying action.
  • the embodiment of the present invention determines whether to control a guiding device (a guiding device having the smallest angle with the planned traveling direction) to perform the first specified action or control the two guiding by further determining the relationship between the included angle and the preset first threshold.
  • the device (the smallest angle with the planned travel direction and the second smallest guide) performs the first specified action, thereby limiting the error to a certain range, ensuring that the direction indication is more accurate.
  • the method may further include:
  • the guiding device that meets the preset condition is controlled to perform a second specified action.
  • the current traveling direction of the user may be further determined.
  • the guiding device that meets the preset condition may be controlled to be executed.
  • the second specified action That is, if the angle between the current traveling direction of the user and the planned traveling direction is 0° or within a preset range, then the current traveling direction of the user is correct and conforms to the planned path, then the current control may be controlled at this time.
  • the guiding device that meets the preset condition performs the second specified action.
  • the second specified action may be different from the first specified action.
  • the determination of the current traveling direction can be determined by using the prior art, and at least the existing compass has the function.
  • the guiding according to the preset condition may be controlled.
  • the device performs a second specified action to assist the blind person in distinguishing whether the current direction of travel is correct.
  • the guiding device may be a speaker, and the first specified action may be sounding.
  • the guiding device in the embodiment of the present invention may be a speaker, and after determining the planned traveling direction, the speaker sounding according to the preset condition may be controlled according to the planned traveling direction.
  • the sound emission of the speaker that meets the preset condition is controlled according to the planned traveling direction. Specifically, the angle between the planned traveling direction and the speaker vector may be determined, and the speaker with the smallest angle with the planned traveling direction may be controlled to sound.
  • the speaker having the smallest angle with the planned traveling direction and the speaker having the second smallest angle with the planned traveling direction may be controlled.
  • the speaker having the smallest angle with the planned traveling direction may be controlled to stop sounding, or to reduce the amount of sound, improve the sounding period, and the like.
  • the embodiment of the present invention continuously guides the user to adjust the traveling direction in real time by dynamically selecting one or more speakers of the plurality of speakers that meet the preset condition according to the planned traveling direction, and guides the user to advance along the correct planning path.
  • the user can directly feel the position or direction of the speaker that sounds, and can quickly reflect which direction the next step should be forwarded, that is, directly using the position of the speaker. Responding to the direction of the plan, instead of the voice command, eliminating the user's understanding of the response time of the voice command, thus improving the guide Blind efficiency.
  • the volume of the speaker sounds Where ⁇ is the angle between the planned travel direction and the speaker vector, and N is the total number of the speaker vectors.
  • the volume of the sound emitted by the speaker may be constantly changed according to the difference between the planned traveling direction and the angle of the speaker vector.
  • the volume of the sound emitted by the speaker can be dynamically adjusted according to the angle between the planned traveling direction and the speaker vector, and the direction of indicating the direction is realized with different volume.
  • the volume of the speaker sound can also be Where ⁇ is the angle between the planned traveling direction and the current traveling direction, and N is the total number of the speaker vectors.
  • the volume of the speaker sounding may be 0.333 db.
  • the volume of the speaker sounding may be 0.778 db.
  • the volume of the sound emitted by the speaker may be constantly changed according to the difference between the planned traveling direction and the current traveling direction.
  • the guiding device that controls the preset condition performs the second specified action, specifically think:
  • Controlling the volume of the speaker sound that meets the preset conditions is reduced to a preset minimum value
  • the utterance period of the speaker that controls the preset conditions becomes the preset maximum value.
  • the volume of the sound of the speaker that meets the preset condition may be controlled to be a preset minimum value, or the The vocalization period of the speaker becomes the preset maximum value, that is, the volume is reduced or the length of the vocal interval is long when the current traveling direction is correct, thereby saving power.
  • the guiding method provided by the embodiment of the present invention can dynamically select one or more of the plurality of speaker devices located on the guiding device during the process of planning the guiding blind path for the user and guiding the user to travel, and issue a prompt.
  • the sound in real time, continuously guides the user to adjust the direction of travel and reminds the user of the conditions that exist around him.
  • a blind guiding device is also provided in the embodiment of the present invention. Since the principle of solving the problem of these devices is similar to that of a guiding blind method, the implementation of these devices can refer to the implementation of the method, and the repetition is no longer Narration.
  • FIG. 2 is a schematic structural diagram of a guiding device according to an embodiment of the present invention. As shown in the figure, the guiding device may include:
  • a first determining module 201 configured to determine a planned traveling direction
  • the first control module 202 is configured to control, according to the planned traveling direction, a guiding device that meets a preset condition among the plurality of guiding devices to perform the first specified action.
  • the first determining module may specifically include:
  • a detecting unit configured to detect a current location of the user
  • a direction determining unit configured to determine a planned traveling direction according to the current location of the user and the target location determined by the user.
  • the first determining module may be specifically configured to receive a guiding finger sent by the guiding blind system.
  • the guide instruction includes a planned travel direction.
  • the apparatus may further include:
  • a request receiving module configured to receive a guide request sent by a user before the guide instruction sent by the guide blind system, where the guide request includes a target location;
  • a sending module configured to send the target location to the guiding blind system.
  • the first control module may specifically include:
  • An angle determining unit configured to determine an angle between the planned traveling direction and the guiding device vector, where the guiding device vector is a direction vector of the center point to the guiding device;
  • a first control unit configured to control the first guiding device of the plurality of guiding devices to perform a first specifying action, the first guiding device being a guiding device having the smallest angle with the planned traveling direction.
  • the first control module may further include:
  • a determining unit configured to determine whether the angle is greater than a preset first threshold after determining the angle between the planned traveling direction and the guiding device vector
  • a second control unit configured to: when the angle is greater than the preset first threshold, control the second guiding device to perform the first specified action simultaneously with the first guiding device, where the second guiding device is A guiding device with a small angle of the planned direction of travel is described.
  • the apparatus may further include:
  • a second determining module 203 configured to determine a current direction of travel of the user
  • the second control module 204 is configured to control the guiding device that meets the preset condition to perform the second specified action when an angle between the current traveling direction of the user and the planned traveling direction is within a preset range.
  • the guiding device may be a speaker, and the first specified action may be sounding.
  • the volume of the speaker sounds Where ⁇ is the angle between the planned travel direction and the speaker vector, and N is the total number of the speaker vectors.
  • the second control module may be specifically configured to: when the angle between the current traveling direction of the user and the planned traveling direction is within a preset range, control a volume of the sound of the speaker that meets the preset condition to be reduced to a preset A minimum value is set, and/or, the vocalization period of the speaker is controlled to become a preset maximum value.
  • the volume of the sound emitted by the speaker that controls the preset condition is reduced to a preset minimum value of 0.
  • an embodiment of the present invention further provides a blind guiding device, which will be described below.
  • the guide blind device may include a guide blind device as described above and a plurality of guiding devices (1 to n).
  • the device for guiding the blind in the embodiment of the present invention may be a device for wearing a head, such as a helmet, a hat, a hair band, or an eyeglass, and may be a device for wrapping around the waist such as a waist belt or a corset.
  • a head such as a helmet, a hat, a hair band, or an eyeglass
  • an eyeglass may be a device for wrapping around the waist such as a waist belt or a corset.
  • the person skilled in the art may according to actual needs. Carry out implementation.
  • the guide device is a helmet or a hat
  • the guiding device is a speaker
  • the guide helmet has a plurality of speakers.
  • the following is an example of eight speakers.
  • FIG. 4 is a schematic view showing the distribution of the speaker in the embodiment of the present invention. As shown in the figure, the eight speakers may be distributed in a circular shape and an elliptical shape, and the center point O is a center.
  • the center point O and 8 speakers form 8 direction vectors (which can be called speaker vectors),
  • the direction is from the center point O to the speaker, which are respectively a vector O1, a vector O2, ..., a vector O8, wherein the direction indicated by the vector O1 is the current traveling direction.
  • the planned travel direction can be determined, and the vocalized speaker can be determined by calculating the angle between the planned travel direction and the speaker vector.
  • FIG. 5 shows a schematic diagram 1 of the speaker sounding in the embodiment of the present invention. As shown in the figure, the angle between the planned traveling direction and the O7 vector is the smallest, so that the speaker No. 7 can be selected to sound, and the other speakers do not sound.
  • the minimum angle between the planned traveling direction and the speaker vector (ie, the angle between the planned traveling direction and O7) and the preset error angle may be further determined:
  • the preset error angle for example, 5°
  • the speaker vector with the smallest angle and the speaker vector with the second smallest angle can be selected and sounded by the corresponding two speakers.
  • FIG. 6 is a schematic diagram 2 showing the sound emission of the speaker in the embodiment of the present invention.
  • the angle between the planned traveling direction and the vector O7 is greater than the preset error angle (for example, 5°), and at this time, the minimum angle can be selected.
  • the volume of the No. 7 speaker and the No. 8 speaker can also be controlled. Assuming that the volume of a single speaker is S, the volume S' at which the two speakers emit sound can be controlled as:
  • the volume control method of the present invention it is possible to ensure that the total volume of the sounds of the two speakers and the volume of the sound of the single speaker are imaginary, and the sound volume of the two speakers is different. Give the user a more accurate direction indication.
  • FIG. 7 is a schematic diagram 3 showing the sound emission of the speaker in the embodiment of the present invention. As shown in the figure, as the user adjusts the direction, the angle between the vector O7 and the planned traveling direction is no longer the smallest, and the vector with the smallest angle to the planned traveling direction is shown. It becomes the vector O8, and at this time, the No. 8 speaker corresponding to the vector O8 sounds.
  • the angle between the planned travel direction and the speaker vector is continuously calculated, and the speaker is selected to sound as described above until the planned travel direction overlaps with the current travel direction (or ⁇ 3° within the allowable error angle).
  • the speaker may continue to sound or intermittently sound; when it is judged that the planned traveling direction completely overlaps with the current traveling direction (or the allowable error range) Within ⁇ 3°), the volume of the (one or two) speaker sounds in front of the speaker is significantly reduced and/or the period of the intermittent sound is longer, which further saves the power of the device.
  • FIG. 8 is a schematic diagram 4 of the speaker sounding in the embodiment of the present invention. As shown in the figure, when the current traveling direction of the user overlaps with the planned traveling direction or within the allowable error range, the No. 1 speaker sounds, and the volume of the sound is reduced to The preset minimum value and the period of the utterance become the preset maximum value, which can indicate the direction of the user and save the power of the device.
  • the guiding device is a helmet or a hat
  • the guiding device is a speaker
  • the guiding helmet has a plurality of speakers.
  • the following two speakers are taken as an example for description.
  • FIG. 9 is a schematic view showing the distribution of the speaker in the embodiment of the present invention. As shown in the figure, the two speakers may be distributed in a circular shape and an elliptical shape, and the center point O is a center.
  • the center point O and the two speakers constitute two left and right direction vectors (which may be referred to as speaker vectors), and the direction is from the center point O to the speaker, which are respectively a vector O1 and a vector O2, wherein the vector O3 is the direction indicated by the front of the helmet. Current direction of travel.
  • the planned travel direction can be determined, and the vocalized speaker can be determined by calculating the angle between the planned travel direction and the speaker vector.
  • FIG. 10 is a schematic diagram showing the sound emission of the speaker in the embodiment of the present invention.
  • the current orientation of the device is in the north direction, and the user needs to be guided to adjust to 30 degrees east-south, and the angle between the planned traveling direction and the O2 vector is the smallest.
  • FIG. 11 is a schematic diagram 2 showing the sound emission of the speaker in the embodiment of the present invention. As shown in the figure, after the wearer feels the indication, the head is rotated to the right; the planned traveling direction and the O2 vector are at the smallest angle, and thus the first Speaker No. 2 continues to sound, other speakers are not
  • Figure 12 is a schematic diagram 3 showing the sound emission of the speaker in the embodiment of the present invention, as shown in the figure, if the direction of rotation of the wearer exceeds the planned traveling direction; the angle between the planned traveling direction and the O1 vector becomes smaller, and the O2 vector The angle becomes larger, so that the No. 1 speaker continues to sound to indicate the rotation, and the other speakers do not sound.
  • ⁇ is the angle between the planned traveling direction and the current traveling direction
  • N is the total number of the speaker vectors
  • the embodiment of the present invention can ensure that the volume of the speaker is close to the planned traveling direction during the rotation of the wearer by the volume control method described above (not limited to the calculation method of the volume S described above), and the speaker volume is smaller, and the distance from the planned traveling direction is further. The louder the speaker volume.
  • Fig. 13 is a schematic view showing the sound emission of the speaker in the embodiment of the present invention. As shown in the figure, when the wearer rotates to the planned traveling direction, all the speakers do not sound.
  • the speaker may continue to sound or intermittently sound; when it is judged that the planned traveling direction completely overlaps with the current traveling direction (or the allowable error range) After ⁇ 3° inside, all speakers will not sound. The speakers emit sound, which saves power.
  • the speaker in this embodiment may be two, four, eight or the like, and the speakers are symmetrically distributed on both sides of the front side of the helmet.
  • the guiding device is a ring worn on the waist (similar to a belt)
  • the guiding device may be a massage ball
  • the massage belt may have a plurality of massage balls, and the following six massage balls are taken as an example for description.
  • Fig. 14 is a view showing the distribution of the massage balls in the embodiment of the present invention. As shown in the figure, it is assumed that the first massage ball is at the position of the user's stomach (front side), and the fourth massage ball is at the user's back (front rear). position.
  • the angle between the No. 4 massage ball and the planned traveling direction is the smallest, and the angle is less than the preset error angle, then the No. 4 massage ball starts to massage and shake, and the user feels that the back massage ball vibration can be directly and quickly
  • the reaction to the backward turn is the right direction.
  • the massage ball can not only directly and quickly indicate the direction of travel of the user, but also provide the user with the function of pressure-relieving massage, without being disturbed by the external environment or disturbing the surrounding people, indicating the user to travel in a more subtle way. direction.
  • the sounding device for example, a speaker
  • the vibration device for example, a massage ball, etc.
  • a sounding device for example, a speaker
  • a vibration device for example, a massage ball
  • Sounding devices eg, speakers
  • vibration devices eg, massage balls, etc.
  • Sounding devices eg, speakers
  • vibration devices eg, massage balls, etc.
  • the implementation process can be combined with practical needs to determine the corresponding way.
  • embodiments of the present invention can be provided as a method, system, or computer program product.
  • the present invention can be implemented in an entirely hardware embodiment, fully software implemented For example, or in combination with an embodiment of software and hardware aspects.
  • the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

一种导盲方法、装置及设备，导盲方法包括：确定计划行进方向(101)，根据计划行进方向控制多个引导装置中符合预设条件的引导装置执行第一指定动作(102)。通过多个引导装置中符合预设条件的引导装置执行第一指定动作，来引导用户调整行进方向，对于用户而言，引导装置执行指定动作的方式比语音指令更加直接，用户在感受到引导装置所执行的指定动作之后即可快速的调整自己的行进方向，无需用户耗费一段时间去理解指令的含义，解决了通过语音指令引导用户前进所带来的引导效率低下的问题。

Description

一种导盲方法、装置及设备 技术领域
本发明涉及智能设备技术领域，尤其涉及一种导盲方法、装置及设备。
背景技术
盲人由于视力缺陷，外出总是很不方便，为了满足盲人的生活需要，出现了各式各样的导盲设备。目前，各种智能导盲设备大多是通过各种传感器来感知周边环境，计算合理的路障规避路径，通过语音指令(如：向左转、向右转等)来引导用户前进。
智能导盲设备通过语音指令来引导用户前进，从用户接受语音指令，到用户理解，并最后执行，需要一个较长的过程，因此效率较低。
现有技术不足在于：
现有导盲设备通过语音指令来引导用户前进的引导效率较低。
发明内容
本发明实施例提出了一种导盲方法、装置及设备，以解决现有技术中导盲设备通过语音指令来引导用户前进的引导效率较低的技术问题。
在一个方面，本发明实施例提供了一种导盲方法，包括如下步骤：
确定计划行进方向；
根据所述计划行进方向控制多个引导装置中符合预设条件的引导装置执行第一指定动作。
在另一个方面，本发明实施例提供了一种导盲装置，包括：
第一确定模块，用于确定计划行进方向；
第一控制模块，用于根据所述计划行进方向控制多个引导装置中符合预设条件的引导装置执行第一指定动作。
在另一个方面，本发明实施例提供了一种导盲设备，包括上述导盲装置以及多个引导装置。
有益效果如下：
本发明实施例所提供的导盲方法、装置及设备，在确定计划行进方向后，可以根据所述计划行进方向控制多个引导装置中符合预设条件的引导装置执行第一指定动作。由于本发明实施例中可以通过多个引导装置中符合预设条件的引导装置执行第一指定动作，来引导用户调整行进方向，对于用户而言，所述引导装置执行指定动作的方式比语音指令更加直接，用户在感受到所述引导装置所执行的指定动作之后即可快速的调整自己的行进方向，无需用户耗费一段时间去理解指令的含义，解决了通过语音指令引导用户前进所带来的引导效率低下的问题。
附图说明
下面将参照附图描述本发明的具体实施例，其中：
图1示出了本发明实施例中导盲方法实施的流程示意图；
图2示出了本发明实施例中导盲装置的结构示意图；
图3示出了本发明实施例中导盲设备的结构示意图；
图4示出了本发明实施例中扬声器的分布示意图；
图5示出了本发明实施例中扬声器发声示意图一；
图6示出了本发明实施例中扬声器发声示意图二；
图7示出了本发明实施例中扬声器发声示意图三；
图8示出了本发明实施例中扬声器发声示意图四；
图9示出了本发明实施例中扬声器的分布示意图；
图10示出了本发明实施例中扬声器发声示意图一；
图11示出了本发明实施例中扬声器发声示意图二；
图12示出了本发明实施例中扬声器发声示意图三；
图13示出了本发明实施例中扬声器发声示意图四；
图14示出了本发明实施例中按摩滚珠的分布示意图。
具体实施方式
为了使本发明的技术方案及优点更加清楚明白，以下结合附图对本发明的示例性实施例进行进一步详细的说明，显然，所描述的实施例仅是本发明的一部分实施例，而不是所有实施例的穷举。并且在不冲突的情况下，本说明中的实施例及实施例中的特征可以互相结合。
发明人在发明过程中注意到：
现有的导盲设备通过语音指令来引导用户前进，还存在以下一些缺点：
1)语音指令指示的方向变换很难量化，如：向左转、向右转等指令很难描述左转和右转的精确角度，即使语音指令中带精确的角度信息，用户也很难准确执行；
2)语音指令容易受到外界噪音的干扰，用户容易理解错误，难以做到重复多次提醒，而且一旦理解错误，执行错误的指令后，纠正错误所需要的过程也更为复杂.
针对现有技术的不足，本发明实施例提出了一种导盲方法、装置及设备，下面进行说明。
图1示出了本发明实施例中导盲方法实施的流程示意图，如图所示，所述导盲方法可以包括如下步骤：
步骤101、确定计划行进方向；
步骤102、根据所述计划行进方向控制多个引导装置中符合预设条件的引导装置执行第一指定动作。
具体实施中，计划行进方向可以根据规划路径、当前所处位置等来确定，具体确定过程可以采用现有技术实现，本发明在此不做赘述。
本发明实施例中，引导装置为多个，可以根据所述计划行进方向，控 制多个引导装置中符合预设条件的引导装置执行第一指定动作，来指示用户行进方向。例如：假设计划行进方向为东偏北30°，则本发明实施例中可以控制位于东偏北30°的引导装置进行震动或者发出声音。
由于本发明实施例中在确定计划行进方向后，是控制符合预设条件的引导装置执行第一指定动作，用户可以直接的感受到引导装置所执行的动作，在感受到所述引导装置所执行的指定动作之后即可调整自己的行进方向，而语音指令则需要用户接收后经过一段时间去理解指令的含义再调整自己的行进方向，因此，本发明实施例与现有的语音指令方式相比更加直接、有效。
实施中，所述确定计划行进方向具体可以为：
检测用户的当前位置；
根据所述用户的当前位置和用户确定的目标位置确定计划行进方向。
具体实施中，用户可以在行走过程中，通过语音或控制按键操作等方式，确定用户想要去的目标位置，即目的地，此时，用户侧可以接收到用户确定的目标位置。
需要说明的是，本发明实施例对所述检测用户的当前位置、以及所述接收用户确定的目标位置的先后顺序不作限制。
用户侧可以利用现有的定位技术检测出用户的当前位置，再结合所述用户确定的目标位置，为用户规划出行走路径；在用户的行走过程中，根据用户的当前位置以及规划出的行走路径确定计划行进方向。
本发明实施例中，用户侧可以直接检测用户的当前位置、确定计划行进方向，并在用户行进过程中实时提示用户，无需与外部交互即可快速、方便的指示用户，实现高效导盲的目的。
实施中，所述确定计划行进方向具体可以为：
接收导盲系统发送的导盲指令，所述导盲指令中包括计划行进方向。
具体实施中，用户侧可以接收导盲系统发送的导盲指令，导盲指令中可以包括所述计划行进方向，即，所述计划行进方向可以由导盲系统发送至用户侧。导盲系统可以自行定位所述用户的当前位置，并根据所述用户的当前位置以及预先设定的路径，向用户侧发送包括计划行进方向的导盲指令。
本发明实施例中，可以由导盲系统指示计划行进方向，用户侧无需进行大量的计算或其他操作；而且，通常导盲系统与用户侧相比具有更强大的计算能力和存储能力，从而可以实时、快速、准确的向用户发送包括计划行进方向的指令，在一定程度上进一步提高了导盲的效率。
实施中，在所述接收导盲系统发送的导盲指令之前，所述方法可以进一步包括：
接收用户发送的导盲请求，所述导盲请求中包括目标位置；
将所述目标位置发送至导盲系统。
用户在行走过程中，通过语音或控制按键等方式发送导盲请求，所述导盲请求中包括目标位置，用户侧接收到用户的导盲请求后将所述目标位置发送至导盲系统。智能导盲系统可以根据用户的目标位置和当前位置为用户规划出行走的路径，根据所述路径以及当前用户所处位置即可计算出下一步应当行进的方向(即，计划行进方向)。
其中，用户的当前位置可以由智能导盲系统自行定位得到，也可以由用户侧检测后、发送至所述导盲系统。
本发明实施例中，可以随时接收用户发送的目标位置，由导盲系统确定计划行进方向后指示用户方向，进一步提升了用户体验。
实施中，所述根据所述计划行进方向控制多个引导装置中符合预设条件的引导装置执行第一指定动作具体可以为：
确定所述计划行进方向与引导装置向量的夹角，所述引导装置向量为 中心点至所述引导装置的方向向量；
控制多个引导装置中的第一引导装置执行第一指定动作，所述第一引导装置为与所述计划行进方向夹角最小的引导装置。
具体实施中，本发明实施例可以在确定计划行进方向之后，进一步确定所述计划行进方向与引导装置向量的夹角。其中，所述引导装置向量可以为由中心点为起点、指向所述引导装置的方向向量。中心点可以为所有引导装置的中心，例如：如果各个引导装置在同一平面以圆形或椭圆形分布，那么中心点可以为圆心；如果各个引导装置在同一平面以多边形分布，那么中心点可以为多边形的重心；如果各个引导装置在不同平面上分布，那么中心点则可以为多面体的重心。
在确定所述计划行进方向与引导装置向量的夹角之后，可以控制与所述计划行进方向夹角最小的引导装置执行第一指定动作，从而达到指示方向的目的。
本发明实施例通过确定所述计划行进方向与引导装置向量的夹角，控制与所述计划行进方向夹角最小的引导装置执行第一指定动作，从而可以利用与所述计划行进方向夹角最小的引导装置所执行的动作，来精确、直接的指示用户计划行进方向。
实施中，在所述确定所述计划行进方向与引导装置向量的夹角之后，所述方法可以进一步包括：
判断所述夹角是否大于预设第一阈值；
当所述夹角大于所述预设第一阈值时，控制第二引导装置与所述第一引导装置同时执行第一指定动作，所述第二引导装置为与所述计划行进方向夹角次小的引导装置。
本发明实施例可以预先设置一个误差角度作为阈值，在确定所述计划行进方向与引导装置向量的夹角之后，可以判断所述夹角是否大于预设第 一阈值：
如果小于所述预设第一阈值，则说明所述引导装置向量与计划行进方向很接近，可以直接由于所述计划行进方向夹角最小(也可以理解为距离最近)的引导装置执行第一指定动作；
如果所述夹角大于预设第一阈值，则说明所述引导装置向量与计划行进方向之间的夹角已经超出了允许范围，所述计划行进方向可能位于两个引导装置中间，此时，本发明实施例可以控制与所述计划行进方向夹角最小的引导装置、以及与所述计划行进方向夹角次小的引导装置来执行所述第一指定动作。
本发明实施例通过进一步判断夹角与预设第一阈值的关系，来确定是控制一个引导装置(与所述计划行进方向夹角最小的引导装置)执行第一指定动作，还是控制两个引导装置(与所述计划行进方向夹角最小、和次小的引导装置)执行第一指定动作，从而将误差限定在一定范围内，确保方向指示更加准确。
实施中，所述方法可以进一步包括：
确定用户的当前行进方向；
当所述用户的当前行进方向与所述计划行进方向的夹角在预设范围内时，控制所述符合预设条件的引导装置执行第二指定动作。
本发明实施例中，还可以进一步确定用户当前的行进方向，当所述当前行进方向与所述计划行进方向的夹角在预设范围内时，可以控制所述符合预设条件的引导装置执行第二指定动作。即，如果用户当前行进方向与所述计划行进方向的夹角为0°或在预设范围内，那么说明用户的当前行进方向是正确的、符合规划路径的，那么，此时可以控制所述符合预设条件的引导装置来执行第二指定动作。所述第二指定动作可以与第一指定动作不同。
其中，当前行进方向的确定可以采用现有技术来确定，至少现有的指南针就具有该功能。
本发明实施例中，在实时连续地引导用户调整行进方向的过程中，如果所述当前行进方向与所述计划行进方向的夹角在预设范围内，可以控制所述符合预设条件的引导装置执行第二指定动作，从而可以协助盲人区分出当前行进方向是否正确。
实施中，所述引导装置可以为扬声器，所述第一指定动作可以为发声。
本发明实施例中的引导装置可以为扬声器，在确定计划行进方向之后，可以根据所述计划行进方向控制符合预设条件的扬声器发声。
所述根据所述计划行进方向控制符合预设条件的扬声器发声，具体可以为，确定所述计划行进方向与扬声器向量的夹角，控制与所述计划行进方向夹角最小的扬声器发声。
当所述计划行进方向与扬声器向量的夹角大于预设第一阈值时，可以控制与所述计划行进方向夹角最小的扬声器、以及与所述计划行进方向夹角次小的扬声器发声。
当所述当前行进方向与所述计划行进方向的夹角在预设范围内时，可以控制所述与所述计划行进方向夹角最小的扬声器停止发声、或者降低发声音量、提高发声周期等。
本发明实施例通过根据计划行进方向动态选择多个扬声器中符合预设条件的一个或多个扬声器发出声音，来实时连续地引导用户调整行进方向，指导用户沿正确的规划路径前进。
由于本发明实施例中是由各个位置的扬声器发声，用户可以直接的感受到发声的扬声器所在的位置或方向，即可快速的反应出下一步应当转向哪个方向前进，即，利用扬声器的位置直接的反应了计划行进方向，代替了语音指令的方式，省去了用户理解语音指令的反应时间，从而提高了导 盲效率。
实施中，所述扬声器发声的音量
Figure PCTCN2016105754-appb-000001
其中，α为所述计划行进方向与所述扬声器向量的夹角，N为所述扬声器向量的总数。
具体实施中，扬声器发声的音量可以根据所述计划行进方向与所述扬声器向量的夹角的不同而不断变化。
假设所述计划行进方向与所述扬声器向量的夹角为3°，所述扬声器向量的总数N为8，那么，所述扬声器发声的音量可以为(360°/8)-3°/(360°/8)＝0.933db；
假设所述计划行进方向与所述扬声器向量的夹角为10°，所述扬声器向量的总数N为8，那么，所述扬声器发声的音量可以为(360°/8)-10°/(360°/8)＝0.0.778db。
本发明实施例可以根据所述计划行进方向与所述扬声器向量的夹角，动态调整所述扬声器发声的音量，以不同的音量来实现指示方向的目的。
实施中，所述扬声器发声的音量还可以为
Figure PCTCN2016105754-appb-000002
其中，δ为所述计划行进方向与所述当前行进方向的夹角，N为所述扬声器向量的总数。
假设所述计划行进方向与所述当前行进方向的夹角为30°，所述扬声器向量的总数N为4，那么，所述扬声器发声的音量可以为0.333db。
假设所述计划行进方向与所述当前行进方向的夹角为70°，所述扬声器向量的总数N为4，那么，所述扬声器发声的音量可以为0.778db。
具体实施中，扬声器发声的音量可以根据所述计划行进方向与所述当前行进方向的夹角的不同而不断变化。
当前行进方向越靠近计划行进方向，所述扬声器的声音越小，直至当前行进方向与计划行进方向一致时，扬声器处于无声状态。
实施中，所述控制符合预设条件的引导装置执行第二指定动作具体可 以为：
控制符合预设条件的扬声器发声的音量降为预设最小值；
和/或，
控制符合预设条件的扬声器的发声周期变为预设最大值。
本发明实施例中，当所述当前行进方向与所述计划行进方向的夹角在预设范围内时，可以控制符合预设条件的扬声器发声的音量降为预设最小值、或者控制所述扬声器的发声周期变为预设最大值，即在当前行进方向正确时缩小音量或发声间隔边长，从而起到节约电量的作用。
本发明实施例所提供的导盲方法可以在为用户规划出导盲路径并指导用户行进的过程中，动态选择位于导盲设备上的多颗扬声设备中的一颗或者多颗，发出提示声音，来实时持续地引导用户调整行进方向，以及提醒用户周边存在的状况。
基于同一发明构思，本发明实施例中还提供了一种导盲装置，由于这些设备解决问题的原理与一种导盲方法相似，因此这些设备的实施可以参见方法的实施，重复之处不再赘述。
图2示出了本发明实施例中导盲装置的结构示意图，如图所示，所述导盲装置可以包括：
第一确定模块201，用于确定计划行进方向；
第一控制模块202，用于根据所述计划行进方向控制多个引导装置中符合预设条件的引导装置执行第一指定动作。
实施中，所述第一确定模块具体可以包括：
检测单元，用于检测用户的当前位置；
方向确定单元，用于根据所述用户的当前位置和用户确定的目标位置确定计划行进方向。
实施中，所述第一确定模块具体可以用于接收导盲系统发送的导盲指 令，所述导盲指令中包括计划行进方向。
实施中，所述装置可以进一步包括：
请求接收模块，用于在所述接收导盲系统发送的导盲指令之前，接收用户发送的导盲请求，所述导盲请求中包括目标位置；
发送模块，用于将所述目标位置发送至导盲系统。
实施中，所述第一控制模块具体可以包括：
夹角确定单元，用于确定所述计划行进方向与引导装置向量的夹角，所述引导装置向量为中心点至所述引导装置的方向向量；
第一控制单元，用于控制多个引导装置中的第一引导装置执行第一指定动作，所述第一引导装置为与所述计划行进方向夹角最小的引导装置。
实施中，所述第一控制模块可以进一步包括：
判断单元，用于在所述确定所述计划行进方向与引导装置向量的夹角之后，判断所述夹角是否大于预设第一阈值；
第二控制单元，用于当所述夹角大于所述预设第一阈值时，控制第二引导装置与所述第一引导装置同时执行第一指定动作，所述第二引导装置为与所述计划行进方向夹角次小的引导装置。
实施中，所述装置可以进一步包括：
第二确定模块203，用于确定用户的当前行进方向；
第二控制模块204，用于当所述用户的当前行进方向与所述计划行进方向的夹角在预设范围内时，控制所述符合预设条件的引导装置执行第二指定动作。
实施中，所述引导装置可以为扬声器，所述第一指定动作可以为发声。
实施中，所述扬声器发声的音量
Figure PCTCN2016105754-appb-000003
其中，α为所述计划行进方向与所述扬声器向量的夹角，N为所述扬声器向量的总数。
实施中所述扬声器发声的音量
Figure PCTCN2016105754-appb-000004
其中，δ为所述计划行进方向与所述当前行进方向的夹角，N为所述扬声器向量的总数。
实施中，所述第二控制模块具体可以用于当所述用户的当前行进方向与所述计划行进方向的夹角在预设范围内时，控制符合预设条件的扬声器发声的音量降为预设最小值，和/或，控制所述扬声器的发声周期变为预设最大值。
其中，控制符合预设条件的扬声器发声的音量降为预设最小值可以为0。
为了描述的方便，以上所述装置的各部分以功能分为各种模块或单元分别描述。当然，在实施本发明时可以把各模块或单元的功能在同一个或多个软件或硬件中实现。
基于同一发明构思，本发明实施例还提供了一种导盲设备，下面进行说明。
图3示出了本发明实施例中导盲设备的结构示意图，如图所示，所述导盲设备可以包括如上所述的导盲装置以及多个引导装置(1～n)。
本发明实施例中的导盲设备可以为头盔、帽子、发带、眼镜等佩戴于头部的设备，还可以为腰带、束腹等环绕于腰间的设备，本领域技术人员可以根据实际需要进行实施。
为了便于本发明的实施，下面以实例进行说明。
实施例一、
假设导盲设备为头盔或帽子，引导装置为扬声器，导盲头盔上有多个扬声器，下面以8个扬声器为例进行说明。
图4示出了本发明实施例中扬声器的分布示意图，如图所示，8个扬声器可以成圆形、椭圆形分布，中心点O为圆心。
中心点O与8个扬声器构成8个方向向量(可以称为扬声器向量)，方 向为从中心点O指向扬声器，分别为向量O1、向量O2、…、向量O8，其中，向量O1指示的方向为当前行进方向。
导盲头盔规划出路径后，可以确定计划行进方向，通过计算计划行进方向与扬声器向量之间的夹角，确定发声的扬声器。
图5示出了本发明实施例中扬声器发声示意图一，如图所示，计划行进方向与O7向量的夹角最小，从而可以选择第7号扬声器发声，其它扬声器不发声。
本发明实施例中，还可以进一步判断计划行进方向与扬声器向量之间最小的夹角(即计划行进方向与O7之间的夹角)与预设误差角度的大小关系：
如果夹角小于预设误差角度(例如：5°)，那么可以只由第7号扬声器发声，其它扬声器不发声；
如果夹角大于预设误差角度，可以选择夹角最小的扬声器向量和夹角次小的扬声器向量，由相应的两个扬声器发声。
图6示出了本发明实施例中扬声器发声示意图二，如图所示，计划行进方向与向量O7的夹角大于预设误差夹角(例如：5°)，此时，可以选择夹角最小的向量O7、夹角次小的向量O8两个向量的扬声器发声，即第7号扬声器和第8号扬声器发声。
进一步地，还可以对第7号扬声器和第8号扬声器的音量进行控制。假设单个扬声器发声时的音量为S，则两个扬声器发声时的音量S’可以控制为：
(360°/扬声器向量总数N)-计划行进方向与所述扬声器向量的夹角/(360°/扬声器向量总数|N|[khy1])。
本发明实施例通过上述音量控制方法，可以确保两个扬声器发声的总音量与单个扬声器发声的音量想当，并且通过两个扬声器不同的发声音量 给用户更准确的方向指示。
图7示出了本发明实施例中扬声器发声示意图三，如图所示，随着用户调整方向，向量O7与计划行进方向的夹角不再是最小的，与计划行进方向夹角最小的向量变成了向量O8，此时，向量O8对应的第8号扬声器发声。
不断计算计划行进方向与扬声器向量之间的夹角，按照上述方式选择扬声器进行发声，直到计划行进方向与当前行进方向重叠(或在可允许误差角范围内±3°)。
导盲过程中，若用户计划行进方向与实际行进方向有偏差，则扬声器可以持续鸣响或以一定周期间断的鸣响；当判断计划行进方向与当前行进方向完全重叠(或在可允许误差范围内±3°)后，正前方的(一个或两个)扬声器鸣响的音量显著减小和/或间断鸣响的周期变长，从而可以进一步节约设备电量。
图8示出了本发明实施例中扬声器发声示意图四，如图所示，当用户的当前行进方向与计划行进方向重叠或在允许误差范围内时，第1号扬声器发声，发声的音量降为预设最小值、发声的周期变为预设最大值，既可以指示用户方向又可以节约设备电量。
实施例二
假设导盲设备为头盔或帽子，引导装置为扬声器，导盲头盔上有多个扬声器，下面以2个扬声器为例进行说明。
图9示出了本发明实施例中扬声器的分布示意图，如图所示，2个扬声器可以成圆形、椭圆形分布，中心点O为圆心。
中心点O与2个扬声器构成左右2个方向向量(可以称为扬声器向量)，方向为从中心点O指向扬声器，分别为向量O1、向量O2，其中，向量O3为头盔正前方指示的方向为当前行进方向。
导盲头盔规划出路径后，可以确定计划行进方向，通过计算计划行进方向与扬声器向量之间的夹角，确定发声的扬声器。
图10示出了本发明实施例中扬声器发声示意图一，如图所示，目前设备朝向为正北向，需要引导用户调整至东偏南30度，计划行进方向与O2向量的夹角最小，从而可以选择第2号|扬声器发声，其它扬声器不发声|[khy2]。
图11示出了本发明实施例中扬声器发声示意图二，如图所示，佩戴者感受到指示之后，向右转动头部；此时的计划行进方向与O2向量的夹角最小，从而第2号扬声器继续发声，其它扬声器不|发声|[khy3]。
图12示出了本发明实施例中扬声器发声示意图三，如图所示，如果佩戴者转动方向超过了计划行进方向；此时的计划行进方向与O1向量的夹角变小，与O2向量的夹角变大，从而第1号扬声器继续发声指示回转，其它扬声器不发声。
还可以对第1号扬声器或第2号扬声器的音量进行控制。假设单个扬声器发声时|的音量为|[khy4]：
Figure PCTCN2016105754-appb-000005
其中，δ为所述计划行进方向与所述当前行进方向的夹角，N为所述扬声器向量的总数。
本发明的实施例通过上述音量控制方法(不限于上述音量S的计算方法)，可以确保扬声器的音量在佩戴者转动过程中，约靠近计划行进方向，扬声器音量越小，距离计划行进方向越远，扬声器音量越大。
图13示出了本发明实施例中扬声器发声示意图四，如图所示，当佩戴者转动到计划行进方向时，所有扬声器均不发声。
导盲过程中，若用户计划行进方向与实际行进方向有偏差，则扬声器可以持续鸣响或以一定周期间断的鸣响；当判断计划行进方向与当前行进方向完全重叠(或在可允许误差范围内±3°)后，所有扬声器均不发声。扬声器均发声，有效节省了电量。
本实施例中的扬声器可以为2个、4个、8个等多个实施方式，所述扬声器对称分布在头盔正前方两侧。
实施例三、
假设导盲设备为佩戴于腰部的环状物(类似于腰带)，引导装置可以为按摩滚珠，腰带上可以有多个按摩滚珠，下面以6个按摩滚珠为例进行说明。
图14示出了本发明实施例中按摩滚珠的分布示意图，如图所示，假设第1号按摩滚珠为用户肚子(正前方)所在位置，第4号按摩滚珠为用户背部(正后方)所在位置。
第4号按摩滚珠与计划行进方向的夹角最小，且所述夹角小于预设误差角度，则此时第4号按摩滚珠开始按摩震动，用户感受到背部按摩滚珠震动时，即可直接快速的反应到向后转才是正确的方向。
采用按摩滚珠的方式，不仅可以直接快速的指示用户行进方向，还可以给用户提供舒压按摩的功能，而且不会受到外界环境的干扰或干扰周围人，以一种较为隐蔽的方式指示用户行进方向。
在本发明实施例中，采用发声装置(例如：扬声器)、震动装置(例如：按摩滚珠等)等方式是由于这些方式比较常用、主流，易于本领域技术人员使用/理解，所以本发明实施例以发声装置(例如：扬声器)、震动装置(例如：按摩滚珠等)为例；但是，从理论上说，用其他的方式也是可以的，只要能够实现以直观感受方式引导用户的目的即可，发声装置(例如：扬声器)、震动装置(例如：按摩滚珠等)仅用于教导本领域技术人员具体如何实施本发明，但并不意味着仅能使用发声装置(例如：扬声器)、震动装置(例如：按摩滚珠等)，实施过程中可以结合实践需要来确定相应的方式。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施 例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。

Claims (23)

  1. 一种导盲方法，其特征在于，包括如下步骤：
    确定计划行进方向；
    根据所述计划行进方向控制多个引导装置中符合预设条件的引导装置执行第一指定动作。
  2. 如权利要求1所述的方法，其特征在于，所述确定计划行进方向具体为：
    检测用户的当前位置；
    根据所述用户的当前位置和用户确定的目标位置确定计划行进方向。
  3. 如权利要求1所述的方法，其特征在于，所述确定计划行进方向具体为：
    接收导盲系统发送的导盲指令，所述导盲指令中包括计划行进方向。
  4. 如权利要求3所述的方法，其特征在于，在所述接收导盲系统发送的导盲指令之前，进一步包括：
    接收用户发送的导盲请求，所述导盲请求中包括目标位置；
    将所述目标位置发送至导盲系统。
  5. 如权利要求1所述的方法，其特征在于，所述根据所述计划行进方向控制多个引导装置中符合预设条件[khy5]的引导装置执行第一指定动作具体为：
    确定所述计划行进方向与引导装置向量的夹角，所述引导装置向量为中心点至所述引导装置的方向向量；
    控制多个引导装置中的第一引导装置执行第一指定动作，所述第一引导装置为与所述计划行进方向夹角最小的引导装置。
  6. 如权利要求5所述的方法，其特征在于，在所述确定所述计划行进方向与引导装置向量的夹角之后，进一步包括：
    判断所述夹角是否大于预设第一阈值；
    当所述夹角大于所述预设第一阈值时，控制第二引导装置与所述第一引导装置同时执行第一指定动作，所述第二引导装置为与所述计划行进方向夹角次小的引导装置。
  7. 如权利要求1所述的方法，其特征在于，进一步包括：
    确定用户的当前行进方向；
    当所述用户的当前行进方向与所述计划行进方向的夹角在预设范围内时，控制所述符合预设条件的引导装置执行第二指定动作。
  8. 如权利要求1所述的方法，其特征在于，所述引导装置为扬声器，所述第一指定动作为发声。
  9. 如权利要求8所述的方法，其特征在于，所述扬声器发声的音量
    Figure PCTCN2016105754-appb-100001
    其中，α为所述计划行进方向与所述扬声器向量的夹角，N为所述扬声器向量的总数。
  10. 如权利要求8所述的方法，其特征在于，所述扬声器发声的音量
    Figure PCTCN2016105754-appb-100002
    其中，δ为所述计划行进方向与所述当前行进方向的夹角，N为所述扬声器向量的总数。
  11. 如权利要求7所述的方法，其特征在于，所述控制符合预设条件的引导装置执行第二指定动作具体为：
    控制符合预设条件的扬声器发声的音量降为预设最小值；
    和/或，
    控制符合预设条件的扬声器的发声周期变为预设最大值。
  12. 一种导盲装置，其特征在于，包括：
    第一确定模块，用于确定计划行进方向；
    第一控制模块，用于根据所述计划行进方向控制多个引导装置中符合 预设条件的引导装置执行第一指定动作。
  13. 如权利要求12所述的装置，其特征在于，所述第一确定模块具体包括：
    检测单元，用于检测用户的当前位置；
    方向确定单元，用于根据所述用户的当前位置和用户确定的目标位置确定计划行进方向。
  14. 如权利要求12所述的装置，其特征在于，所述第一确定模块具体用于接收导盲系统发送的导盲指令，所述导盲指令中包括计划行进方向。
  15. 如权利要求14所述的装置，其特征在于，进一步包括：
    请求接收模块，用于在所述接收导盲系统发送的导盲指令之前，接收用户发送的导盲请求，所述导盲请求中包括目标位置；
    发送模块，用于将所述目标位置发送至导盲系统。
  16. 如权利要求12所述的装置，其特征在于，所述第一控制模块具体包括：
    夹角确定单元，用于确定所述计划行进方向与引导装置向量的夹角，所述引导装置向量为中心点至所述引导装置的方向向量；
    第一控制单元，用于控制多个引导装置中的第一引导装置执行第一指定动作，所述第一引导装置为与所述计划行进方向夹角最小的引导装置。
  17. 如权利要求16所述的装置，其特征在于，所述第一控制模块进一步包括：
    判断单元，用于在所述确定所述计划行进方向与引导装置向量的夹角之后，判断所述夹角是否大于预设第一阈值；
    第二控制单元，用于当所述夹角大于所述预设第一阈值时，控制第二引导装置与所述第一引导装置同时执行第一指定动作，所述第二引导装置为与所述计划行进方向夹角次小的引导装置。
  18. 如权利要求12所述的装置，其特征在于，进一步包括：
    第二确定模块，用于确定用户的当前行进方向；
    第二控制模块，用于当所述用户的当前行进方向与所述计划行进方向的夹角在预设范围内时，控制所述符合预设条件的引导装置执行第二指定动作。
  19. 如权利要求12所述的装置，其特征在于，所述引导装置为扬声器，所述第一指定动作为发声。
  20. 如权利要求19所述的装置，其特征在于，所述扬声器发声的音量
    Figure PCTCN2016105754-appb-100003
    其中，α为所述计划行进方向与所述扬声器向量的夹角，N为所述扬声器向量的总数。
  21. 如权利要求19所述的装置，其特征在于，所述扬声器发声的音量
    Figure PCTCN2016105754-appb-100004
    其中，δ为所述计划行进方向与所述当前行进方向的夹角，N为所述扬声器向量的总数。
  22. 如权利要求18所述的装置，其特征在于，所述第二控制模块具体用于当所述用户的当前行进方向与所述计划行进方向的夹角在预设范围内时，控制符合预设条件的扬声器发声的音量降为预设最小值，和/或，控制所述扬声器的发声周期变为预设最大值。
  23. 一种导盲设备，包括如权利要求12至22任一所述的导盲装置以及多个引导装置。
PCT/CN2016/105754 2015-11-13 2016-11-14 一种导盲方法、装置及设备 Ceased WO2017080529A1 (zh)

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