WO2017084571A1 - 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
WO2017084571A1
WO2017084571A1 PCT/CN2016/106020 CN2016106020W WO2017084571A1 WO 2017084571 A1 WO2017084571 A1 WO 2017084571A1 CN 2016106020 W CN2016106020 W CN 2016106020W WO 2017084571 A1 WO2017084571 A1 WO 2017084571A1
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WO
WIPO (PCT)
Prior art keywords
connecting rod
user
rotating shaft
target direction
center
Prior art date
Application number
PCT/CN2016/106020
Other languages
English (en)
French (fr)
Inventor
徐泽元
王斌
Original Assignee
深圳前海达闼云端智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳前海达闼云端智能科技有限公司 filed Critical 深圳前海达闼云端智能科技有限公司
Priority to EP16865748.4A priority Critical patent/EP3241538B1/en
Priority to JP2017545635A priority patent/JP6509356B2/ja
Publication of WO2017084571A1 publication Critical patent/WO2017084571A1/zh
Priority to US15/722,731 priority patent/US9949887B2/en

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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
    • A42—HEADWEAR
    • A42B—HATS; HEAD COVERINGS
    • A42B3/00—Helmets; Helmet covers ; Other protective head coverings
    • A42B3/04—Parts, details or accessories of helmets
    • A42B3/30—Mounting radio sets or communication systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/08—Devices or methods enabling eye-patients to replace direct visual perception by another kind of perception
    • 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
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A61H23/0254—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor
    • A61H23/0263—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor using rotating unbalanced masses
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3652—Guidance using non-audiovisual output, e.g. tactile, haptic or electric stimuli
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B21/00—Teaching, or communicating with, the blind, deaf or mute
    • G09B21/001—Teaching or communicating with blind persons
    • G09B21/003—Teaching or communicating with blind persons using tactile presentation of the information, e.g. Braille displays
    • 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
    • A61H2003/063—Walking aids for blind persons with electronic detecting or guiding means with tactile perception
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0107—Constructive details modular
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0165—Damping, vibration related features
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1604—Head
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1604—Head
    • A61H2201/1607—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled

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 method, a device and a device for guiding blindness, which are mainly used to solve the technical problem that the guiding device of the prior art guides the user to advance by using voice instructions.
  • an embodiment of the present invention provides a blind guiding method, including the following steps:
  • the center of gravity is controlled to shift the center of gravity toward the target direction according to the target direction.
  • an embodiment of the present invention provides a blind guiding device, including:
  • control module configured to control the mechanical device to shift the center of gravity toward the target direction according to the target direction.
  • an embodiment of the present invention provides a blind guiding device, including the above-described guiding device and mechanical device.
  • the blind guiding method, device and device provided by the embodiments of the present invention first determine a target direction; and then control the mechanical device to shift the center of gravity toward the target direction according to the target direction. Since the embodiment of the present invention indicates the target direction by means of the center of gravity offset, and the indication of the different directions acts on the user's head in a pressure manner, the user can easily feel the center of gravity of the head, and the ordinary person When the walking direction is the same as the head orientation, the indicating that the head is turned to the target direction allows the blind person to quickly find the target direction.
  • the guiding method provided by the embodiment of the present invention does not need to be compared with the existing voice guiding method. It takes a while for the user to understand the meaning of the voice command, and the offset of the mechanical center of gravity allows the user to directly feel the direction indication, thereby improving the guiding efficiency.
  • 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 top schematic view 1 of a blind guiding device in an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a guide blind scene in the embodiment of the present invention.
  • FIG. 6 is a schematic diagram showing an initial state of a blind guiding device in an embodiment of the present invention.
  • Figure 7 is a schematic view showing the structure of the connecting rod offset in the embodiment of the present invention.
  • FIG. 8 is a schematic diagram showing a final state of a blind guiding device in an embodiment of the present invention.
  • FIG. 9 is a top schematic view 2 of a blind guiding device in an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of a weight indication in an embodiment of the present invention.
  • Figure 11 is a schematic view showing the structure of the weight sliding in the embodiment of the present invention.
  • Figure 12 is a top plan view 3 of the guide blind device 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 target direction.
  • Step 102 Control the mechanical device to shift the center of gravity toward the target direction according to the target direction.
  • the control device may shift the center of gravity toward the target direction according to the target direction.
  • the center of gravity can be directly shifted to the target direction.
  • the mechanical device can be controlled to shift the center of gravity to 20° to the north, or the center of gravity can be Direction close to the target direction Offset, for example: assuming the target direction is in the positive left direction, then the mechanism can be controlled to be offset 30° to the left.
  • the user can feel the center of gravity offset and adjust his or her direction of travel as the center of gravity shifts.
  • the mechanism can be continuously controlled to ensure that its center of gravity is toward the target.
  • the embodiment of the present invention indicates the target direction by means of the center of gravity offset. Since the traveling direction is generally consistent with the head forward direction when the person walks, indicating that the head is turned to the target direction allows the blind person to quickly find the target direction; The support structure of the neck and the pressure acting on the scalp in different directions can easily make the blind feel the center of gravity and quickly determine the target direction.
  • the guide blind method provided by the embodiment of the present invention can use the change of the position of the center of gravity of the headset to indicate the direction of travel. Compared with the indication manner of the existing voice command, the user does not need to spend a period of time to understand the meaning of the voice command.
  • the offset of the mechanical center of gravity allows the user to directly feel the direction indication. After the direction of the blind person changes, the user can feedback in real time, instructing the blind person to adjust the direction, thereby accurately and quickly indicating the direction of travel for the blind person and improving the guiding blindness efficiency.
  • the determining the target direction may specifically be:
  • the target direction is determined according to the current location of the user and the target location determined by the user.
  • the target location determined by the user may be received in advance, and the walking path is planned to be stored locally according to the initial location and the target location, and the current location of the user is determined in real time during the user's travel, thereby calculating the next step.
  • the direction of travel; the target position determined by the user may be received at any time during the user's travel, so that the target direction is determined according to the target position and the current position determined by the user in time.
  • the user can determine the target location, that is, the destination, that the user wants to go by means of voice or control buttons.
  • the detection of the current location of the user may be implemented by using an existing positioning technology, and the present invention is not described herein.
  • the embodiment of the present invention receives the target determined by the user during the user's travel.
  • the order, as well as the order in which the user's current location is detected, is not limited.
  • the target direction in the embodiment of the present invention may be determined locally, and the user side directly detects the current location of the user and determines the target direction. In this manner, it is ensured that the user direction can still be indicated when the external communication cannot be performed, to a certain extent. Save power and achieve efficient blindness.
  • the determining the target direction may specifically be:
  • the user side may receive a guide instruction sent by the intelligent guide system, where the guide instruction may include the target direction, that is, the target direction may be sent by the guide system to the user side;
  • the system can locate the current location of the user by itself, and send a guide instruction including a planned travel direction to the user side according to the current location of the user and a preset path.
  • the target direction can be determined based on the external command.
  • the target direction in the embodiment of the present invention may be determined by an external system sending an instruction, and the user side does not need to perform a large number of calculations or other operations, thereby reducing the storage amount and the calculation amount on the user side, and generally, the guide blind system is compared with the user side. It has more powerful computing power and storage capacity, so that the instructions including the planned direction of travel can be sent to the user in real time, fast and accurate.
  • the method of sending instructions by the guide blind system has higher real-time and accuracy, which further improves the guidance of the blind. effectiveness.
  • 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 according to the path and the current user position.
  • the direction in which the next step should travel ie, the target 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 may be received at any time, and the guiding direction is determined by the guiding blind system to indicate the user's travel, thereby further improving the user experience.
  • the mechanical device may specifically include a weight, a connecting rod and a rotating shaft, the connecting rod is connected to the rotating shaft, and the weight is located on the connecting rod.
  • the mechanical device may be composed of a weight, a connecting rod and a rotating shaft.
  • the connecting rod is connected to the rotating shaft.
  • one end of the connecting rod may be connected to the rotating shaft, or may be a center of the connecting rod is coupled to the rotating shaft, the connecting rod is rotatable about a rotating shaft, the weight is located on the connecting rod, and the weight can be fixedly mounted or on the connecting rod slide.
  • one end of the connecting rod is connected to the rotating shaft, and the shifting the center of gravity of the mechanical device may be controlled to control the orientation of the connecting rod centered on the rotating shaft.
  • one end of the connecting rod may be connected to the rotating shaft, and the connecting rod may be rotated around one end connected to the rotating shaft, and the shifting of the center of gravity of the mechanical device may be specifically controlled by the control center.
  • the orientation of the connecting rod may be connected to the rotating shaft, and the connecting rod may be rotated around one end connected to the rotating shaft, and the shifting of the center of gravity of the mechanical device may be specifically controlled by the control center. The orientation of the connecting rod.
  • the connecting rod can be controlled to rotate around the rotating shaft to 50° east and south. Since the weight is located on the connecting rod, the user can feel the mechanical device. The center of gravity is 50° east-south, so that the head/body can be rotated 50° to the south and travel in this direction.
  • the embodiment of the present invention can also be implemented in the following manner.
  • controlling the orientation of the connecting rod centered on the rotating shaft may specifically control the connecting rod to be offset from the target direction within a preset angle range.
  • the embodiment of the present invention can control the connecting rod to be offset 30° to the east. After the user adjusts 30 degrees to the east, if the eastward direction is still not reached, the connecting rod can be continuously controlled to the east. Offset by 30° until the connecting rod finally faces the target direction.
  • the embodiment of the invention limits the rotation angle of the connecting rod and indicates the target direction by stepwise offset, thereby avoiding a wide range of rotation of the connecting rod 360°, which can reduce the complexity of the design and improve the connecting rod and the rotating shaft. Durability.
  • the center of the connecting rod is connected to the rotating shaft, and the shifting the center of gravity of the mechanical device may be controlled to control one end of the weight at the center of the connecting rod.
  • the center of the connecting rod is connected to the rotating shaft, and the center of gravity can be controlled at the center of the connecting rod by the weight to achieve the purpose of indicating the direction of the user.
  • the weight can be controlled to slide to the left end of the center of the connecting rod; if the target direction is centered with the connecting rod The angle of the right end is small, then the weight can be controlled to slide to the right end of the center of the connecting rod.
  • Embodiments of the present invention can control the center of gravity shift of the mechanical device by controlling which end of the center of the connecting rod is at the center of the connecting rod, and can indicate the direction of travel of the user without the connecting rod rotating around the rotating shaft.
  • the method may further include:
  • the weight may slide on the connecting rod, and the guiding blind method may further determine a current traveling direction of the user, according to the current traveling direction and the target direction. And controlling a sliding position of the weight on the connecting rod.
  • the weight can be controlled to be more and more far from the end, to gradually reduce the weight, and the user feels the weight change to prompt the user to adjust. Correct direction;
  • the weight can be controlled to be closer to the end, so as to gradually increase the weight, so that the user feels the weight change to prompt the user to adjust. Wrong direction;
  • the weight can be controlled to slide to the extreme end of the connecting rod to increase the weight, so that the user obviously feels the center of gravity deviation.
  • the embodiment of the present invention can control the sliding position of the weight on the connecting rod according to the relationship between the current traveling direction and the target direction, and can indicate the user with different weights when the user adjusts the direction according to the gravity center shifting condition.
  • the direction is correct to further enhance the user experience.
  • the distance of the weight from the center of the connecting rod may be controlled according to the angle of the target direction and the current traveling direction. Thereby indicating how close the user is in the current direction of travel to the target direction.
  • the weight can be controlled to slide to the left 2 cm distance of the center of the connecting rod; if the target direction is 90 to the left of the current traveling direction °, the weight can be controlled to slide to the left of the center of the connecting rod 5 cm.
  • the rotation of the head can be detected by the gravity sensor and the electronic compass to determine the current traveling direction, and the current traveling direction of the user can be determined by other components, which is not limited by the present invention.
  • the embodiment of the present invention can indicate the proximity of the current traveling direction to the target direction (or the angle of the angle) by controlling the distance of the weight to the center of the connecting rod, to a certain extent Increased user experience.
  • the distance of the weight to the connection between the connecting rod and the rotating shaft is controlled according to the relationship between the current traveling direction of the user and the target direction, which may be:
  • the weight is controlled to slide to a joint of the connecting rod and the rotating shaft.
  • the weight when the current traveling direction is consistent with the target direction, the weight can be controlled to slide to a center position (it can be understood that the weight is located at the top of the head), that is, the connection between the connecting rod and the rotating shaft At this point, the user can feel that the head has no center of gravity, so that it can normally move forward without feeling the scalp pressure.
  • the weight when the current traveling direction is consistent with the target direction, the weight is controlled to slide to the center position, so that the user does not feel that the center of gravity is biased to the front so that the head is tilted, thereby further improving the user experience.
  • 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 target direction
  • the first control module 202 is configured to control the mechanical device to shift the center of gravity toward the target direction according to the target direction.
  • 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 target 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 direction includes the target direction.
  • the apparatus may further include:
  • a request receiving module configured to receive a guide request sent by a user, where the guide request includes a target location
  • a sending module configured to send the target location to the guiding blind system.
  • the mechanical device may specifically include a weight, a connecting rod and a rotating shaft, the connecting rod is connected to the rotating shaft, and the weight is located on the connecting rod.
  • one end of the connecting rod is connected to the rotating shaft
  • the first control module may be specifically configured to change a center of gravity of the mechanical device by controlling an orientation of the connecting rod centered on the rotating shaft Bias.
  • the first control module may be specifically configured to control the connecting rod centered on the rotating shaft to be offset from the target direction within a preset angle range.
  • the center of the connecting rod is connected to the rotating shaft, and the first control module may be specifically configured to change the center of gravity of the mechanical device by controlling one end of the weight at the center of the connecting rod.
  • 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 a distance of the weight to a connection between the connecting rod and the rotating shaft according to a relationship between a current traveling direction of the user and the target direction.
  • the second control module may be specifically configured to control the weight to slide to a connection between the connecting rod and the rotating shaft when a current traveling direction of the user is consistent with the target direction.
  • the existing functional component modules can be used for implementation.
  • the first determining module and the second determining module may use existing direction determining components.
  • the voice guiding device used in the existing guiding blind technology has the functional component implemented;
  • the control module and the second control are components that are provided in any device having a control function, and can be realized by a person skilled in the art through corresponding design and development.
  • an embodiment of the present invention further provides a blind guiding device, which will be described below.
  • FIG. 3 is a schematic structural diagram of a blind guiding device according to an embodiment of the present invention.
  • the guiding device may include the guiding device 301 and the mechanical device 302.
  • the guiding device may control the mechanical device to adjust the center of gravity after determining the target direction to indicate the direction of the user.
  • the mechanical device may be a device composed of a rotating shaft, a connecting rod and a weight.
  • the method of using the combination of the rotating shaft, the connecting rod and the weight is because the method is relatively common and mainstream, and is easy to be used/understood by those skilled in the art, so the embodiment of the present invention uses a rotating shaft, a connecting rod and
  • the method of combining the weights is an example; however, in theory, other methods are also possible, for example, the method of rolling the balls in the slide, as long as the purpose of adjusting the center of gravity can be achieved, the rotating shaft, the connecting rod and the matching
  • the manner of recombination is only used to teach those skilled in the art how to implement the invention in detail, but it does not mean that only the rotating shaft, the connecting rod and the combination of the weights can be used, and the corresponding manner can be determined in combination with the practical needs in the implementation process. .
  • the guiding device can be a device worn on the head, such as a helmet or a hat.
  • the center of gravity of the guiding device can be directly felt.
  • the guide device provided by the embodiment of the present invention can be convenient for the user. Find the target direction as soon as possible, greatly High guide efficiency.
  • FIG. 4 is a top schematic view of the guide device according to the embodiment of the present invention.
  • the user can wear the guide device to the head, and the protruding portion 1 in the figure can represent the face orientation, and the connecting rod 2 Connected to the rotating shaft 3, the connecting rod 2 can be rotated about the rotating shaft 3, and the counterweight 4 can slide on the connecting rod 2.
  • FIG. 5 is a schematic diagram of a guide blind scene in the embodiment of the present invention. As shown in the figure, it is assumed that the current location of the blind user is point A, and the place where the user wants to go (ie, the destination) is point B, and the upper part of the figure represents positive North direction.
  • FIG. 6 is a schematic diagram showing an initial state of a blind guiding device according to an embodiment of the present invention. As shown in the figure, it is assumed that a blind user faces 45 degrees eastward (in the direction indicated by a dotted arrow in the figure), assuming that an external command is received at this time. The command indicates that the target direction is 30° east to the north (in the direction indicated by the solid arrow in the figure).
  • the mechanical device is controlled to shift the center of gravity to 30° to the north.
  • FIG. 7 is a schematic structural view showing the offset of the connecting rod in the embodiment of the present invention.
  • the guiding device can control the connecting rod to rotate along the rotating axis to 30° east, and the weight is controlled.
  • the end of the connecting rod allows the blind to feel the pressure in the direction of 30° east to the north, aiming at indicating the direction of travel of the blind.
  • the blind user can turn according to the perceived head pressure, and the center of gravity of the guide device can be continuously adjusted during the steering process to ensure that it points 30° to the north.
  • FIG. 8 is a schematic diagram showing the final state of the blind guiding device in the embodiment of the present invention.
  • the face of the blind person is in the same direction as the target direction, that is, both are 30° to the north.
  • the guide blind device can return the weight to the center position, so that the head is no longer affected by the bias pressure when the blind person travels in the correct direction, thereby improving the user experience of the blind person.
  • FIG. 9 shows a top schematic view 2 of the guide blind device in the embodiment of the present invention.
  • the user can wear the guide blind device on the head, and the protruding portion 1 in the figure can represent the face orientation, and the connecting rod 2 Connected to the rotating shaft 3, the connecting rod 2 can be rotated about the rotating shaft 3, and the counterweight 4 can slide on the connecting rod 2.
  • FIG. 10 is a schematic structural diagram of the weight indication in the embodiment of the present invention. As shown in the figure, it is assumed that the blind user faces the north, and an external command is received at this time, and the instruction indicates that the target direction is 30° north to the west (in the figure). The direction indicated by the solid arrow).
  • the guiding device can control the weight to slide to the left side of the connecting rod center 3cm, the blind person can feel the head slightly to the left side, and then adjust the traveling direction to slightly shift to the left to reach the blind person to travel The purpose of the direction.
  • the guiding device can control the weight to slide to the leftmost side of the center of the connecting rod, and the blind person can feel the head is obviously biased to the left side, and then adjust the traveling direction. Face to the left to achieve the purpose of indicating the direction of travel of the blind.
  • Figure 11 is a schematic view showing the structure of the weight sliding in the embodiment of the present invention.
  • the guiding device can control the weight to slide to the connection. 3cm to the right of the center of the pole, the blind can feel the head to the right, and then adjust the direction of travel to shift to the right to achieve the purpose of indicating the direction of travel of the blind.
  • the weight can be returned to the connection between the connecting rod and the rotating shaft, that is, the blind person can feel the weight returning to the top of the head without deviation, and the direction can be confirmed at this time. Proper and normal travel.
  • the guiding device in the embodiment of the present invention may be an annulus worn on the shoulder or the waist of the user, which will be described below.
  • FIG. 12 is a top schematic view 3 of a guide blind device according to an embodiment of the present invention, as shown in the figure,
  • the guiding device is a device that can be worn on the waist (similar to a waist belt), and the mechanical device can include an annular slide and a ball, and the position of the ball in the figure can indicate the position of the user's stomach.
  • the guiding device can control the ball to slide along the annular slide to the target direction, and the center of the annular slide (also called The direction vector to the ball is the target direction, and the user can adjust his or her traveling direction after feeling the bias of the waist weight.
  • the plurality of balls may be multiple, and the distribution of the balls is controlled according to the current traveling direction and the target direction.
  • the plurality of balls can all slide to a position consistent with the target direction. Since the plurality of balls are all in the same position, the user can obviously feel the waist weight is biased toward the target. Direction, thereby determining the direction of the next step and adjusting its orientation;
  • the plurality of balls may be evenly distributed in the annular slide, so that the user feels that the weight of the waist is balanced without any deviation.
  • the position of the plurality of balls in the annular slide track may be changed according to the proximity of the current traveling direction to the target direction, and the closer the target direction is, the weight felt by the user.
  • the four balls may be evenly distributed in the annular slide, for example, may be respectively slid directly to the front of the user, directly behind, the left side of the waist, and the right side of the waist.
  • the side can ensure that the user can walk normally without feeling the deviation in any direction, that is, the user experience can be improved, and the user can be prompted to travel in the correct direction at this time. Consistent with the target direction.
  • the present invention also provides a guide blind device, the guide device comprising: a memory, a processor and a mechanical device, the memory for storing instructions of the processor, the processor for controlling the mechanical device to perform the above Instructions for each step in the method of the specification.
  • the guiding device is a blind guiding helmet.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, 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.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • 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.

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Abstract

一种导盲方法、装置及设备，包括：确定目标方向；根据所述目标方向控制机械装置将重心向所述目标方向偏移。该方法通过重心偏移的方式，将不同方向的指示以压力的方式作用于用户的头部，让用户直接的感受到方向指示，从而提高了导盲效率。

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，主要用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：
确定目标方向；
根据所述目标方向控制机械装置将重心向所述目标方向偏移。
在另一个方面，本发明实施例提供了一种导盲装置，包括：
确定模块，用于确定目标方向；
控制模块，用于根据所述目标方向控制机械装置将重心向所述目标方向偏移。
在另一个方面，本发明实施例提供了一种导盲设备，包括上述导盲装置及机械装置。
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，首先确定目标方向；然后根据所述目标方向控制机械装置将重心向所述目标方向偏移。由于本发明实施例是通过重心偏移的方式来指示目标方向，将不同方向的指示以压力的方式作用于用户的头部，可以很容易让用户感受到头部的重心偏向，又由于通常人行走时行进方向与头部朝向一致，因此指示头部转至目标方向可以让盲人很快的找到目标方向，本发明实施例所提供的导盲方式与现有的语音导盲方式相比，无需用户耗费一段时间去理解语音指令的含义，机械重心的偏移可以让用户直接的感受到方向指示，从而提高了导盲效率。
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导盲设备的顶部示意图一；
图5示出了本发明实施例中导盲场景示意图；
图6示出了本发明实施例中导盲设备的初始状态示意图；
图7示出了本发明实施例中连接杆偏移的结构示意图；
图8示出了本发明实施例中导盲设备的最终状态示意图；
图9示出了本发明实施例中导盲设备的顶部示意图二；
图10示出了本发明实施例中配重指示的结构示意图；
图11示出了本发明实施例中配重滑动的结构示意图；
图12示出了本发明实施例中导盲设备的顶部示意图三；
其中，1、面部朝向；2、连接杆；3、旋转轴；4、配重。
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、确定目标方向；
步骤102、根据所述目标方向控制机械装置将重心向所述目标方向偏移。
本发明实施例中，可以在确定目标方向后，根据所述目标方向控制机械装置将重心向所述目标方向偏移。具体实施时，可以将重心直接偏移到所述目标方向，例如：假设目标方向为北偏西20°，那么，可以控制机械装置将重心偏移至北偏西20°，也可以将重心向接近所述目标方向的方向 偏移，例如：假设目标方向为正左方向，那么，可以控制机械装置向左偏移30°。用户可以感受到重心偏移并随着重心偏移方向调整自己的行进方向，在调整过程中，可以不断控制机械装置以确保其重心朝向所述目标方向。
本发明实施例通过重心偏移的方式来指示目标方向，由于通常人行走时行进方向与头部前向一致，因此指示头部转至目标方向可以让盲人很快的找到目标方向；另外，由于颈部的支撑结构、以及不同方向上作用于头皮的压力，可以很容易让盲人感受到重心偏向，从而快速确定目标方向。
本发明实施例所提供的导盲方法，可以利用位于头戴设备的重心位置的改变来指示行进方向，与现有的语音指令的指示方式相比，无需用户耗费一段时间去理解语音指令的含义，机械重心的偏移可以让用户直接的感受到方向指示，在盲人方向改变后可以实时反馈，指示盲人调整方向，从而准确、快速的为盲人指示出行进方向，提高了导盲效率。
实施中，所述确定目标方向具体可以为：
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，确定目标方向。
具体实施中，可以预先接收用户确定的目标位置，并根据初始位置和所述目标位置规划出行走路径存储至本地，在用户行进过程中实时确定用户的当前所处位置，从而计算出下一步的行进方向；还可以在用户行进过程中，随时接收用户确定的目标位置，从而及时根据用户确定的目标位置及当前位置确定出目标方向。
其中，用户可以通过语音或控制按键等操作方式，来确定用户想要去的目标位置，即目的地。检测用户的当前位置具体可以利用现有的定位技术来实现，本发明在此不做赘述。
需要说明的是，本发明实施例对用户行进过程中接收用户确定的目标 位置、以及检测用户的当前位置的先后顺序不作限制。
本发明实施例中的目标方向可以由本地确定，用户侧直接检测用户的当前位置、确定目标方向，采用这种方式可以确保在无法与外部通信的情况下依然可以指示用户方向，在一定程度上节省电量，实现高效导盲的目的。
实施中，所述确定目标方向具体可以为：
接收导盲系统发送的导盲指令，所述导盲指令中包括目标方向。
具体实施中，用户侧可以接收由智能导盲系统发送的导盲指令，所述导盲指令中可以包括所述目标方向，即，所述目标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。在接收到外部指令后，可以根据所述外部指令确定目标方向。
本发明实施例中的目标方向可以由外部系统发送指令来确定，用户侧无需进行大量的计算或其他操作，从而减少用户侧的存储量和计算量，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，由导盲系统发送指令的方式实时性和准确性更高，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，目标方向)。
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，由导盲系统确定目标方向后指示用户行进，进一步提升了用户体验。
实施中，所述机械装置具体可以包括配重、连接杆以及旋转轴，所述连接杆与所述旋转轴连接，所述配重位于所述连接杆上。
具体实施中，所述机械装置可以由配重、连接杆和旋转轴三部分构成，连接杆与旋转轴连接，具体可以为所述连接杆的一端与所述旋转轴连接，也可以为所述连接杆的中心与所述旋转轴连接，所述连接杆可以以旋转轴为中心旋转，所述配重位于所述连接杆上，所述配重可以固定安装，也可以在所述连接杆上滑动。
实施中，所述连接杆一端与所述旋转轴连接，所述控制所述机械装置的重心偏移具体可以为控制以所述旋转轴为中心的所述连接杆的朝向。
具体实施中，所述连接杆的一端可以与所述旋转轴连接，所述连接杆可以绕与所述旋转轴连接的一端旋转，所述控制所述机械装置的重心偏移具体可以为控制所述连接杆的朝向。
例如：当目标方向为东偏南50°时，可以控制连接杆以所述旋转轴为中心旋转至东偏南50°，由于所述配重位于所述连接杆上，用户可以感受到机械装置的重心偏向为东偏南50°，从而可以将头部/身体向东偏南50°转动，并沿该方向行进。
为了限制所述连接杆角度旋转的范围，本发明实施例还可以采用如下方式实施。
实施中，所述控制以所述旋转轴为中心的所述连接杆的朝向具体可以为，控制所述连接杆在预设角度范围内向所述目标方向偏移。
假设目标方向为正东方向，预设角度范围为30°。不论用户当前朝向何方，本发明实施例可以控制所述连接杆向东偏移30°，在用户向东调整30°后，如果依然未达到正东方向，那么可以继续控制所述连接杆向东偏移30°，直至所述连接杆最终朝向所述目标方向。
本发明实施例通过限制连接杆的旋转角度，通过逐步偏移的方式指示目标方向，从而可以避免连接杆360°大范围的旋转，既可以降低设计的复杂性又可以提高连接杆与旋转轴的耐用性。
实施中，所述连接杆的中心与所述旋转轴连接，所述控制所述机械装置的重心偏移具体可以为控制所述配重位于所述连接杆中心的一端。
本发明实施例中，所述连接杆的中心与所述旋转轴连接，可以通过所述配重在所述连接杆中心的一端来控制重心偏移，从而达到指示用户方向的目的。
例如：如果所述目标方向与所述连接杆中心的左端夹角较小，那么，可以控制所述配重滑动至所述连接杆中心的左端；如果所述目标方向与所述连接杆中心的右端夹角较小，那么，可以控制所述配重滑动至所述连接杆中心的右端。
本发明实施例可以通过控制所述配重在所述连接杆中心的哪一端来控制机械装置的重心偏移，无需所述连接杆绕所述旋转轴旋转，即可指示用户行进方向。
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；
根据所述用户的当前行进方向与所述目标方向的关系，控制所述配重至所述连接杆与所述旋转轴连接处的距离。
具体实施中，所述配重可以在所述连接杆上滑动，所述导盲方法可以进一步确定用户的当前行进方向，根据所述当前行进方向与目标方向的关 系，控制所述配重在所述连接杆上的滑动位置。例如：
如果所述连接杆的一端与所述旋转轴连接，可以包括以下几种情况：
当用户调整过程中所述当前行进方向越来越接近所述目标方向时，可以控制所述配重越来越远离最末端，以逐步减轻重量，使用户感受到重量的改变，以提示用户调整方向正确；
当用户调整过程中所述当前行进方向越来越远离所述目标方向时，可以控制所述配重越来越靠近最末端，以逐步增加重量，使用户感受到重量的改变，以提示用户调整方向错误；
当所述当前行进方向与目标方向完全相反时，可以控制所述配重滑动至所述连接杆的最末端，以增加重量，使用户明显感受到重心偏向。
本发明实施例可以根据所述当前行进方向与目标方向的关系，控制所述配重在所述连接杆上的滑动位置，在用户根据重心偏移情况调整方向时可以以不同的重量来指示用户方向是否正确，从而进一步提高用户体验。
除此之外，如果所述连接杆的中心与所述旋转轴连接，也可以根据所述目标方向与所述当前行进方向的角度大小，控制所述配重距离所述连接杆中心的远近，从而指示用户当前行进方向与所述目标方向的接近程度。
例如：如果所述目标方向在所述当前行进方向的左边30°，可以控制所述配重滑动至所述连接杆中心的左边2cm距离；如果所述目标方向在所述当前行进方向的左边90°，可以控制所述配重滑动至所述连接杆中心的左边5cm。
本发明实施例中，可以通过重力感应器、电子罗盘来检测头部的转动情况，确定当前行进方向，还可以通过其他部件来确定用户的当前行进方向，本发明对此不作限制。
本发明实施例可以通过控制所述配重至所述连接杆中心的距离，指示用户当前行进方向与目标方向的接近程度(或夹角大小)，在一定程度上提 升了用户体验。
实施中，所述根据所述用户的当前行进方向与所述目标方向的关系，控制所述配重至所述连接杆与所述旋转轴连接处的距离，具体可以为：
当所述用户的当前行进方向与所述目标方向一致时，控制所述配重滑动至所述连接杆与所述旋转轴的连接处。
具体实施中，当所述当前行进方向与所述目标方向一致时，可以控制所述配重滑动至中心位置(可以理解为配重位于头顶)，即所述连接杆与所述旋转轴的连接处，此时用户可以感受到头部没有重心偏向，从而可以正常朝前行进，不会感受到头皮压力。
本发明实施例可以在所述当前行进方向与所述目标方向一致时，控制所述配重滑动至中心位置，使用户不会感受到重心偏向前方以致头部倾斜，进一步提升了用户体验。
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，用于确定目标方向；
第一控制模块202，用于根据所述目标方向控制机械装置将重心向所述目标方向偏移。
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，确定目标方向。
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目标方向。
实施中，所述装置可以进一步包括：
请求接收模块，用于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，所述机械装置具体可以包括配重、连接杆以及旋转轴，所述连接杆与所述旋转轴连接，所述配重位于所述连接杆上。
实施中，所述连接杆的一端与所述旋转轴连接，所述第一控制模块具体可以用于通过控制以所述旋转轴为中心的所述连接杆的朝向来改变所述机械装置的重心偏向。
实施中，所述第一控制模块具体可以用于控制以所述旋转轴为中心的所述连接杆在预设角度范围内向所述目标方向偏移。
实施中，所述连接杆的中心与所述旋转轴连接，所述第一控制模块具体可以用于通过控制所述配重位于所述连接杆中心的一端来改变所述机械装置的重心偏向。
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，用于根据所述用户的当前行进方向与所述目标方向的关系，控制所述配重至所述连接杆与所述旋转轴连接处的距离。
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目标方向一致时，控制所述配重滑动至所述连接杆与所述旋转轴的连接处。
上述实施例中，均可以采用现有的功能元器件模块来实施。例如，第一确定模块、第二确定模块可以采用现有的方向确定元器件，至少，现有的导盲技术中采用的语音导盲设备上便具备实现该功能元器件；至于第一 控制模块、第二控制，则是任意一个具备控制功能的设备都具备的元器件，本领域技术人员经过相应的设计开发即可实现。
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上述导盲装置301以及机械装置302。
本发明实施例中，所述导盲装置可以在确定目标方向后控制所述机械装置调整重心，以指示用户方向。
具体实施中，所述机械装置可以为由旋转轴、连接杆和配重组成的装置。
在本发明实施例中，采用旋转轴、连接杆和配重组合的方式是由于这种方式比较常用、主流，易于本领域技术人员使用/理解，所以本发明实施例以旋转轴、连接杆和配重组合的方式为例；但是，从理论上说，用其他的方式也是可以的，例如：滚珠在滑道中滚动等方式，只要能够实现调整重心的目的即可，旋转轴、连接杆和配重组合的方式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旋转轴、连接杆和配重组合的方式，实施过程中可以结合实践需要来确定相应的方式。
本发明实施例中，导盲设备可以为佩戴于头部的设备，例如：头盔、帽子等，当用户将导盲设备佩戴于头部时，可以很直接的感受到导盲设备的重心变化，跟随所述导盲设备的重心变化来调整自己的身体，即可找到目标方向，无需读取语音指令并耗费一段时间来理解指令，因此，采用本发明实施例所提供的导盲设备可以方便用户尽快找到目标方向，极大地提 高了导盲效率。
为了便于本发明的实施，下面以实例进行说明。
实施例一、
图4示出了本发明实施例中导盲设备的顶部示意图一，如图所示，用户可以将所述导盲设备佩戴于头部，图中凸出部位1可以代表面部朝向，连接杆2与旋转轴3连接，所述连接杆2可以以旋转轴3为中心旋转，配重4可以在所述连接杆2上滑动。
图5示出了本发明实施例中导盲场景示意图，如图所示，假设盲人用户当前所处位置为A点，想要去的地方(即目的地)为B点，图的上方代表正北方向。
图6示出了本发明实施例中导盲设备的初始状态示意图，如图所示，假设盲人用户面向(图中虚线箭头所指方向)东偏南45°，假设此时收到外部指令，指令中指示目标方向为东偏北30°(图中实线箭头所指方向)。
导盲设备确定目标方向为东偏北30°后，控制所述机械装置将重心偏移至东偏北30°。
图7示出了本发明实施例中连接杆偏移的结构示意图，如图所示，所述导盲设备可以控制连接杆沿着旋转轴旋转至东偏北30°，控制所述配重在连接杆的末端，从而让盲人感受到东偏北30°方向的压力，达到指示盲人行进方向的目的。
盲人用户可以根据感受到的头部压力进行转向，在转向过程中可以不断调整导盲设备的重心指向，以确保指向东偏北30°。
图8示出了本发明实施例中导盲设备的最终状态示意图，如图所示，盲人面部朝向与目标方向一致，即均朝向东偏北30°。此时，本发明实施例中导盲设备可以将配重回归至中心位置，让盲人在正确方向行进时头部不再受到偏向压力的影响，提升盲人的用户体验。
实施例二、
图9示出了本发明实施例中导盲设备的顶部示意图二，如图所示，用户可以将所述导盲设备佩戴于头部，图中凸出部位1可以代表面部朝向，连接杆2与旋转轴3连接，所述连接杆2可以以旋转轴3为中心旋转，配重4可以在所述连接杆2上滑动。
图10示出了本发明实施例中配重指示的结构示意图，如图所示，假设盲人用户面向正北方，此时收到外部指令，指令中指示目标方向为北偏西30°(图中实线箭头所指方向)。
所述导盲设备可以控制所述配重滑动至所述连接杆中心的左侧3cm处，盲人可以感受到头部轻微偏向左侧，然后调整行进方向以向左稍微偏移，达到指示盲人行进方向的目的。
如果所述目标方向为北偏西90°，所述导盲设备可以控制所述配重滑动至所述连接杆中心的最左侧，盲人可以感受到头部明显偏向左侧，然后调整行进方向以面朝左侧，达到指示盲人行进方向的目的。
图11示出了本发明实施例中配重滑动的结构示意图，如图所示，如果所述目标方向为北偏东30°，所述导盲设备可以控制所述配重滑动至所述连接杆中心的右侧3cm，盲人可以感受到头部偏向右侧，然后调整行进方向以向右偏移，达到指示盲人行进方向的目的。
待所述行进方向与所述目标方向一致时，所述配重可以回归至所述连接杆与所述旋转轴的连接处，即盲人可以感受到重量回归头顶、没有偏向，此时可以确认方向正确、正常行进。
实施例三、
本发明实施例中的导盲设备可以为佩戴于用户肩部或腰部的环状物，下面进行说明。
图12示出了本发明实施例中导盲设备的顶部示意图三，如图所示，假 设所述导盲设备为可以佩戴于腰间的设备(类似于腰带)，机械装置可以包括圆环状的滑道以及滚珠，图中滚珠所在位置可以表示用户肚子所在位置。
本发明实施例中，导盲设备在确定目标方向后，可以控制所述滚珠沿着所述圆环状的滑道滑动至所述目标方向，所述圆环状滑道的中心(也可以称为圆心)至所述滚珠的方向向量即为所述目标方向，用户可以在感受到腰部重量的偏向后调整自己的行进方向。
具体实施中，所述滚珠可以为多个，根据所述当前行进方向与所述目标方向控制所述滚珠的分布情况。
当所述当前行进方向与所述目标方向不一致时，所述多个滚珠可以全部滑动至与目标方向一致的位置，由于多个滚珠均处于同一个位置，用户可以明显感受到腰部重量偏向于目标方向，从而确定下一步行进方向，调整自身的朝向；
当所述当前行进方向与所述目标方向一致时，所述多个滚珠可以在所述圆环状滑道内均匀分布，使得用户感觉腰部的重量均衡、没有任何偏向。
在用户调整过程中，还可以根据所述当前行进方向与所述目标方向的接近程度来改变所述多个滚珠在所述圆环状滑道中的位置，越接近目标方向，用户感受到的重量偏向越轻；反之，用户感受到的重量偏向越明显。
例如：假设所述滚珠共有4个，
当所述当前行进方向与所述目标方向不一致时，所述4个滚珠均滑动至所述目标方向，此时，用户可以明显感受到腰部的重量偏向，从而确定下一步的行进方向；
当所述当前行进方向与所述目标方向一致时，所述4个滚珠可以在所述圆环状滑道内均匀分布，例如可以分别滑动至用户的正前方、正后方、腰部左侧、腰部右侧，从而可以确保用户可以正常行走，不会感受到任何方向的偏移，即可以提升用户体验，又可以提示用户此时的行进方向正确、 与目标方向一致。
本发明还提供一种导盲设备，所述导盲设备包括：存储器，处理器及机械装置，所述存储器用于存储所述处理器的指令，所述处理器用于控制所述机械装置执行上述说明书方法中各个步骤的指令。所述导盲设备为导盲头盔。
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 (22)

  1. 一种导盲方法，其特征在于，包括如下步骤：
    确定目标方向；
    根据所述目标方向控制机械装置将重心向所述目标方向偏移。
  2. 如权利要求1所述的方法，其特征在于，所述确定目标方向具体为：
    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，确定目标方向。
  3. 如权利要求1所述的方法，其特征在于，所述确定目标方向具体为：
    接收导盲系统发送的导盲指令，所述导盲指令中包括目标方向。
  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，所述机械装置具体包括配重、连接杆以及旋转轴，所述连接杆与所述旋转轴连接，所述配重位于所述连接杆上。
  6. 如权利要求5所述的方法，其特征在于，所述连接杆一端与所述旋转轴连接，所述控制所述机械装置的重心偏移具体为控制以所述旋转轴为中心的所述连接杆的朝向。
  7. 如权利要求6所述的方法，其特征在于，所述控制以所述旋转轴为中心的所述连接杆的朝向具体为，控制所述连接杆在预设角度范围内向所述目标方向偏移。
  8. 如权利要求5所述的方法，其特征在于，所述连接杆的中心与所述旋转轴连接，所述控制所述机械装置的重心偏移具体为控制所述配重位于所述连接杆中心的一端。
  9. 如权利要求6或8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；
    根据所述用户的当前行进方向与所述目标方向的关系，控制所述配重至所述连接杆与所述旋转轴连接处的距离。
  10. 如权利要求9所述的方法，其特征在于，所述根据所述用户的当前行进方向与所述目标方向的关系，控制所述配重至所述连接杆与所述旋转轴连接处的距离具体为：
    当所述用户的当前行进方向与所述目标方向一致时，控制所述配重滑动至所述连接杆与所述旋转轴的连接处。
  11. 一种导盲装置，其特征在于，包括：
    第一确定模块，用于确定目标方向；
    第一控制模块，用于根据所述目标方向控制机械装置将重心向所述目标方向偏移。
  12. 如权利要求11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，确定目标方向。
  13. 如权利要求11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目标方向。
  14. 如权利要求13所述的装置，其特征在于，进一步包括：
    请求接收模块，用于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。
  15. 如权利要求11所述的装置，其特征在于，所述机械装置具体包括配 重、连接杆以及旋转轴，所述连接杆与所述旋转轴连接，所述配重位于所述连接杆上。
  16. 如权利要求15所述的装置，其特征在于，所述连接杆的一端与所述旋转轴连接，所述第一控制模块具体用于通过控制以所述旋转轴为中心的所述连接杆的朝向来改变所述机械装置的重心偏向。
  17. 如权利要求16所述的装置，其特征在于，所述第一控制模块具体用于控制以所述旋转轴为中心的所述连接杆在预设角度范围内向所述目标方向偏移。
  18. 如权利要求15所述的装置，其特征在于，所述连接杆的中心与所述旋转轴连接，所述第一控制模块具体用于通过控制所述配重位于所述连接杆中心的一端来改变所述机械装置的重心偏向。
  19. 如权利要求16或18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，用于根据所述用户的当前行进方向与所述目标方向的关系，控制所述配重至所述连接杆与所述旋转轴连接处的距离。
  20. 如权利要求19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目标方向一致时，控制所述配重滑动至所述连接杆与所述旋转轴的连接处。
  21. 一种导盲设备，其特征在于，所述导盲设备包括：存储器，处理器及机械装置，所述存储器用于存储所述处理器的指令，所述处理器用于控制所述机械装置执行权利要求1-10中任一所述方法中各个步骤的指令。
  22. 如权利要求21所述的导盲设备，其特征在于，所述导盲设备为导盲头盔。
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